@article{BrockKoderRabletal., author = {Brock, Damian and Koder, Alexander and Rabl, Hans-Peter and Touraud, Didier and Kunz, Werner}, title = {Optimising the biodiesel production process: Implementation of glycerol derivatives into biofuel formulations and their potential to form hydrofuels}, series = {Fuel}, volume = {264}, journal = {Fuel}, number = {March}, publisher = {Elsevier}, doi = {10.1016/j.fuel.2019.116695}, abstract = {A new biofuel concept is developed, enabling the usage of vegetable oils and glycerol derivatives in mixtures with biodiesel. This concept significantly enhances the biodiesel production's profitability and thus strongly contributes to the sustainability of future biofuels. After simple addition reactions with building block chemicals, less hydrophilic glycerol derivatives are obtained, which are compatible with biofuels. Even more, the products of the reactions of glycerol with acetone or butyric acid, referred to as solketal and tributyrin, respectively, lead to promising biofuels in mixtures with rapeseed oil and its biodiesel. Due to their low freezing points, they act as cloud and freezing point depressants, when added to vegetable oil/biodiesel blends. Further, since their viscosity is close to common biodiesel, biofuels containing high amounts of vegetable oil and even more glycerol derivatives than they arise during the biodiesel production can be obtained. Thus, this new class of biofuels enables adaptable compositions depending on the application and also the usage as drop-in fuel without any or just few percent of further additives. After optimising the formulations, ignition delay, exhaust gas recirculation, fuel consumption and combustion process measurements were performed in an unmodified upto-date diesel engine. The experiments showed that the properties of the formulated biofuels are either similar to or even better than diesel. The hydrotropy of the glycerol derivatives in these mixtures enables the potential to implement water into biofuels, so-called hydrofuels, reducing nitrogen oxide emissions and leading to further optimised dropin fuels.}, language = {en} } @incollection{WalterSchwanzerHagenetal., author = {Walter, Stefanie and Schwanzer, Peter and Hagen, Gunter and Haft, Gerhard and Dietrich, Markus and Rabl, Hans-Peter and Moos, Ralf}, title = {Hochfrequenzsensorik zur direkten Beladungserkennung von Benzinpartikelfiltern}, series = {Automobil-Sensorik 3}, booktitle = {Automobil-Sensorik 3}, editor = {Tille, Thomas}, publisher = {Springer Vieweg}, address = {Berlin}, isbn = {978-3-662-61259-0}, doi = {10.1007/978-3-662-61260-6_7}, pages = {185 -- 208}, abstract = {In Folge der Versch{\"a}rfung der gesetzlichen Abgasnormen wurden f{\"u}r direkt-einspritzende Benzinmotoren Partikelfilter notwendig. Zur Beladungs{\"u}berwachung k{\"o}nnen aufgrund stark unterschiedlicher Rahmenbedingungen die aus Dieselmotoren bekannten Systeme, wie dem Differenzdrucksensor, nur eingeschr{\"a}nkt {\"u}bernommen werden. Ein hochfrequenzbasiertes Verfahren koppelt mittels Antennen elektromagnetische Wellen in das Filtergeh{\"a}use ein, deren Ausbreitungsverhalten durch die dielektrischen Eigenschaften des eingelagerten Rußes beeinflusst wird. Hierdurch kann bei Auswertung von Transmissionsd{\"a}mpfung oder Resonanzfrequenzen die Rußbeladung direkt detektiert werden.}, language = {en} } @article{DzaficMaiwaldHierl, author = {Dzafic, Adelisa and Maiwald, Frederik and Hierl, Stefan}, title = {Messung der Schmelzefließgeschwindigkeit beim Laser-Durchstrahlschweißen von Kunststoffen}, series = {Werkstoffe in der Fertigung}, volume = {57}, journal = {Werkstoffe in der Fertigung}, number = {3}, publisher = {HW-Verl.}, address = {Mering}, issn = {0939-2629}, pages = {31 -- 33}, subject = {Laserdurchstrahlschweissen}, language = {de} } @inproceedings{SchorrBoehmZentneretal., author = {Schorr, Philipp and B{\"o}hm, Valter and Zentner, Lena and Zimmermann, Klaus}, title = {Dynamical Investigation of Crawling Motion System based on a Multistable Tensegrity Structure}, series = {Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics : Porto, Portugal, 29.07.2018 - 31.07.2018}, booktitle = {Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics : Porto, Portugal, 29.07.2018 - 31.07.2018}, publisher = {SCITEPRESS}, isbn = {978-989-758-321-6}, doi = {10.5220/0006852701220130}, pages = {122 -- 130}, abstract = {The basic idea of this article is the utilization of the multistable character of a compliant tensegrity structure to control the direction of motion of a crawling motion system. A crawling motion system basing on a two-dimensional tensegrity structure with multiple stable equilibrium states is considered. This system is in contact with a horizontal plane due to gravity. For a selected harmonic actuation of the system small oscillations around the given equilibrium state of the tensegrity structure occur and the corresponding uniaxial motion of the system is evaluated. A change of the equilibrium state of the tensegrity structure yields to novel configuration of the entire system. Moreover, the motion behavior of the novel configuration is totally different although the actuation strategy is not varied. In particular, the direction of motion changes. Therefore, this approach enables a uniaxial bidirectional crawling motion with a controllable direction of motion using only one actuat or with a selected excitation frequency.}, language = {en} } @inproceedings{BeckeSchlegl, author = {Becke, Mark and Schlegl, Thomas}, title = {Least squares pose estimation of cylinder axes from multiple views using contour line features}, series = {IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 9-12 Nov. 2015, Yokohama, Japan}, booktitle = {IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 9-12 Nov. 2015, Yokohama, Japan}, publisher = {IEEE}, doi = {10.1109/IECON.2015.7392371}, pages = {1855 -- 1861}, abstract = {In this paper, a new method for a minimum-error pose estimation of cylinder axes based on apparent contour line features from multiple views is presented. Novel model equations for both single and particularly multiple views are derived, and based upon these, an iterative algorithm for least squares fitting the model to imaged cylinder contour line features is introduced. The good performance and fast convergence of the proposed algorithm is shown by solving exemplary fitting problems.}, language = {en} } @inproceedings{BauerGrossmannSchlegletal., author = {Bauer, Gregor and Grossmann, Benjamin and Schlegl, Thomas and Kobayashi, Hiroshi}, title = {Modeling, identification and control of an antagonistically actuated joint for telerobotic systems}, series = {IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 9-12 Nov. 2015, Yokohama, Japan}, booktitle = {IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 9-12 Nov. 2015, Yokohama, Japan}, publisher = {IEEE}, doi = {10.1109/IECON.2015.7392676}, pages = {3696 -- 3701}, abstract = {Within this paper a modeling, identification and control technique for an antagonistically actuated joint consisting of two pneumatically actuated muscles is presented. The antagonistically actuated joint acts as a test bench for control architectures which are going to be used to control an exoskeleton within a telerobotic system. A static and dynamic model of the muscle and the joint is derived and the parameters of the models are identified using a least-squares algorithm. The control architecture, consisting of a inner pressure and an outer position controller is presented. The pressure controller is evaluated using switching valves compared against proportional valves.}, language = {en} } @inproceedings{PohltHaubnerLangetal., author = {Pohlt, Clemens and Haubner, Franz and Lang, Jonas and Rochholz, Sandra and Schlegl, Thomas and Wachsmuth, Sven}, title = {Effects on User Experience During Human-Robot Collaboration in Industrial Scenarios}, series = {2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 7-10 Oct. 2018, Miyazaki, Japan}, booktitle = {2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 7-10 Oct. 2018, Miyazaki, Japan}, publisher = {IEEE}, doi = {10.1109/SMC.2018.00150}, pages = {837 -- 842}, abstract = {In smart manufacturing environments robots collaborate with human operators as peers. They even share the same working space and time. An intuitive interaction with different input modalities is decisive to reduce workload and training periods for collaboration. We introduce our interaction system that is able to recognize gestures, actions and objects in a typical smart working scenario. As key aspect, this article considers an empirical investigation of input modalities (touch, gesture), individual differences (performance, recognition rate, previous knowledge) and boundary conditions (level of automation) on user experience. Therefore, answers from 31 participants within two experiments are collected. We show that the arrangement of the human-robot collaboration (input modalities, boundary conditions) has a significant effect on user experience in real-world environments. This effect and the individual differences between participants can be measured utilizing recognition rates and standardized usability questionnaires.}, language = {en} } @inproceedings{DessortChucholowskiRill, author = {Dessort, Ronnie and Chucholowski, Cornelius and Rill, Georg}, title = {Parametrical approach for modeling of tire forces and torques in TMeasy 5}, series = {16. Internationales Stuttgarter Symposium, Automobil- und Motorentechnik, Bd. 1}, booktitle = {16. Internationales Stuttgarter Symposium, Automobil- und Motorentechnik, Bd. 1}, editor = {Bargende, Michael and Reuss, Hans-Christian and Wiedemann, Jochen}, publisher = {Springer}, address = {Wiesbaden}, isbn = {978-3-658-13254-5}, doi = {10.1007/978-3-658-13255-2_31}, pages = {435 -- 449}, abstract = {For the dynamic simulation of on-road vehicles, the model-element "tire/road" is of special importance, according to its influence on the achievable results. Sufficient description of the interaction between tire and road is one of the most challenging tasks of vehicle modeling. Two groups of tire models can be classified: handling models and structural or high-frequency models. Usually, various assumptions are made in modeling vehicles as multibody systems. Therefore, in the interest of balanced modeling, the precision of the complete vehicle model should stand in reasonable relation to the performance of the applied tire model. Handling tire models are characterized by a useful compromise between user friendliness, model complexity, and efficiency in computation time on the one hand, and precision in representation on the other hand.}, language = {en} } @inproceedings{WeissGrossmannLeiboldetal., author = {Weiß, Roman and Großmann, Benjamin and Leibold, Marion and Schlegl, Thomas and Wollherr, Dirk and Weiss, Roman and Grossmann, Benjamin}, title = {Modeling and nonlinear control of antagonistically actuating pneumatic artificial muscles}, series = {2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 3-7 July 2017, Munich, Germany}, booktitle = {2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 3-7 July 2017, Munich, Germany}, publisher = {IEEE}, doi = {10.1109/AIM.2017.8014001}, pages = {94 -- 99}, abstract = {This paper discusses modeling and nonlinear control of a joint antagonistically actuated by two pneumatic, artificial muscles. A single model of the whole system is obtained by a combined physical and phenomenological modeling approach. The combined model for the joint, the muscles and the proportional valves results in a nonlinear, affine-in-control system description. The model is used to derive control laws for an input/output linearization approach to linearize the plant. Modeling and parametrization errors are covered via an outer control loop consisting of a state-feedback which is extended by an additional feedback of error integral. Extensive experimental results show the quality of the model and the performance of the respective control laws.}, language = {en} } @inproceedings{HacklHirschbergLexetal., author = {Hackl, Andreas and Hirschberg, Wolfgang and Lex, Cornelia and Rill, Georg}, title = {Parameterization Process of the Maxwell Model to Describe the Transient Force Behavior of a Tire}, series = {WCX 17: SAE World Congress Experience 2017}, booktitle = {WCX 17: SAE World Congress Experience 2017}, publisher = {SAE}, doi = {10.4271/2017-01-1505}, abstract = {The present technical article deals with the modeling of dynamic tire forces, which are relevant during interactions of safety relevant Advanced Driver Assistance Systems (ADAS). Special attention has been paid on simple but effective tire modeling of semi-physical type. In previous investigations, experimental validation showed that the well-known first-order Kelvin-Voigt model, described by a spring and damper element, describes good suitability around fixed operation points, but is limited for a wide working range. When aiming to run vehicle dynamics models within a frequency band of excitation up to 8 Hz, these models deliver remarkable deviations from measured tire characteristics. To overcome this limitation, a nonlinear Maxwell spring-damper element was introduced which is qualified to model the dynamic hardening of the elastomer materials of the tire. However, the advantage of a more realistic description of the transient behavior leads to a more complex parametrization process. Therefore, in the proposed article attention is paid to describe the identification process including defined maneuvers to parameterize the tire model, where the accuracy of the parameter strongly depends on the quality of the available input data from measurement. In order to study this important aspect of parameterization, the reference data from simulation of the full physical tire model FTire is applied like a "virtual measurement" of specified testing maneuvers. The procedure of simulation by means of the enhanced first order dynamics model is implemented by the semi-physical tire model TMeasy. Finally, the improvements of the extended model are discussed and an outlook for future work is given.}, language = {en} } @inproceedings{PohltHellSchlegletal., author = {Pohlt, Clemens and Hell, Sebastian and Schlegl, Thomas and Wachsmuth, Sven}, title = {Impact of Spontaneous Human Inputs during Gesture based Interaction on a Real-World Manufacturing Scenario}, series = {Proceedings of the 5th International Conference on Human Agent Interaction (HAI '17), Bielefeld Germany, 17.10.2017 -20.10.2017}, booktitle = {Proceedings of the 5th International Conference on Human Agent Interaction (HAI '17), Bielefeld Germany, 17.10.2017 -20.10.2017}, editor = {Wrede, Britta and Nagai, Yukie and Komatsu, Takanori and Hanheide, Marc and Natale, Lorenzo}, publisher = {ACM}, address = {New York, NY}, isbn = {9781450351133}, doi = {10.1145/3125739.3132590}, pages = {347 -- 351}, abstract = {Seamless human-robot collaboration depends on high non-verbal behaviour recognition rates. To realize that in real-world manufacturing scenarios with an ecological valid setup, a lot of effort has to be invested. In this paper, we evaluate the impact of spontaneous inputs on the robustness of human-robot collaboration during gesture-based interaction. A high share of these spontaneous inputs lead to a reduced capability to predict behaviour and subsequently to a loss of robustness. We observe body and hand behaviour during interactive manufacturing of a collaborative task within two experiments. First, we analyse the occurrence frequency, reason and manner of human inputs in specific situations during a human-human experiment. We show the high impact of spontaneous inputs, especially in situations that differ from the typical working procedure. Second, we concentrate on implicit inputs during a real-world Wizard of Oz experiment using our human-robot working cell. We show that hand positions can be used to anticipate user needs in a semi-structured environment by applying knowledge about the semi-structured human behaviour which is distributed over working space and time in a typical manner.