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  • 1
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    Active entanglement enables stochastic, topological grasping (2022)
    Details
    Publication Date: 2023-03-20
    Description: Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception and motion planning. Here we circumvent the need for feedback or precise planning by using an array of fluidically-actuated slender hollow elastomeric filaments to actively entangle with objects that vary in geometric and topological complexity. The resulting stochastic interactions enable a unique soft and conformable grasping strategy across a range of target objects that vary in size, weight, and shape. We experimentally evaluate the grasping performance of our strategy, and use a computational framework for the collective mechanics of flexible filaments in contact with complex objects to explain our findings. Overall, our study highlights how active collective entanglement of a filament array via an uncontrolled, spatially distributed scheme provides new options for soft, adaptable grasping.
    Language: English
    Type: article , doc-type:article
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    OPUS
  • 2
    Electronic Resource
    Electronic Resource
    Experimental study of coating flows in a partially-filled horizontally Rotating cylinder (1997)
    Springer
    Experiments in fluids 23 (1997), S. 1-13 
    Details
    ISSN: 1432-1114
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract  We describe a number of different phenomena seen in the free-surface flow inside a partially filled circular cylinder which is rotated about its horizontal axis of symmetry. At low angular velocities the flow settles into a steady two-dimensional flow with a front where the coating film coalesces with the pool at the bottom of the cylinder. This mode becomes unstable at higher angular velocities, initially to a sloshing mode on the rising side of the coating film and then to an axial instability on the front. The undulations that appear on the front grow into large-amplitude stationary patterns with cusp-like features for some parameter values. At still higher angular velocities and volume fractions, a number of different inertial instabilities and patterns appear. We present a phase diagram of the various transitions and characterize some of the more prominent instabilities and patterns in detail, along with some possible mechanisms for the observed behaviour.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/s003480050080
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    Paper (German National Licenses)
    Fulltext
  • 3
    Electronic Resource
    Electronic Resource
    Colloid science Non-spherical bubbles (2005)
    [s.l.] : Nature Publishing Group
    Nature 438 (2005), S. 930-930 
    Details
    ISSN: 1476-4687
    Source: Nature Archives 1869 - 2009
    Topics: Biology , Chemistry and Pharmacology , Medicine , Natural Sciences in General , Physics
    Notes: [Auszug] Surface tension gives gas bubbles their perfect spherical shape by minimizing the surface area for a given volume. Here we show that gas bubbles and liquid drops can exist in stable, non-spherical shapes if the surface is covered, or ‘armoured’, with a close-packed monolayer of ...
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1038/438930a
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    Paper (German National Licenses)
    Fulltext
  • 4
    Electronic Resource
    Electronic Resource
    Non-stick water (2001)
    [s.l.] : Nature Publishing Group
    Nature 411 (2001), S. 895-896 
    Details
    ISSN: 1476-4687
    Source: Nature Archives 1869 - 2009
    Topics: Biology , Chemistry and Pharmacology , Medicine , Natural Sciences in General , Physics
    Notes: [Auszug] Much to the consternation of adults, a broken mercury thermometer is a source of delight to a curious child absorbed by the spectacle of the silvery beads that elude capture. The epithet 'quicksilver' aptly describes the droplets, which seem to roll rapidly on the surface much like a solid marble. ...
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1038/35082164
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    Paper (German National Licenses)
    Fulltext
  • 5
    Electronic Resource
    Electronic Resource
    Conical dislocations in crumpling (1999)
    [s.l.] : Macmillian Magazines Ltd.
    Nature 401 (1999), S. 46-49 
    Details
    ISSN: 1476-4687
    Source: Nature Archives 1869 - 2009
    Topics: Biology , Chemistry and Pharmacology , Medicine , Natural Sciences in General , Physics
    Notes: [Auszug] A crumpled piece of paper is made up of cylindrically curved or nearly planar regions folded along line-like ridges, which themselves pivot about point-like peaks; most of the deformation and energy is focused into these localized objects. Localization of deformation in thin sheets is a diverse ...
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1038/43395
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    Paper (German National Licenses)
    Fulltext
  • 6
    Electronic Resource
    Electronic Resource
    How the Venus flytrap snaps (2005)
    [s.l.] : Macmillian Magazines Ltd.
