Ingeniería Mecánica (Mag.)

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Non-linear beam theory in context of bio-inspired sensing of flows
(Pontificia Universidad Católica del Perú, 2017-03-31) Lavayen Farfán, Daniel; Behn, Carsten; Elías Giordano, Dante Ángel
The thesis at hand is part of a research project that attempts to study and develop vibrissa inspired tactile sensors for object and fluid flow detection. The main focus of the thesis is on the development of a model for a vibrissa-like sensor for obstacle contour recognition under fluid loads. To this end, a mechanical model – based on the non-linear Euler-Bernoulli beam theory – is established. The model includes the main characteristics found in a natural vibrissa, such as elasticity of the base, that acts as the vibrissa follicle; the intrinsic curvature; and conicity. The characteristics are represented as parameters of the model. The model is subjected to a contact load and a fluid flow load, represented by a concentrated load and a distributed load, respectively. Then, the model is transformed into a dimensionless representation for further studies to achieve more general assertions. A variation of the magnitude of these loads, as well as the vibrissa parameters is also analyzed. A direct numerical approximation using the finite difference method, along with the shooting method, is used to obtain a solution of the model. Subsequently, the model is used to simulate an ideal contact between an obstacle and the vibrissa. This simulation considers a quasi-static sweep of the artificial vibrissa with the contour of a profile, while measuring and recording the forces and moment at the base. This procedure is then repeated in combination of a distributed force acting on the vibrissa, simulating the effect of a fluid flow. Two types of contact phases are identified and the conditions for each one are set. Finally, the measured quantities, which represent the observables an animal solely relies on, are used to obtain the magnitude of the fluid load and to reconstruct the profile contour of the obstacle. The developed model is used again for the reconstruction, an analysis of the observables is performed to identify and predict which contact phase the vibrissa is in. The results successfully show identification of the fluid flow load as well as reconstruction of the profile, the difference between the reconstructed profile and the original profile is then calculated as a measure of reconstruction quality.
Artificial tactile sensors for surface texture detection - analytical and numerical investigations
(Pontificia Universidad Católica del Perú, 2017-02-07) Scharff, Moritz; Alencastre Miranda, Jorge Hernán; Behn, Carsten
Natural vibrissae fulfill a lot of functions. Next to object distance detection and object shape recognition, the surface texture can be determined. Inspired by the natural process of surface texture detection, the goal is to adapt it by technical concepts. Modeling the vibrissa as an EulerBernoulli bending beam and the vibrissa-surface contact with respect to Coulomb's Law of Friction, the first approach is formed by the group of Steigenberger and Behn. Due to the surface contact, the vibrissa gets deformed. Initiating a linear movement of the beam support in the way that the bearn tip gets pushed, first the beam tip is sticking to the surface. The acting friction force prevents a movement of the beam tip until the static friction coeflicient is reached. The displacement of the support corresponds to changes in the acting forces and moment. Out of these changes the coeflicient of static friction can be determined. Advancing the present model, the effects of an elastic support, a conical shape of the considered beam, a natural pre-curved (stress free) beam and an inclined contact plane on the resulting forces and moments are analyzed in an analytical way, and then discussed by numerical simulations in performing parameter studies. All these special features of the beam as a tactile sensor are successfully studied. The results for the conical beam shape are only of theoretical relevance. In a next step, a quasi-static model is compared to experimental data to verify the concept. The displacement is represented by a linear, stepwise change of the support of the sensor. By image processing the deformations of the beam for every support position are analyzed. This information is compared to the simulation. The concept in principal is confirmed by the experiments.
Artificial tactile sensors for surface texture detection-finite element models and numerical treatment
(Pontificia Universidad Católica del Perú, 2017-02-07) Darnieder, Maximilian; Alencastre Miranda, Jorge Hernán; Behn, Carsten
The biological example of vibrissa-type sensors in the animal realm is attributed with impressive sensing capabilities. A recently discovered ability is the surface discrimination task. Preceding research on the topic elaborated certain hypotheses for the functionality of the sensor. The scientiﬁc work is predominantly based on an empirical approach closely related to the biological example. Complex and highly nonlinear mechanical interrelations and tribological aspects of the contact frequently remain unconsidered. In the interplay between the properties of the biological example and the desired technical realization of the sensor concept, the present thesis incrementally develops a complex mechanical model. Its purely numerical treatment is based on the ﬁnite element method framed in the software package ANSYS. Following three modeling stages, the nonlinear structural model is successively implemented ﬁrstly enhancing the contact formulation and secondly including dynamic eﬀects in the computation. The attributes of the biological example like elastic support, pre-curvature and conicity are incorporated and their eﬀects are related to the desired sensor function. Beside the characteristic of the sensor system, elaborated through parameter studies, special emphasis is placed on the determination of the working range and its limiting borderlines as well as the uncovering of problematic aspects of the concept. The complex picture of the static behavior of the sensor system is complemented by a ﬁrst dynamic calculation in close proximity to an experiment, which is conducted in parallel. The juxtaposition of the outcomes are interpreted and a proposal for a measurement strategy is outlined.

Ingeniería Mecánica (Mag.)

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