Scientific publications without theses

Results: 828
Created on: Tue, 11 Jun 2024 23:29:06 +0200 in 0.1039 sec


Scharff, Moritz; Darnieder, Maximilian; Steigenberger, Joachim; Behn, Carsten
Towards the development of tactile sensors for determination of static friction coefficient to surfaces. - In: Microactuators and Micromechanisms, (2017), S. 39-48

http://dx.doi.org/10.1007/978-3-319-45387-3_4
Becker, Felix; Lysenko, Victor; Minchenya, Vladimir T.; Kunze, Oliver; Zimmermann, Klaus
Locomotion principles for microrobots based on vibrations. - In: Microactuators and Micromechanisms, (2017), S. 91-102

http://dx.doi.org/10.1007/978-3-319-45387-3_9
Sumi, Susanne; Böhm, Valter; Schale, Florian; Roeder, Richard; Karguth, Andreas; Zimmermann, Klaus
A novel gripper based on a compliant multistable tensegrity mechanism. - In: Microactuators and Micromechanisms, (2017), S. 115-126

http://dx.doi.org/10.1007/978-3-319-45387-3_11
Gräser, Philipp; Linß, Sebastian; Zentner, Lena; Theska, René
Design and experimental characterization of a flexure hinge-based parallel four-bar mechanism for precision guides. - In: Microactuators and Micromechanisms, (2017), S. 139-152

http://dx.doi.org/10.1007/978-3-319-45387-3_13
Pollok, Fabian; Mandach, Christoph; Griebel, Stefan; Böhm, Valter; Zentner, Lena
Investigation of the Novelty brackets "Gold-S". - In: Microactuators and Micromechanisms, (2017), S. 199-211

http://dx.doi.org/10.1007/978-3-319-45387-3_18
Milojeviâc, Andrija; Pavloviâc, Nenad; Linß, Sebastian; Tomiâc, Miša; Pavloviâc, Nenad T.; Handroos, Heikki
A concept of adaptive two finger gripper with embedded actuators. - In: Microactuators and Micromechanisms, (2017), S. 239-250

http://dx.doi.org/10.1007/978-3-319-45387-3_21
Hügl, Silke; Eckardt, Franziska; Lexow, G. Jakob; Majdani, Omid; Lenarz, Thomas; Rau, Thomas S.
Increasing the resolution of morphological 3D image data sets through image stitching: application to the temporal bone. - In: Computer methods in biomechanics and biomedical engineering, ISSN 2168-1171, Bd. 5 (2017), 6, S. 438-445

http://dx.doi.org/10.1080/21681163.2015.1137080
Scharff, Moritz; Behn, Carsten; Steigenberger, Joachim; Alencastre, Jorge
Towards the development of tactile sensors for surface texture detection. - In: InfoWare 2016, ISBN 978-1-61208-066-6, (2016), S. 33-38

Behn, Carsten; Steigenberger, Joachim; Sauter, Anton; Will, Christoph
Pre-curved beams as technical tactile sensors for object shape recognition. - In: InfoWare 2016, ISBN 978-1-61208-066-6, (2016), S. 7-12

Recent research topics in bionics focus on the analysis and synthesis of animal spatial perception of their environment by means of their tactile sensory organs: vibrissae and their follicles. Using the vibrissae, these mammals (e.g., rats) are able to determine an obstacle shape using only a few contacts of the vibrissa with the object. The investigations lead to the task of creating models and a stringent exploitation of these models in form of analytical and numerical calculations to achieve a better understanding of this sense. The sensing lever element vibrissa for the stimulus transmission is frequently modeled as an EulerBernoulli bending rod. We assume that the rod is one-sided clamped and interacts with a rigid obstacle in the plane. But, most of the literature is limited to the research on cylindrical and straight, or tapered and straight rods. The (natural) combination of a cylindrical and pre-curved shape is rarely analyzed. The aim is to determine the obstacles contour by one quasi-static sweep along the obstacle and to figure out the dependence on the precurvature of the rod. To do this, we proceed in several steps: At first, we have to determine the support reactions during a sweep. These support reactions are equate with the observables an animal solely relies on and have to be measured by a technical device. Then, the object shape has to be reconstructed in using only these generated observables. The consideration of the precurvature makes the analytical treatment a bit harder and results in numerical solutions of the process. But, the analysis of the problem results in an extension of a former decision criterion for the reconstruction by the radius of pre-curvature. Is is possible to determine a formula for the contact point of the rod with the profile, which is new in literature in context of pre-curvature.