    Nature 433 (2005), S. 421-425 
    Details
    ISSN: 1476-4687
    Source: Nature Archives 1869 - 2009
    Topics: Biology , Chemistry and Pharmacology , Medicine , Natural Sciences in General , Physics
    Notes: [Auszug] The rapid closure of the Venus flytrap (Dionaea muscipula) leaf in about 100 ms is one of the fastest movements in the plant kingdom. This led Darwin to describe the plant as “one of the most wonderful in the world”. The trap closure is initiated by the mechanical ...
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1038/nature03185
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    Paper (German National Licenses)
    Fulltext
  • 7
    Electronic Resource
    Electronic Resource
    Thin films Wrinkling of an elastic sheet under tension (2002)
    [s.l.] : Nature Publishing Group
    Nature 419 (2002), S. 579-580 
    Details
    ISSN: 1476-4687
    Source: Nature Archives 1869 - 2009
    Topics: Biology , Chemistry and Pharmacology , Medicine , Natural Sciences in General , Physics
    Notes: [Auszug] Here we consider the wrinkling of a stretched, slender elastic sheet and derive scaling laws for the wrinkle wavelength and amplitude that are valid far from the onset of buckling. Our results, which can be generalized to stretched and sheared anisotropic and inelastic sheets, could form the ...
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1038/419579b
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    Paper (German National Licenses)
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  • 8
    Electronic Resource
    Electronic Resource
    Neurone-Specific Enolase and Creatine Phosphokinase Are Protein Components of Rat Brain Synaptic Plasma Membranes (1983)
    Oxford, UK : Blackwell Publishing Ltd
    Journal of neurochemistry 41 (1983), S. 0 
    Details
    ISSN: 1471-4159
    Source: Blackwell Publishing Journal Backfiles 1879-2005
    Topics: Medicine
    Notes: Abstract: Neuron-specific enolase and creatine phosphokinase were found, by 2-dimensional gel analysis, in rat brain synaptic plasma membranes (SPM). The identity of these enzymes was confirmed by comigration with purified rat brain NSE and CPK and by peptide analysis. The specific enzymatic activities of enolase and creatine phosphokinase, as well as of pyruvate kinase, also present on the membranes, were comparable to those in the homogenates when these three enzymes were fully activated. In the SPM all three enzymes, particularly enolase, were partially cryptic in that enzymatic activities were very low unless the membranes were treated with Triton X-100. They were resistant to both low-salt and high-salt extraction and to trypsin, except when Triton X-100 was present. These results suggest that the enzymes are tightly bound protein components of the membrane and that they may constitute an assembly capable of generating ATP.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1111/j.1471-4159.1983.tb09069.x
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    Paper (German National Licenses)
    Fulltext
  • 9
    Electronic Resource
    Electronic Resource
    Tumbling cards (1999)
    [S.l.] : American Institute of Physics (AIP)
    Physics of Fluids 11 (1999), S. 1-3 
    Details
    ISSN: 1089-7666
    Source: AIP Digital Archive
    Topics: Physics
    Notes: When a stiff rectangular card is dropped in still air with its long axis horizontal, it often settles into a regular mode of motion; while revolving around its long axis it descends along a path that is inclined to the vertical at a nearly constant angle. We show experimentally that the tumbling frequency Ω of a card of length l, width w and thickness d (l(very-much-greater-than)w(very-much-greater-than)d) scales as Ω∼d1/2w−1, consistent with a simple dimensional argument that balances the drag against gravity. © 1999 American Institute of Physics.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1063/1.869919
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    Paper (German National Licenses)
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  • 10
    Electronic Resource
    Electronic Resource
    Rolling droplets (1999)
    [S.l.] : American Institute of Physics (AIP)
    Physics of Fluids 11 (1999), S. 2449-2453 
    Details
    ISSN: 1089-7666
    Source: AIP Digital Archive
    Topics: Physics
    Notes: A droplet of nonwetting viscous liquid moves on an inclined plane by rolling along it. We give a scaling law for the uniform speed of such a droplet. We then analyze the flow in the contact region and show that the classical stress singularity at the contact line is alleviated in this case. © 1999 American Institute of Physics.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1063/1.870107
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    Paper (German National Licenses)
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