}, language = {en} } @article{LaumerWudyDrexleretal., author = {Laumer, Tobias and Wudy, Katrin and Drexler, Maximilian and Amend, Philipp and Roth, Stephan and Drummer, Dietmar and Schmidt, Michael}, title = {Fundamental investigation of laser beam melting of polymers for additive manufacture}, series = {Journal of Laser Applications}, volume = {26}, journal = {Journal of Laser Applications}, number = {4}, publisher = {AIP Publishing}, issn = {1938-1387}, doi = {10.2351/1.4892848}, abstract = {By selective laser sintering (SLS), polymer powders are molten layer by layer to build conventional prototypes or parts in small series with geometrical freedom that cannot be achieved by other manufacturing technologies. The SLS process is mainly defined by the beam-matter interaction between powder material, laser radiation and different material characteristics by itself. However the determination of these different material characteristics is problematic because powder material imposes certain requirements that cannot sufficiently be provided by conventional measurement methods. Hence new fundamental investigation methods to determine the optical and thermal material characteristics like the thermal diffusivity, thermal conductivity, or the influence of different heating rates on the melting behavior are presented in this paper. The different analysis methods altogether improve the process of understanding to allow recommendations for the future process controlling.}, language = {en} } @article{FrazzicaPalombaDawoud, author = {Frazzica, Andrea and Palomba, Valeria and Dawoud, Belal}, title = {Thermodynamic Performance of Adsorption Working Pairs for Low-Temperature Waste Heat Upgrading in Industrial Applications}, series = {Applied Sciences}, volume = {11}, journal = {Applied Sciences}, number = {8}, publisher = {MDPI}, doi = {10.3390/app11083389}, abstract = {The present work aims at the thermodynamic analysis of different working pairs in adsorption heat transformers (AdHT) for low-temperature waste heat upgrade in industrial processes. Two different AdHT configurations have been simulated, namely with and without heat recovery between the adsorbent beds. Ten working pairs, employing different adsorbent materials and four different refrigerants, have been compared at varying working boundary conditions. The effects of heat recovery and the presence of a temperature gradient for heat transfer between sinks/sources and the AdHT components have been analyzed. The achieved results demonstrate the possibility of increasing the overall performance when internal heat recovery is implemented. They also highlight the relevant role played by the existing temperature gradient between heat transfer fluids and components, that strongly affect the real operating cycle of the AdHT and thus its expected performance. Both extremely low, i.e., 40-50 degrees C, and low (i.e., 80 degrees C) waste heat source temperatures were investigated at variable ambient temperatures, evaluating the achievable COP and specific energy. The main results demonstrate that optimal performance can be achieved when 40-50 K of temperature difference between waste heat source and ambient temperature are guaranteed. Furthermore, composite sorbents demonstrated to be the most promising adsorbent materials for this application, given their high sorption capacity compared to pure adsorbents, which is reflected in much higher achievable specific energy.}, language = {en} } @article{FreeseHoltmannspoetterRaschendorferetal., author = {Freese, Jens de and Holtmannsp{\"o}tter, Jens and Raschendorfer, Stefan and Hofmann, Timo}, title = {End milling of Carbon Fiber Reinforced Plastics as surface pretreatment for adhesive bonding - effect of intralaminar damages and particle residues}, series = {The Journal of Adhesion}, volume = {96}, journal = {The Journal of Adhesion}, number = {12}, publisher = {TAYLOR \& FRANCIS}, doi = {10.1080/00218464.2018.1557054}, pages = {1122 -- 1140}, abstract = {In this study, the use of dry end milling of carbon fiber reinforced plastics (CFRP) as surface pretreatment for high-strength (structural) adhesive bonding was investigated. Surfaces were pretreated using different milling parameters; subsequently, they were adhesively bonded and tested. In comparison with sanding and other industrial standard pretreatment methods, the measured adhesive strength was significantly lower. Detailed surface investigations utilizing field-emission scanning electron microscopy could identify two major effects for lower adhesion strength. Intralaminar damages and microparticle residues on the created surface reduced the strength of the CFRP adhesive joints. This eventually explains results from investigations on milling pretreated repairs. By application of power ultrasound cleaning equipment and coating with low viscosity epoxy primers, the authors showed a way to overcome the discovered drawbacks and to improve bond strength significantly. Surface roughness measurements showed that the arithmetical mean roughness R(a)can be used as an effective value for assessment of mechanical pretreated CFRP surfaces as well as for the quality of necessarily following cleaning processes.}, language = {en} } @article{WalterSchwanzerHagenetal., author = {Walter, Stefanie and Schwanzer, Peter and Hagen, Gunter and Haft, Gerhard and Rabl, Hans-Peter and Dietrich, Markus and Moos, Ralf}, title = {Modelling the Influence of Different Soot Types on the Radio-Frequency-Based Load Detection of Gasoline Particulate Filters}, series = {Sensors}, volume = {20}, journal = {Sensors}, number = {9}, publisher = {MDPI}, doi = {10.3390/s20092659}, pages = {1 -- 19}, abstract = {Gasoline particulate filters (GPFs) are an appropriate means to meet today's emission standards. As for diesel applications, GPFs can be monitored via differential pressure sensors or using a radio-frequency approach (RF sensor). Due to largely differing soot properties and engine operating modes of gasoline compared to diesel engines (e.g., the possibility of incomplete regenerations), the behavior of both sensor systems must be investigated in detail. For this purpose, extensive measurements on engine test benches are usually required. To simplify the sensor development, a simulation model was developed using COMSOL Multiphysics((R)) that not only allowed for calculating the loading and regeneration process of GPFs under different engine operating conditions but also determined the impact on both sensor systems. To simulate the regeneration behavior of gasoline soot accurately, an oxidation model was developed. To identify the influence of different engine operating points on the sensor behavior, various samples generated at an engine test bench were examined regarding their kinetic parameters using thermogravimetric analysis. Thus, this compared the accuracy of soot mass determination using the RF sensor with the differential pressure method. By simulating a typical driving condition with incomplete regenerations, the effects of the soot kinetics on sensor accuracy was demonstrated exemplarily. Thereby, the RF sensor showed an overall smaller mass determination error, as well as a lower dependence on the soot kinetics.}, language = {en} } @inproceedings{AltmannGebhardTroegeretal., author = {Altmann, Robert and Gebhard, J{\"u}rgen and Troeger, Adrian and Winkler, Markus and T{\"o}pfer, Georg and Remmele, Edgar and Gaderer, Matthias and Rabl, Hans-Peter}, title = {Engine performance and emission analysis of a NRMM CI engine with common rail injection system operated with diesel fuel and rapeseed oil fuel}, series = {Proceedings of the 6th Commercial Vehicle Technology Symposium 2020/2021}, booktitle = {Proceedings of the 6th Commercial Vehicle Technology Symposium 2020/2021}, editor = {Berns, Karsten and Dressler, Klaus and Kalmar, Ralf and Stephan, Nicole and Teutsch, Roman and Thul, Martin}, publisher = {Springer Vieweg}, address = {Wiesbaden}, isbn = {978-3-658-29716-9}, doi = {10.1007/978-3-658-29717-6_16}, pages = {231 -- 242}, abstract = {The use of alternative fuels in high-power non-road mobile machinery (NRMM) combustion engines is a possible way to substitute fossil fuel. By using pure vegetable oil fuels, like rapeseed oil fuel (DIN 51605), the greenhouse gases can be reduced effectively. Due to the differences in physical and chemical properties, a modification of the engine control unit calibration is necessary to adapt the working process on the fuel. Without modifications, the engine power output with rapeseed oil fuel is lower than with diesel fuel because of the smaller energy content. By adapting the engine settings, like the injection fuel mass, the power loss can be compensated but it accompanies with a higher fuel consumption. The engine emissions at part load conditions show, that there are benefits in particle emissions by using rapeseed oil at similar NOx emissions. Therefore, a design of experiment setup was initiated on a selected engine operation point to determine the effects of further parameters, like rail pressure, manifold pressure and injection pattern, on the process and to see the potential of an optimized calibration.}, language = {en} } @inproceedings{PohltSchleglWachsmuth, author = {Pohlt, Clemens and Schlegl, Thomas and Wachsmuth, Sven}, title = {Weakly-Supervised Learning for Multimodal Human Activity Recognition in Human-Robot Collaboration Scenarios}, series = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): October 25-29, 2020, Las Vegas, NV, USA (virtual)}, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): October 25-29, 2020, Las Vegas, NV, USA (virtual)}, publisher = {IEEE}, doi = {10.1109/IROS45743.2020.9340788}, pages = {8381 -- 8386}, abstract = {The ability to synchronize expectations among human-robot teams and understand discrepancies between expectations and reality is essential for human-robot collaboration scenarios. To ensure this, human activities and intentions must be interpreted quickly and reliably by the robot using various modalities. In this paper we propose a multimodal recognition system designed to detect physical interactions as well as nonverbal gestures. Existing approaches feature high post-transfer recognition rates which, however, can only be achieved based on well-prepared and large datasets. Unfortunately, the acquisition and preparation of domain-specific samples especially in industrial context is time consuming and expensive. To reduce this effort we introduce a weakly-supervised classification approach. Therefore, we learn a latent representation of the human activities with a variational autoencoder network. Additional modalities and unlabeled samples are incorporated by a scalable product-of-expert sampling approach. The applicability in industrial context is evaluated by two domain-specific collaborative robot datasets. Our results demonstrate, that we can keep the number of labeled samples constant while increasing the network performance by providing additional unprocessed information.}, language = {en} } @inproceedings{BoehmSchorrSchaleetal., author = {B{\"o}hm, Valter and Schorr, Philipp and Schale, Florian and Kaufhold, Tobias and Zentner, Lena and Zimmermann, Klaus}, title = {Worm-Like Mobile Robot Based on a Tensegrity Structure}, series = {2021 IEEE 4th International Conference on Soft Robotics (RoboSoft): 2.04.2021 - 16.04.2021, New Haven, CT, USA}, booktitle = {2021 IEEE 4th International Conference on Soft Robotics (RoboSoft): 2.04.2021 - 16.04.2021, New Haven, CT, USA}, publisher = {IEEE}, isbn = {978-1-7281-7713-7}, doi = {10.1109/robosoft51838.2021.9479193}, pages = {358 -- 363}, abstract = {This work presents a novel concept to develop mobile robots enabling crawling locomotion in tubular environment. Chain-like systems are designed by serial cascading a uniform tensegrity module. Inspired by the movement of worms in nature, an undulating shape change of the system is targeted to generate locomotion. The shape changeability of an exemplary tensegrity module due to internal actuation is examined in simulations and experiments. A prototype consisting of these tensegrity modules is manufactured and the locomotion principle is verified in experiments. Comparing to existing prototypes this approach enables an enhanced compliance due to the modular assembly of tensegrity structures.}, language = {en} } @inproceedings{RillArrietaCastro, author = {Rill, Georg and Arrieta Castro, Abel}, title = {A Novel Approach for Parametrization of Suspension Kinematics}, series = {Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2019), August 12-16, 2019, Gothenburg, Sweden}, booktitle = {Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2019), August 12-16, 2019, Gothenburg, Sweden}, editor = {Klomp, Matthijs and Bruzelius, Fredrik and Nielsen, Jens and Hillemyr, Angela}, publisher = {Springer International Publishing}, address = {Cham}, isbn = {978-3-030-38076-2}, doi = {10.1007/978-3-030-38077-9_210}, pages = {1848 -- 1857}, abstract = {n the automotive industry, simulations are needed to analyse the dynamics of vehicles and also of its main components and subsystems, e.g. tires, brakes and suspension systems. These simulations are required for an early-stage development and in consequence, they must deliver realistic results. Suspension systems plays a key role in comfort and safety of road vehicles. They usually consist of rigid links and force elements that are arranged with a specific topology. In addition, some of their functionalities are to carry the weight of the car and the passengers, and maintain a correct wheel alignment. In simulations involving suspension systems, lookup-tables are frequently used. They are obtained from a Kinematic and Compliance (KnC) test and then standardized for a specific vehicle simulation software. Nonetheless, lookup-tables require a reasonable number of characteristic points. Additionally, derivatives, interpolation, and extrapolation are not necessarily smooth. This produces results that depend on the interpolation technique and may be inaccurate. In this paper, a novel method called "design kinematics" is proposed. This method can describe the kinematic properties of almost any type of suspension systems. Comparisons with an analytic calculation and a KnC measurement shown that the design kinematics is able to represent the kinematic and compliance properties of suspension systems extremely well and very efficiently.}, language = {en} } @inproceedings{RillArrietaCastro, author = {Rill, Georg and Arrieta Castro, Abel}, title = {The Influence of Axle Kinematics on Vehicle Dynamics}, series = {Interdisciplinary Applications of Kinematics. Proceedings of the Third International Conference (IAK)}, volume = {71}, booktitle = {Interdisciplinary Applications of Kinematics. Proceedings of the Third International Conference (IAK)}, editor = {Kecskem{\´e}thy, Andr{\´e}s and Geu Flores, Francisco and Carrera, Eliodoro and Elias, Dante A.}, publisher = {Springer International Publishing}, address = {Cham}, isbn = {978-3-030-16422-5}, doi = {10.1007/978-3-030-16423-2_2}, pages = {23 -- 31}, abstract = {The automotive industry employs many different kinds of axle suspension systems at modern passenger cars. Important criteria are costs, space requirements, kinematic properties, and compliance attributes. This paper illustrates that in particular the kinematic properties of a suspension system have a significant influence on the dynamics of vehicles. As a consequence, the kinematics of a suspension system must be modeled very precisely and nonlinear. Typical kinematical features of a suspension system are discussed by analyzing the most common double wishbone axle suspension system. The influence of the axle kinematics on vehicle dynamics is finally demonstrated by simulation results generated with a fully nonlinear and three-dimensional multibody vehicle model.