Parameter sensitivity analysis for a biochemically-based photosynthesis model

A challenge for the development of Land Surface Models(LSMs) is improving transpiration of water exchange and photosynthesis of carbon exchange between terrestrial plants and the atmosphere, both of which are governed by stoma in leaves. In the photosynthesis module of these LSMs, variations of parameters arising from diversity in plant functional types(PFTs) and climate remain unclear. Identifying sensitive parameters among all photosynthetic parameters before parameter estimation can not only reduce operation cost, but also improve the usability of photosynthesis models worldwide. Here, we analyzed 13 parameters of a biochemically-based photosynthesis model(FvCB), implemented in many LSMs, using two sensitivity analysis(SA) methods(i.e., the Sobol’ method and the Morris method) for setting up the parameter ensemble. Three different model performance metrics, i.e.,Root Mean Squared Error(RMSE), Nash Sutcliffe efficiency(NSE), and Standard Deviation(STDEV) were introduced for model assessment and sensitive parameters identification. The results showed that among all photosynthetic parameters only a small portion of parameters were sensitive, and the sensitive parameters were different across plant functional types: maximum rate of Rubisco activity(Vcmax25), maximum electron transport rate(Jmax25), triose phosphate use rate(TPU) and dark respiration in light(Rd) were sensitive in broad leafevergreen trees(BET), broad leaf-deciduous trees(BDT) and needle leaf-evergreen trees(NET), while only Vcmax25and TPU are sensitive in short vegetation(SV), dwarf trees and shrubs(DTS), and agriculture and grassland(AG). The two sensitivity analysis methods suggested a strong SA coherence;in contrast, different model performance metrics led to different SA results. This misfit suggests that more accurate values of sensitive parameters, specifically, species specific and seasonal variable parameters, are required to improve the performance of the FvCB model.

Study of petrophysical parameter sensitivity from well log data

Proper analysis of petrophysical parameter sensitivity from well log data can greatly improve the ability to discriminate hydrocarbon-bearing rocks. In this paper we discuss a petrophysical analysis method for the selection and application of higher sensitivity seismic attribute parameters to improve the ability to discriminate fluid and lithology. To better integrate with seismic interpretation, we construct a template to highlight rock physics parameters in sensitivity space, providing guidance for the quantitative seismic interpretation of hydrocarbon-bearing reservoirs.

Numerical investigation of hydro-morphodynamic characteristics of a cascading failure of landslide dams

A cascading failure of landslide dams caused by strong earthquakes or torrential rains in mountainous river valleys can pose great threats to people’s lives,properties,and infrastructures.In this study,based on the three-dimensional Reynoldsaveraged Navier-Stokes equations(RANS),the renormalization group(RNG)k-εturbulence model,suspended and bed load transport equations,and the instability discriminant formula of dam breach side slope,and the explicit finite volume method(FVM),a detailed numerical simulation model for calculating the hydro-morphodynamic characteristics of cascading dam breach process has been developed.The developed numerical model can simulate the breach hydrograph and the dam breach morphology evolution during the cascading failure process of landslide dams.A model test of the breaches of two cascading landslide dams has been used as the validation case.The comparison of the calculated and measured results indicates that the breach hydrograph and the breach morphology evolution process of the upstream and downstream dams are generally consistent with each other,and the relative errors of the key breaching parameters,i.e.,the peak breach flow and the time to peak of each dam,are less than±5%.Further,the comparison of the breach hydrographs of the upstream and downstream dams shows that there is an amplification effect of the breach flood on the cascading landslide dam failures.Three key parameters,i.e.,the distance between the upstream and the downstream dams,the river channel slope,and the downstream dam height,have been used to study the flood amplification effect.The parameter sensitivity analyses show that the peak breach flow at the downstream dam decreases with increasing distance between the upstream and the downstream dams,and the downstream dam height.Further,the peak breach flow at the downstream dam first increases and then decreases with steepening of the river channel slope.When the flood caused by the upstream dam failure flows to the downstream dam,it can produce a surge wave that overtops and erodes the dam crest,resulting in a lowering of the dam crest elevation.This has an impact on the failure occurrence time and the peak breach flow of the downstream dam.The influence of the surge wave on the downstream dam failure process is related to the volume of water that overtops the dam crest and the erosion characteristics of dam material.Moreover,the cascading failure case of the Xiaogangjian and Lower Xiaogangjian landslide dams has also been used as the representative case for validating the model.In comparisons of the calculated and measured breach hydrographs and final breach morphologies,the relative errors of the key dam breaching parameters are all within±10%,which verify the rationality of the model is applicable to real-world cases.Overall,the numerical model developed in this study can provide important technical support for the risk assessment and emergency treatment of failures of cascading landslide dams.