Kräml, Jonas; Behn, Carsten
Gait transition in artificial locomotion systems using adaptive control. - In: ICINCO 2016, (2016), S. 119-129


   

... until 2022 from the Technical Mechanics Group

Results: 519
Created on: Tue, 11 Jun 2024 23:29:08 +0200 in 0.0989 sec


Behn, Carsten; Zimmermann, Klaus
Straight worms under adaptive control and friction - part 2: adaptive control. - In: IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, (2011), S. 65-72

This is the second part of the contribution to the adaptive control of worm-systems, which are inspired by biological ideas. Part 1 is the basis for this part. We focus now on the adaptive control since one cannot expect to have complete information about a sophisticated mechanical or biological system in general. Only structural properties (known type of actuator with unknown parameters) are known. Additionally, in a rough terrain, unknown or changing friction coefficients lead to uncertain systems, too. The consideration of uncertain systems leads us now to the use of adaptive control. We still assume that the worm-system contacts the ground via spikes and track gaits from the kinematical theory (preferred motion patterns to achieve movement) by means of adaptive controllers (lambda-trackers). Then we replace the worm-ground interaction by stiction combined with Coulomb sliding friction (modification of a Karnopp friction model) and point out the main differences for the worm-like locomotion.



https://doi.org/10.1007/978-94-007-1643-8_8
Behn, Carsten; Zimmermann, Klaus
Straight worms under adaptive control and friction - part 1: modeling. - In: IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, (2011), S. 57-64

This paper is a contribution to the adaptive control of worm-systems, which are inspired by biological ideas, in two parts. We introduce a certain type of mathematical models of nite DOF worm-like locomotion systems: modeled as a chain of k interconnected (linked) point masses in a common straight line (a discrete straight worm). We assume that these systems contact the ground via 1) spikes in Part 1 and then 2) stiction combined with Coulomb sliding friction (modification of a Karnopp friction model) in Part 2. We sketch the corresponding theory. In general, one cannot expect to have complete information about a sophisticated mechanical or biological system, only structural properties (known type of actuator with unknown parameters) are known. Additionally, in a rough terrain, unknown or changing friction coefficients lead to uncertain systems, too. The consideration of uncertain systems leads to the use of adaptive control in Part 2 to control such systems. Gaits from the kinematical theory (preferred motion patterns to achieve movement) in Part 1 can be tracked by means of adaptive controllers (lambda-trackers) in Part 2. Simulations are aimed at the justification of theoretical results.



https://doi.org/10.1007/978-94-007-1643-8_7
Behn, Carsten; Steigenberger, Joachim
Adaptively controlled bio-inspired locomotion systems with friction. - In: Nonlinear dynamics and control, ISBN 978-83-7283-448-5, (2011), S. 81-88

Behn, Carsten;
Singular perturbation in worm-like locomotion systems and adaptive control. - In: Nonlinear dynamics and control, ISBN 978-83-7283-448-5, (2011), S. 73-80

Zimmermann, Klaus; Zeidis, Igor
Motion of two interconnected mass points in a resistive medium. - In: Analytical/numerical methods, stability, bifurcation and chaos, ISBN 978-83-7283-447-8, (2011), S. 109-114

Taubmann, Peter; Zeidis, Igor; Zimmermann, Klaus; Schorcht, Hans-Jürgen; Kletzin, Ulf
K opisaniju mechaniki vraščenija klapannoj pružiny v dvigateljach vnutrennego sgoranija v zavisimosti ot skorosti vraščenija raspredvala :
On the mechanics of valve spring rotation depending on the rotational speed of the camshaft. - In: Problems of mechanics, ISSN 1512-0740, (2011), No. 4(45), Seite 25-36

Becker, Felix; Zimmermann, Klaus; Lysenko, Victor; Chigarev, Anatoly
Design of new mobile robot with using anisotropy of friction forces. - In: Priborostroenie-2011, ISBN 978-985-525816-3, (2011), S. 253-255

Becker, Felix; Zimmermann, Klaus; Minchenya, Vladimir; Chigarev, Anatoly
Micro-robot's legs dynamics in the controllable resonance mode. - In: Priborostroenie-2011, ISBN 978-985-525816-3, (2011), S. 250-253

Behn, Carsten; Steigenberger, Joachim
On adaptive control of singularly perturbed systems : a worm-like locomotion example. - In: Final program, 2011, Robotics and mechatronics, A12-335, S. 1-6
Literaturverz. S. 6

http://www.dmg-lib.org/dmglib/handler?docum=22445009
Minchenya, Vladimir; Chigarev, Anatoly; Becker, Felix; Zimmermann, Klaus
Influence of the legs' geometry on the dynamics of a piezo-microrobot. - In: Innovation in mechanical engineering - shaping the future, ISBN 978-3-86360-001-3, (2011), S. 82