}, language = {en} } @incollection{Rill, author = {Rill, Georg}, title = {Multibody Systems and Simulation Techniques}, series = {Vehicle Dynamics of Modern Passenger Cars}, booktitle = {Vehicle Dynamics of Modern Passenger Cars}, editor = {Lugner, Peter}, publisher = {Springer International Publishing}, address = {Cham}, isbn = {978-3-319-79007-7}, doi = {10.1007/978-3-319-79008-4_6}, pages = {309 -- 375}, abstract = {This part begins with an introduction to Multibody Systems (MBS). It presents the elements of MBS and discusses different modeling aspects. Then, different methods to generate the equations of motion are presented. Solvers for ordinary differential equations (ODE) as well as differential algebraic equations (DAE) are discussed. Finally, techniques for "online" and "offline" simulations including real-time applications are presented like necessary for car development. Special examples show the connection between simulation and test results.}, language = {en} } @book{RillArrietaCastro, author = {Rill, Georg and Arrieta Castro, Abel}, title = {Road Vehicle Dynamics}, publisher = {CRC Press}, address = {Boca Raton, Fla.}, isbn = {9780429244476}, doi = {10.1201/9780429244476}, abstract = {Road Vehicle Dynamics: Fundamentals and Modeling with MATLAB®, Second Edition combines coverage of vehicle dynamics concepts with MATLAB v9.4 programming routines and results, along with examples and numerous chapter exercises. Improved and updated, the revised text offers new coverage of active safety systems, rear wheel steering, race car suspension systems, airsprings, four-wheel drive, mechatronics, and other topics. Based on the lead author's extensive lectures, classes, and research activities, this unique text provides readers with insights into the computer-based modeling of automobiles and other ground vehicles. Instructor resources, including problem solutions, are available from the publisher.}, subject = {Fahrdynamik}, language = {en} } @book{Wagner, author = {Wagner, Marcus}, title = {Lineare und nichtlineare FEM}, edition = {2. Auflagae}, publisher = {Springer Fachmedien; Springer Vieweg}, address = {Wiesbaden}, isbn = {978-3-658-25051-5}, doi = {10.1007/978-3-658-25052-2}, abstract = {Einf{\"u}hrung in die lineare FEM - Mechanische Gr{\"o}ßen der Strukturmechanik - Mathematische Modellierung {\"u}ber Energieprinzipien - Diskretisierung mit Finiten Elementen - Finite-Elemente-Klassen - Mathematische und numerische Aspekte der FEM - Geometrische Nichtlinearit{\"a}t - Materielle Nichtlinearit{\"a}t - Kontaktmodellierung - Gleichungsl{\"o}sung bei nichtlinearen statischen Problemen - Zeitintegration von nichtlinearen dynamischen Problemen - Blechumformsimulation - Anhang: Mathematische Hilfsmittel - Einf{\"u}hrung in die Simulation mit LS-DYNA® Die Zielgruppen- Studierende aus Bachelor- und Masterstudieng{\"a}ngen der Ingenieurwissenschaften an Hochschulen und Technischen Universit{\"a}ten - Ingenieure und Techniker}, subject = {Blechumformen}, language = {de} } @article{NiedersteinerLangPohltetal., author = {Niedersteiner, Sascha and Lang, Jonas and Pohlt, Clemens and Schlegl, Thomas}, title = {Klassifikation des Arbeitsfortschritts}, series = {atp magazin}, volume = {59}, journal = {atp magazin}, number = {11}, publisher = {Vulkan-Verlag}, doi = {10.17560/atp.v59i11.1911}, pages = {58 -- 66}, abstract = {Steigende Anforderungen an die Qualit{\"a}t von zum Teil manuell gefertigten Produkten f{\"u}hren dazu, dass Handarbeitspl{\"a}tze mit Assistenzsystemen f{\"u}r die Unterst{\"u}tzung der am Arbeitsplatz arbeitenden Mitarbeiterinnen und Mitarbeiter ausgestattet werden. Der Beitrag beschreibt einen neuen Ansatz, um mittels Verfahren des maschinellen Lernens die Objekterkennung sowie die Transitionen eines, den Arbeitsprozess repr{\"a}sentierenden Zustandsautomaten eines solchen Systems einzulernen. Hierf{\"u}r werden nach einer Vorverarbeitung Daten aus einer Tiefenkamera in drei Stufen durch Support Vector Machines (SVM) klassifiziert und das Ergebnis mit dem Zustandsautomaten verkn{\"u}pft. Das Konzept wird an einem industriellen Montageprozess {\"u}berschaubarer Komplexit{\"a}t evaluiert; es zeigt gute Ergebnisse hinsichtlich der Robustheit gegen{\"u}ber Fehlern bei der Objektklassifikation.}, language = {de} } @article{KasparRablMayer, author = {Kaspar, Marcel and Rabl, Hans-Peter and Mayer, Wolfgang}, title = {Ion-Molecule Reaction for the Selective Detection of Hydrocarbons in Diesel Exhaust Gas}, series = {Chemie Ingenieur Technik}, volume = {90}, journal = {Chemie Ingenieur Technik}, number = {6}, publisher = {WILEY-VCH}, doi = {10.1002/cite.201700075}, pages = {826 -- 834}, abstract = {The hydrocarbons present in the diesel exhaust gas are analyzed. A mass spectrometer is used for the measurements, and it operates on the basis of an ion-molecule reaction. This method is especially suitable because it is selective, is as free of fragments as possible, and is highly sensitive to the species that need to be measured. The study shows that numerous hydrocarbons in diesel exhaust gas can be identified. In particular, three molecules, ethyne, ethene and propene, were analyzed online in-depth on an engine test bench under different engine operating conditions.}, language = {en} } @article{WilhelmAffeldtFleischmannetal., author = {Wilhelm, Franz and Affeldt, Ernst Eugen and Fleischmann, Ernst W. and Glatzel, U. and Hammer, Joachim}, title = {Modeling of the deformation behavior of single crystalline Nickel-based superalloys under thermal mechanical loading}, series = {International Journal of Fatigue}, volume = {97}, journal = {International Journal of Fatigue}, publisher = {Elsevier}, doi = {10.1016/j.ijfatigue.2016.12.003}, pages = {1 -- 8}, abstract = {The focus of this paper is the simulation of the thermal-mechanical fatigue behavior (TMF) of two single crystalline Nickel-based superalloys in a temperature range between 400 degrees C and 980 degrees C. The newly developed rhenium-free alloy Astra-3OptW and the rhenium-free alloy CMSX-6 are analyzed concerning the basic deformation mechanisms, i.e. elasticity, time-independent and time-dependent plasticity contributing to hardening. In detail, the relevant parameters for high temperature deformation are identified from isothermal creep experiments and used in a numerical model to simulate the deformation behavior under instationary thermal and mechanical loading. Special attention is focused on the determination of the hardening by the second phase (gamma'-precipitates) and their influence on time-dependent deformation and relaxation mechanisms. Therefore, the parameters describing the stress and temperature dependence of the creep rate (i.e. stress exponent n and activation energy Q) are interpreted in terms of a threshold stress taking into account the hardening contribution of the gamma'-phase. Thus, only a reduced effective stress is active for plastic deformation. Particular attention is focused on the accurate determination of the threshold stress as a function of temperature and applied stress from the Langeborg-Bergmann-plot. The comparison of the simulated TMF-deformation to the experimental TMF-data clearly indicates the accuracy of the model in predicting the resulting stresses induced by instationary thermal and mechanical loading. (C) 2016 Elsevier Ltd. All rights reserved.}, language = {en} } @article{SchorrBoehmZentneretal., author = {Schorr, Philipp and B{\"o}hm, Valter and Zentner, Lena and Zimmermann, Klaus}, title = {Motion characteristics of a vibration driven mobile tensegrity structure with multiple stable equilibrium states}, series = {Journal of Sound and Vibration}, volume = {437}, journal = {Journal of Sound and Vibration}, number = {December}, publisher = {Elsevier}, doi = {10.1016/j.jsv.2018.09.019}, pages = {198 -- 208}, abstract = {A novel type of a vibration driven motion system based on a compliant tensegrity structure with multiple stable equilibrium states is considered. These equilibrium configurations correspond to different prestress states with different dynamical properties. Therefore, the motion characteristics can be varied by changing the equilibrium state. For the application in the fields of mobile robotics, these discrete adjustable dynamics are advantageous. The vibration modes of the structure as well as the corresponding motion characteristics of the system can be adapted to the given environmental conditions in order to ensure a reliable motion. In this paper, dynamical investigations of an exemplary two-dimensional multistable tensegrity structure are considered. For the chosen parameter values the structure features two relevant equilibrium configurations. The resulting motion system is in contact to a horizontal plane due to gravity and the actuation is realized by the harmonic variation of the length of a single tensioned member. The motion of the system is simulated for various actuation frequencies with the different equilibrium states as an initial configuration. A uniaxial or a planar movement occurs depending on the selection of the actuated member within the tensegrity structure. The steady state motion is evaluated regarding motion characteristics like the steady state velocity. Moreover, the influences on the motion behavior caused by the different equilibrium states as an initial condition are emphasized. (C) 2018 Elsevier Ltd. All rights reserved.}, language = {en} } @article{SpachtholzAffeldtMaieretal., author = {Spachtholz, Josef and Affeldt, Ernst Eugen and Maier, Hans J{\"u}rgen and Hammer, Joachim}, title = {Modelling of the fatigue crack growth of a coated single crystalline nickel based superalloy under thermal mechanical loading}, series = {International Journal of Fatigue}, volume = {116}, journal = {International Journal of Fatigue}, number = {November}, publisher = {Elsevier}, doi = {10.1016/j.ijfatigue.2018.06.015}, pages = {268 -- 274}, abstract = {The focus of this paper is the simulation of fatigue crack growth of the coated single crystalline nickel-based superalloy PWA 1484 under thermal mechanical loading. Thus, two physical models are superimposed in terms to firstly calculate the deformation behavior under instationary thermal and mechanical loading (TMF) and secondly to model crack propagation after initial brittle cracking of the coating layer on the basis of cyclic crack tip opening displacement (CTOD). All material parameters implemented in the models were evaluated from monotonic isothermal tensile and creep tests as well as from isothermal low cycle fatigue (LCF) experiments. The calculated fatigue crack growth was validated by in situ crack growth measurements using the beachmark technique. Hence, crack propagation initiated by the brittle coating system closely to the experimental results using rectangular flat specimen geometry instead of corner-crack (CC) specimens. The comparison of the simulated lifetimes to the experimental results provides remarkable accuracy of the physically-based lifetime model.}, language = {en} } @article{daSilvaMotaHinckelRoccoetal., author = {da Silva Mota, Fabio Antonio and Hinckel, Jose Nivaldo and Rocco, Evandro Marconi and Schlingloff, Hanfried}, title = {Modeling and Analysis of a LOX/Ethanol Liquid Rocket Engine}, series = {Journal of Aerospace Technology and Management}, volume = {10}, journal = {Journal of Aerospace Technology and Management}, publisher = {Inst Aeronautica \& Espaco-IAE}, doi = {10.5028/jatm.v10.914}, abstract = {This work studies the performance and dry mass of the under development LOX/Ethanol L75 liquid rocket engine. To this end, an object-oriented program written in C++ was developed. The program is intended to be versatile and easily extensible in order to analyze different configurations of liquid rocket engines. The UML (Unified Modeling Language) tool is used to model the architecture of the codes. UML diagrams help to visualize the code structure and the communication between objects, enabling a high degree of abstraction. The cryogenics Vulcain and HM7B engines power cycles along with the staged-combustion SSME engine perform the verification of the codes. Finally, the influence of changes in design parameters on the performance and dry mass of the L75 rocket engine is analyzed.}, language = {en} } @article{KieningerZechMulzeretal., author = {Kieninger, Martin and Zech, Nina and Mulzer, Yvonne and Bele, Sylvia and Seemann, Milena and K{\"u}nzig, Holger and Schneiker, Andr{\´e} and Gruber, Michael}, title = {Optimierung von Blutgasanalysen auf der Intensivstation. Reduzierung pr{\"a}analytischer Fehler und Verbesserung der zeitlichen Abl{\"a}ufe}, series = {Anaesthesist}, volume = {64}, journal = {Anaesthesist}, number = {5}, publisher = {Springer Nature}, doi = {10.1007/s00101-015-0024-8}, pages = {365 -- 372}, abstract = {Kontinuierliche Bem{\"u}hungen zur Vermeidung pr{\"a}analytischer Fehler und zur Optimierung der zeitlichen Abl{\"a}ufe bei der Blutgasanalyse (BGA) sind wichtig. In einer prospektiven Beobachtungsstudie wurde untersucht, ob durch Einf{\"u}hrung neuer, mit einem Strichcode versehener Probennehmer und von Analysatoren mit automatisierter Verarbeitung der Proben, verglichen mit dem bisherigen Vorgehen, Vorteile resultieren. In einer jeweils 4-w{\"o}chigen Testphase wurde f{\"u}r das herk{\"o}mmliche BGA-System (Kontrollgruppe) und unter Verwendung der neuen, mit einem Strichcode versehenen Probennehmer und automatischer Prozessierung der Blutproben (Testgruppe) die Zeitdauer bis zum Vorliegen der Ergebnisse bei Durchf{\"u}hrung einer BGA gemessen. Zudem wurde die H{\"a}ufigkeit pr{\"a}analytischer Fehler quantifiziert. Schließlich wurde untersucht, ob eine Liegedauer der Probennehmer von 10 min vor Vermessung der Probe Auswirkungen auf die resultierenden Ergebnisse des Sauerstoff- (pO2) und des Kohlendioxidpartialdrucks (pCO2) hat. In der Kontrollgruppe zeigten sich h{\"a}ufig pr{\"a}analytische Fehler (Vernachl{\"a}ssigen des Entl{\"u}ftens der Probennehmer und der Homogenisierung mithilfe des manuellen Schwenkens vor Beginn des Messvorgangs). Bei Analyse von BGA-Proben mit einer zeitlichen Latenz von 10 min nach Abnahme wurden in der Kontrollgruppe signifikant erh{\"o}hte pO2-Werte [Mittelwert (MW) 118,4 mmHg bei Messung unmittelbar nach Abnahme, MW 148,6 mmHg bei Messung mit 10-min-Latenz] und signifikant erniedrigte pCO2-Werte (40,5 vs. 38,3 mmHg) gemessen. In der Testgruppe zeigten sich signifikant erh{\"o}hte pO2-Werte (115,3 vs. 123,7 mmHg); die pCO2-Werte waren hier unver{\"a}ndert. Ein Zeitgewinn bis zum Vorliegen der Messergebnisse ließ sich in der Testgruppe nicht feststellen. Die Umstellung auf mit einem Strichcode versehene Probennehmer und automatisierte Verarbeitung der Blutproben am Analysator war im klinischen Alltag problemlos m{\"o}glich. Ein Zeitgewinn bei der BGA resultierte nicht. Allerdings waren Vorteile im Hinblick auf die Reduzierung pr{\"a}analytischer Fehler erkennbar. Eine verz{\"o}gerte Analyse von Blutproben kann, abh{\"a}ngig vom Typ des Probennehmers, zu signifikanten und klinisch relevanten Ver{\"a}nderung der Messwerte von pO2 und pCO2 f{\"u}hren. Point of care testing with blood gas analysis (BGA) is an important factor for intensive care medicine. Continuous efforts to optimize workflow, improve safety for the staff and avoid preanalytical mistakes are important and should reflect quality management standards. In a prospective observational study it was investigated whether the implementation of a new system for BGA using labeled syringes and automated processing of the specimens leads to improvements compared to the previously used procedure. In a 4-week test period the time until receiving the final results of the BGA with the standard method used in the clinical routine (control group) was compared to the results in a second 4-week test period using the new labeled syringes and automated processing of the specimens (intervention group). In addition, preanalytical mistakes with both systems were checked during routine daily use. Finally, it was investigated whether a delay of 10 min between taking and analyzing the blood samples alters the results of the BGA. Preanalytical errors were frequently observed in the control group where non-deaerated samples were recorded in 87.3 \% but in the intervention group almost all samples (98.9 \%) were correctly deaerated. Insufficient homogenization due to omission of manual pivoting was seen in 83.2 \% in the control group and in 89.9 \% in the intervention group; however, in the intervention group the samples were homogenized automatically during the further analytical process. Although a survey among the staff revealed a high acceptance of the new system and a subjective improvement of workflow, a measurable gain in time after conversion to the new procedure could not be seen. The mean time needed for a complete analysis process until receiving the final results was 244 s in the intervention group and 201 s in the control group. A 10-min delay between taking and analyzing the blood samples led to a significant and clinically relevant elevation of the values for partial pressure of oxygen (pO(2)) in both groups compared to the results when analyzing the samples immediately (118.4 vs. 148.6 mmHg in the control group and 115.3 vs. 123.7 mmHg in the intervention group). When using standard syringes the partial pressure of carbon dioxide (pCO(2)) was significantly lower (40.5 vs. 38.3 mmHg) whereas no alterations were seen when using the labeled syringes. The implementation of a new BGA system with labeled syringes and automated processing of the specimens was possible without any difficulties under daily clinical routine conditions in this 10-bed intensive care unit (ICU). A gain of time could not be measured but a reduction in preanalytical errors using the labeled syringes with automated processing was found. Delayed analysis of blood samples can lead to significant changes in pO(2) and pCO(2) depending on the type of syringe used.