Scientific publications without theses

Results: 829
Created on: Wed, 17 Jul 2024 23:04:53 +0200 in 0.0702 sec


Fiedler, Patrique; Strohmeier, Daniel; Hunold, Alexander; Griebel, Stefan; Mühle, Richard; Schreiber, M.; Fonseca, Carlos; Vaz, Filipe; Haueisen, Jens
Novel electrode technologies for neurosciences. - In: Innovationen bei der Erfassung und Analyse bioelektrischer und biomagnetischer Signale, (2016), S. 104-107

Hügl, Silke; Rau, Thomas S.; Griebel, Stefan; Wystup, Clemens; Zentner, Lena; Lenarz, Thomas; Majdani, Omid
Fluidisch aktuierte Cochlear-Implant Elektrode. - In: 87. Jahresversammlung der Deutschen Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie e.V., (2016), Meeting Abstract (16hnod336), insges. 1 S.

http://dx.doi.org/10.3205/16hnod336
Becker, Tatiana; Zeidis, Igor; Witte, Hartmut; Schmidt, Manuela; Zimmermann, Klaus
Analysis of the vibrissa parametric resonance causing a signal amplification during whisking behaviour. - In: Journal of bionic engineering, ISSN 2543-2141, Bd. 13 (2016), 2, S. 312-323

http://dx.doi.org/10.1016/S1672-6529(16)60304-9
Bolotnik, Nikolai N.; Pivovarov, Mikhail; Zeidis, Igor; Zimmermann, Klaus
The motion of a two-body limbless locomotor along a straight line in a resistive medium. - In: ZAMM, ISSN 1521-4001, Bd. 96 (2016), 4, S. 429-452

http://dx.doi.org/10.1002/zamm.201400302
Gräser, Philipp; Linß, Sebastian; Zentner, Lena; Theska, René
Synthesis and investigation of a compliant linkage mechanism for precision guides :
Synthese und Untersuchung eines nachgiebigen Koppelmechanismus für Präzisionsführungen. - In: Zweite IFToMM D-A-CH Konferenz 2016, 25. - 26. Februar 2016, Universität Innsbruck, (2016), insges. 8 S.

Al-Shammari, Eiman Tamah; Petkoviâc, Dalibor; Danesh, Amir Seyed; Shamshirband, Shahaboddin; Issa, Mirna; Zentner, Lena
Neuro-fuzzy estimation of passive robotic joint safe velocity with embedded sensors of conductive silicone rubber. - In: Mechanical systems and signal processing, ISSN 1096-1216, Bd. 72/73 (2016), S. 486-498

http://dx.doi.org/10.1016/j.ymssp.2015.11.031
Eichfelder, Gabriele; Gerlach, Tobias; Sumi, Susanne
A modification of the [alpha]BB method for box-constrained optimization and an application to inverse kinematics. - In: EURO journal on computational optimization, ISSN 2192-4414, Bd. 4 (2016), 1, S. 93-121

For many practical applications it is important to determine not only a numerical approximation of one but a representation of the whole set of globally optimal solutions of a non-convex optimization problem. Then one element of this representation may be chosen based on additional information which cannot be formulated as a mathematical function or within a hierarchical problem formulation. We present such an application in the field of robotic design. This application problem can be modeled as a smooth box-constrained optimization problem. We extend the well-known alphaBB method such that it can be used to find an approximation of the set of globally optimal solutions with a predefined quality. We illustrate the properties and give a proof for the finiteness and correctness of our modified alphaBB method.



http://dx.doi.org/10.1007/s13675-015-0056-5
Will, Christoph;
Bio-inspired tactile sensors for contour detection using an FEM based approach. - In: 13th International Conference Dynamical Systems Theory and Applications, (2015), S. 304
Enthalten in Abstracts

Behn, Carsten; Heinz, Leo; Krüger, Martin
Non-classical models of worm- and snake-like robotic systems. - In: Paper, (2015), insges. 9 S.