Introducing the nth-Order Features Adjoint Sensitivity Analysis Methodology for Nonlinear Systems (nth-FASAM-N): II. Illustrative Example

This work highlights the unparalleled efficiency of the “nth-Order Function/ Feature Adjoint Sensitivity Analysis Methodology for Nonlinear Systems” (nth-FASAM-N) by considering the well-known Nordheim-Fuchs reactor dynamics/safety model. This model describes a short-time self-limiting power excursion in a nuclear reactor system having a negative temperature coefficient in which a large amount of reactivity is suddenly inserted, either intentionally or by accident. This nonlinear paradigm model is sufficiently complex to model realistically self-limiting power excursions for short times yet admits closed-form exact expressions for the time-dependent neutron flux, temperature distribution and energy released during the transient power burst. The nth-FASAM-N methodology is compared to the extant “nth-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Nonlinear Systems” (nth-CASAM-N) showing that: (i) the 1st-FASAM-N and the 1st-CASAM-N methodologies are equally efficient for computing the first-order sensitivities;each methodology requires a single large-scale computation for solving the “First-Level Adjoint Sensitivity System” (1st-LASS);(ii) the 2nd-FASAM-N methodology is considerably more efficient than the 2nd-CASAM-N methodology for computing the second-order sensitivities since the number of feature-functions is much smaller than the number of primary parameters;specifically for the Nordheim-Fuchs model, the 2nd-FASAM-N methodology requires 2 large-scale computations to obtain all of the exact expressions of the 28 distinct second-order response sensitivities with respect to the model parameters while the 2nd-CASAM-N methodology requires 7 large-scale computations for obtaining these 28 second-order sensitivities;(iii) the 3rd-FASAM-N methodology is even more efficient than the 3rd-CASAM-N methodology: only 2 large-scale computations are needed to obtain the exact expressions of the 84 distinct third-order response sensitivities with respect to the Nordheim-Fuchs model’s parameters when applying the 3rd-FASAM-N methodology, while the application of the 3rd-CASAM-N methodology requires at least 22 large-scale computations for computing the same 84 distinct third-order sensitivities. Together, the nth-FASAM-N and the nth-CASAM-N methodologies are the most practical methodologies for computing response sensitivities of any order comprehensively and accurately, overcoming the curse of dimensionality in sensitivity analysis.

Introducing the nth-Order Features Adjoint Sensitivity Analysis Methodology for Nonlinear Systems (nth-FASAM-N): I. Mathematical Framework

This work presents the “nth-Order Feature Adjoint Sensitivity Analysis Methodology for Nonlinear Systems” (abbreviated as “nth-FASAM-N”), which will be shown to be the most efficient methodology for computing exact expressions of sensitivities, of any order, of model responses with respect to features of model parameters and, subsequently, with respect to the model’s uncertain parameters, boundaries, and internal interfaces. The unparalleled efficiency and accuracy of the nth-FASAM-N methodology stems from the maximal reduction of the number of adjoint computations (which are considered to be “large-scale” computations) for computing high-order sensitivities. When applying the nth-FASAM-N methodology to compute the second- and higher-order sensitivities, the number of large-scale computations is proportional to the number of “model features” as opposed to being proportional to the number of model parameters (which are considerably more than the number of features).When a model has no “feature” functions of parameters, but only comprises primary parameters, the nth-FASAM-N methodology becomes identical to the extant nth CASAM-N (“nth-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Nonlinear Systems”) methodology. Both the nth-FASAM-N and the nth-CASAM-N methodologies are formulated in linearly increasing higher-dimensional Hilbert spaces as opposed to exponentially increasing parameter-dimensional spaces thus overcoming the curse of dimensionality in sensitivity analysis of nonlinear systems. Both the nth-FASAM-N and the nth-CASAM-N are incomparably more efficient and more accurate than any other methods (statistical, finite differences, etc.) for computing exact expressions of response sensitivities of any order with respect to the model’s features and/or primary uncertain parameters, boundaries, and internal interfaces.