}, language = {de} } @article{PalombaDawoudSapienzaetal., author = {Palomba, Valeria and Dawoud, Belal and Sapienza, Alessio and Vasta, Salvatore and Frazzica, Andrea}, title = {On the impact of different management strategies on the performance of a two-bed activated carbon/ethanol refrigerator: An experimental study}, series = {Energy conversion and management}, volume = {142}, journal = {Energy conversion and management}, publisher = {Elsevier}, doi = {10.1016/j.enconman.2017.03.055}, pages = {322 -- 333}, abstract = {In the present work, an experimental study on a lab-scale adsorption refrigerator, based on activated carbon/ethanol working pair is reported. An extensive testing campaign has been carried out at the CNR ITAE laboratory, with multiple aims. First, the performance has been evaluated in terms of both COP and Specific Cooling Power (SCP), under different boundary conditions, including both air conditioning and refrigeration applications. Attractive SCPs, up to 180 W/kg and 70 W/kg for air conditioning and refrigeration, respectively, were measured. Under the same conditions, COP between 0.17 and 0.08 were obtained. In addition, different management strategies, namely, heat recovery between adsorbers and re-allocation of phase durations, were evaluated to identify their influence on the system. Both strategies confirmed the possibility of increasing COP and SCP up to 40\% and 25\%, respectively. Moreover, a design analysis based on the experimental results has been carried out, to suggest possible improvements of the system. The obtained results demonstrated the possibility of employing a non-toxic refrigerant like ethanol reaching performance comparable with other harmful refrigerants like ammonia and methanol. (C) 2017 Elsevier Ltd. All rights reserved.}, language = {en} } @article{Dawoud, author = {Dawoud, Belal}, title = {On the development of an innovative gas-fired heating appliance based on a zeolite-water adsorption heat pump; system description and seasonal gas utilization efficiency}, series = {Applied Thermal Engineering}, volume = {72}, journal = {Applied Thermal Engineering}, number = {2}, publisher = {Elsevier}, doi = {10.1016/j.applthermaleng.2014.09.008}, pages = {323 -- 330}, abstract = {The main objective of this work is to introduce an innovative hybrid heating appliance incorporating a gas condensing boiler and a zeolite-water adsorption heat pump. The condensing boiler is applied to drive the zeolite-water heat pump for the heating base-load and to assist the heat pump in the so called "mixed operation" mode, in which both the heat pump and the condensing boiler are working in series to cover medium heating demands. Peak heating demands are covered by the condensing boiler in the so called "direct heating" mode. The three operation modes of the hybrid heating appliance have been technically described. In addition, the laboratory test conditions for estimating the seasonal heating performance according to the German Guideline VDI 4650-2 have been introduced. For both heating systems 35/28 °C and 55/45 °C, which represent the typical operating conditions of floor and high temperature radiating heating systems in Europe, seasonal heating gas utilization efficiencies of 1.34 and 1.26 have been measured, respectively with a ground heat source. In two field test installations in one-family houses in Germany, the introduced heating appliance showed 27\% more seasonal gas utilization efficiency for heating and domestic hot water production, which is equivalent to a CO2-emission reduction of 20\% compared to the gas condensing boiler technology.}, language = {en} } @article{HoltmannspoetterCzarneckiFeuchtetal., author = {Holtmannsp{\"o}tter, Jens and Czarnecki, J{\"u}rgen von and Feucht, Florian and Wetzel, Michael and Gudladt, Hans Joachim and Hofmann, Timo and Meyer, J. C. and Niedernhuber, Michal}, title = {On the Fabrication and Automation of Reliable Bonded Composite Repairs}, series = {Journal of adhesion}, volume = {91}, journal = {Journal of adhesion}, number = {1-2}, publisher = {Taylor\&Francis}, doi = {10.1080/00218464.2014.896211}, pages = {39 -- 70}, abstract = {For structures made of carbon fiber-reinforced plastics (CFRP), fast, robust, and reliable repair technologies are mandatory for economical usage. In this paper, the authors explain their strategy and experiences. An automated process is proposed to achieve the challenging goals. A general overview on the origin, effects, and analysis of contaminants in CFRP structures and the relationship to the achievable strength of adhesive bonds are given. For the repair of composite structures using adhesive bonding, surface pretreatment is a key factor in terms of reliability and strength. Different surface treatment processes such as grinding, grit blasting, plasma and pulsed lasers treatments are discussed. Furthermore, the possibilities and technical implementation of an automated milling process for the repair of composite structures are presented. This change from manual production to automation tremendously improved the quality and duration of the repair and allows the creation of a uniform surface for adhesive bonding. Further integration of novel technologies is discussed and will further support and enhance the repair in the near future.}, language = {en} } @article{Rill2017, author = {Rill, Georg}, title = {Reducing the cornering resistance by torque vectoring (X International Conference on Structural Dynamics, EURODYN 2017)}, series = {Procedia Engineering}, volume = {199}, journal = {Procedia Engineering}, publisher = {Elsevier}, doi = {10.1016/j.proeng.2017.09.393}, pages = {3284 -- 3289}, year = {2017}, abstract = {Usually, torque vectoring is used to reduce a significant understeer behavior at high speed cornering. Thus, providing larger vehicles with a sportive touch. Even on typical front wheel driven cars torque vectoring control is available now. Torque vectoring is nearly a standard on electric driven vehicles. Complex control and optimization strategies are applied to improve the maneuverability in particular or to enhance the driving behavior and reduce the energy consumption in addition. This paper shows, that a quite simple strategy will enhance the maneuverability and simultaneously reduce the cornering resistance in sharp bends. At first, a case study with a fully non-linear and three-dimensional vehicle model is performed. It turned out that a full drive torque shift to the outer wheels improves the maneuverability and reduces the cornering resistance in addition. This results are verified by an optimization performed with a simpler four-wheeled handling model. Here, the front steering angles and the driving torques at each of the four wheels are considered as free parameters. Minimizing the cornering resistance by taking the equations of motion for the four-wheeled handling model as constraints will deliver an optimal set of parameters then.}, language = {en} } @article{BraunGebhardMatysiketal., author = {Braun, Peter and Gebhard, J{\"u}rgen and Matysik, Frank-Michael and Rabl, Hans-Peter}, title = {Potential Technical Approaches for Improving Low-Temperature NOx Conversion of Exhaust Aftertreatment Systems}, series = {Chemie Ingenieur Technik}, volume = {90}, journal = {Chemie Ingenieur Technik}, number = {6}, publisher = {WILEY-VCH}, doi = {10.1002/cite.201700122}, pages = {762 -- 773}, abstract = {Lean-burn engines, such as diesel engines, are widely used in mobile and stationary applications. Operation of lean-burn engines leads to formation of distinct amounts of nitrogen oxides (NO and NO2). Efficient aftertreatment is mandatory to meet legal requirements, especially at low exhaust temperatures, as for the future a decline of the exhaust temperature level can be predicted due to improved engine efficiencies. Within this review, potential technical solutions to enhance the DeNO(x)-aftertreatment efficiency at low exhaust temperatures are presented.}, language = {en} } @article{NiedersteinerLangPohltetal., author = {Niedersteiner, Sascha and Lang, Jonas and Pohlt, Clemens and Schlegl, Thomas}, title = {Tracking work task completion - A support vector machine approach for assisting workbenches}, series = {atp edition}, journal = {atp edition}, number = {11}, publisher = {DIV Deutscher Industrieverl.}, doi = {10.17560/atp.v59i11.1911}, pages = {58 -- 66}, abstract = {Tightening quality requirements of industrial products involving manual assembly lead to the development of assisting workbenches with integrated functions to support workers performing these manual tasks. This contribution discusses a new approach to learning transitions of a finite state automaton representing the sequence of work tasks based on the video stream of a 3D depth camera. Preprocessed video data is fed into a three-stage classification scheme based on support vector machines. The results of the classification are then related to the state automation to trigger state transitions indicating the completion of a specific work task and the start of the next one. The proposed approach has been evaluated at an industrial assembly process of moderate complexity and shows very robust results with respect to disturbances caused by inaccurate object classification.}, language = {en} } @article{daSilvaMotaHinckelRoccoetal., author = {da Silva Mota, Fabio Antonio and Hinckel, Jose Nivaldo and Rocco, Evandro Marconi and Schlingloff, Hanfried}, title = {Trajectory Optimization of Launch Vehicles Using Object-oriented Programming}, series = {Journal of aerospace technology and management}, volume = {10}, journal = {Journal of aerospace technology and management}, publisher = {Institute of Aeronautics and Space}, doi = {10.5028/jatm.v10.948}, abstract = {The aim of this study is to model launch vehicles with focus on 3-DOF trajectory optimization using a modular approach. Despite the large number of operational launch vehicles, they usually consist of basic components and subsystems. In other words, a launch vehicle is an assembly of stages, which in turn is divided into propellant system and engine, and the engine is an assembly of basic components such as pumps, turbines, combustion chamber, and nozzle. To allow future extension and reuse of the codes, a modular structure using object-oriented programming is used. Two formulations of state equations of the trajectory and two optimization methods are described. The launch vehicle performance will be measured by payload mass for a given mission. The simulations of the VLS-1, Ariane 5 and VLS-Alfa were performed and showed good agreement with the literature.}, language = {en} } @article{KummerlinFabroPedersenetal., author = {Kummerlin, Jana and Fabro, Hannah Katharina and Pedersen, Peter Heide and Jensen, Kenneth Krogh and Pedersen, Dennis and Andersen, Michael Skipper}, title = {Measuring Knee Joint Laxity in Three Degrees-of-Freedom In Vivo Using a Robotics- and Image-Based Technology}, series = {Journal of Biomechanical Engineering}, volume = {144}, journal = {Journal of Biomechanical Engineering}, number = {8}, publisher = {The American Society of Mechanical Engineers (ASME)}, issn = {1528-8951}, doi = {10.1115/1.4053792}, pages = {7}, abstract = {Accurate and reliable information about three-dimensional (3D) knee joint laxity can prevent misdiagnosis and avoid incorrect treatments. Nevertheless, knee laxity assessments presented in the literature suffer from significant drawbacks such as soft tissue artifacts, restricting the knee within the measurement, and the absence of quantitative knee ligament property information. In this study, we demonstrated the applicability of a novel methodology for measuring 3D knee laxity, combining robotics- and image-based technology. As such technology has never been applied to healthy living subjects, the aims of this study were to develop novel technology to measure 3D knee laxity in vivo and to provide proof-of-concept 3D knee laxity measurements. To measure tibiofemoral movements, four healthy subjects were placed on a custom-built arthrometer located inside a low dose biplanar X-ray system with an approximately 60 deg knee flexion angle. Anteroposterior and mediolateral translation as well as internal and external rotation loads were subsequently applied to the unconstrained leg, which was placed inside a pneumatic cast boot. Bone contours were segmented in the obtained X-rays, to which subject-specific bone geometries from magnetic resonance imaging (MRI) scans were registered. Afterward, tibiofemoral poses were computed. Measurements of primary and secondary laxity revealed considerable interpersonal differences. The method differs from those available by the ability to accurately track secondary laxity of the unrestricted knee and to apply coupled forces in multiple planes. Our methodology can provide reliable information for academic knee ligament research as well as for clinical diagnostics in the future.