Moving like worms: without "Legs". - In: German research, ISSN 1522-2322, Bd. 29 (2007), 3, S. 24-26
http://dx.doi.org/10.1002/germ.200890005
Wie die Würmer: "beinlose" Bewegung. - In: Forschung, ISSN 1522-2357, Bd. 32 (2007), 2, S. 22-24
http://dx.doi.org/10.1002/fors.200790014
Motion of a chain of three mass points on a rough plane under kinematical constraints. - In: 9th Conference on Dynamical Systems - Theory and applications, ISBN 978-83-924382-8-1, (2007), S. 845-852
Improved gain parameter models for adaptive control of relative degree two systems. - In: 9th Conference on Dynamical Systems - Theory and applications, ISBN 978-83-924382-8-1, (2007), S. 685-692
This paper is another contribution to the adaptive control of quadratic, nonlinearly perturbed multi-input u, multi-output u, minimum phase systems with strict relative degree two. The consideration of uncertain systems leads to the use of adaptive control. The aim is to design universal adaptive controllers, which achieve a pre-specified control objective. Because almost all already existing controllers in the literature offer the same drawback (only monotonically increasing gain parameter) and with respect to limited resources in applications it is necessary to design new adaptation laws. We present simulations of gain parameter models in application to bio-inspired sensors with unknown system parameters to adaptively compensate an unknown ground excitement.
Worm-like locomotion as a problem of nonlinear dynamics. - In: Journal of theoretical and applied mechanics, ISSN 1429-2955, Bd. 45 (2007), 1, S. 179-187
Nachgiebige monolithische fluidisch angetriebene Aktuatoren mit neuartigem Verformungsverhalten. - In: Technische Mechanik, ISSN 0232-3869, Bd. 27 (2007), 1, S. 18-27
In diesem Artikel wird der Umkehreffekt, ein Verformungseffekt nachgiebiger monolithischer fluidisch angetriebener Aktuatoren, beschrieben. Nach diesem Effekt führen die im Artikel beschriebenen Aktuatoren unter steigendem Hohlraumdruck eine Umkehr ihrer Bewegung aus. Darausfolgend bieten diese mehrere Vorteile im Vergleich zu konventionellen Aktuatoren. Es werden prinzipielle Realisierungsmöglichkeiten und charakteristische Merkmale derartiger Aktuatoren anhand mehrerer Strukturvarianten betrachtet. Der Umkehreffekt wird analytisch und numerisch untersucht, sowie experimentell bestätigt.
On the stability behaviour of elastic beams under internal pressure. - In: Journal of theoretical and applied mechanics, ISSN 1429-2955, Bd. 45 (2007), 1, S. 161-169
Scientific reception of the term "stability" stresses steady adaptation to its changing fields of application. Nevertheless, the determination of critical forces remains one of the main tasks of stability theories. We exemplify some classes of the stability loss in beams under internal pressure for the static case. Additionally, we analyse in more detail the dynamic stability of beams under internal pressure and demonstrate means to keep an equilibrium.
Entwurf einer bahngeführten Positionierung als Basis der Lokomotion omnidirektionaler Roboter. - In: Autonome mobile Systeme 2007, ISBN 978-3-540-74763-5, (2007), S. 64-67
Straight chains of interconnected mass points under the action of non-symmetric dry friction. - In: Proceedings in applied mathematics and mechanics, ISSN 1617-7061, Bd. 7 (2007), 1, S. 4010011-4010012
http://dx.doi.org/10.1002/pamm.200700594
Locomotion based on the control of the shape of magnetic fluid surfaces and of magnetizable media. - In: Proceedings in applied mathematics and mechanics, ISSN 1617-7061, Bd. 7 (2007), 1, S. 4140003-4140004
The realization of locomotion based on the deformation of a free surface of magnetic fluid layer in a traveling magnetic field is studied. A plane flow of an incompressible viscous magnetic fluid layer on a horizontal surface in a nonuniform magnetic field and a plane two-layers flow of incompressible viscous magnetic fluids between two parallel solid planes in a magnetic field is considered. Also the flow of an incompressible viscous magnetic fluid layer on a cylinder in a nonuniform magnetic field is an object of invesitgation. The deformation an the motion of a body made by a magnetizable polymer in an alternating magnetic field are experimentally studied. The cylindrical body (worm) which is located in a cylindrical tube is analyzed. These effects can be used in designing autonomous mobile robots without a hard cover. Such robots can be employed in clinical practice and biological investigations.
http://dx.doi.org/10.1002/pamm.200700323