Parameter sensitivities analysis for classical flutter speed of a horizontal axis wind turbine blade

The parameter sensitivities affecting the flutter speed of the NREL （National Renewable Energy Laboratory） 5-MW baseline HAWT （horizontal axis wind turbine） blades are analyzed. An aeroelastic model, which comprises an aerodynamic part to calculate the aerodynamic loads and a structural part to determine the structural dynamic responses, is established to describe the classical flutter of the blades. For the aerodynamic part, Theodorsen unsteady aerodynamics model is used. For the structural part, Lagrange’s equation is employed. The flutter speed is determined by introducing “V–g” method to the aeroelastic model, which converts the issue of classical flutter speed determination into an eigenvalue problem. Furthermore, the time domain aeroelastic response of the wind turbine blade section is obtained with employing Runge-Kutta method. The results show that four cases （i.e., reducing the blade torsional stiffness, moving the center of gravity or the elastic axis towards the trailing edge of the section, and placing the turbine in high air density area） will decrease the flutter speed. Therefore, the judicious selection of the four parameters （the torsional stiffness, the chordwise position of the center of gravity, the elastic axis position and air density） can increase the relative inflow speed at the blade section associated with the onset of flutter.

Important population viability analysis parameters for giant pandas(Aliuropoda melanoleuca)

Population viability analysis(PVA) is a tool to evaluate the risk of extinction for endangered species and aid conservation decision-making.The quality of PVA output is dependent on parameters related to population dynamics and life-history;however,it has been difficult to collect this information for the giant panda(Aliuropoda melanoleuca),a rare and endangered mammal native to China,confined to some 30 fragmented habitat patches.Since giant pandas are long-lived,mature late,have lower reproductive rates,and show little sexual dimorphism,obtaining data to perform adequate PVA has been difficult.Here,we develop a parameter sensitivity index by modeling the dynamics of six giant panda populations in the Minshan Mountains,in order to determine the parameters most influential to giant panda populations.Our data shows that the giant panda populations are most sensitive to changes in four female parameters:initial breeding age,reproductive rate,mortality rate between age 0 and 1,and mortality rate of adults.The parameter sensitivity index strongly correlated with initial population size,as smaller populations were more sensitive to changes in these four variables.This model suggests that demographic parameters of females have more influence on the results of PVA,indicating that females may play a more important role in giant panda population dynamics than males.Consequently,reintroduction of female individuals to a small giant panda population should be a high priority for conservation efforts.Our findings form a technical basis for the coming program of giant panda reintroduction,and inform which parameters are crucial to successfully and feasibly monitoring wild giant panda populations.

Parameter sensitivity study of the biogeochemical model in the China coastal seas

In order to develop a coupled basin scale model of ocean circulation and biogeochemical cycling,we present a biogeochemical model including 12 components to study the ecosystem in the China coastal seas（CCS）.The formulation of phytoplankton mortality and zooplankton growth are modified according to biological characteristics of CCS.The four sensitivity biological parameters,zooplankton assimilation efficiency rate（ZooAE_N）,zooplankton basal metabolism rate（ZooBM）,maximum specific growth rate of zooplankton（μ_（20）） and maximum chlorophyll to carbon ratio（Chl2C_m） are obtained in sensitivity experiments for the phytoplankton,and experiments about the parameter μ_（20＇）,half-saturation for phytoplankton NO_3 uptake（K_（NO_3）） and remineralization rate of small detritusN（SDeRRN） are conducted.The results demonstrate that the biogeochemical model is quite sensitive to the zooplankton grazing parameter when it ranges from 0.1 to 1.2 d^（-1）.The K_（NO_3） and SDeRRN also play an important role in determining the nitrogen cycle within certain ranges.The sensitive interval of KNO_3 is from 0.1 to 1.5（mmol/m^3）^（-1）,and interval of SEdRRN is from 0.01 and 0.1 d^（-1）.The observational data from September 1998 to July 2000 obtained at SEATS station are used to validate the performance of biological model after parameters optimization.The results show that the modified model has a good capacity to reveal the biological process features,and the sensitivity analysis can save computational resources greatly during the model simulation.