}, language = {en} } @inproceedings{RiegervandeParRabletal., author = {Rieger, Anna and van de Par, Steven and Rabl, Hans-Peter and Oetjen, Arne}, title = {The contribution of selected auditory sensations to the prediction of preference judgements for consonant and dissonant sounds}, series = {52nd International Congress and Exposition on Noise Control Engineering (Inter Noise 2023), Chiba, Greater Tokyo, Japan, 20-23 August 2023}, booktitle = {52nd International Congress and Exposition on Noise Control Engineering (Inter Noise 2023), Chiba, Greater Tokyo, Japan, 20-23 August 2023}, abstract = {Product sounds with clearly audible tonal components are often perceived as unpleasant or annoying. If different simultaneously operating aggregates are present in a system, for example vehicle engines and gearboxes, the interaction of tonal components, similar to music, can evoke additional sensations in human auditory perception. Supplementary to a pronounced tonality, such sounds can also yield distinct degrees of consonance or dissonance between tones. Previous studies showed that the perceived dissonance had a high impact on preference judgements for sounds with similar tonality. In experiments of the present study, sounds that differed in tonality were rated with respect to the auditory sensations sharpness, tonality and dissonance by one group of participants while another group only carried out a preference task. Thereout a model for predicting perceived preference is derived from the subjective judgements of auditory sensations. The performance of the preference predictions based on subjective udgements will be compared against purely model-based predictions using different algorithms for acoustic attributes.}, language = {en} } @inproceedings{MuehlbauerRablRottengruber, author = {M{\"u}hlbauer, Christian and Rabl, Hans-Peter and Rottengruber, Hermann}, title = {Akustische Optimierung von mechatronischen Direkteinspritzsystemen und Analyse der Auswirkungen auf die Robustheit im Systembetrieb}, series = {Motor- und Aggregate-Akustik: 11. Magdeburger Symposium, Tagungsband}, volume = {11}, booktitle = {Motor- und Aggregate-Akustik: 11. Magdeburger Symposium, Tagungsband}, publisher = {Otto-von-Guericke-Universit{\"a}t}, address = {Magdeburg}, doi = {10.25673/36611}, pages = {32 -- 51}, abstract = {The tightening of the emission legislation and political and social demands for sustainable mobility are forcing the automotive industry to develop complex, high precision mechatronic drive systems. The increasing precision of mechatronic components generally leads to an increase in structural excitation and thus to a rise in noise. The socalled ticking of the fuel injection system has a rather low sound pressure level compared to the residual engine noise. Nevertheless, the impulsive and high frequency noise character leads to a decline concerning the perception of comfort and sound quality. In order to identify the sound quality of fuel injection systems as a frontloading measure, a system test bench has been developed which represents the structureborne and airborne sound radiation of the stand-alone injection system in a close to series configuration. In this paper, measures for the acoustic optimization of injection systems and their effects on the robustness of the system are discussed. The focus is on engine idling, since at this operating point the ticking of the injectors and the high-pressure pump can be perceived most clearly due to the low masking effects of other noise sources. For this purpose, the injection parameters were measured during full engine operation and transferred to the system test bench. By using a special development control unit, it was possible to modify the parameters, quantify their influence on the acoustic behavior and, based on this, define NVH optimized control strategies. For the robustness evaluation of the NVH optimized control strategies, key functions of the injection system were analyzed under varying boundary conditions in system operation on an injection rate test bench.}, language = {de} } @inproceedings{MuehlbauerRablRottengruber, author = {M{\"u}hlbauer, Christian and Rabl, Hans-Peter and Rottengruber, Hermann}, title = {Akustische Analyse und Optimierung von mechatronischen Kraftstoffeinspritzsystemen}, series = {Tagungsband DAGA 2019 - 45. Jahrestagung f{\"u}r Akustik, 18.-21. M{\"a}rz 2019, Rostock}, booktitle = {Tagungsband DAGA 2019 - 45. Jahrestagung f{\"u}r Akustik, 18.-21. M{\"a}rz 2019, Rostock}, publisher = {Deutsche Gesellschaft f{\"u}r Akustik}, address = {Berlin}, isbn = {978-3-939296-14-0}, pages = {647 -- 650}, language = {de} } @inproceedings{RiegerMuehlbauerRabletal., author = {Rieger, Anna and M{\"u}hlbauer, Christian and Rabl, Hans-Peter and Weber, Rainer}, title = {Dissonanz als Bewertungskriterium multi-tonalen Schalls}, series = {Fortschritte der Akustik - DAGA 2020: 46. Deutsche Jahrestagung f{\"u}r Akustik}, booktitle = {Fortschritte der Akustik - DAGA 2020: 46. Deutsche Jahrestagung f{\"u}r Akustik}, publisher = {Deutsche Gesellschaft f{\"u}r Akustik e.V.}, pages = {788 -- 791}, language = {de} } @article{Lermer, author = {Lermer, Josef}, title = {Optimierter Antriebsstrang und neuartiges Differenzial f{\"u}r einen Formula-Student-Rennwagen}, series = {ATZ-Extra}, volume = {20}, journal = {ATZ-Extra}, number = {Suppl 5}, publisher = {Springer Fachmedien GmbH}, doi = {10.1007/s35778-015-0071-4}, pages = {34 -- 39}, language = {de} } @article{GaertnerRablZink, author = {G{\"a}rtner, Uwe and Rabl, Hans-Peter and Zink, Uwe}, title = {Exhaust Gas Aftertreatment of the Future}, series = {MTZ worldwide}, volume = {79}, journal = {MTZ worldwide}, number = {7-8}, publisher = {Springer}, doi = {10.1007/s38313-018-0060-2}, pages = {70 -- 75}, language = {en} } @article{KuepperArtmannPischingeretal., author = {K{\"u}pper, Carsten and Artmann, Christina and Pischinger, Stefan and Rabl, Hans-Peter}, title = {Lube-Oil Dilution of GDI Engines with Ethanol Fuels}, series = {Auto Tech Review}, volume = {3}, journal = {Auto Tech Review}, number = {3}, publisher = {Springer India}, address = {New Delhi}, doi = {10.1365/s40112-014-0570-5}, pages = {30 -- 35}, language = {en} } @article{KuepperArtmannPischingeretal., author = {K{\"u}pper, Carsten and Artmann, Christina and Pischinger, Stefan and Rabl, Hans-Peter}, title = {Schmier{\"o}lverd{\"u}nnung von direkteinspritzenden Ottomotoren unter Kaltstartrandbedingungen}, series = {MTZ - Motortechnische Zeitschrift}, volume = {74}, journal = {MTZ - Motortechnische Zeitschrift}, number = {9}, publisher = {Springer Vieweg}, address = {Wiesbaden}, doi = {10.1007/s35146-013-0208-1}, pages = {710 -- 715}, language = {de} } @article{SchmidtPenzkoferBachmaieretal., author = {Schmidt, Ulf and Penzkofer, Rainer and Bachmaier, Samuel and Augat, Peter}, title = {Implant Material and Design Alter Construct Stiffness in Distal Femur Locking Plate Fixation: A Pilot Study}, series = {Clinical Orthopaedics and Related Research®}, volume = {471}, journal = {Clinical Orthopaedics and Related Research®}, number = {9}, publisher = {The Association of Bone and Joint Surgeons}, doi = {10.1007/s11999-013-2867-0}, pages = {2808 -- 2814}, abstract = {BACKGROUND: Construct stiffness affects healing of bones fixed with locking plates. However, variable construct stiffness reported in the literature may be attributable to differing test configurations and direct comparisons may clarify these differences. QUESTIONS/PURPOSES: We therefore asked whether different distal femur locking plate systems and constructs will lead to different (1) axial and rotational stiffness and (2) fatigue under cyclic loading. METHODS: We investigated four plate systems for distal femur fixation (AxSOS, LCP, PERI-LOC, POLYAX) of differing designs and materials using bone substitutes in a distal femur fracture model (OTA/AO 33-A3). We created six constructs of each of the four plating systems. Stiffness under static and cyclic loading and fatigue under cyclic loading were measured. RESULTS: Mean construct stiffness under axial loading was highest for AxSOS (100.8 N/mm) followed by PERI-LOC (80.8 N/mm) and LCP (62.6 N/mm). POLYAX construct stiffness testing showed the lowest stiffness (51.7 N/mm) with 50\% stiffness of AxSOS construct testing. Mean construct stiffness under torsional loading was similar in the group of AxSOS and PERI-LOC (3.40 Nm/degree versus 3.15 Nm/degree) and in the group of LCP and POLYAX (2.63 Nm/degree versus 2.56 Nm/degree). The fourth load level of > 75,000 cycles was reached by three of six AxSOS, three of six POLYAX, and two of six PERI-LOC constructs. All others including all LCP constructs failed earlier. CONCLUSIONS: Implant design and material of new-generation distal femur locking plate systems leads to a wide range of differences in construct stiffness. CLINICAL RELEVANCE: Assuming construct stiffness affects fracture healing, these data may influence surgical decision-making in choosing an implant system.}, language = {en} } @inproceedings{ArrietaCastroChavesRilletal., author = {Arrieta Castro, Abel and Chaves, Rafael B. and Rill, Georg and Weber, Hans I.}, title = {Use of Integrated Control to Enhance the Safety of Vehicles in Run-Off-Road Scenarios}, series = {Proceedings of DINAME 2017 : Selected Papers of the XVII International Symposium on Dynamic Problems of Mechanics}, booktitle = {Proceedings of DINAME 2017 : Selected Papers of the XVII International Symposium on Dynamic Problems of Mechanics}, editor = {Fleury, Agenor de T. and Rade, Domingos A. and Kurka, R. G.}, edition = {1. Auflage}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-91217-2}, issn = {2195-4356}, doi = {10.1007/978-3-319-91217-2_30}, pages = {431 -- 443}, abstract = {In this work, an integrated vehicle control system (IC) is tested in run-off-road scenarios. The integrated approach was employed in order to coordinate vehicle control systems, i.e. the Anti-Lock Brake System (ABS), Four-wheel Steering (4WS) and the Electronic Stability Program (ESP). To perform a run-off-road maneuver, a fuzzy virtual test driver was designed. By receiving the lateral position of an obstacle and the vehicle's relative yaw angle, the virtual test driver is capable of following a reference trajectory. Furthermore, to test the performance of the standalone controllers, i.e. ABS, ESP and 4WS, individual maneuvers are performed using a multibody vehicle model. The vehicle without any coordination between the control systems is used as reference. For the simulation results, it is concluded that the IC improves the vehicle stability and maneuverability in comparison with the non-integrated approach.}, language = {en} } @article{KuepperArtmannPischingeretal., author = {K{\"u}pper, Carsten and Artmann, Christina and Pischinger, Stefan and Rabl, Hans-Peter}, title = {Lube-Oil Dilution of Gasoline Direct-Injection Engines with Ethanol Fuels}, series = {MTZ worldwide}, volume = {74}, journal = {MTZ worldwide}, number = {9}, publisher = {Springer}, address = {Berlin}, doi = {10.1007/s38313-013-0090-8}, pages = {64 -- 69}, language = {en} } @book{FreniDawoudBonaccorsietal., author = {Freni, Angelo and Dawoud, Belal and Bonaccorsi, Lucio Maria and Chmielewski, Stefanie and Frazzica, Andrea and Calabrese, Luigi and Restuccia, Giovanni}, title = {Characterization of Zeolite-Based Coatings for Adsorption Heat Pumps}, publisher = {Springer}, address = {Berlin}, doi = {10.1007/978-3-319-09327-7}, pages = {96 S.}, abstract = {This book proposes a radically new approach for characterizing thermophysical and mechanical properties of zeolite-based adsorbent coatings for Adsorptive Heat Transformers (AHT). It presents a developed standard protocol for the complete characterization of advanced coated adsorbers. Providing an in-depth analysis of the different procedures necessary for evaluating the performance of adsorbers, it also presents an analysis of their stability under the hydrothermal and mechanical stresses during their entire life cycle. Adsorptive Heat Transformers (AHT), especially adsorption chillers and heat pumps, are considered to be promising technologies to increase thermal energy efficiency. Nevertheless, an overall increase in performance of this apparatus is necessary for them to be considered a mature technology to be used commercially. Development of innovative coated adsorbers can be perceived as a key issue for the enhancement of AHT technology. This procedure relies on the deposition, either by means of a binder or by direct crystallization, of the adsorbent material over a metallic heat exchanger, aiming at the improvement of the heat transfer between the external heat source and the adsorbent itself. This book offers a valuable resource to those working on the development of novel adsorbent materials and advanced adsorbent beds for heating and cooling applications. It is also intended for researchers interested in renewable energy and energy efficiency.}, language = {en} } @inproceedings{NiedersteinerPohltSchlegl, author = {Niedersteiner, Sascha and Pohlt, Clemens and Schlegl, Thomas}, title = {Smart Workbench: A Multimodal and Bidirectional Assistance System for Industrial Application}, series = {IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 09.-12.11.2015, Yokohama, Japan}, booktitle = {IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 09.-12.11.2015, Yokohama, Japan}, publisher = {IEEE}, address = {Piscataway, N.J.}, isbn = {978-1-4799-1762-4}, doi = {10.1109/iecon.2015.7392549}, abstract = {Manual tasks in industrial production are often monotonous, leading to a decrease in concentration and motivation of the worker and thus to deficiencies in the products. With quality as well as performance requirements getting more and more stringent, workers need additional support by their work environment. We developed a novel approach providing worker assistance and inline quality assurance for manual workplaces. The prototypical system Smart Workbench (SWoB) uses a multimodal sensor interface consisting of a 3D depth sensor in combination with a 2D camera to control quality aspects of the product and track the work progress. The bidirectional flow of information is handled via an image processing driven gestural interface and the displaying of advice directly on the work surface. In this paper the developed system is introduced and the current state of evaluating its industrial usage with a manual quality control and packaging task reported.}, language = {en} } @inproceedings{KotzStapfBecke, author = {Kotz, Oliver and Stapf, Matthias and Becke, Mark}, title = {GPU-Based Task Specific Evaluation of the Dynamic Performance of a 6DOF Manipulator}, series = {Intelligent Robotics and Applications. 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part II}, booktitle = {Intelligent Robotics and Applications. 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part II}, publisher = {Springer}, address = {Cham}, doi = {10.1007/978-3-319-22876-1_30}, pages = {345 -- 357}, abstract = {This paper addresses the problem of properly placing a given task in the manipulator workspace by a heuristic and numeric approach. Thus, the task is placed relatively to the manipulator for each element of the discretized workspace and the required joint torques are determined. The results are are by a torque-based optimization criterion. The modularity of this approach ensures general applicability on various systems and tasks while the high computational effort is treated by GPU parallelization. The method is presented for a given 6DOF manipulator and a highly dynamic trajectory. The resulting interactive map of the manipulator workspace gives an overview of the task dependent dynamic performance, detailed evaluation of certain solutions will show the dexterity of the proposed approach.}, language = {en} } @inproceedings{Rill, author = {Rill, Georg}, title = {TMeasy 6.0-A handling tire model that incorporates the first two belt eigenmodes}, series = {Proceedings of the XI International Conference on Structural Dynamics (EURODYN 2020): Athens, Greece, 23.11.2020 - 26.11.2020}, booktitle = {Proceedings of the XI International Conference on Structural Dynamics (EURODYN 2020): Athens, Greece, 23.11.2020 - 26.11.2020}, publisher = {EASD Procedia}, doi = {10.47964/1120.9054.18673}, pages = {676 -- 689}, abstract = {TMeasy 6.0, an extension to the standard TMeasy tire model of version 5.3, takes the relevant first two rigid body eigenmodes of the belt into consideration. These modes represent the in plane longitudinal and rotational movements of the belt relative to the rim. The dynamics of the longitudinal force is of higher order then and reproduces the tire wheel vibrations, required for indirect tire-pressure monitoring systems (iTPMS), sufficiently well. A tailored implicit solver, which takes the stiff coupling between the longitudinal force and the belt motions into account, still provides real-time performance in addition. Simulation examples show that a rigid body vehicle model equipped with TMeasy 6.0 makes it possible to investigate second generation indirect tire-pressure monitoring systems.