Technical non-visual characterization of substrate contact following the biological paragon of carpal vibrissae

该项目第二阶段的主要目标是详细说明为腕骨窦毛发的功能确定的原理，并将它们转化为基材接触的非视觉表征的技术对象。该方法还参考了基于这些数据的分析和仿真模型的实验结果。在系统分析方面，工作的重点是适应性，特别是对感染者的影响(就像效应器将能量耦合到环境中，感染者是从环境感染的信息(可能是由能量或物质携带的)的耦合元素)。有待最终检验的假设是：由三根或四根腕窦毛发组成的尺骨多点传感器，观察手臂和前臂相对于底物的旋转。现在我们已经了解了焦点，为了更详细地表征这些传感器系统的特性，必须结合高分辨率运动(体内)和结构(体外)分析的结果。除了对感染者进行描述和建模外，我们还需要结合卵泡窦复合体FSC的相关特性来完成传感器模型。可调谐技术轴承的宏变量将根据现有设备中的大规模接触实验进行迭代优化。特别关注的参数是毛发的锥度、粗糙度和预弯，以及轴承中的柔度和阻尼。遵循符合VDI 2206的型号-Basc机电一体化设计规则，将实现用于特定测试环境的受控清洁的智能刷子系统。具有特殊方法论意义的是，受生物启发的适应系统如何以及在多大程度上可以作为一个模块与技术控制和执行者相结合。更有远见的想法是将为生物感染者确定的原则应用于技术效应者。

The major aim of the second phase of the project is to detail the principles identified for the functions of carpal sinus hairs and to transfer them into technical objects for non-visual characterization of substrate contacts. This approach refers as well to the results of experiments as to analytic and simulation models based on those data. In terms of system analysis the work is focussed on the adaptorics, with special impact on the infectors (like effectors couple energy into the environment, infectors are the coupling elements for information (may it be carried by energy or material) infected from the environment).1. Pending hypothesis to be finally tested is: Groups of three or four carpal sinus hairs form an ulnar multi-point sensor observing rotation of arm and fore-arm relative to the substrate. Now that we know about the focus, to characterize the properties of those sensor systems in more detail the results of high resolution motion (in vivo) and structural (in vitro) analysis have to combined.2. In addition to the on-going description and modelization of infectors we have to complete the sensor model by integration of relevant properties of follicle sinus complexes FSC. Macro variants of tuneable technical bearings will iteratively be optimized according to large scale contact experiments in the existing apparatus. Parameters under special focus are conicity, roughness and pre-bending of hairs in combination with compliance and damping in the bearing.3. Following the rules for model-basec mechatronic design according to VDI 2206 an intelligent brush system for controlled cleaning of a defined test environment will be realized. Of special methodological interest is how and in how far the biologically inspired adaptoric system may be integrated as a module with the technical control and actorics. More visionary is the idea to apply the principles identified for the biological infectors to technical effectors.