Numerical simulation of flooding induced uplift for abandoned coal mines:simulation schemes and parameter sensitivity

Numerical simulation approaches have been widely applied to study mining induced subsidence,and they are potential methods to study the flooding induced uplift for abandoned mines.This paper gives an overview about different numerical approaches to simulate uplift induced by flooding abandoned underground mines,including three different hydraulic conditions,considering both unconfined and confined water conditions.Four basic simulation schemes using 1-dimensional rock column models verified by analytical solutions demonstrate these procedures.The results reveal that flooding induced uplift is mainly related to the pore pressure in the mine goaf.The parameter study documents that height and stiffness of the mine goaf have the strongest influence on maximum surface uplift.

Parameters Sensitivity Analysis and Correction for Concrete Damage Plastic Model

In order to understand the effect of hardening ductility parameters and softening ductility parameters of the concrete damage plastic model in LS-DYNA,a sensitivity and reliability analysis of these parameters through a convenient cube unit test was conducted. The results showed that the peak strength strain was independent of the hardening ductility parameter DH,but affected by AH,BH,and CH. The softening ductility was mainly related to the softening ductility parameter AS,but not affected by the damage ductility exponent BS. In case that the model with default parameters failed to match the AS-controlled damage softening phase,an optimized model with an AS correction was developed. The corrected model with the AS value of 2 matched well with the code model,and exhibited good feasibility in predicting the stress-strain curve of different grades of concrete. Moreover,the practicability of the corrected model was further validated by the conventional triaxial test. The simulated curve exhibited favorable consistence with the trial curve. Therefore,the model with parameter correction could provide a prospective reference for predicting the mechanical properties of concrete.

Input torque sensitivity to uncertain parameters in biped robot

Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters.

Second-Order Adjoint Sensitivity Analysis Methodology for Computing Exactly Response Sensitivities to Uncertain Parameters and Boundaries of Linear Systems: Mathematical Framework

This work presents the “Second-Order Comprehensive Adjoint Sensitivity Analysis Methodology (2nd-CASAM)” for the efficient and exact computation of 1st- and 2nd-order response sensitivities to uncertain parameters and domain boundaries of linear systems. The model’s response (i.e., model result of interest) is a generic nonlinear function of the model’s forward and adjoint state functions, and also depends on the imprecisely known boundaries and model parameters. In the practically important particular case when the response is a scalar-valued functional of the forward and adjoint state functions characterizing a model comprising N parameters, the 2nd-CASAM requires a single large-scale computation using the First-Level Adjoint Sensitivity System (1st-LASS) for obtaining all of the first-order response sensitivities, and at most N large-scale computations using the Second-Level Adjoint Sensitivity System (2nd-LASS) for obtaining exactly all of the second-order response sensitivities. In contradistinction, forward other methods would require (N2/2 + 3 N/2) large-scale computations for obtaining all of the first- and second-order sensitivities. This work also shows that constructing and solving the 2nd-LASS requires very little additional effort beyond the construction of the 1st-LASS needed for computing the first-order sensitivities. Solving the equations underlying the 1st-LASS and 2nd-LASS requires the same computational solvers as needed for solving (i.e., “inverting”) either the forward or the adjoint linear operators underlying the initial model. Therefore, the same computer software and “solvers” used for solving the original system of equations can also be used for solving the 1st-LASS and the 2nd-LASS. Since neither the 1st-LASS nor the 2nd-LASS involves any differentials of the operators underlying the original system, the 1st-LASS is designated as a “first-level” (as opposed to a “first-order”) adjoint sensitivity system, while the 2nd-LASS is designated as a “second-level” (rather than a “second-order”) adjoint sensitivity system. Mixed second-order response sensitivities involving boundary parameters may arise from all source terms of the 2nd-LASS that involve the imprecisely known boundary parameters. Notably, the 2nd-LASS encompasses an automatic, inherent, and independent “solution verification” mechanism of the correctness and accuracy of the 2nd-level adjoint functions needed for the efficient and exact computation of the second-order sensitivities.

