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Univ.-Prof. Dr.-Ing. habil. Klaus Zimmermann

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Nunuparov, Armen; Becker, Felix; Bolotnik, Nikolai N.; Zeidis, Igor; Zimmermann, Klaus;
Dynamics and motion control of a capsule robot with an opposing spring. - In: Archive of applied mechanics : (Ingenieur-Archiv). - Berlin : Springer, ISSN 1432-0681, Bd. 89 (2019), 10, S. 2193-2208

https://doi.org/10.1007/s00419-019-01571-8
Scharff, Moritz; Schorr, Philipp; Becker, Tatiana; Resagk, Christian; Alencastre Miranda, Jorge H.; Behn, Carsten;
An artificial vibrissa-like sensor for detection of flows. - In: Sensors - Basel : MDPI, ISSN 1424-8220, Volume 19 (2019), issue 18, 3892, Seite 1-16

n nature, there are several examples of sophisticated sensory systems to sense flows, e.g., the vibrissae of mammals. Seals can detect the flow of their prey, and rats are able to perceive the flow of surrounding air. The vibrissae are arranged around muzzle of an animal. A vibrissa consists of two major components: a shaft (infector) and a follicle-sinus complex (receptor), whereby the base of the shaft is supported by the follicle-sinus complex. The vibrissa shaft collects and transmits stimuli, e.g., flows, while the follicle-sinus complex transduces them for further processing. Beside detecting flows, the animals can also recognize the size of an object or determine the surface texture. Here, the combination of these functionalities in a single sensory system serves as paragon for artificial tactile sensors. The detection of flows becomes important regarding the measurement of flow characteristics, e.g., velocity, as well as the influence of the sensor during the scanning of objects. These aspects are closely related to each other, but, how can the characteristics of flow be represented by the signals at the base of a vibrissa shaft or by an artificial vibrissa-like sensor respectively? In this work, the structure of a natural vibrissa shaft is simplified to a slender, cylindrical/tapered elastic beam. The model is analyzed in simulation and experiment in order to identify the necessary observables to evaluate flows based on the quasi-static large deflection of the sensor shaft inside a steady, non-uniform, laminar, in-compressible flow.



https://doi.org/10.3390/s19183892
Merker, Lukas; Steigenberger, Joachim; Behn, Carsten;
3D recognition of obstacles using a vibrissa-like tactile sensor. - In: IEEE Xplore digital library - New York, NY : IEEE, (2019), insges. 3 S.

https://doi.org/10.1109/FLEPS.2019.8792255
Schorr, Philipp; Böhm, Valter; Stépán, Gábor; Zentner, Lena; Zimmermann, Klaus;
Multi-mode motion system based on a multistable tensegrity structure. - In: - Cham : Springer, (2019), S. 3007-3016

Scharff, Moritz; Alencastre, Jorge H.; Behn, Carsten;
Detection of surface texture with an artificial tactile sensor. - In: Interdisciplinary applications of kinematics - Cham : Springer, (2019), S. 43-50

Chavez Vega, Jhohan; Scharff, Moritz; Helbig, Thomas; Alencastre, Jorge H.; Böhm, Valter; Behn, Carsten;
Analysis of the dynamic behavior of beams supported by a visco-elastic foundation in context to natural vibrissa. - In: Interdisciplinary applications of kinematics - Cham : Springer, (2019), S. 51-59

Nunuparov, Armen; Becker, Felix; Bolotnik, Nikolai N.; Zeidis, Igor; Zimmermann, Klaus;
Dynamics and motion control of a capsule robot with an opposing spring. - In: Archive of applied mechanics : (Ingenieur-Archiv). - Berlin : Springer, ISSN 1432-0681, First Online: 11 June 2019

Non-classical locomotion systems have the perspective for a wide application in the vast fields of bio-medical and maintenance technology. Capsule bots are small, simple, and reliable realizations with a great potential for practical application. In this paper, the motion of a capsule-type mobile robot along a straight line on a rough horizontal plane is studied applying analytical and experimental methods. The robot consists of a housing and an internal body attached to the housing by a spring. The motion of the system is generated by a force that acts between the housing and the internal body and changes periodically in a pulse-width mode. The average velocity of the motion of the robot is studied as a function of the excitation parameters. The results from the model-based and experimental investigations agree with each other. It can be concluded that the presented robot design can be a basis for the creation of mobile robotic systems with locomotion properties that can be controlled by the parameters of a periodic actuation force.



https://doi.org/10.1007/s00419-019-01571-8
Merker, Lukas; Scharff, Moritz; Behn, Carsten;
Approach to the dynamical scanning of object contours using tactile sensors. - In: Proceedings, 2019 IEEE International Conference on Mechatronics (ICM) : Humboldt Building, TU Ilmenau, Ilmenau, Germany, 18-20 March, 2019. - Piscataway, NJ : IEEE, (2019), S. 364-369

https://doi.org/10.1109/ICMECH.2019.8722882
Chavez Vega, Jhohan; Schorr, Philipp; Scharff, Moritz; Schale, Florian; Böhm, Valter; Zimmermann, Klaus;
Towards magneto-sensitive elastomers based end-effectors for gripping application technologies. - In: Proceedings, 2019 IEEE International Conference on Mechatronics (ICM) : Humboldt Building, TU Ilmenau, Ilmenau, Germany, 18-20 March, 2019. - Piscataway, NJ : IEEE, (2019), S. 217-222

https://doi.org/10.1109/ICMECH.2019.8722922
Merkulov, Dmitri I.; Pelevina, Daria A.; Turkov, Vladimir A.; Becker, Tatiana; Naletova, Vera A.;
Experimental research of the multistability of bodies with magnetizable elastomer. - In: Magnetohydrodynamics - Salaspils : Inst. of Physics, Univ. of Latvia, ISSN 0024-998x, Bd. 55 (2019), 1/2, S. 125-132