Ein Beitrag zur Schwingungsanalyse an Nanopositionier- und Nanomessmaschinen unter Berücksichtigung von nichtlinearen Reibungsmodellen - nichtsymmetrisches Stribeck-Modell. - In: Technische Mechanik, ISSN 0232-3869, Bd. 27 (2007), 2, S. 81-93
Worm-like locomotion systems (WLLS) - theory, control and prototypes. - In: Climbing & walking robots, ISBN 978-3-902613-16-5, (2007), S. 429-456
On the progress of standardization of mechanism and machine science terminology. - In: Twelfth World Congress in Mechanism and Machine Science, (2007), insges. 4 S.
Worm-like locomotion systems at the TU Ilmenau. - In: Twelfth World Congress in Mechanism and Machine Science, (2007), insges. 6 S.
In this paper we introduce the theory in designing of worm-like locomotion systems (WLLS) at the TU Ilmenau. For this, we present a certain type of mathematical models of WLLS and sketch the corresponding theory. Gaits from this theory can be tracked by means of adaptive controllers. Current experiments are aimed at the justification of theoretical results.
Biologically inspired locomotion systems - improved models for friction and adaptive control. - In: Multibody dynamics 2007, (2007), insges. 20 S.
In this paper we consider finite DOF worm-like locomotion systems which contact the ground with Couloumb dry friction. Using both a rough and an improved mathematical friction law the system is shown to belong to a system class that allows adaptive control. Two different controllers for lambda-tracking are presented and used in simulations.
Reduced method for dynamic equations of motion of a flexible worm in a tube. - In: Proceedings, (2007), Seite VI-33-VI-36
The paper presents an analytical method for derivation of the dynamic equations of motion of a continuous body with distributed parameters. So called reduced method is implemented to a worm motion in a tube. The method neglects less important degrees of freedom of the object. Final results of worm motion, as well as all necessary formulation and explanations are available.
Adaptive tracking of gaits for worm-like locomotion systems. - In: Proceedings, (2007), Seite VI-29-VI-32
This paper is another contribution to the (adaptive) control of a mechanical system, which is inspired by biological ideas (earthworm as a living prototype). We introduce a certain type of a mathematical model of a worm-like locomotion system (WLLS), sketch the corresponding theory, and present numerical simulations. The investigations are aimed at 1) gaining insight into how such systems move, 2) finding kinematic gaits, which can be tracked dynamically by means of adaptive [lambda]-trackers, and 3) finding hints for implementation as a hardware object (artificial worm).
Adaptive [lambda]-tracking-control for relative degree two systems with application to bio-inspired sensors. - In: Nonlinear dynamics, ISSN 1573-269X, Bd. 50 (2007), 4, S. 817-828
This paper deals with the (adaptive) control of a sensory system, which is inspired by biological ideas concerning the behaviour of a tactile hair or sensillum. The cells for reception of vibrations adjust their sensibility to a continuing excitement, such that this permanent excitation of the whole system tends to the rest position. Hence, this biological paradigm demonstrates a fundamental principle: adaption. In general, one cannot expect to have complete information about a sophisticated mechanical or biological system, but instead only structural properties (e.g. minimum phase condition, strict relative degree) are known. Therefore, the method of adaptive control is chosen in this paper. The aim is to design a universal adaptive controller, which learns from the behaviour of the system, so automatically adjusts its parameters and achieves a pre-specified control objective. Since we deal with a nonlinearly perturbed multi-input, multi-output system, which is not necessarily autonomous, particular attention is paid to the lambda-tracking control objective. Simple adaptive servomechanisms, which achieve tracking of a given reference signal for any pre-specified accuracy (tracking-error) lambda, are introduced. We stress that the introduced adaptive controllers consist of very simple feedback mechanisms and adaptation rules. These controllers are only based on information about the output of the system - no knowledge of system parameters is required.
https://doi.org/10.1007/s11071-007-9227-0
Simulating the dynamics of nanopositioning and nanomeasuring machines using methods of multi-body system dynamics. - In: Book of Abstracts, (2007), S. 77
Simulating the dynamics of nanopositioning and nanomeasuring machines using methods of multi-body system dynamics. - In: Full papers, (2007), insges. 6 S.