Bi-stability of the deformation of a body with a magnetizable elastomer in a magnetic field. - In: Magnetohydrodynamics, ISSN 0024-998X, Bd. 52 (2016), 3, S. 357-368
Sensitivity analysis on cochlear implants with fluid actuation. - In: Biomedical engineering, ISSN 1862-278X, Bd. 61 (2016), S1, Seite S228
Enthalten in: Track T, Modelling and Simulation - Cardio Technology, ID: T-PP-07
https://doi.org/10.1515/bmt-2016-5018
Spherical mobile robot based on a tensegrity structure with curved compressed members. - In: 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), ISBN 978-1-5090-2065-2, (2016), S. 1509-1514
The use of mechanically compliant tensegrity structures in mobile robots is an attractive research topic. This paper describes a new concept for rolling locomotion of mobile robots based on tensegrity structures. In particular, an untethered locomotion system based on a simple tensegrity structure, consisting of two rigid disconnected compressed curved members connected to a continuous net of twelve prestressed tensioned members with pronounced elasticity, is considered. The locomotion is induced by the movement of two internal masses. The working principle of the system is discussed with the help of kinematic considerations and verified with experimental tests.
http://dx.doi.org/10.1109/AIM.2016.7576984
Modular multipin electrodes for comfortable dry EEG. - In: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), ISBN 978-1-4577-0220-4, (2016), S. 5705-5708
http://dx.doi.org/10.1109/EMBC.2016.7592022
Messung und Beurteilung der Schwingungsbelastung durch Ganz-Körper-Schwingungen - eine Anleitung zur Nutzung von VDI 2057-1 und ISO 2631-5 mit Gegenüberstellung der Ergebnisse am Beispiel. - In: Prävention von arbeitsbedingten Gesundheitsgefahren und Erkrankungen, (2016), S. 345-352
Täglich ist der Mensch Schwingungen ausgesetzt. Die Normen ISO 2631-5 und VDI 2057-1 haben den Anspruch, standardisierte Mess- und Auswertungsmethoden bereitzustellen, um das Gefährdungspotential solcher mechanischen Einwirkungen einschätzen zu können. Jedoch ist ihre Anwendung nicht trivial. Besonders die Signalaufnahme, -umrechnung und -auswertung erfordern Expertenwissen. In diesem Artikel werden, die in den Normen beschriebenen Vorgehensweisen zur Gefährdungseinschätzung von Ganz-Körper-Schwingungen erläutert, exemplarisch durchgeführt und die Ergebnisse verglichen. Als Beispiel dient ein Proband in einem elektrischen Rollstuhl. Messaufbau, Umrechnungen des Messsignals und die Bewertung der Gefährdung werden dargestellt. Es wird gezeigt, welche Einflüsse die verschiedenen zeitlichen Einwirkungsparameter auf die Berechnungsergebnisse haben. Es kann zusammengefasst werden, dass durch Anwendung der Normen nur unzureichende Prognosen für die Prävention von arbeitsbedingten Gesundheitsgefahren getroffen werden können, da die individuellen Eigenschaften der Probanden nicht berücksichtigt werden. Die Normen haben unterschiedliche Anwendungsbereiche und führen zu verschiedenen Gefährdungsbeurteilungen für ein und dieselbe Schwingungsbelastung.
The dynamical behavior of a spherical pendulum in a ferrofluid volume influenced by a magnetic force. - In: Archive of applied mechanics, ISSN 1432-0681, Bd. 86 (2016), 9, S. 1591-1603
The paper deals with a spherical pendulum inside a spherical ferrofluid volume in the presence of an uniform magnetic field. The problem is motivated by biological tactile sensors of mammals. These thin long hairs, called vibrissae, grow from a special follicle incorporating a capsule of blood and are used by mammals for exploration of the surrounding area. We propose a continuum model of the viscoelastic support of a vibrissa inside the follicle as a spherical volume filled with ferrofluid. It is a stable colloidal suspension of nanoscale ferromagnetic particles in a viscous carrier liquid. The tactile hair is modeled as a rigid rod with a spherical body at the end, which is submerged inside the ferrofluid. Using analytic expressions for the magnetic force acting on a paramagnetic body in the presence of an uniform magnetic field, Euler's equations of motion of the spherical pendulum are derived. The conditions for the maximum possible magnitude of the magnetic force acting on the body are analyzed. It is shown that the dynamical behavior of the pendulum may be controlled by means of an uniform applied magnetic field. The results are important for the development of artificial tactile sensors.
http://dx.doi.org/10.1007/s00419-016-1137-5
Vibrochody v robototechnike roja - novye podchody v modelirovanii i razvitii agenta :
Bristlebots in swarm robotics - new approaches in modeling and agent development. - In: Vibracionnye technologii, mechatronika i upravljaemye mašiny, ISBN 978-5-7681-1116-8, (2016), S. 75-84
Bristlebots are vibration-driven mobile robots. They are characterized by small size, high speed, simple design and low costs of production and application, which are advantageous qualities for agents of swarm robotic systems. In this paper, new approaches in modeling and development of swarm agents are given. It is shown that a simple mass point model can be used to simulate the motion behavior of a bristlebot as complex as necessary for swarm studies. A robot prototype is presented, which has on-board everything needed as a robotic agent. The results of simulations and experiments are presented and compared.
Increasing the stroke of an ultra-precise compliant mechanism with optimised flexure hinge contours. - In: Proceedings of the 16th International Conference of the European Society for Precision Engineering and Nanotechnology, ISBN 978-0-9566790-8-6, (2016), S. 487-488
This paper presents the investigations of the influences of the flexure hinges contours in compliant linkage mechanisms for precision engineering applications. Especially the influence on the precision of the path of motion and the stroke of the compliant mechanism is reflected. Based on previous investigations on optimised single flexure hinges [1] the validity of the proposed guidelines is analysed for an interconnection of flexure hinges in one mechanism. A parallel crank mechanism is used as an example for such a compliant rectilinear guiding mechanism. The parameters of the approximated linear motion are compared for the rigid-body model, compliant analytic model, FEM simulation models and measurements on manufactured prototypes.
Enabling autonomous locomotion into sand - a mobile and modular drilling robot. - In: Robotics in the era of digitalisation, (2016), S. 307-312
Established robots for locomotion into sandy soil are dominated by hammering systems. In this paper, we study an alternative design using a screw-driven mechanism. A testbed to find an efficient design is developed. Dependencies between velocity, drilling torque and depth are measured for different screw prototypes. The results show that the design of the screw is critical for the creation of fast and efficient mobile robots. Based on the experimental results, a prototype of an autonomous drilling robot is designed. With a torque of 0.66 Nm it is able to reach a depth of 20 cm within 2 min.
Mechanics of mobile robots with mecanum wheels. - In: ROMANSY 21 - Robot design, dynamics and control, (2016), S. 103-111