Textile materials joining for application in biomechatronics. - In: Tekstil, ISSN 0492-5882, Bd. 55 (2006), 1, S. 28-30
Multicoordinate positioning system for industrial equipment design method. - In: Information technology and electrical engineering - devices and systems, materials and technologies for the future, (2006), insges. 2 S.
http://www.db-thueringen.de/servlets/DocumentServlet?id=13352
Mobile robots based on magnetizable elastic elements and ferrofluids. - In: ROMANSY 16, (2006), S. 363-370
Dynamics of controlled motion of vibration-driven systems. - In: Journal of computer and systems sciences international, ISSN 1555-6530, Bd. 45 (2006), 5, S. 831-840
http://dx.doi.org/10.1134/S1064230706050145
Development of a compliant device for minimally invasive surgery. - In: 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2006, (2006), S. 331-334
http://dx.doi.org/10.1109/IEMBS.2006.260537
High precision modular long range travel vertical axis. - In: Proceedings of the twenty-first annual meeting, (2006), S. 227-230
Modelling of locomotion systems using deformable magnetizable media. - In: Journal of physics, ISSN 1361-648X, Bd. 18.2006, 38, S. S2973-S2983
http://dx.doi.org/10.1088/0953-8984/18/38/S30
Erstellung eines Simulationsmodells zur computergestützten Untersuchung der Dynamik einer z-Achse für Nanopositionier- und Nanomessmaschinen. - In: Elektrisch-mechanische Antriebssysteme, (2006), S. 547-556
Hydraulic actuation for the navigation of a cochlear implant. - In: Actuator 2006, ISBN 978-3-933339-08-9, (2006), S. 980-984
Adaptive [lambda]-tracking for locomotion systems. - In: Robotics and autonomous systems, ISSN 1872-793X, Bd. 54 (2006), 7, S. 529-545
This paper deals with the (adaptive) control of mechanical systems, which are inspired by biological ideas. We introduce a certain type of mathematical models of worm-like locomotion systems and present some theoretical control investigations. Only discrete straight worms will be considered in this paper: chains of point masses moving along a straight line. We introduce locomotion systems in form of a straight chain of k=3 interconnected point masses, where we focus on interaction which emerges from a surface texture as asymmetric Coulomb friction. We consider two different types of drives: (i) The point masses are under the action of external forces, which can be regarded as external force control inputs. (ii) We deal with massless linear springs of fixed stiffnesses and controllable original spring lengths, which can be regarded as internal control inputs. The locomotion systems with these two types of drive mechanisms are described by mathe-matical models, which fall into the category of nonlinearly perturbed, multi-input, multi-output systems (MIMO-systems), where the outputs of the system are, for instance, the positions of the point masses or the displacements of the point masses. The goal is to simply control these systems in order to track given reference trajectories to achieve movement of the system. Because one cannot expect to have complete information about a sophisticated mechanical or biological system, but instead only structural properties are known, we deal with uncertain systems. Therefore, the method of adaptive control is chosen in this paper. Since we deal with nonlinearly perturbed MIMO-systems, we focus on the adaptive lambda-tracking control objective to achieve our goal. This means tracking of a given reference signal for any pre-specified accuracy lambda > 0. The objective is not to obtain information about the characteristics of the system or about system parameters, but simply to control the unknown system. This control objective allows us to design simple adaptive controllers, which achieve lambda-tracking. Numerical simulations of tracking different reference signals, for an arbitrary choice of the system parameters, will demonstrate and illustrate, that the introduced, simple adaptive controller works successfully and effectively.
http://dx.doi.org/10.1016/j.robot.2006.04.005