arXiv subjects

Oleksandr Sudakov

Publications and source records attributed to Oleksandr Sudakov.

7 recordsLinked to original sources

arXiv2026

Increasing Resilience of Continuum Robots via Motion Planning Algorithms

This paper presents an experimental study of motion planning for resilient continuum robots. In this study we mainly focused on multi-criteria decision-making, its application for path-planning algorithms, impact on the generated path and execution time. To do this, we used two well-known algorithms for path planning, namely Genetic algorithm and A star algorithm, and modified them by adding the Analytical Hierarchy Process algorithm to evaluate the quality of the paths generated. In our experiment the Analytical Hierarchy Process considers four different criteria, i.e. distance, motors damage, mechanical damage of the robot's arm and accuracy, each considered to contribute to the resilience of a continuum robot. The use of different criteria is necessary to increase the time to maintenance operations of the continuum robot. We conducted the experiments using two different simulated environments of the robot. Although we significantly simplified the robot's model and its environment, we still implemented some of the features of the environment based on the real robot prototype. In particular, one of the environments has single- as well as multi-path points, and other consists of the multi-path points only. The results show that, in contrast to A star, the performance time of Genetic algorithm does not depend on the environment's cardinality. It generates more diverse paths, which increases the robot's resilience.

cs.RO↗

arXiv2025

Parallelization of Network Dynamics Computations in Heterogeneous Distributed Environment

This paper addresses the problem of parallelizing computations to study non-linear dynamics in large networks of non-locally coupled oscillators using heterogeneous computing resources. The proposed approach can be applied to a variety of non-linear dynamics models with runtime specification of parameters and network topologies. Parallelizing the solution of equations for different network elements is performed transparently and, in contrast to available tools, does not require parallel programming from end-users. The runtime scheduler takes into account the performance of computing and communication resources to reduce downtime and to achieve a quasi-optimal parallelizing speed-up. The proposed approach was implemented, and its efficiency is proven by numerous applications for simulating large dynamical networks with 10^3-10^8 elements described by Hodgkin-Huxley, FitzHugh-Nagumo, and Kuramoto models, for investigating pathological synchronization during Parkinson's disease, analyzing multi-stability, for studying chimera and solitary states in 3D networks, etc. All the above computations may be performed using symmetrical multiprocessors, graphic processing units, and a network of workstations within the same run and it was demonstrated that near-linear speed-up can be achieved for large networks. The proposed approach is promising for extension to new hardware like edge-computing devices.

nlin.CD↗

arXiv2024

Intelligence and Motion Models of Continuum Robots: an Overview

Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are bounded with their motions, whereby the motion of the robots is controlled by humans via wireless communication. In case of a lost connection, robot autonomy is required. Distributed control and distributed decision-making mechanisms based on artificial intelligence approaches can be a promising solution to achieve autonomy of technical systems and to increase their resilience. However these methods are not well investigated yet. Octopuses are the living example of natural distributed intelligence but their learning and decision-making mechanisms are also not fully investigated and understood yet. Our major interest is investigating mechanisms of Distributed Artificial Intelligence as a basis for improving resilience of complex systems. We decided to use a physical continuum robot prototype that is able to perform some basic movements for our research. The idea is to research how a technical system can be empowered to combine movements into sequences of motions by itself. For the experimental investigations a suitable physical prototype has to be selected, its motion control has to be implemented and automated. In this paper, we give an overview combining different fields of research, such as Distributed Artificial Intelligence and continuum robots based on 98 publications. We provide a detailed description of the basic motion control models of continuum robots based on the literature reviewed, discuss different aspects of autonomy and give an overview of physical prototypes of continuum robots.

cs.RO↗

arXiv2021

Scroll ring chimera states in oscillatory networks

We report the appearance of a scroll ring and scroll toroid chimera states from the proposed initial conditions for the Kuramoto model of coupled phase oscillators in the 3D grid topology with inertia. The proposed initial conditions provide an opportunity to obtain as single as well as multiple scroll ring and toroid chimeras with different major and minor diameters. We analyze their properties and demonstrate, in particular, the patterns of coherent, partially coherent, and incoherent scroll ring chimera states with different structures of filaments and chaotic oscillators. Those patterns can coexist with solitary states and solitary patterns in the oscillatory networks.

nlin.PS↗

arXiv2020

Spiral wave chimeras for coupled oscillators with inertia

We report the appearance and the metamorphoses of spiral wave chimera states in coupled phase oscillators with inertia. First, when the coupling strength is small enough, the system behavior resembles classical two-dimensional (2D) Kuramoto-Shima spiral chimeras with bell-shape frequency characteristic of the incoherent cores. As the coupling increases, the cores acquire concentric regions of constant time-averaged frequencies, the chimera becomes quasiperiodic. Eventually, with a subsequent increase in the coupling strength, only one such region is left, i.e., the whole core becomes frequency-coherent. An essential modification of the system behavior occurs, when the parameter point enters the so-called solitary} region. Then, isolated oscillators are normally present on the spiral core background of the chimera states. These solitary oscillators do not participate in the common spiraling around the cores; instead, they start to oscillate with different time-averaged frequencies (Poincaré winding numbers). The number and the disposition of solitary oscillators can be any, given by the initial conditions. At a further increase in the coupling, the spiraling disappears, and the system behavior passes to a sort of spatiotemporal chaos.

nlin.AO↗

arXiv2017

Multiple scroll wave chimera states

We refer the appearance of three-dimensional (3D) multiheaded chimera states that display cascades of self-organized spatiotemporal patterns of coexisting coherence and incoherence. We demonstrate that number of the incoherent chimera's domains can grow additively under appropriate varying the system parameters generating thereby head-adding cascades of the scroll wave chimeras. The phenomenon is derived for Kuramoto model of N identical phase oscillators placed in the 3D cube with periodic boundary conditions, parameters are coupling radius $r$ and phase lag $α$. To obtain the multiheaded chimeras, we perform the so-called 'cloning procedure' as follows: choose a sample single-headed 3D chimera state, make appropriate scale transformation, and put some number of copies of them into the unit cube. After, start numerical simulations with slightly perturbed initial conditions for long enough time to confirms or denies the state existence and stability. It is found, by this a way, that multiple scroll wave chimeras including those with incoherent rolls, Hopf links and trefoils admit this sort of multiheaded regeneration. On the other hand, multiple 3D chimeras without spiral rotations, like coherent and incoherent balls, tubes, crosses, and layers appear to be unstable under are destroyed rather fast even with any small perturbations.

nlin.PS↗

arXiv2014

Cascades of Multi-headed Chimera States for Coupled Phase Oscillators

Chimera state is a recently discovered dynamical phenomenon in arrays of nonlocally coupled oscillators, that displays a self-organized spatial pattern of co-existing coherence and incoherence. We discuss the appearance of the chimera states in networks of phase oscillators with attractive and with repulsive interactions, i.e. when the coupling respectively favors synchronization or works against it. By systematically analyzing the dependence of the spatiotemporal dynamics on the level of coupling attractivity/repulsivity and the range of coupling, we uncover that different types of chimera states exist in wide domains of the parameter space as cascades of the states with increasing number of intervals of irregularity, so-called chimera's heads. We report three scenarios for the chimera birth: 1) via saddle-node bifurcation on a resonant invariant circle, also known as SNIC or SNIPER, 2) via blue-sky catastrophe, when two periodic orbits, stable and saddle, approach each other creating a saddle-node periodic orbit, and 3) via homoclinic transition with complex multistable dynamics including an "eight-like" limit cycle resulting eventually in a chimera state.

nlin.CD↗