Sauter, Anton; Will, Christoph; Steigenberger, Joachim; Behn, Carsten
Artificial tactile sensors with pre-curvature for object scanning. - In: Mathematical and numerical approaches, ISBN 978-83-7283-706-6, (2015), S. 425-436


   

... until 2022 from the Technical Mechanics Group

Results: 519
Created on: Wed, 17 Jul 2024 23:04:36 +0200 in 0.0595 sec


Becker, Felix; Zimmermann, Klaus
Modelling and simulation of a vibration-driven system for 2-dimensional locomotion with moveable internal masses. - In: Novye napravlenija razvitija priborostroenija, ISBN 978-985-525369-4, (2010), S. 90

Becker, Felix; Zimmermann, Klaus; Zeidis, Igor; Minchenya, Vladimir T.; Lysenko, Victor
Vibration driven robots - theoretical investigations, design and prototyp. - In: Priborostroenie-2010, ISBN 978-985-525-490-5, (2010), S. 135-137

Behn, Carsten; Steigenberger, Joachim
Experiments in adaptive control of uncertain mechanical systems. - In: International review of mechanical engineering, ISSN 1970-8734, Bd. 4 (2010), 7, S. 886-898

We consider mechanical systems, which are not known precisely. In detail we assume that the system parameters are unknown (lack of precise knowledge), moreover, we allow for uncertainties with respect to input and output, and to perturbations from the environment (ground excitations) as well. The consideration of such systems leads to the use of adaptive control. The aim is to design universal adaptive controllers, which achieve a pre-specified control objective. Almost all controllers existing in the literature offer the same drawback: (possibly unboundedly) monotonically increasing gain parameter. With respect to limited resources in applications it is necessary to design improved adaptation laws. We present simulations of several gain parameter models primarily in application to bio-inspired sensors.



Becker, Felix; Minchenya, Vladimir T.; Zimmermann, Klaus; Zeidis, Igor
Single piezo actuator driven micro robot for 2-dimensional locomotion. - In: The First Workshop on Microactuators and Micromechanisms, (2010), insges. 6 S.

We analyse two micro robots for 2-dimensional locomotion on a flat surface. Forced bending vibrations of continua are used by both systems which are excited by piezoelectric bending actuators. These vibrations are transformed by non classical legs to complex trajectories at the contact points between robot and environment. The locomotion direction of the system can be controlled by the excitation frequencies of the actuation element. Models are developed and investigated to describe important motion effects of the robots. Furthermore some experimental results are presented.



Zimmermann, Klaus; Zeidis, Igor; Böhm, Valter; Becker, Felix; Minchenya, Vladimir T.
K opisaniju mechaniki sistem, dvižuščichsja bez pomošči nog, analitičeskimi i čislennymi metodami :
An approach to the mechanics of non-pedal locomotion systems using analytical and computational methods. - In: Problems of mechanics, ISSN 1512-0740, (2010), No. 4(41), S. 5-14

In the present paper non-classical ways of locomotion of the mechanical systems are considered. In the first part the locomotion of a chain of interconnected mass points in a straight line is analyzed. On each mass point acts a small non-symmetric Coulomb's dry friction. The magnitude of this force depends on the direction of motion. The distance between the neighboring mass points changes according to the harmonical law. With the help of the procedure of averaging the expression for the stationary velocity of the mass center of the chain "on average" is found. The dependences of the stationary velocity on the value of the asymmetry and on the number of mass points are obtained. In the second part the mechanical background of the two mobile robots based on smart materials is considered. One of the systems consists of a single symmetric ferroelastomer body and, additionally, six micro-coils. The locomotion of the system is caused by a periodic deformation (generated by integrated micro-coils) of a compliant magneto-sensitive body. The qualitative description of the mechanical system's performance was realized by a transient dynamical analyses using the software package ANSYS. Another system consists of three components: information system, power supply (accumulator) and vibration system. The vibration system is formed by a piezoelectric actuator bonded on a triangular plate. At the corners of the plate three "legs" are fixed. A Finite-Element-Model of the legs, the plate and the actuators was created in order to formulate statements about the influence of the excitation frequency on the trajectories of the endpoints of the legs. The results obtained by the numerical simulation are compared with the experimental data.



