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的是详细说明腕窦毛功能的原理，并将其转化为技术对象，用于基底接触的非视觉表征。这种方法既涉及实验结果，也涉及基于这些数据的分析和模拟模型。在系统分析方面，工作集中在适应性上，对感染者有特殊的影响（如效应器将能量耦合到环境中，感染者是从环境中感染的信息（可能是由能量或材料携带的）的耦合元件）。待最终测试的未决假设是：三个或四个腕窦毛的组形成尺骨多点传感器，观察臂和前臂相对于基底的旋转。现在我们知道了焦点，为了更详细地描述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。2.除了正在进行的描述和建模的感染者，我们必须完成的传感器模型，通过整合相关属性的卵泡窦复合体FSC。可调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。特别关注的参数是圆锥度、粗糙度和预弯曲的毛发，以及轴承中的柔顺性和阻尼。根据ESTM2206的机电一体化设计规则，将实现一个智能刷系统，用于控制定义的测试环境的清洁。特别感兴趣的方法是如何以及在多大程度上的生物启发的自适应系统可以集成为一个模块的技术控制和actorics。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器。

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.