Fig. 2: A representative phase portrait of a single factory cell’s response with the product (orange) and factory (blue) nullclines, and a single non-zero equilibrium (red star) with parameters of G = K = I = C = 1.0, D = 0.01, and R = 1.5. | npj Robotics

Fig. 2: A representative phase portrait of a single factory cell’s response with the product (orange) and factory (blue) nullclines, and a single non-zero equilibrium (red star) with parameters of G = K = I = C = 1.0, D = 0.01, and R = 1.5.

From: Cellular plasticity model for self-organized phenotypes in multi-cellular robots

Fig. 2

Plim describes the limit product level as the product nullcline approaches infinity, while P∞ describes the factory nullcline asymptote. The inward direction of the phase portrait signifies a stable non-zero equilibrium.

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