Zimmermann, Klaus; Zeidis, Igor; Bolotnik, Nikolai N.; Pivovarov, Mikhail
Motion of a chain of bodies in a resistive medium due to undulatory change in the system's configuration. - In: The 1st Joint International Conference on Multibody System Dynamics, ISBN 978-952-214-778-3, (2010), insges. 2 S.

The motion of a finite chain of identical bodies along a straight line in a resistive medium is studied. The motion is excited and controlled by changing the distances between the bodies of the chain. This model simulates limbless animals (for example, earthworms) that move due to redistribution of mass along their bodies. The longitudinal motion of such animals can be provided due to a wave of deformation running through the animal's body forward, from the head to the tail, or backward, from the tail to the head. This principle of motion can be used for some kind of mobile robots. An advantage of these robots against conventional mobile machines is that the worm-like robots do not need propelling devices such as wheels, legs or caterpillars, can be readily made hermetic, and do not involve protruding components, which enables them to be used for motion in "vulnerable" media. Such robots can be used for motion in narrow slots and tubes to produce various technical operations in these media. Mobile systems able to move in resistive media without special propelling devices due to the change in their configuration or the motion of internal masses were studied, for example, in [1]-[4].



Zimmermann, Klaus; Zeidis, Igor; Böhm, Valter; Greiser, Steffen; Popp, Jana
Ferrofluid-based flow manipulation and locomotion systems. - In: Journal of intelligent material systems and structures, ISSN 1530-8138, Bd. 21 (2010), 16, S. 1559-1562

The article demonstrates some examples of locomotion systems with bifluidic flow control using ferrofluid. By controlling the change of shape, position, and pressure of the ferrofluid in a secondary low viscous fluid by magnetic fields locomotion of objects or the ferrofluid itself can be realized. The locomotion of an object is caused, in the first example, ba a ferrofluid generated flow of the secondary fluid and in the second and third case by the direct alteration of the ferrofluid position.



https://doi.org/10.1177%2F1045389X09354789
Greiser, Steffen; Böhm, Valter; Zimmermann, Klaus
Position control of magnetic beads by means of electromagnetic fields with respect to apodal locomotion systems. - In: International journal of applied electromagnetics and mechanics, ISSN 1875-8800, Bd. 34 (2010), 4, S. 225-235

Motivatd by the technical progress, electromagnetic action principles are more and more used in micro systems. It is well known that the discrete positioning of magnetic beads like ferrofluid droplets can be realised using an array of electromagnets whereat the position of the beads depends on the arrangment of the electromagnets. This paper refers to the analogous positioning of magnetic beads independent from the arrangement of the electromagnets. Therefore a control strategy was designed to position magnetic beads like ferrofluid droplets, ferrogels or ferroelastomers. The derived control law allows the definition of dynamic properties like time and damping constant. To achieve these properties, the controller is adjusted based on a model of the plan. This model regards the dynamical movement of the mentioned materials in electromagnetic fields and is characerised by simpliefied, nonlinear, ordinary differential equations. The theoretical results are verified by means of a basic assembly allowing the positioning of spherical ferroelastomers on macro scale. The measurments illustrate that the theroretically derived position controller meets the requirements of a predefined time and damping constant.



http://dx.doi.org/10.3233/JAE-2010-1313
Zimmermann, Klaus; Zeidis, Igor; Behn, Carsten;
An approach to the dynamics and kinematical control of motion systems consisting of a chain of bodies. - In: ROMANSY 18 - robot design, dynamics and control, (2010), S. 457-464

Some theoretical investigations of the motion of a straight chain of mass points interconnected with kinematical constraints are considered. The ground contact can be described by dry (discontinuous) friction. The controls are assumed in the form of periodic functions with zero average, shifted on a phase on concerning each other. Thus, there is a spreading wave along the chain of point masses. In the case of small friction we derive a condition for the locomotion of the center of the mass with the help of an average method. It is shown that, using spedified control motion is possible not only in the case of isotropic friction, but also in the direction of the greater friction in the case of non-isotropic friction. The received theoretical results can be used for the development of mobile robots applying the principles of the motion outlined above.



Zimmermann, Klaus; Böhm, Valter
A contribution to the amoeboid locomotion of mobile robots. - In: Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010 (ISR/ROBOTIK 2010), (2010), S. 1152-1157