}, language = {en} } @article{GrossmannSchlegl, author = {Großmann, Benjamin and Schlegl, Thomas}, title = {Development of a Hybrid Path/Force Control Architecture for an Assisting Robot}, series = {International journal of mechanics and control : JoMaC}, volume = {15}, journal = {International journal of mechanics and control : JoMaC}, number = {1}, publisher = {Levrotto\&Bella}, address = {Torino}, issn = {1590-8844}, pages = {27 -- 34}, abstract = {For human machine interaction a control ar chitecture for the force controlled guidance mode of a five axis robot is developed. This enables a human operator to move the robot easily by applying forces at th e end-effector. The position and th e path can then be tracked and stored for a later reuse. The control archit ecture is also used in a hybrid mode where it is possible to control chosen workspace coordinates with a path controller and others with a force controller. The hybrid mode is especially used to cut tissue material with a scalpel which is mounted at the robots effector.}, language = {en} } @inproceedings{Rill, author = {Rill, Georg}, title = {A Three-Dimensional and Nonlinear Virtual Test Car}, series = {ENOC 2022, book of abstracts, 10th European Nonlinear Dynamics Conference: July 17-22, 2022, Lyon, France}, booktitle = {ENOC 2022, book of abstracts, 10th European Nonlinear Dynamics Conference: July 17-22, 2022, Lyon, France}, address = {Lyon}, pages = {49 -- 58}, abstract = {Virtual testing procedures have become a standard in vehicle dynamics. The increasing complexity of driver assistance sys- tems demand for more and more virtual tests, which are supposed to produce reliable results even in the limit range. As a consequence, simplified vehicle models, like the classical bicycle model or 4-wheel vehicle models, have to be replaced by a fully three-dimensional and nonlinear vehicle model, which also encompasses the details of the suspension systems. This paper presents a passenger car model, where the chassis, the four knuckles, and the four wheels are described by rigid bodies, the suspension system is modeled by the generic design kinematics, and the TMeasy tire model provides the tire forces and torques in all driving situations.}, language = {en} } @article{AntenLebsanftKraussetal., author = {Anten, Kerstin and Lebsanft, Markus and Krauß, M. and Noster, Ulf and Scholtes, Berthold}, title = {Einfluss von Randschichtzustand und Haltezeit auf die thermische Erm{\"u}dung der Magnesiumbasislegierung AZ31}, series = {Materialwissenschaft und Werkstofftechnik}, volume = {43}, journal = {Materialwissenschaft und Werkstofftechnik}, number = {12}, publisher = {Wiley}, pages = {993 -- 1000}, abstract = {Die vorliegende Arbeit befasst sich mit Untersuchungen zur thermischen Erm{\"u}dung der Magnesiumbasislegierung AZ31 im Temperaturbereich zwischen +50°C und +290°C. Die Experimente erfolgten unter konstanter Totaldeformation (out-of-phase-Beanspruchung) und es wurde der Verlauf der Spannungsamplitude sowie der plastischen Dehnungsamplitude {\"u}ber die Zahl der Temperaturzyklen ermittelt. Insbesondere wurde der Einfluss einer mechanischen Oberfl{\"a}chenbehandlung (Festwalzen) sowie von Haltezeiten auf den Verlauf der Sch{\"a}digung untersucht. In beiden F{\"a}llen konnte kein signifikanter Unterschied zu unbehandelten Proben bzw. Beanspruchungen ohne Haltezeit festgestellt werden, welches auf die Wechselwirkungen zwischen Verformungs- und Rekristallisationsprozessen bei der thermischen Erm{\"u}dung zur{\"u}ckzuf{\"u}hren ist.}, language = {en} } @article{HofmannHierl, author = {Hofmann, A. and Hierl, Stefan}, title = {Kontrolliertes Laserdurchstrahlschweißen}, series = {Kunststoffe}, volume = {95}, journal = {Kunststoffe}, number = {6}, publisher = {Hanser}, pages = {36 -- 38}, abstract = {Obwohl das Laserdurchstrahlschweißen sehr reproduzierbar arbeitet, k{\"o}nnen Fehler aus den Vorprozessen Compoundieren, Spritzgießen etc. das Schweißergebnis negativ beeinflussen. Dem Anwender steht inzwischen eine breite Palette an Prozess{\"u}berwachungsmethoden zur Verf{\"u}gung, um eine gleich bleibende Produktqualit{\"a}t zu erzielen.}, language = {de} } @inproceedings{JuijermAltenbergerNosteretal., author = {Juijerm, Patiphan and Altenberger, Igor and Noster, Ulf and Scholtes, Berthold}, title = {Residual stress relaxation and cyclic deformation behavior of deep rolled AlMg4.5Mn (AA5083) at elevated temperatures}, series = {Materials Science Forum}, volume = {490-491}, booktitle = {Materials Science Forum}, publisher = {Trans Tech Publications}, doi = {10.4028/www.scientific.net/MSF.490-491.436}, pages = {436 -- 441}, abstract = {The cyclic deformation behavior of deep rolled and polished aluminium wrought alloy AlMg4,5Mn in the temperature range 20-300°C has been investigated. Results of quasistatic tension and compression tests of untreated specimens in the temperature range 20-300°C are presented. To characterize the fatigue behavior for stress-controlled tests as a function of test temperature, s-n curves, cyclic deformations curves and mean strains as a function of number of cycles are given. The residual stress- and work hardening states near the surface of deep rolled aluminium alloy AlMg4.5Mn before and after fatigue tests were investigated by X-ray diffraction methods. The investigated AlMn4.5Mn aluminium alloy shows cyclic hardening until fracture at all stress amplitudes in stress-controlled fatigue tests at 25-150°C. With increasing temperature the deformation behavior shifts from cyclic hardening to cyclic softening. Below a certain stress amplitude at a given temperature deep rolling led to a reduction of the plastic strain amplitude as compared to the untreated state through cyclically stable near-surface work hardening as indicated by stable FWHM-values. This reduction in plastic strain amplitude is associated with enhanced fatigue lives. The effectiveness of deep rolling is governed by the cyclic and thermal stability of near-surface work hardening rather than macroscopic compressive residual stresses. Since near-surface work hardening is known to retard crack initiation, deep rolling is also effective in temperature- and stress ranges where macroscopic compressive residual stresses have relaxed almost completely, but where near-surface work hardening prevails. Above certain stress amplitudes and temperatures, deep rolling has no beneficial effect on the fatigue behavior of AlMg4.5Mn. This is a consequence of instable near-surface microstructures, especially instable near-surface work hardening.}, language = {en} } @article{KettnerNosterKilianetal., author = {Kettner, Michael and Noster, Ulf and Kilian, Helmut and Gradinger, Rudolf and Kuehlein, Wolfgang and Drevenstedt, Armin and Stadler, Franz and Ladstaetter, Elisabeth and Lutz, Andreas}, title = {The InnMag project - Processing Mg for civil aircraft application}, series = {Advanced Engineering Materials}, volume = {9}, journal = {Advanced Engineering Materials}, number = {9}, publisher = {Wiley}, doi = {10.1002/adem.200700143}, pages = {813 -- 819}, abstract = {In the context of the "InnMag" project, partners from industry and science are co-operating to investigate the issues involved in adapting established production processes to the material Mg. The project's aim is to further the deployment of Mg interior parts in civil aircraft. The project covers every production step, from alloy selection, Mg ingot melting, alloying, direct chill casting, extruding, machining, surface treatment and component assembly. This paper discusses the project's targets and the results arrived at so far, particularly in the areas of direct chill casting and extrusion.}, language = {en} } @article{LorenzKoenig, author = {Lorenz, Bj{\"o}rn and K{\"o}nig, Alexander}, title = {TPM und lean production - Zwei unterschiedliche ans{\"a}tze?}, series = {Zeitschrift fuer Wirtschaftlichen Fabrikbetrieb : ZWF}, volume = {106}, journal = {Zeitschrift fuer Wirtschaftlichen Fabrikbetrieb : ZWF}, number = {11}, publisher = {de Gruyter}, address = {Berlin}, pages = {803 -- 806}, abstract = {Bisher wurden TPM und Lean Production meist differenziert voneinander betrachtet. Der TPM-Gedanke ist jedoch die konsequente Fortf{\"u}hrung des Lean Thinking. Ein effektives Anlagenmanagement ist die Voraussetzung f{\"u}r das Erzeugen eines Produktionsflusses. In der Vergangenheit wurde TPM h{\"a}ufig ohne die Basis eines Produktionssystems eingef{\"u}hrt. Der zweite Schritt erfolgte vor dem ersten. Logistische Themen und die Optimierung von Arbeitspl{\"a}tzen mitarbeiterintensiver Bereiche wurden ebenfalls nur mit geringer Tiefe behandelt. Die OEE (Overall Equipment Effectiveness) allein ist hierbei kein ausreichender Indikator f{\"u}r ein schlankes Produktionssystem, da eine R{\"u}stzeitoptimierung mit der Reduzierung der Losgr{\"o}ße einen Zielkonflikt hervorrufen kann. Ein Ansatz, bei dem die EPEI-Kennzahl (Every Part Every Intervall) und die OEE gemeinsam betrachtet werden, stellt eine L{\"o}sung dar. Durch die verst{\"a}rkte Fokussierung auf Ganzheitliche Produktionssysteme r{\"u}ckt TPM als ein wichtiger Baustein, oder bei einer entsprechenden Weiterentwicklung zum System, als aufbauender Ansatz in den Blickpunkt der Unternehmen.}, language = {de} } @article{MundlNoster, author = {Mundl, A. and Noster, Ulf}, title = {Topology optimization using a structural component as example}, series = {Konstruktion}, journal = {Konstruktion}, number = {1-2}, publisher = {VDI Fachmedien ; Springer}, address = {D{\"u}sseldorf}, pages = {65 -- 68}, language = {en} } @inproceedings{UcsnikGradingerNosteretal., author = {Ucsnik, Stephan A. and Gradinger, Rudolf and Noster, Ulf and Pahr, Dieter H.}, title = {Finite element based optimization of a novel metal-composite-joint}, series = {1st EUCOMAS, European Conference on Materials and Structures in Aerospace, Conference Berlin, May 26 - 27, 2008 }, booktitle = {1st EUCOMAS, European Conference on Materials and Structures in Aerospace, Conference Berlin, May 26 - 27, 2008 }, publisher = {VDI-Verlag}, address = {D{\"u}sseldorf}, issn = {0083-5560}, pages = {371 -- 379}, abstract = {Aerospace and automotive industries employ three main techniques to set up joints between metal and fibre reinforced plastics parts (FRP); adhesive bonding, mechanical fastening with rives/bolts and a hybrid combination. A new joint technique has been developed to combine the two advantageous mechanisms form-closure and adhesion in a fibre-friendly way. Prior is established through metal structures (pins) which are perpendicularly welded onto metal surfaces with an arc-welding-process. They intrude into the FRP during lay-up and therefore set up a first connection. The composite-matrix is responsible for latter adhesive bonding and final form closure. Finite-element-analyses of cylindrically shaped joints are carried out to get detailed knowledge of the influence of parameters like pin-number, pin-position, pin-height, pin-form sleeve-geometry, and stiffness behaviour. Long calculation times of 3D-models lead to the introduction of a corresponding 2D-axisymmetric-model which is used to run parameter-studies within a reasonable time. For this novel technique the combination of fibre-friendly form closure and adhesive bonding of interface plays a major role. A well selected amount of vertical reinforcements, their placement and geometrical dimensions will lead to a stiffer joint. Goal is to minimize fibre-deletion and overlap length to improve load-transfer and joint-strength, to reduce weight in high-strength-applications as well as the avoidance of safety rivets.}, language = {en} } @article{WagnerPinskyOberaietal., author = {Wagner, Marcus and Pinsky, Peter M. and Oberai, Assad and Malhotra, Manish}, title = {A Krylov subspace projection method for simultaneous solution of Helmholtz problems at multiple frequencies}, series = {Computer Methods in Applied Mechanics and Engineering}, volume = {192}, journal = {Computer Methods in Applied Mechanics and Engineering}, number = {41-42}, publisher = {Elsevier}, doi = {10.1016/S0045-7825(03)00429-8}, pages = {4609 -- 4640}, abstract = {A Krylov subspace projection method which provides simultaneous solutions of the Helmholtz equation at multiple frequencies in one solution step is presented. The projector is obtained with an unsymmetric block Lanczos algorithm applied to a transfer function derived from a finite element discretization. This approach is equivalent to a matrix-valued Pad{\´e} approximation of the transfer function. The proposed method is an extension of the formulation presented in [J. Comput. Acoust. 8 (2000) 223] to unsymmetric systems and allows the treatment of a much wider range of practical problems, including near-field and fluid-structure interaction computations}, language = {en} } @article{WagnerPinskyMalhotra, author = {Wagner, Marcus and Pinsky, Peter M. and Malhotra, Manish}, title = {Application of Pad{\´e} via Lanczos approximations for efficient multifrequency solution of Helmholtz problems}, series = {Journal of the Acoustical Society of America}, volume = {113}, journal = {Journal of the Acoustical Society of America}, number = {1}, publisher = {American Inst. of Physics}, issn = {1520-8524}, doi = {10.1121/1.1514932}, pages = {313 -- 319}, abstract = {This paper addresses the efficient solution of acoustic problems in which the primary interest is obtaining the solution only on restricted portions of the domain but over a wide range of frequencies. The exterior acoustics boundary value problem is approximated using the finite element method in combination with the Dirichlet-to-Neumann (DtN) map. The restriction domain problem is formally posed in transfer function form based on the finite element solution. In order to obtain the solution over a range of frequencies, a matrix-valued Pad{\´e} approximation of the transfer function is employed, using a two-sided block Lanczos algorithm. This approach provides a stable and efficient representation of the Pad{\´e} approximation. In order to apply the algorithm, it is necessary to reformulate the transfer function due to the frequency dependency in the nonreflecting boundary condition. This is illustrated for the case of the DtN boundary condition, but there is no restriction on the approach which can also be applied to other radiation boundary conditions. Numerical tests confirm that the approach offers significant computational speed-up.}, language = {en} } @inproceedings{ArrietaCastroRill, author = {Arrieta Castro, Abel and Rill, Georg}, title = {Kinematic Versus Elasto-Kinematic Model of a Twistbeam Suspension}, series = {Advances in Dynamics of Vehicles on Roads and Tracks II, proceedings of the 27th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2021): August 17-19, 2021, Saint Petersburg, Russia}, booktitle = {Advances in Dynamics of Vehicles on Roads and Tracks II, proceedings of the 27th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2021): August 17-19, 2021, Saint Petersburg, Russia}, editor = {Orlova, Anna and Cole, David}, publisher = {Springer Nature}, doi = {10.1007/978-3-031-07305-2_59}, pages = {505 -- 605}, abstract = {The Twistbeam axle suspension is a cheap and robust layout for rear axles at front wheel driven midsize cars. Appropriate models have to take the elastic deformation of the torsion beam into account. A Finite Element approach requires detailed informations of the material properties and the shape which are usually only available in the final production stage. This paper presents a lumped mass model which can easily be integrated into a multibody vehicle model and can be used in the early stage of development. An approximation by the design kinematics further reduces the complexity of the model and considers only the kinematic properties of the Twistbeam suspension. Simulations using a nonlinear and three-dimensional vehicle model with different maneuvers, such as steady-state cornering, step steer input, and driving straight ahead on random road, demonstrate the performance and, in particular, the difference of the presented Twistbeam suspension models.