{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T06:56:19Z","timestamp":1780383379086,"version":"3.54.1"},"reference-count":24,"publisher":"SAGE Publications","issue":"11-12","license":[{"start":{"date-parts":[[2007,11,1]],"date-time":"2007-11-01T00:00:00Z","timestamp":1193875200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2007,11]]},"abstract":"<jats:p>This paper presents a broadcast feedback approach to the distributed stochastic control of an actuator system consisting of many cellular units. This control architecture was inspired by skeletal muscles comprising a vast number of tiny functional units, called sarcomeres. The output of the actuator system is an aggregate e fect of numerous cellular units, each taking a bistable ON\u2014OFF state. A central controller \u201cbroadcasts\u201d the error between the aggregate output and a reference input. Rather than ordering the individual units to take specific states, the central controller merely broadcasts the overall error signal to all the cellular units uniformly. In turn each cellular unit makes a stochastic decision with a state transition probability, which is modulated in relation to the broadcasted error. Stochastic properties of both open-loop and closed-loop control systems are analyzed. Stability conditions of the broadcast feedback system are obtained by using a stochastic Lyapunov function. The proposed method is simulated for an artificial cellular actuator, consisting of many segments of smart actuator material. Theoretical results are verified through simulation. It is demonstrated that, even in the absence of deterministic coordination, the ensemble of the cellular units can track a given trajectory stably and robustly.<\/jats:p>","DOI":"10.1177\/0278364907082443","type":"journal-article","created":{"date-parts":[[2007,11,20]],"date-time":"2007-11-20T09:52:59Z","timestamp":1195552379000},"page":"1251-1265","source":"Crossref","is-referenced-by-count":65,"title":["Broadcast Feedback of Stochastic Cellular Actuators Inspired by Biological                 Muscle Control"],"prefix":"10.1177","volume":"26","author":[{"given":"Jun","family":"Ueda","sequence":"first","affiliation":[{"name":"Graduate School of Information Science, Nara Institute of Science and                         Technology, Nara, 630-0192 , d'Arbeloff Laboratory                         for Information Systems and Technology, Department of Mechanical Engineering                         Massachusetts Institute of Technology, Cambridge MA 02139"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lael","family":"Odhner","sequence":"additional","affiliation":[{"name":"d'Arbeloff Laboratory for Information Systems and Technology, Department                         of Mechanical Engineering Massachusetts Institute of Technology, Cambridge                         MA 02139 {lael, asada}@mit.edu"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"H. Harry","family":"Asada","sequence":"additional","affiliation":[{"name":"d'Arbeloff Laboratory for Information Systems and Technology, Department                         of Mechanical Engineering Massachusetts Institute of Technology, Cambridge                         MA 02139 {lael, asada}@mit.edu"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2007,11,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1007\/11587392"},{"key":"atypb2","volume-title":"17th IEEE International Conference on Micro Electro Mechanical Systems (IEEE MEMS)","author":"Conway, N.J."},{"issue":"2","key":"atypb3","first-page":"328","volume":"44","author":"Deng, H.","year":"1999","journal-title":"IEEE Transactions on"},{"key":"atypb4","volume-title":"Stochastic Processes (Wiley Classics Library)","author":"Doob, J.L.","year":"1990"},{"key":"atypb5","volume-title":"An Introduction to Probability Theory and Its Applications","author":"Feller, W.","year":"1968","edition":"3"},{"issue":"2","key":"atypb6","first-page":"395","volume":"112","author":"Fu, Y.","year":"2004","journal-title":"A, Physical"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1295\/polymj.36.151"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-46430-1_16"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1016\/S0303-2647(03)00114-X"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1016\/S0306-4522(97)00379-5"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.53.1.8"},{"key":"atypb12","volume-title":"Stochastic stability and control (Mathematics in science and engineering)","author":"Kushner, H.J.","year":"1967"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/87.701339"},{"key":"atypb14","volume-title":"Essentials of Anatomy & Physiology","author":"Martini, F.H.","year":"2006","edition":"4"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1152\/jn.01122.2004"},{"key":"atypb16","first-page":"424","volume":"6168","author":"Plante, J.","year":"2006","journal-title":"Proceedings of the SPIE"},{"key":"atypb17","volume-title":"Proceedings of 2004 IEEE International Conference on Robotics and Automation (ICRA '04)","author":"Selden, B."},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1117\/12.387783"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X9700800302"},{"key":"atypb20","volume-title":"Structure and Function in Man","author":"Stanley W.","year":"1982"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1085\/jgp.110.4.415"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1049\/ip-nbt:20031172"},{"key":"atypb23","volume-title":"Proceedings of 2006 IEEE International Conference on Robotics and Automation (ICRA '06)","author":"Ueda, J."},{"key":"atypb24","volume-title":"The First IEEE\/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006)","author":"Ueda, J."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907082443","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907082443","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:53Z","timestamp":1777457753000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364907082443"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,11]]},"references-count":24,"journal-issue":{"issue":"11-12","published-print":{"date-parts":[[2007,11]]}},"alternative-id":["10.1177\/0278364907082443"],"URL":"https:\/\/doi.org\/10.1177\/0278364907082443","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,11]]}}}