Continuum Models For Biologically Inspired Tactile Sensors
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Bio Inspired Tactile Sensing
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Author : Moritz Scharf
language : en
Publisher: BoD – Books on Demand
Release Date : 2021-01-01
Bio Inspired Tactile Sensing written by Moritz Scharf and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-01-01 with Technology & Engineering categories.
The transfers of natural mechanisms and structures into artificial, technical applications are successful approaches for innovation and become more important nowadays. The concept of Biomechatronics provides a structured framework to do so. Following these ideas, this work analyses a novel tactile sensor inspired by natural vibrissae. The sense of touch is an indispensable part of the sensory system of living beings. In, e.g., rats, the so-called vibrissal system, including long sensory hairs around the muzzle of the animals (vibrissae), is an essential part of tactile perception. Rats can determine the location, shape, and texture of an object by touching it with their vibrissae. Transferring these abilities to an artificial sensor design, the interaction between the hair/sensor shaft and different objects are analyzed. The sensor/hair shaft fulfills different functions in terms of a preprocessing of the captured signals. Therefore, by knowing and controlling these effects, the captured signals can be optimized in a way that particular information inside the captured signals is pronounced.
Continuum Models For Biologically Inspired Tactile Sensors
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Author : Christoph Will
language : en
Publisher:
Release Date : 2018
Continuum Models For Biologically Inspired Tactile Sensors written by Christoph Will and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.
In der Biologie existiert ein hoch effizientes und mächtiges Tastorgan: die Sinushaare von Säugetieren. Unter Verwendung dieser Sinushaare können sich Tiere in ihrer Umgebung zurechtfinden, ohne auf die Unterstützung durch andere Sinne angewiesen zu sein, Abstände zu Objekten erkennen, die Oberflächenbeschaffenheit abschätzen und Konturen unterscheiden. Um das Prinzip der Konturerkennung auch in technischen Anwendungen nutzen zu können, werden in dieser Arbeit zunächst die fundamentalen Eigenschaften dieses taktilen Sinnesorgans analysiert: Das Tier erlangt Informationen aus seiner Umgebung, indem es ein langes, schlankes Haar gegen ein Objekt bewegt. Durch die dabei auftretende Verformung des Haares kann der Kontakt in der Lagerung, dem Follikel-Sinus-Komplex, registriert werden. Auf diesen Eigenschaften basierend wird ein unter klaren Annahmen formuliertes, ebenes, quasi-statisches Modell im Rahmen der Kontinuumsmechanik aufgestellt, welches das Problem der Objektabtastung in dimensionsloser Form beschreibt. Nach einer sorgfältigen Analyse des Modells dient dieses dazu die Observablen - jene Informationen, die dem Tier zur Verfügung stehen - zu generieren und im Anschluss, wenn die Observablen bekannt sind, den Kontaktpunkt von Haar und Objekt zu rekonstruieren. Sobald hinreichend viele Kontaktpunkte bekannt sind, kann die Objektkontur abgeschätzt werden. Nachdem die Tauglichkeit der Rekonstruktionsmethode mit Messdaten erfolgt ist, werden die Modellannahmen erweitert. Dies ermöglicht es auch den Einfluss einer elastischen Lagerung, der konischen Form der Haare und einer erweiterten Klasse von Objektkonturen während der Objektabtastung zu bestimmen. Um das Modell zusätzlich zu erweitern und weitere Eigenschaften des biologischen Vorbilds untersuchen zu können, wird auch ein Modell basierend auf der Finiten Elemente Methode verwendet und dessen Ergebnisse denen des kontinuierlichen Modells gegenübergestellt. Mit Hilfe des Finiten Elemente Modells ist es möglich, die Observablen für beliebig geformte Objekte, sowie für vorgekrümmte Haare zu bestimmen. Die entworfenen Modelle können für die Entwicklung von taktilen Sensoren, die Simulation von unterschiedlichen Kontaktbedingungen und die Einschätzung der Lagerreaktionen für diverse Anwendungsgebiete verwendet werden.
Tactile Sensors For Robotic Applications
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Author : Salvatore Pirozzi
language : en
Publisher: MDPI
Release Date : 2021-03-17
Tactile Sensors For Robotic Applications written by Salvatore Pirozzi and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-03-17 with Technology & Engineering categories.
The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people
Microactuators Microsensors And Micromechanisms
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Author : Ashok Kumar Pandey
language : en
Publisher: Springer Nature
Release Date : 2022-11-20
Microactuators Microsensors And Micromechanisms written by Ashok Kumar Pandey and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-11-20 with Technology & Engineering categories.
This book brings together investigations which combine theoretical and experimental results related to such systems as flexure hinges and compliant mechanisms for precision applications, the non-linear analytical modeling of compliant mechanisms, mechanical systems using compliance as a bipedal robot and reconfigurable tensegrity systems and micro-electro-mechanical systems (MEMS) as energy efficient micro-robots, microscale force compensation, magnetoelectric micro-sensors, acoustical actuators and the wafer bonding as a key technology for the MEMS fabrication. The volume gathers the contributions presented at the 6th Conference on Microactuators, Microsensors and Micromechanisms (MAMM), held in Hyderabad, India in December 2022. The aim of the conference was to provide a special opportunity for a know-how exchange and collaboration in various disciplines concerning systems pertaining to micro-technology. The conference was organized under the patronage of IFToMM (International Federation for the Promotion of Mechanism and Machine Science).
Perspectives In Dynamical Systems I Mechatronics And Life Sciences
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Author : Jan Awrejcewicz
language : en
Publisher: Springer Nature
Release Date : 2022-01-04
Perspectives In Dynamical Systems I Mechatronics And Life Sciences written by Jan Awrejcewicz and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-01-04 with Mathematics categories.