}, language = {en} } @article{HeineEigenbergerBrebantetal., author = {Heine, Norbert and Eigenberger, Andreas and Brebant, Vanessa and Kempa, Sally and Seitz, Stephan and Prantl, Lukas and Kuehlmann, Britta}, title = {The effect of radiotherapy on fat engraftment for complete breast reconstruction using lipofilling only}, series = {Archives of Gynecology and Obstetrics}, journal = {Archives of Gynecology and Obstetrics}, publisher = {Springer}, doi = {10.1007/s00404-022-06610-4}, pages = {7}, abstract = {Purpose Lipofilling has been established as a standard technique for contour enhancement following breast reconstruction. However, there is a paucity in current literature regarding the use of this technique for complete reconstruction of the female breast as an alternative to conventional techniques, such as expander or flap-based procedures. In particular, the influence of pre-operative irradiation for successful reconstruction has rarely been examined in published studies. Here, the authors describe their experience with successful fat injection in pre-radiated breasts in comparison with non-pre-radiated patients. Methods In this retrospective study, we examined a total of 95 lipofilling treatments on 26 patients (28 breasts). All of them experienced mastectomy following breast cancer; local breast defects after partial resection of the gland were not included in this study. In total, 47 lipofilling procedures in 12 non-irradiated patients (14 breasts) and 48 procedures in 14 irradiated women (also 14 breasts) were performed. Per session, approximately 297 +/- 112 cc of adipose tissue was grafted in group A (no radiotherapy) and approximately 259 +/- 93 cc was grafted in group B (radiotherapy). Results Among the group of women without pre-operative radiation, 71\% of breast reconstructions limited to lipofilling only showed constant engraftment of fat tissue with a successful reconstructive result, whereas only 21\% of the patients with pre-radiated breasts showed complete reconstruction of the breast with a permanent fat in-growth. Conclusion Preoperative radiotherapy significantly impedes successful completion of breast reconstructions planned only by autologous fat transfer. Patients should be selected individually and carefully for complete breast reconstruction using lipofilling only.}, language = {en} } @article{SchleglTomaselliSchlegletal., author = {Schlegl, Thomas and Tomaselli, Domenico and Schlegl, Stefan and West, Nicolai and Deuse, Jochen}, title = {Automated search of process control limits for fault detection in time series data}, series = {Journal of Process Control}, volume = {117}, journal = {Journal of Process Control}, publisher = {Elsevier}, doi = {10.1016/j.jprocont.2022.07.002}, pages = {52 -- 64}, abstract = {Manually defined control limits remain a common strategy for quality control in manufacturing due to their ease of deployment on the shop floor compared to more advanced data analysis approaches. Despite their continued importance, there is no systematic method of defining these control limits. However, sub-optimal control limits can lead to undetected faults or cause unnecessary interruption to production. This manuscript presents an algorithm that systematizes this manual process into an efficient search task. We conceptualized the search task as a sequence of sub-problems that are based on the conventional steps taken by process experts when defining control limits. This algorithm can be integrated into an expert tool for shop floor personnel to automate the definition of control limits in annotated time series data. We demonstrate the efficacy of the control limits found by our algorithm by comparing them to those manually defined by process experts in real-world process data from the automotive industry. Furthermore, we show that our algorithm generalizes to traditional time series classification problems and achieves state-of-the-art performance on selected benchmark datasets. Our work is the first effort in automating the otherwise manual definition of control limits for fault detection.}, language = {en} } @inproceedings{WagnerAlAbadiBuchner, author = {Wagner, Marcus and Al-Abadi, Ali and Buchner, Stefan}, title = {A Numerical-Based Model to Determine the Resonance of the Steel Cores of Transformers}, series = {ARWtr 2022 proceedings : 2022 7th Advanced Research Workshop on Transformers (ARWtr), October (23)24-26, 2022, Baiona, Spain}, booktitle = {ARWtr 2022 proceedings : 2022 7th Advanced Research Workshop on Transformers (ARWtr), October (23)24-26, 2022, Baiona, Spain}, editor = {L{\´o}pez-Fern{\´a}ndez, Xose M.,}, publisher = {IEEE}, isbn = {978-84-09-45157-9}, doi = {https://doi.org/10.23919/ARWtr54586.2022.9959938}, pages = {36 -- 41}, abstract = {The laminated steel core of transformers is one of the main sources of the generated sound, as it is excited by different electromagnetic effects during its normal operation. If the core is excited in its eigenfrequencies, the sound generated by a transformer will increase significantly. Therefore, knowledge of the core's eigenmodes and -frequencies in an early design stage can decrease expenses by avoiding costly modifications that might be required to avoid the sound levels exceeding the specified values after the final factory acceptance test. The current study focuses on developing a core resonance model to determine the eigenmodes and -frequencies of a transformer core. The core's geometry was simplified to a connected-beam structure and a numerical-based approach was applied. The accuracy of the developed model was validated against finite element method (FEM), using ANSYS on a reference core model.}, language = {en} } @article{SchneidewindLorenz, author = {Schneidewind, Jan and Lorenz, Bj{\"o}rn}, title = {Ablaufoptimierung in einer Halbleiterfertigung (Scheduling Optimization in Semiconductor Industry}, series = {Zeitschrift f{\"u}r wirtschaftlichen Fabrikbetrieb}, volume = {117}, journal = {Zeitschrift f{\"u}r wirtschaftlichen Fabrikbetrieb}, number = {9}, publisher = {de Gruyter}, doi = {10.1515/zwf-2022-1115}, pages = {576 -- 579}, abstract = {A rule-based, iterative approach is often used for the scheduling of automated plants. In this study, a wet bench from the semiconductor industry is used to show the potential that is lost as a result and how the scheduling can be optimized. Furthermore, it is investigated how adjustments to the plant design can further reduce the average cycle time.}, language = {de} } @phdthesis{Schlamp, author = {Schlamp, Matthias}, title = {Der Einfluss elliptischer Kr{\"u}mmung auf das Verformungs- und Sch{\"a}digungsverhalten glasfaserverst{\"a}rkter Kunststoffstrukturen}, doi = {10.6094/UNIFR/228064}, pages = {169}, abstract = {In Industriebereichen, in welchen Masse aufgrund von Tr{\"a}gheit oder Gravitations{\"u}berwindung einen beeinflussenden Faktor ausmacht, wie beispielsweise der Luft- und Raumfahrt oder der Windkraft, spielen faserverst{\"a}rkte Kunststoffstrukturen aufgrund ihres Leichtbaupotentials hinsichtlich der dichtespezifischen Steifigkeit und Festigkeit eine große Rolle. Außen liegende Bauteile in Form d{\"u}nnwandiger Fl{\"a}chentragwerke in diesen Anwendungen weisen zumeist nicht eine kreisrunde, sondern unstetige Bauteilkr{\"u}mmung auf und sind aufgrund ihres Einsatzortes durch Schlagbelastungen (Impacts) in verschiedenen Geschwindigkeitsbereichen gef{\"a}hrdet. Besonders im Niedergeschwindigkeitsbereich sind diese Impacts bei diesen meist gekr{\"u}mmten Strukturen als kritisch zu beurteilen, da sie von außen oftmals nicht sichtbar sind, sich aber stark auf die verbleibende Restfestigkeit, insbesondere die Druck- und Schwingfestigkeit, aufgrund inter- und intralaminarer Sch{\"a}digungen auswirken. Sie stellen demnach eine kritisch zu betrachtende Belastungsart dar. In der vorliegenden Arbeit werden oben benannte unstetig gekr{\"u}mmte Fl{\"a}chentragwerke auf eine unstetig elliptisch gekr{\"u}mmte Pr{\"u}fk{\"o}rpergeometrie in Anlehnung an den Querschnitt einer Fl{\"u}gelvorderkante abstrahiert. Mittels experimenteller, numerischer und analytischer Untersuchungen wird ein grundlegendes Verst{\"a}ndnis des Kr{\"u}mmungseinflusses auf das Sch{\"a}digungs- und Verformungsverhalten ebendieser Strukturen bei Impact-Belastung und quasi-statischer Druckbelastung erarbeitet. Pr{\"u}fk{\"o}rper mit vier verschiedenen Kr{\"u}mmungsstufen werden dahingehend unter Verwendung einer Fallbolzenanlage im Niedergeschwindigkeitsbereich sch{\"a}digend gepr{\"u}ft und die resultierende projizierende Schadensfl{\"a}che in Abh{\"a}ngigkeit des Kr{\"u}mmungsgrades ausgewertet. Zur Untersuchung des reinen Kr{\"u}mmungseinflusses werden Pr{\"u}fk{\"o}rper in quasistatischen Druckversuchen im elastischen Bereich auf deren Verformungsverhalten hin analysiert. Durch Einf{\"u}hrung des geometriebedingten Verformungswiderstandes als vergleichende Kenngr{\"o}ße kann auf Basis lokal variierender Struktursteifigkeiten ein Zusammenhang aus dem Impact-Verhalten und dem elastischen Verformungsverhalten gleicher Kr{\"u}mmungsstufen geschlossen werden. Durch begleitende numerische Untersuchungen wird das Verformungsverhalten sowie die sich dabei einstellenden einzelschichtspezifischen Spannungszust{\"a}nde untersucht. Weiterhin werden bestehende analytische Berechnungsmethoden f{\"u}r stetige Kreisb{\"o}gen im Berechnungsumfang erweitert und auf die vorliegende Problemstellung{\"u}bertragen. Eine Gegen{\"u}berstellung und Diskussion aller erfassten Versuchs- und Berechnungsergebnisse zeigt abschließend gemeinsame Abh{\"a}ngigkeiten auf.}, language = {de} } @phdthesis{Kastenmeier, author = {Kastenmeier, Andreas}, title = {Biegeverhalten faserverst{\"a}rkter Kunststoffrohre unter Ber{\"u}cksichtigung einer mehrreihigen Bolzenverbindung}, pages = {260}, abstract = {In der vorliegenden Arbeit wird die Charakterisierung des mechanischen Verhaltens von auskragenden Rohren aus kohlenstofffaserverst{\"a}rktem Kunststoff (CFK) mit Querkraftbelastung an einem Ende und einer mehrreihigen Bolzenverbindung am anderen Ende behandelt. Bolzenverbindungen mit F{\"u}gepartner aus CFK werden im Stand der Technik nur an ebenen, zug- oder druckbelasteten, Verbindungen untersucht, weshalb der Einfluss der Biegebelastung, der gekr{\"u}mmten Auflagefl{\"a}chen und des geschlossenen Rohrprofils untersucht und qualifiziert wird. Zudem zeigt sich ein Effekt der Abst{\"u}tzung bzw. resultierenden Verformungsbehinderung. Die Grundlage der Untersuchungen bilden 2-Punkt-Biegeversuche mit Verzerrungs- und Verschiebungsmessungen, die {\"u}ber FE-Modelle numerisch abgebildet und in einer Verzerrungs- und Spannungsanalyse detaillierter ausgewertet werden. Zur Darstellung des Einflusses der Biegebelastung werden zudem reine Zug- und Drucklasten aufgebracht, ausgewertet und abgeglichen. In drei Variationen des Biegeversuchs werden zudem, sowohl experimentell als auch numerisch, Effekte zu einer m{\"o}glichen Steigerung der Verbindungsfestigkeit untersucht. Dazu z{\"a}hlt die Verwendung von zus{\"a}tzlichen Schichten aus Titanlegierung im Kraft{\"u}berleitungsbereich, ein Versetzen der Bolzen im Umfang und eine {\"A}nderung der Abst{\"u}tzung in Lastrichtung. F{\"u}r das Biegeverhalten der CFK-Rohre im frei auskragenden Bereich werden kontinuumsmechanische Modelle der anisotropen Elastizit{\"a}t f{\"u}r Rohre unter reiner Biegebelastung beschrieben, adaptiert und bez{\"u}glich der Ergebnisse bewertet. Um die Vergleichbarkeit der Berechnungsmodelle und Versuche zu gew{\"a}hrleisten, wird einerseits der Einfluss der speziellen Schichtstruktur in gewickelten CFK-Rohren diskutiert und andererseits werden die transversal-isotropen Materialeigenschaften der Einzelschicht an Probek{\"o}rpern aus den Rohren bestimmt.}, subject = {Kunststoffrohr}, language = {de} } @article{MaiwaldHierl, author = {Maiwald, Frederik and Hierl, Stefan}, title = {Absorber-free laser transmission welding of transparent polymers}, series = {Laser Systems Europe}, volume = {50}, journal = {Laser Systems Europe}, number = {Spring 2021}, publisher = {Europa Science}, address = {Cambridge}, language = {en} } @misc{MaiwaldSchulzeSchmidtetal., author = {Maiwald, Frederik and Schulze, Julian and Schmidt, Michael and Hierl, Stefan}, title = {In-situ optical coherence tomography for spatio-temporal analysis of melt pool crystallization in absorber-free laser transmission welding of polymers}, series = {The 9th International Congress on Laser Advanced Materials Processing (LAMP2025), Ise-city, Mie-prefecture, Japan, June 10 to June 13, 2025}, journal = {The 9th International Congress on Laser Advanced Materials Processing (LAMP2025), Ise-city, Mie-prefecture, Japan, June 10 to June 13, 2025}, publisher = {Japan Laser Processing Society}, language = {en} } @article{HornbergerMarquisChristiansenetal., author = {Hornberger, Helga and Marquis, Peter M. and Christiansen, Silke H. and Albrecht, Manuel and Strunk, Horst P. and Franks, J.}, title = {Microstructure of a high strength alumina-glass composite combined with a diamond like carbon coating}, series = {Electron Microscopy and Analysis}, journal = {Electron Microscopy and Analysis}, doi = {10.1557/JMR.1996.0244}, pages = {559 -- 562}, abstract = {We investigate the mechanical and microstructural properties of a diamond-like carbon coating (DLC) which is deposited by plasma enhanced chemical vapor deposition (PECVD) onto an alumina/aluminosilicate glass composite used for biomedical applications. Ball-on-ring tests yield a fracture strength that is essentially influenced by the surface topology/roughness. The surface topology of the coating is investigated by atomic force microscopy (AFM). Tribology tests and nanoindentation represent the wear resistance and hardness; these are properties that are mainly influenced by the microstructural properties of the DLC coating. This microstructure is investigated by transmission electron microscopy (TEM) and analyzed by parallel electron energy loss spectroscopy (PEELS). For the general applicability of the coated composite, the interfacial adhesion of the DLC coating on the comparably rough substrate (roughness amplitudes and wavelengths are in the micrometer range) is important. Therefore, we focus on TEM investigations that show the interface to be free of gaps and pores that we, together with a characteristic microstructure adjacent to the interface, relate to the excellent adhesion. The interlayer consists of a high density of SiC grains, part of them directly bound to the substrate, and part of them bound to other SiC grains. This interlayer is followed by an essentially different region of the coating as concerns the microstructure; this region consists of nanocrystalline diamond particles embedded in an amorphous carbon matrix. It is this heterogeneous microstructure to which we attribute (i) the good adhesion based upon the interface stabilizing SiC grains, and (ii) the high hardness and wear resistance based upon the diamond nanocrystals in the coating.