Mechanische Systeme. - In: Taschenbuch der Mechatronik, (2015), S. 224-271
Literaturangaben
A modification of the [alpha]BB method for box-constrained optimization and an application to inverse kinematics. - Ilmenau : Techn. Univ., Inst. für Mathematik, 2015. - Online-Ressource (PDF-Datei: 25 S., 1,58 MB). - (Preprint ; M15,04)
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. For determining a representation of the global optimal solution set with a predefined quality we modify the well known BB method. We illustrate the properties and give a proof for the finiteness and correctness of our modified BB method.
http://www.db-thueringen.de/servlets/DocumentServlet?id=26001
Mathematical model of vibrissae for surface texture detection. - Ilmenau : Techn. Univ., Inst. für Mathematik, 2015. - Online-Ressource (PDF-Datei: 18 S., 489,3 KB). - (Preprint ; M15,03)
The plane elastic bending rod serves as a model of biological and artificial vibrissae. One task of vibrissae is to scan surfaces in order to detect their textures. We sketch the theory of static bending rod problems with a view to this field of applications. The solutions of the respective autonomous boundary value problems are given analytically. Numerical simulations are done in some worked out examples. Being aware of the fact that (1) in papers, object detecting by means of touch is seemingly exclusively investigated under the assumption of ideal contact (no stiction or friction), and (2) our present omission of this assumption is based upon simplifying model properties, the conclusions give some corresponding discussions and proposals for improvements and necessary work in future.
http://www.db-thueringen.de/servlets/DocumentServlet?id=25964
An approach to the dynamics and control of a planar tensegrity structure with application in locomotion systems. - In: International journal of dynamics and control, ISSN 2195-2698, Bd. 3 (2015), 1, S. 41-49
http://dx.doi.org/10.1007/s40435-014-0067-8
Unlike behavior of natural frequencies in bending beam vibrations with boundary damping in context of bio-inspired sensors. - In: InfoWare 2014, (2014), S. 75-84
In this paper, we introduce certain models which arise in investigating some vibration problems of bio-inspired, vibrissa-like sensor models. Some approaches to the modeling of the biological paragon vibrissa use rigid body models in which a rod-like vibrissa is supported by a combination of spring and damping elements modeling the viscoelastic properties of the follicle-sinus complex. However, all the rigid body models can only offer limited information about the functionality of the biological sensory system. Therefore, we deal with bending problems of continuous beam systems. We present various beams with different supports (clamped and pivoted with discrete viscoelastic couplings) which are to model the biological tissues. This is new in and different from literature. We focus on investigations of the natural frequency spectra of various systems. The knowledge of dynamical characteristics is important for the design of artificial sensors. A close examination of vibrissa-like beam models with boundary damping exhibits features which are unlike in comparison to classical vibration systems.
On the mechanics of bristle-bots - modeling, simulation and experiments. - In: ISR/Robotik 2014, (2014), insges. 6 S.
Bristle-bots are simple and tiny robots, which use bristles and internal vibration sources to perform locomotion. In this paper, the locomotion behavior of such systems is studied. An analytical model is presented and solved numerically for different configurations and parameters. The goal is to obtain the influence of the system parameters to the locomotion velocity. The numerical results are compared with experimental studies of a prototype. Furthermore the state of the art of mobile robots with bristles is presented.
http://ieeexplore.ieee.org/document/6840103/
Mechanika aktuatorov na osnove magnitnych gibridnych materialov i ich priloženija v robototechnike, mikrofljuidike i sensornoj technologii :
Mechanics of actuators based on magnetic hybrid materials with applications for robotics, fluid control and sensor technology. - In: Problems of mechanics, ISSN 1512-0740, (2014), No. 4(57), Seite 23-41
Issledovanie kinematiki i dinamiki mechaničeskoj sistemy s mekanum-kolesami :
An approach to the kinematics and dynamics of a four-wheel mecanum vehicle. - In: Problems of mechanics, ISSN 1512-0740, (2014), No. 2(55), Seite 27-37
Nahfeldmobilität - der Schlüssel zu einem selbstbestimmten Leben im Alter. - In: Mobilogisch!, ISSN 1611-9169, (2014), 4, S. 1-5
Dynamics and control of a two-module mobile robot on a rough surface. - In: Advances on theory and practice of robots and manipulators, ISBN 978-3-319-07057-5, (2014), S. 141-148