Rectilinear motion of a two-mass point system in a resistive medium. - In: 23rd International Congress of Theoretical and Applied Mechanics, 2012, SM16-030, insges. 2 S.
Model of a thin rod with viscoelastic magnetizable material in the alternating magnetic field. - In: Solid state phenomena, ISSN 1662-9779, Bd. 190 (2012), S. 629-632
http://dx.doi.org/10.4028/www.scientific.net/SSP.190.629
Adaptive versus fuzzy control of uncertain mechanical systems. - In: International journal of applied mechanics, ISSN 1758-826X, Bd. 4.2012, 2, 1250019, insges. 28 S.
The motivation of this work is formed by the biological behavior of a receptor cell (sensory system). It is modeled as a spring-mass-damper oscillator with a spatial disturbance signal acting on the frame and an inner active element that generates a force acting on the mass. Both the system parameters and the excitation signal are supposed to be unknown. The goal is to achieve a predefined movement of the mass, such as tracking a set point trajectory or stabilization. Thus, a controller is required to act on the system using the control force as input in such a way that the desired behavior is generated. This is done by means of high-gain-stabilization. Like its biological paradigm, the receptor is in a permanent state of adaption. This means that recurring disturbances, such as wind acting on the vibrissa, are damped in order to achieve lambda-stabilization. To achieve this control goal and at the same time deal with unknown systems, adaptive controllers are introduced. These adaptive control strategies are compared with an adaptive fuzzy approach.
http://dx.doi.org/10.1142/S1758825112500196
Automatic stabilization of the translational motion of a microrobot. - Ilmenau : ilmedia. - Online-Ressource (PDF-Datei: 6 S., 301 KB)Publ. entstand im Rahmen der Veranst.: 56th IWK, International Scientific Colloquium, Ilmenau University of Technology, 12 - 16 September 2011 / Faculty of Mechanical Engineering, Ilmenau University of Technology
The analog motion control of a microrobot with feedback requires a more complicated structure due to the corresponding sensors, microprocessors and actuators. Application of the digital control system allows the use of a control algorithm, such as the autopilot, without feedback, which allows us to simplify the system. We consider the stabilization of the motion of the microrobot on a horizontal surface along the given motion trajectory. Minimization of the deviation angle of the robots axis from the tangent to the motion trajectory is a criterion for quality control and can be implemented by the digital device with a hysteresis characteristic.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2012200203
A mobile vibro-robot for locomotion through pipelines. - Ilmenau : ilmedia. - Online-Ressource (PDF-Datei: 4 S., 1,01 MB)Publ. entstand im Rahmen der Veranst.: 56th IWK, International Scientific Colloquium, Ilmenau University of Technology, 12 - 16 September 2011 / Faculty of Mechanical Engineering, Ilmenau University of Technology
The subject of our work is the creation of different designs of mobile robots for the movement through pipelines and similar technical systems. Using the transversal vibrations of an elastic bristle body, allows us to develop a new crawling vibro-robot. The motion is mainly realized by anisotropic friction forces. For the design process, we use the well-known construction principle of combination of alternative systems. It enables the transfer of structural characteristics (i.e. its kinematics) from one object to another, leading to new desirable characteristics or optimisations of existing technical objects. An analytical model of the motion of the bristles is presented.
http://nbn-resolving.de/urn:nbn:de:gbv:ilm1-2012200199
Possibility of application of small-size robots with vibratory piezoelectric actuators for inspection of physical state of surfaces. - In: AIP conference proceedings, ISSN 1551-7616, Bd. 1433 (2012), S. 685-688
http://dx.doi.org/10.1063/1.3703275
Theoretical and experimental investigations of amoeboid movement and first steps of technical realisation. - In: Nature-inspired fluid mechanics, (2012), S. 3-23
Worm-like locomotion systems : an intermediate theoretical approach. - München : Oldenbourg, 2012. - XII, 195 S. ISBN 3-486-71304-3
Literaturverz. S. [187] - 190
The book in hand grew out of the authors' current research and their long-continued experience in teaching mathematics and mechanics. In a wide sense, it aims at mathematical modeling of mechanical objects and their exploitation. This is done in a bit unconventional way by concentrating on the special object class worm-like locomotion systems and in proceeding with no use of recent sophisticated mathematical tools which most likely cannot be handled by freshmen in engineering or mathematics. Nevertheless, this does not harm the stringent line the physical object to the analytical interpretation of the final mathematical model. The basic model spiked worm in a straight line enables the authors to come up with a fairly self-contained theory which then allows one to study effects of friction and control. The considered system class has its importance in practice (motion in narrow canals, e.g.), but this book is not with an orientation to design and application, the theory developed here should rather be seen as a contribution to bionics.
Structural characterization of the whisker system of the rat. - In: IEEE sensors journal, ISSN 1558-1748, Bd. 12 (2012), 2, S. 332-339
https://doi.org/10.1109/JSEN.2011.2161464
Behavior of a free surface of a magnetic fluid containing a magnetizable cylinder. - In: Journal of magnetism and magnetic materials, ISSN 1873-4766, Bd. 324 (2012), 6, S. 1253-1257
http://dx.doi.org/10.1016/j.jmmm.2011.11.029