Sensitivity Analysis of Petrophysical Parameters for Estimating Hydrate Saturation in the Shenhu Area

Acoustic and electrical methods are commonly used to evaluate hydrate saturation based on P-wave velocity(Vp)and resistivity,respectively.We evaluate hydrate saturation using petrophysical parameters directly related to the presence of hydrates.Five petrophysical parameters sensitive to hydrate saturation were first analyzed using the equivalent medium rock physical model,logging intersection plots,and petrophysical parameter inversion.The simulated annealing global optimization method was then used to estimate the hydrate saturation profile in the Shenhu Area,China.The petrophysical parameters Vp,λρ,andλμ,which are associated with the rock elastic and shear moduli,are highly sensitive to hydrate saturation for an estimated saturation range of 0.1-0.44.This range is consistent with that obtained from the original well diameter curves.However,the parameters Vs andμρ,which are only related to the rock shear modulus,yield high hydrate saturation estimates of 0.22-0.43 and exhibit some deviations from the real-time data.Owing to its sensitivity,the Poisson’s ratio is least desired for hydrate evaluation among the studied parameters.The sensitivity of hydrate saturation depends on the petrophysical model used for studying hydrate physical properties and storage analysis.

Important population viability analysis parameters for giant pandas(Aliuropoda melanoleuca)

Population viability analysis(PVA)is a tool to evaluate the risk of extinction for endangered species and aid conservation decision-making.The quality of PVA output is dependent on parameters related to population dynamics and life-history;however,it has been difficult to collect this information for the giant panda(Aliuropoda melanoleuca),a rare and endangered mammal native to China,confined to some 30 fragmented habitat patches.Since giant pandas are long-lived,mature late,have lower reproductive rates,and show little sexual dimorphism,obtaining data to perform adequate PVA has been difficult.Here,we develop a parameter sensitivity index by modeling the dynamics of six giant panda populations in the Minshan Mountains,in order to determine the parameters most influential to giant panda populations.Our data shows that the giant panda populations are most sensitive to changes in four female parameters:initial breeding age,reproductive rate,mortality rate between age 0 and 1,and mortality rate of adults.The parameter sensitivity index strongly correlated with initial population size,as smaller populations were more sensitive to changes in these four variables.This model suggests that demographic parameters of females have more influence on the results of PVA,indicating that females may play a more important role in giant panda population dynamics than males.Consequently,reintroduction of female individuals to a small giant panda population should be a high priority for conservation efforts.Our findings form a technical basis for the coming program of giant panda reintroduction,and inform which parameters are crucial to successfully and feasibly monitoring wild giant panda populations.

Parameter sensitivity analyses in seismic hazard

It is stressed in this paper that the seismic hazard analysis is a complex system with multi parameters and its parameter sensitivity should be studied as a whole. We have inspected the effects of parameters continuing variation on the result and the effects of exceeding probability and upper bound magnitude of potential source on the parameter sensitivity. Some useful cognitions were got. We have overall calculated the interactions among the parameters including spatial distribution function of earthquake and suggested the concept of relative interaction. The relative interaction is not great than 10% with annual exceeding probability 2×10 -3 . The relative interaction between upper bound magnitude and annual mean rate and the one between upper bound magnitude and space distribution function are 17% and 22% respectively for potantial sources higher upper bound magnitudes in annual exceeding probability 10 -4 . It is convenient to judge whether considering the interactions in actual application. The importance and necessity of calculating the result of the probabilistic distribution are indicated. The effect of the result distribution by different parameter level weights is analyzed. The whole picture of multi parameter sensitivity is revealed. It makes necessary preparation for the reasonable uncertainty correction.

