Wissenschaftliche Veröffentlichungen ohne Studienabschlussarbeiten

Zentner, Lena; Böhm, Valter; Zimmermann, Klaus; Huba, Antal
Ein Beitrag zu nichtkonventionellen fluidisch angetriebenen monolithischen nachgiebigen Aktoren. - In: Maschinenbau von Makro bis Nano, 2005, [07.01], insges. 9 S.

http://www.db-thueringen.de/servlets/DocumentServlet?id=17642

Ahranovich, Aliaksandr; Zimmermann, Klaus; Karpovich, Svyatoslav
Investigating the ability of holonomic automatic systems' dynamics control. - In: Maschinenbau von Makro bis Nano, 2005, [03.3.02], insges. 12 S.

http://www.db-thueringen.de/servlets/DocumentServlet?id=17146

Meier, Petra; Lang, Michael; Oberthür, Siegfried
Reiterated tension testing of silicone elastomer. - In: Plastics, rubber and composites, ISSN 1743-2898, Bd. 34 (2005), 8, S. 372-377

A peristaltically actuated device, PADeMIS, composed of silicone rubber (SR) is under development for use in minimally invasive surgery. During locomotion, the device will be subject to a few thousand load changes involving varying, sometimes high, strains. The design is being optimised by finite element analysis, for which a constitutive law for the mechnical behaviour of silicone rubber is required. Uniaxial and biaxial tension tests have been performed on specimens of used silicon rubber. Synchronous fittign of uniaxial and biaxial tensile data gives significantly better results than using uniaxial or biaxial results alone to derive constitutve laws. The mechnical properties of SR were found to change from loading to loading up to few thousand cycles. Hence, simulating the deformation of SR structures is problematic. Furthermore, variability was observed between batches of SR.

http://dx.doi.org/10.1179/174328905X59737

Behn, Carsten;
Adaptive [lambda]-tracking and stabilization for relative degree two systems. - In: 8th Conference on Dynamical Systems - Theory and Applications, (2005), S. 467-474

A wide range of control theory deals with the problem that, for a known system, a controller has to be designed in order that the feedback system achieves the prespecified control objective like stabilization or tracking. The fundamental difference between this approach and that of adaptive control (in this paper) is that the system is not known exactly, only structural information about the system, like the relative degree or the minimum phase condition, is available. We consider nonlinearly perturbed multi-input u, multi-output y, minimum phase systems with strict relative degree two. We suppose for the analysis of these systems, that they are not known precisely. Therefore, the adaptive control law has to be designed so that the controller learns from the behaviour of the system, and based on this information, it adjusts its parameters. The objective is not to obtain information about the system, but simply to control the unknown system, where we use the high-gain property of this system, see Ilchmann 1991. This approach is called non-identifier-based high-gain adaptive control in the literature, see Ilchmann 1993. Since this paper deals with nonlinearly perturbed multi-input, multi-output systems, which are not necessary autonomous, particular attention is paid to the adaptive lambda-tracking control objective. This means, that the output of the system should stay close to (track) a given reference signal (absolutely continuous and bounded with bounded derivatives up to order two), where a prespecified small tracking error of size lambda is tolerated. The goal is achieved by the so-called lambda-tracker. This controller is simple in its design, relies only on structural properties of the system (and not on the system's parameters) and does not invoke any estimation or identification mechanism. It only consists of a feedback strategy and a simple parameter adaptation law, and, moreover, does not have to depend on the derivative of the output of the system. This controller which includes a dynamic compensator is due to a controller of Miller and Davison (1991). The system class is more general and the controller is much more simpler than the introduced and considered one in Ye (1999). It is proved that using this controller lambda-tracking and stabilization can be achieved for the considered nonlinearly perturbed systems with unknown parameters, see Behn (2005). The feedback strategy reduces in dimension (the number of used variables calculated by internal differential equations) if we restrict the class of systems to single-input, single-output systems with the centre of the zeros in the open left-half complex plane.

Zeidis, Igor; Zimmermann, Klaus; Zimmermann, Klaus *1956-*; Pivovarov, Mikhail
Dynamics of a nonlinear oscillator in consideration of non-symmetric Coulomb dry friction. - In: Book of abstracts, (2005), S. 308