NSF Project Ideas

#Most generally I am looking at the analysis and design of distributed systems, as well as their comparison to centralized systems.
##Less generally I am looking at multilegged robot locomotor schemes
###Presently I am looking at coupled oscillators.  Literature is emerging investigating them as robotic design elements.  There is also quite a bit of literature analyzing them.  
###Relevent researchers right now are Golubitsky, Stewart and Ijspeert, the salamander guy.  The Japanese are good for applications.


===Questions:  ===
#What will my work be?
#What is meant by CPG now that there is literautre describing them as networks of coupled oscillators.  How central is that?
#In how literal a sense did the Golubitsky Collins work describe 'modules' and how has that insight been applied to robotic applications
#In what way are coupled oscillators suggesting a design methodology?
#How can I compare these schemes to centralized equivalents?  Can I model them as their centralized equivalents (insofar as the limit cycle is an ideal around which they oscillate).  Does that even mean anything?
#What are outstanding problems with the application of the oscillators to design goals?
#How do I fake group theory?

===Leads:===
Here are some papers that I wasn't able to get my hands on
 Title: Periodic dynamics of coupled cell networks II: cyclic symmetry
 Author(s): Stewart I, Parker M
 Source: DYNAMICAL SYSTEMS-AN INTERNATIONAL JOURNAL   Volume: 23   Issue: 1    Pages: 17-41   Published: MAR 2008 

 Title: Learning to move in modular robots using central pattern generators and online optimization
 Author(s): Sproewitz A, Moeckel R, Maye J, et al.
 Source: INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH   Volume: 27   Issue: 3-4   Pages: 423-443   Published: MAR 2008