Parameter Sensitivity and Qualitative Analysis of Dynamics of Ovarian Tumor Growth Model with Treatment Strategy

In this paper, we are interested to find the most sensitive parameter, local and global stability of ovarian tumor growth model. For sensitivity analysis, we use Latin Hypercube Sampling (LHS) method to generate sample points and Partial Rank Correlation Coefficient (PRCC) method, uses those sample points to find out which parameters are important for the model. Based on our findings, we suggest some treatment strategies. We investigate the sensitivity of the parameters for tumor volume, y, cell nutrient density, Q and maximum tumor size, ymax. We also use Scatter Plot method using LHS samples to show the consistency of the results obtained by using PRCC. Moreover, we discuss the qualitative analysis of ovarian tumor growth model investigating the local and global stability.

Second-order sensitivity of eigenpairs in multiple parameter structures

This paper presents methods for computing a second-order sensitivity matrix and the Hessian matrix of eigenvalues and eigenvectors of multiple parameter structures. Second-order perturbations of eigenvalues and eigenvectors are transformed into multiple parameter forms,and the second-order perturbation sensitivity matrices of eigenvalues and eigenvectors are developed.With these formulations,the efficient methods based on the second-order Taylor expansion and second-order perturbation are obtained to estimate changes of eigenvalues and eigenvectors when the design parameters are changed. The presented method avoids direct differential operation,and thus reduces difficulty for computing the second-order sensitivity matrices of eigenpairs.A numerical example is given to demonstrate application and accuracy of the proposed method.

Three-Dimensional Analytical Modeling of Axial-Flux Permanent Magnet Drivers

In this paper, the axial-flux permanent magnet driver is modeledand analyzed in a simple and novel way under three-dimensional cylindricalcoordinates. The inherent three-dimensional characteristics of the deviceare comprehensively considered, and the governing equations are solved bysimplifying the boundary conditions. The axial magnetization of the sectorshapedpermanent magnets is accurately described in an algebraic form bythe parameters, which makes the physical meaning more explicit than thepurely mathematical expression in general series forms. The parameters of theBessel function are determined simply and the magnetic field distribution ofpermanent magnets and the air-gap is solved. Furthermore, the field solutionsare completely analytical, which provides convenience and satisfactoryaccuracy for modeling a series of electromagnetic performance parameters,such as the axial electromagnetic force density, axial electromagnetic force,and electromagnetic torque. The correctness and accuracy of the analyticalmodels are fully verified by three-dimensional finite element simulations and a15 kW prototype and the results of calculations, simulations, and experimentsunder three methods are highly consistent. The influence of several designparameters on magnetic field distribution and performance is studied and discussed.The results indicate that the modeling method proposed in this papercan calculate the magnetic field distribution and performance accurately andrapidly, which affords an important reference for the design and optimizationof axial-flux permanent magnet drivers.

Multi-Objective Optimization Analysis of Auxiliary Flux Modulator Magnetic Gear with Unequal Magnetic Poles

To enhance the output torque and minimize the torque ripple of coaxial magnetic gear(CMG),a novel auxiliary flux modulator CMG with unequal magnetic poles is proposed.This design incorporates an inner rotor with an asymmetric sector and a trapezoidal combined N-S pole structure,featuring Halbach arrays for the arrangement of permanent magnets(PMs).The outer rotor PMs adopt a Spoke-type configuration.To optimize the CMG for high output torque and low torque ripple,a sensitivity analysis is conducted to identify key size parameters that significantly influence the optimization objectives.Based on the sensitivity hierarchy of these parameters,a multi-objective optimization analysis is performed using a genetic algorithm(GA)to determine the optimal structural parameter values of the CMG.In addition,a coaxial magnetic gear(CMG)topology with 4 inner and 17 outer pole pairs is adopted,and the parametric model is established.Finally,the electromagnetic properties of the CMG are evaluated using the finite element method.The results indicate a remarkable reduction in torque ripple,specifically by 46.15%.

Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances

During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.The radical basis function（RBF）neural network model of a five-link biped robot is established,and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincar′e map.In contrast with the simulations,the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving.Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints,the response errors of the biped will be increasing with higher disturbance levels,and especially there are larger output fluctuations in the knee and hip joints of the swing leg.