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Vehicle for rugged terrain

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The hydrodynamic Chaplygin sleigh

We consider the motion of rigid bodies in a potential fluid subject to certain nonholonomic constraints and show that it is described by Euler-Poincare-Suslov equations. In the two-dimensional case, when the constraint is realized by a blade attached to th ...

2010

Magnebike: A Magnetic Wheeled Robot with High Mobility for Inspecting Complex-Shaped Structures

Roland Siegwart, Francesco Mondada, Fabien Tâche, Gilles Caprari, Roland Moser

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex-shaped structures. The locomotion concept is based on an ad ...

2009

Contact mechanics at the nanoscale, a 3D multiscale approach

Jean-François Molinari, Guillaume Anciaux

We present a multiscale coupling method to address contact problems. The components of the model are a molecular dynamics engine, a finite element program and a coupling scheme. We validate the approach, first on Hertzian contact and then with a rough surf ...

2009

Scaling and dynamics of washboard roads

Anne-Florence Raphaëlle Bitbol

Granular surfaces subjected to forces due to rolling wheels develop ripples above a critical speed. The resulting pattern, known as washboard or corrugated road, is common on dry unpaved roads. We investigated this phenomenon theoretically and experimental ...

American Physical Society (APS)2009

Differential influence of hands posture on mental rotation of hands and feet in left and right handers

Olaf Blanke, Silvio Ionta

The representation of the body in the brain is continuously updated with regard to peripheral factors such as position or movement of body parts. In the present study, we investigated the effects of arm posture on the mental rotation of hands and feet. Six ...

Springer Verlag2009

X-ray structure of a pentameric ligand-gated ion channel in an apparently open conformation

Pentameric ligand-gated ion channels from the Cys-loop family mediate fast chemo-electrical transduction, but the mechanisms of ion permeation and gating of these membrane proteins remain elusive. Here we present the X-ray structure at 2.9 A resolution of ...

Nature Publishing Group2008

Parametric integer programming in fixed dimension

Friedrich Eisenbrand, Gennady Shmonin

We consider the following problem: Given a rational matrix

A \in \mathbb{Q}^{m \times n}

and a rational polyhedron

Q \subseteq \mathbb{R}^{m+p}

, decide if for all vectors

b \in \mathbb{R}^m

, for which there exists an integral

z \in \mathbb{Z}^p

suc ...

2008

Ultrasonic monolithic piezoelectric multi DOF actuators for mobile microrobots

Jean-Marc Breguet, Walter Driesen, Tomas Cimprich

We propose a new type of “hybrid” ultrasonic driving principle for our monolithic piezoelectric actuators, which consist of simple electrode patterning on a PZT ceramic substrate The operating principle of the proposed USM is based on the conversion of ell ...

2006

Kinematic control of the mass properties of redundant articulated bodies

Ronan Boulic

In this paper we show how the mass properties of an articulated body, such as its center of mass and its moments of inertia, may be manipulated like any conventional end effector, with well-known iterative, numerical techniques. Within our interactive simu ...

Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ, USA2000

Anatomic modeling of deformable human bodies

Daniel Thalmann

We propose a method to simulate human bodies based on anatomy concepts. We believe that the closer our model is to reality, the better our results will be. Using this approach, we are developing our human representation. Our model is divided into three lay ...

2000