This volume is part of collection of contributions devoted to analytical and experimental techniques of dynamical systems, presented at the 15th International Conference “Dynamical Systems: Theory and Applications”, held in Łódź, Poland on December 2-5, 2019. The wide selection of material has been divided into three volumes, each focusing on a different field of applications of dynamical systems. The broadly outlined focus of both the conference and these books includes bifurcations and chaos in dynamical systems, asymptotic methods in nonlinear dynamics, dynamics in life sciences and bioengineering, original numerical methods of vibration analysis, control in dynamical systems, optimization problems in applied sciences, stability of dynamical systems, experimental and industrial studies, vibrations of lumped and continuous systems, non-smooth systems, engineering systems and differential equations, mathematical approaches to dynamical systems, and mechatronics.
Advances In Computational Intelligence
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Author : Ignacio Rojas
language : en
Publisher: Springer
Release Date : 2013-06-20
Advances In Computational Intelligence written by Ignacio Rojas and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-06-20 with Computers categories.
This two-volume set LNCS 7902 and 7903 constitutes the refereed proceedings of the 12th International Work-Conference on Artificial Neural Networks, IWANN 2013, held in Puerto de la Cruz, Tenerife, Spain, in June 2013. The 116 revised papers were carefully reviewed and selected from numerous submissions for presentation in two volumes. The papers explore sections on mathematical and theoretical methods in computational intelligence, neurocomputational formulations, learning and adaptation emulation of cognitive functions, bio-inspired systems and neuro-engineering, advanced topics in computational intelligence and applications.
Biomimetic And Biohybrid Systems
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Author : Armin Duff
language : en
Publisher: Springer
Release Date : 2014-07-21
Biomimetic And Biohybrid Systems written by Armin Duff and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-07-21 with Computers categories.
This book constitutes the proceedings of the Third International Conference on Biomimetic and Biohybrid Systems, Living Machines 2014, held in Milan, Italy, in July/August 2014. The 31 full papers and 27 extended abstracts included in this volume were carefully reviewed and selected from 62 submissions. The topics covered are brain based systems, active sensing, soft robotics, learning, memory, control architectures, self-regulation, movement and locomotion, sensory systems and perception.
Modellbasierte Entwicklung Von Methoden Algorithmen Und Werkzeugen Zur Analyse Und Synthese Nachgiebiger Mechanismen
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Author : Stefan Henning
language : de
Publisher: BoD – Books on Demand
Release Date : 2022-01-01
Modellbasierte Entwicklung Von Methoden Algorithmen Und Werkzeugen Zur Analyse Und Synthese Nachgiebiger Mechanismen written by Stefan Henning and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-01-01 with Technology & Engineering categories.
Nachgiebige Mechanismen (NM) sind in technischen Anwendungen aufgrund ihrer Vorteile weit verbreitet. Die Berechnung des Verformungsverhaltens unter dem Einfluss äußerer Belastungen stellt aufgrund von geometrischer Nichtlinearität eine anspruchsvolle Aufgabe dar. Mit Hilfe der in dieser Arbeit beschriebenen Modellgleichungen auf Basis der nichtlinearen Balkentheorie können ebene und räumliche NM sekundenschnell numerisch berechnet werden. Dazu werden über reine Biegung hinaus, Querkraftschub und Querkontraktion im Modell berücksichtigt und Empfehlungen für die zu verwendende Theorie abgeleitet. Zudem werden Algorithmen zur Dimensionierung von NM gegeben, mit Hilfe derer die Verformungseigenschaften im Hinblick auf konkrete Zielkriterien verbessert werden können. Abschließend werden die Methoden in drei eigenständig ausführbare und frei zugängliche Softwarewerkzeuge implementiert. Durch deren Entwicklung wird ein Beitrag zum Entwurf sowie zur Analyse und Synthese von NM geleistet.
Generation Growbots Materials Mechanisms And Biomimetic Design For Growing Robots
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Author : Barbara Mazzolai
language : en
Publisher: Frontiers Media SA
Release Date : 2021-08-18
Generation Growbots Materials Mechanisms And Biomimetic Design For Growing Robots written by Barbara Mazzolai and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-08-18 with Technology & Engineering categories.
Soft And Stiffness Controllable Robotics Solutions For Minimally Invasive Surgery
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Author : Jelizaveta Konstantinova
language : en
Publisher: CRC Press
Release Date : 2022-09-01
Soft And Stiffness Controllable Robotics Solutions For Minimally Invasive Surgery written by Jelizaveta Konstantinova and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-09-01 with Science categories.
Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery presents the results of a research project, funded by European Commission, STIFF-FLOP: STIFFness controllable Flexible and Learn-able manipulator for surgical Operations. In Minimally Invasive Surgery (MIS), tools go through narrow openings and manipulate soft organs that can move, deform, or change stiffness. There are limitations on modern laparoscopic and robot-assisted surgical systems due to restricted access through Trocar ports, lack of haptic feedback, and difficulties with rigid robot tools operating inside a confined space filled with organs. Also, many control algorithms suffer from stability problems in the presence of unexpected conditions. Yet biological "manipulators", like the octopus arm can manipulate objects while controlling the stiffness of selected body parts and being inherently compliant when interacting with objects. STIFF-FLOP robot is an innovative soft robotic arm that can squeeze through a standard MIS, reconfigure itself and stiffen by hydrostatic actuation to perform compliant force control tasks while facing unexpected situations. Technical topics discussed in the book include:Soft actuatorsContinuum soft manipulatorsControl, kinematics and navigation of continuum manipulatorsOptical sensors for force, torque, and curvatureHaptic feedback and human interface for surgical systemsValidation of soft stiffness controllable robots