Various adaptive control strategies applied to a bio-inspired receptor model. - In: Innovation in mechanical engineering - shaping the future, (2011), insges. 19 S.
http://www.db-thueringen.de/servlets/DocumentServlet?id=19627
An approach to compliant locomotion systems based on tensegrity structures. - In: Innovation in mechanical engineering - shaping the future, (2011), insges. 6 S.
http://www.db-thueringen.de/servlets/DocumentServlet?id=19716
Analytical solution of a peristaltic material transport of a magnetizable fluid. - In: Electro-rheological fluids and magneto-rheological suspensions, ISBN 978-981-4340-22-9, (2011), S. 492-498
In this contribution the effective material transport, i. e. the non-zero averaged flow, solely induced by a periodically perturbed free fluid surface, is analytically described and solved. As the fluid is magnetizable the source of the perturbance is a periodically alternating magnetic field. This represents the inverse problem of [1], where, starting from a known flow and surface distortion, the causative magnetic field is determind.
Motion of a ferrofluid in a periodic magnetic field due to surface deformation. - In: Proceedings in applied mathematics and mechanics, ISSN 1617-7061, Bd. 11 (2011), 1, S. 665-666
http://dx.doi.org/10.1002/pamm.201110322
Adaptive control of straight worms without derivative measurement. - In: Multibody system dynamics, ISSN 1573-272X, Bd. 26 (2011), 3, S. 213-243
In this paper we consider an adaptive control problem of finite DoF worm-like locomotion systems (WLLS) which contact the ground with Coulomb dry friction. Using a rough mathematical friction law the system is shown to belong to a system class that allows adaptive control. Gaits from the kinematic theory can be tracked by means of adaptive controllers. For this we introduce two different adaptive controllers for [lambda]-tracking and focus on that one which is not based on the derivative of the output.We pay attention to the analysis of such systems and present some theoretical control investigations including proofs. Numerical simulations of tracking different reference signals under arbitrary choice of the system parameters demonstrate and illustrate that the introduced simple adaptive controllers work successfully and effectively. Current experiments are aimed at the justification of theoretical results.
http://dx.doi.org/10.1007/s11044-011-9250-2
Modellbildung und Simulation der großen Deformationen menschlicher Weichteile beim Sitzen. - Ilmenau : Univ.-Verl. Ilmenau, 2011. - Online-Ressource (PDF-Datei: 174 S., 2,70 MB) : Ilmenau, Techn. Univ., Diss., 2010
Enth. außerdem: Thesen
Im Rahmen dieser Arbeit wurde ein FE-Modell des menschlichen Weichteilgewebes entworfen, das den Anforderungen entspricht, die sich aus dem Entwurf ergonomischer Sitzsysteme ergeben. Das Modell des Weichteilgewebes wurde in das Menschmodell DYNAMICUS integriert und mit RAMSIS-Daten anthropometrisch parametrisiert. Dazu wurde das Mehrkörpersimulationswerkzeug alaska um eine nichtlineare FE-Schnittstelle erweitert. Auf der Grundlage von Messungen der Druckverteilungen und der Schwingungsübertragungen wurde ein transparentes Verfahren entworfen, um viskoelastische Materialparameter des menschlichen Körpers bei vernachlässigbarer gesundheitlicher Belastung durch Parameteroptimierung zu ermitteln. Das dazu verwendete Verfahren ist schlank und gut dokumentiert. Damit kann es auch für beliebige Haltungen und Probanden angewendet werden. Da bei diesem Verfahren statistische Parameter eine zentrale Rolle spielen, ist es roboust gegenüber Änderungen der Modellaufl ösung, der Modellierungstiefe und quantitativer Versuchsbedingungen. Zu diesen quantitativen Versuchsbedingungen gehören die Auflösung der Druckmessmatten, die Messzeit, die Amplitude der Anregung und die Abtastrate der Beschleunigungsmessungen. Für statische und dynamische Untersuchungen wurde in dieser Arbeit dasselbe Modell verwendet, das mit vertretbarem Aufwand anthropometrisch skalierbar ist. Dieses Modell ist damit einfacher und schneller anzuwenden als für ähnliche Anwendungen bereits vorliegende Lösungen.
http://www.db-thueringen.de/servlets/DocumentServlet?id=18176
Adaptive control of vibrissae-like mechanical sensors. - In: Communications in nonlinear science and numerical simulation, ISSN 1007-5704, Bd. 16 (2011), 5, S. 2254-2264
This paper is a contribution to the modeling and the adaptive control of bio-inspired sensors which have the animal vibrissae as a paradigm. Mice and rats employ a sophisticated tactile sensory system to explore their environment in addition to their visual and auditory sense. Vibrissae in the mystical pad (region around the mouth) are used both passively to sense environmental influences (wind, objects) and actively to detect surface and object structures. Inspired by this particular version of tactile sense we consider the following three stages of a sensory system: perception, transduction and processing of information. We model this system in combining two existing mechanical models and obtain an uncertain nonlinear control system. An applied adaptive controller implements the ability of the animals to employ their vibrissae actively as well as passively. Numerical simulations show that the developed nonlinear model compensates noise signals and reacts strongly to sudden perturbations while guaranteeing a pre-specified control objective (working in active or passive mode).
http://dx.doi.org/10.1016/j.cnsns.2010.04.049
Gait generation considering dynamics for artificial segmented worms. - In: Robotics and autonomous systems, ISSN 1872-793X, Bd. 59 (2011), 7/8, S. 555-562
This paper deals with terrestrial worm-like locomotion systems living in a straight line. They are modeled as chains of mass points having ground interaction via spikes which make the velocities unidirectional. A method is presented to construct gaits with any desired time pattern of resting mass points (which are acted on by the propulsive forces). Taking the dynamics into consideration, conclusions about the choice and shift of gaits in connection with actuator data are given.
http://dx.doi.org/10.1016/j.robot.2011.04.002
Simulation of vibrational piezoelectric actuators of the micro-robot using the finite element method. - In: Journal of vibroengineering, ISSN 1392-8716, Bd. 12 (2010), 3, S. 314-319
A new piezo-driven micro robot using forced vibration of continua. - In: Novye napravlenija razvitija priborostroenija, ISBN 978-985-525369-4, (2010), S. 91