Universität Stuttgart
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Item Open Access Inductive coupling between idealized conductors and its significance for the geomagnetic coast effect(1982) Wolf, DetlefA problem of current interest is the inductive coupling between an ocean, a solid earth conductor and a conductosphere. The anomaly of this configuration is modelled by (i) the inductive response of a two-dimensional system consisting of two thin half sheets and an underlying thin whole sheet or (ii) the superposition of the responses of two related systems, each consisiting of only one of the two half sheets and the whole sheet. The conductivity of these conducting planes is assumed to be perfect, and rigorous solutions for the erived by conformal mapping. induced magnetic fields are a comparison between the anomalies (i) and (ii) permits us to ascertain the degree of inductive coupling between the idealized conductors. This establishes a reference for estimating the inductive coupling between more realistic conductors and may therefore assist in the interpretation of complicated magnetic variation anomalies in coastal regions. Our substitute configurations can also be used directly for the rapid modelling of the inductive response of the earth in the vicinity of coastlines. This is demonstrated by analyzing some field data from the recent literature.Item Open Access Real-time stabilisation for hexapod robots using task-space constraints(2014) Hörger, MarcusLegged robots such as hexapod platforms are capable of navigating in rough and unstructured terrain. When the terrain model is either known a priori or is observed by on-board sensors, motion planners can be used to give desired motion and stability for the robot. However, unexpected leg disturbances could occur due to inaccuracies of the model or sensors or simply due to the dynamic nature of the terrain. This thesis presents a method based on task-space constraints for real-time stabilisation of hexapod robots which keeps the robot inside defined task-space constraints to recover from unexpected events such as leg slip. A ROS-based control system for hexapod robots is developed and implemented, integrating the presented stabilisation method. The approach is experimentally evaluated using two PhantomX hexapod platforms - one with extended tibia segments which significantly reduces its stability. The results show that the proposed method significantly improves the static stability when unexpected events occur during locomotion.