20 documents found

Article / Chapter
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2019-06-17

About mathematical models in mechanics

This paper must not be seen as a report on actual investigations nor as a stroll along stringent analytical mechanics. It is just a revision of a lecture recently given by the author during a seminary of students, pre- and postdocs in the mechanics departments at Technical University Ilmenau. Focussing...
Article / Chapter
CC BY 4.0
2018-06-26

Object shape recognition and reconstruction using pivoted tactile sensors

Many mammals use some special tactile hairs, the so-called mystacial macrovibrissae, to acquire information about their environment. In doing so, rats and mice, e.g., are able to detect object distances, shapes, and surface textures. Inspired by the biological paradigm, we present a mechanical model...
London [u.a.]: Taylor & Francis, 2018-06-26
Book chapter
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2017-11-08

Investigations on the mechanical relevance of prominent vibrissa features...

The tactile hairs of animals are used as paradigm for artificial tactile sensors. In the case of mystacial vibrissae, the animals can determine the distance to an object, recognize the shape of the object and detect the surface texture of the object. The goal is to design an artificial tactile sensor...
Book chapter
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2017-11-08

Vibrissa-based design of tapered tactile sensors for object sensing

Numerous mammals possess whiskers (tactile hairs, also known as vibrissae) to explore their environment. These complex mechano-sensitive vibrissae are located, e.g. in the snout region (mystacial vibrissae). Because of the deformation of the vibrissa by contact with objects and obstacles, the animal...
Book chapter
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2017-11-07

Object contour sensing using artificial rotatable vibrissae

Recent research topics in bionics focus on the analysis and synthesis of mammal’s perception of their environment by means of their vibrissae. Using these complex tactile sense organs, rats and mice, for example, are capable of detecting the distance to an object, its contour and its surface texture....
Book
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2015-11-26

Obstacle scanning by technical vibrissae with compliant support

Rodents, like mice and rats, use tactile hairs in the snout region (mystacial vibrissae) to acquire information about their environment, e.g. the shape or contour of obstacles. For this, the vibrissa is used for the perception of stimuli due to an object contact. Mechanoreceptors are processing units...
Article / Chapter
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2015-04-29

Mathematical model of vibrissae for surface texture detection

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...
Article / Chapter
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2015-01-20

Quasistatic inflation processes within compliant tubes : Part 2

In former work, a mechanical system was considered that models a segment of a live or artificial worm or a balloon for angioplasty that is placed within a cylindrical rigid or compliant tube (vein). Based on the Principle of Minimal Potential Energy and treated as an optimal control problem with state...
Article / Chapter
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2013-03-12

A continuum model of passive vibrissae

A passive vibrissa is modeled as an elastic bending rod that interacts with a rigid obstacle in the plane. Aim is to see details of what happens in quasistatically scanning the obstacle. To this end the differential equations emerging from Bernoulli's rod theory are solved by elliptiv integrals followed...
Article / Chapter
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2009-11-11

Quasistatic inflation processes within compliant tubes

Continuing former work [8], [9] the authors consider a mechanical system that models a segment of a live or artificial worm or a baloon for angioplasty that is placed within a cylindrical compliant tube (vein). The statics of the inflation process is based on the Principle of Minimal Potential Energy....
Article / Chapter
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2009-11-09

Ein Optimalsteuerproblem mit einem speziellen Zielfunktional und Zustandsbeschränkungen...

Ausgangspunkt für die Untersuchungen sind zwei klassische Optimalsteuerprobleme mit verschiedenen Integrationsintervallen. Die Zustände sind einer Ungleichungsrestriktion mit beliebigem Relativgrad auf einem gemeinsamen Teilintervall unterworfen. Für dieses Problem werden notwendige Optimalitätsbedingungen...
Article / Chapter
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2009-01-30

What the hell do they mean by 'locomotion'?

In current mechanics literature one very frequently encounters the concepts locomotion and locomotion system. Unfortunately, strong definitions of these seemingly intuitively clear notions are generally missing. The following paper tries to fill this gap.
Article / Chapter
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2006-08-31

Quasistatic inflation processes within rigid tubes

In this paper the authors consider mechanical devices that can be seen as segments of an artificial worm or as a balloon for angioplasty. Continuing former work \cite{St 2003} the segment is now placed within a cylindrical or constricted rigid tube that will be touched or pressed during inflation of...
Article / Chapter
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2005-08-19

Optimalsteuerprobleme unter Zustandsrestriktionen

In this paper, the authors consider a class of finite dimensional optimal control problems with state restrictions. These investigations are aimed at utilizable necessary optimality conditions. The purpose of the paper is twofold: first, to prepare a starting point for further investigations on a topic...
Dissertation
2003-10-28

Modellierung, Simulation und Entwurf biomimetischer Roboter basierend auf...

Abstract zur Dissertation Autor: Jianjun Huang Titel: Modellierung, Simulation und Entwurf biomimetischer Roboter basierend auf apedaler undulatorischer Lokomotion _____________________________________________________________________________________________ This dissertation presented...
Article / Chapter
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1999-04-02

On a class of biomorphic motion systems

In this paper we consider the dynamics of certain worm-like motion systems with finite degree of freedom. The masspoints of the systems are equipped with runners (steerable in the plane) that, caused by scales, admit motion only in a distinct