}, language = {en} } @article{ReindlMeisnerHierl, author = {Reindl, Thomas and Meisner, Dennis and Hierl, Stefan}, title = {Benchmarking of plastic-based Additive Manufacturing Processes}, series = {RTejournal - Forum f{\"u}r Rapid Technologie}, journal = {RTejournal - Forum f{\"u}r Rapid Technologie}, publisher = {Fachhochschule Aachen}, doi = {https://doi.org/10.58134/fh-aachen-rte_2023_002}, abstract = {Additive Manufacturing (AM) is a future-oriented manufacturing technology that is experiencing an enormous boom in the times of Industry 4.0. As a result, various AM technologies and printer models from different manufacturers are entering the market over a short time span. With the advancing establishment of this manufacturing technology for series applications, the expectations and requirements of the fabricated components are also increasing. However, a major challenge is the application-specific selection of the most suitable AM process due to a lack of comparable data. Furthermore, there needs to be more know-how regarding the geometrical and mechanical characteristics of AM parts. This paper addresses this problem by comparing the three most common plasticbased AM processes in the areas of surface quality, dimensional accuracy, and mechanical properties. Roughness measurements, evaluation of a benchmark artifact, tensile tests, and load increase tests are carried out. Based on the results, the individual possibilities and limitations of the compared AM processes can be detected.}, language = {en} } @inproceedings{Rill, author = {Rill, Georg}, title = {Real-Time capable Multibody Model of dual Truck Front Axles}, series = {Proceedings of DINAME 2023 - Selected Papers of the XIX International Symposium on Dynamic Problems of Mechanics, 26 Feb - 03 Mar 2023, Piren{\´o}polis, Brazil}, booktitle = {Proceedings of DINAME 2023 - Selected Papers of the XIX International Symposium on Dynamic Problems of Mechanics, 26 Feb - 03 Mar 2023, Piren{\´o}polis, Brazil}, editor = {Fleury, Agenor de T.}, publisher = {Springer}, abstract = {Dual front steering axles are quite common in multi-axled heavy duty trucks. In standard layouts of such axle combinations, the steer motions of the wheels depend not only on the rotation of the steering wheel but also on the movements of the axles. As a consequence, the model complexity of the steering system should match with the complexity of the suspension model. The development of new technologies like advanced driver assistance systems or autonomous driving can only be accomplished efficiently using extensive simulation methods. Such kind of applications demand for computationally efficient vehicle models. This paper presents a steering system model for dual front axles of heavy duty trucks which supplements the suspension model of the axles. The model takes the torsional compliance of the steering column as well as the stiffness of the tie rods and the coupling rod into account. A quasi-static solution provides a straight forward computation including the partial derivatives required for an efficient implicit solver. The steering system model matches perfectly with comparatively lean, but sufficiently accurate multibody suspension models.}, language = {en} } @inproceedings{MaiwaldKrothLaskinetal., author = {Maiwald, Frederik and Kroth, Lea and Laskin, Alexander and Hierl, Stefan and Schmidt, Michael}, title = {Enlarging the process window in absorber-free laser transmission welding of polymer foils using tailored laser intensity distribution}, series = {Procedia CIRP}, volume = {124}, booktitle = {Procedia CIRP}, publisher = {Elsevier}, doi = {10.1016/j.procir.2024.08.159}, pages = {489 -- 493}, abstract = {Absorber-free laser transmission welding enables precise and clean joining of polymer foils without absorbent additives or adhesives. It is well suited for applications in medical technology and food industry, which impose high demands on process reliability. To achieve a large process window and thus a reliable process, a homogeneous weld seam temperature is desirable. For this purpose, the intensity distribution of the laser beam is adapted locally by refractive beam shaping optics. Using a donut-shaped intensity distribution, the weld seam temperature is homogenized. Thus, the process window for welding polypropylene or polyethylene foils is enlarged up to a factor of 4 compared to a conventional, Gaussian-shaped distribution. This enables the reliable welding of even 85 µm thin foils, which could only be welded to a limited extent with a conventional laser intensity distribution.}, language = {en} } @inproceedings{SteiningerGadererDawoud, author = {Steininger, Peter and Gaderer, Matthias and Dawoud, Belal}, title = {Transient performance of a solar selective thermal insulation system}, series = {16th Advanced Building Skins Conference \& Expo, 21 - 22/10/2021, Bern, Switzerland}, booktitle = {16th Advanced Building Skins Conference \& Expo, 21 - 22/10/2021, Bern, Switzerland}, publisher = {Advanced Buidling Skins GmbH}, abstract = {A prototype of a thermal insulation system to offer high selectivity of the solar gain regarding the solar incidence angle (SATIS) was applied to a typical solid brick masonry for existing buildings in Germany. Light conducting elements (LCEs) inclined at 19 ° were incorporated in SATIS, which equals the average solar noon angle in southern Germany during winter. The entire wall construction was experimentally investigated in a differential climatic chamber test bench at four different irradiation angles according to a dynamic test procedure. In addition, a conventional wall construction (CWC) has been measured. At SATIS' design angle of 19 °, the SATIS wall construction shows a solar gain (SG) of 394.5 Wh/m², while the SG of the CWC amounts to only 25.4 Wh/m². The validated transient model of the SATIS wall construction showed that, at the end of the irradiation period of the dynamic test procedure (8 h), the solar heat penetrates to a depth of 253 mm and 111 mm inside the 385 mm thick brick wall masonry at the irradiation angles of 19 ° and 50 °, respectively. During the same time, the stored solar energy at 50 ° amounts to only 24.4 \% of that stored at 19 °.}, language = {en} } @inproceedings{SchaefferHerrmannBoehm, author = {Schaeffer, Leon and Herrmann, David and B{\"o}hm, Valter}, title = {Concept of a wrist Hand Orthosis based on a prestressed compliant structure}, series = {Proceedings of the 7th International Conference on Biomedical Engineering and Applications (ICBEA), Hangzhou, China, 21-23 April 2023}, booktitle = {Proceedings of the 7th International Conference on Biomedical Engineering and Applications (ICBEA), Hangzhou, China, 21-23 April 2023}, publisher = {IEEE}, doi = {10.1109/ICBEA58866.2023.00024}, pages = {98 -- 103}, abstract = {In the treatment of hand injuries in the context of orthopedic care, movable wrist hand orthoses are used in numerous instances. Early motion therapy is in most cases advantageous for adequate, rapid and successful long-term healing of the hand. Conventional dynamic wrist hand orthoses can only be used for movement therapy to a limited extent since they represent the wrist as a simple rotating joint and neglect the complexity of the hand movement possibilities. In this paper, a preliminary concept for dynamic wrist hand orthoses based on prestressed compliant structures is presented. The distinctive feature of this concept lies in the enabling of multiaxial motion capabilities of the human hand without applying conventional joints. According to the concept the wrist region is surrounded by a prestressed compliant structure. Besides the derivation and description of the concept, a first three-dimensional computer-aided design is shown. Additionally, the necessary steps in the development of such a novel dynamic wrist orthosis are discussed.}, language = {en} } @article{SalamaKouDawoudetal., author = {Salama, Amgad and Kou, Jisheng and Dawoud, Belal and Rady, Mohamed and El Morshedy, Salah}, title = {Investigation of the self-propulsion of a wetting/nonwetting ganglion in tapered capillaries with arbitrary viscosity and density contrasts}, series = {Colloids and Surfaces A: Physicochemical and Engineering Aspects}, volume = {664}, journal = {Colloids and Surfaces A: Physicochemical and Engineering Aspects}, publisher = {Elsevier}, issn = {0927-7757}, doi = {10.1016/j.colsurfa.2023.131151}, abstract = {The movement of a meniscus inside a capillary tube has been extensively studied in the context of displacing one fluid with another immiscible one. This phenomenon exists in many applications including pharmaceutical, oil production, filtration and separation processes, and others. When one of the phases is entrapped inside a capillary tube, it forms what is called a ganglion with two menisci between the two fluids. In a straight uniform capillary tube, a stagnant entrapped ganglion is symmetric. The situation is different if the capillary tube is tapered in which case the two menisci assume different curvatures. Such inhomogeneity of the capillary pressure self-propels the ganglion to move. The fate of the ganglion inside the tapered tube depends on whether it is wetting or nonwetting to the tube wall. That is, after the initial movement, a wetting ganglion accelerates towards the tapered end of the tube while a nonwetting one decelerates towards the wider end before reaching a terminal configuration. Such fates are linked to the variations of the capillary pressure, which continuously increases for a wetting ganglion and decreases for the nonwetting one. In this work, a generalized model is developed that not only describes capillary-driven dynamics over a wide range of viscosity and density contrasts but also pressure-driven scenarios with/without gravity. The model, however, neglects the inertial effect of the two fluids on account of the fact that it is confined to the very early time of the movement process. A first-order nonlinear ordinary differential equation is developed that describes the dynamic behavior of both the wetting and nonwetting ganglions. A fourth-order Runge-Kutta algorithm is developed to solve the model equations. Furthermore, a computational fluid dynamics (CFD) analysis was used to provide a comparison and verification framework.}, language = {en} } @article{WiesentStockerNonn, author = {Wiesent, Lisa and Stocker, Felix and Nonn, Aida}, title = {Investigating the influence of geometric parameters on the deformation of laser powder bed fused stents using low-fidelity thermo-mechanical analysis}, series = {Materialia}, volume = {28}, journal = {Materialia}, publisher = {Elsevier}, doi = {10.1016/j.mtla.2023.101774}, abstract = {Maintaining dimensional accuracy is a major challenge of laser powder bed fusion (L-PBF) preventing its application for more complex and filigree L-PBF structures in industrial practice. Previous studies have shown that residual stresses and distortion of benchmark L-PBF components may be predicted by sequential thermo-mechanical analyses. However, the reliability of these analyses for more complex structures must be critically questioned, as comprehensive validation and sensitivity analyses are scarce. In this paper, we present a calibrated and validated low-fidelity sequential thermo-mechanical finite element analysis (FEA) of a tubular L-PBF lattice structure, i.e., an aortic stent, where pronounced local deformation is expected. As a first step, the finite element model was extensively calibrated using experimental data to ensure reproducibility of the simulation results. Thereupon, geometric features critical to the distortion of L-PBF lattice structures and measures to compensate for the distortion, such as inversion of the distorted L-PBF structure, were investigated. It was found that the distortion of the L-PBF lattice structures can be reduced, but not completely prevented, by increasing the strut angles, increasing the strut thickness, and decreasing the transition radius in the area of merging struts. FEA-based inversion of the numerically predicted deformed structure minimized distortion, resulting in the L-PBF aortic stent approximating the intended CAD geometry even with a small strut thickness. This work shows that low-fidelity sequential thermo-mechanical FEA can be used not only for the analysis and deformation compensation of reference structures, but also for the analysis of more complex filigree structures with pronounced local deformation.}, language = {en} } @article{KeinerThomaBogdanovetal., author = {Keiner, Dominik and Thoma, Christian and Bogdanov, Dmitrii and Breyer, Christian}, title = {Seasonal hydrogen storage for residential on- and off-grid solar photovoltaics prosumer applications: Revolutionary solution or niche market for the energy transition until 2050?}, series = {Applied Energy}, volume = {340}, journal = {Applied Energy}, publisher = {Elsevier}, doi = {10.1016/j.apenergy.2023.121009}, pages = {17}, abstract = {Appropriate climate change mitigation requires solutions for all actors of the energy system. The residential sector is a major part of the energy system and solutions for the implementation of a seasonal hydrogen storage system in residential houses has been increasingly discussed. A global analysis of prosumer systems including seasonal hydrogen storage with water electrolyser, hydrogen compressor, storage tank, and a fuel cell studying the role of such a seasonal household storage in the upcoming decades is not available. This study aims to close this research gap via the improved LUT-PROSUME model, which models a fully micro sector coupled residential photovoltaic prosumer system with linear optimisation for 145 regions globally. The modelling of the cost development of hydrogen storage components allows for the simulation of a residential system from 2020 until 2050 in 5-year steps in hourly resolution. The systems are cost-optimised for either on- or off-grid operation in eight scenarios including battery electric vehicles, which can act as an additional vehicle-to-home electricity storage for the system. Results show that implementation of seasonal hydrogen systems only occurs in least cost solutions in high latitude countries when the system is forced to run in off-grid mode. In general, a solar photovoltaic plus battery system including technologies that can cover the heat demand is the most economic choice and can even achieve lower cost than a full grid supply in off-grid operation for most regions until 2050. Additional parameters including the self-consumption ratio, the demand cover ratio, and the heat cover ratio can therefore not be improved by seasonal storage systems if economics is the main deciding factor for a respective system. Further research opportunities and possible limitations of the system are then identified.}, language = {en} } @article{KuettnerRathsFischeretal., author = {Kuettner, Andreas and Raths, Max and Fischer, Samuel and Laumer, Tobias}, title = {Heat staking of polymer parts generated by fused layer modeling}, series = {The International Journal of Advanced Manufacturing Technology}, volume = {128}, journal = {The International Journal of Advanced Manufacturing Technology}, publisher = {Springer Nature}, doi = {10.1007/s00170-023-11850-y}, pages = {547 -- 562}, abstract = {Heat staking is a joining technology by which thermoplastic pins are formed by force and temperature to create a form- and force-fitting connection between components. This paper examines the characteristics of 3D printed pins in comparison to conventionally turned pins for heat staking applications. The 3D printed pins are created using fused layer modeling, with variations in horizontal and vertical building directions, as well as different layer thicknesses. The study investigates the impact of significant factors on the heat staking process, including the forming force and temperature. Tensile tests, micrographs, and micro-CT measurements were conducted to determine the properties of the heat-staked joints. Additionally, a stage plan was developed to enhance the understanding of the forming process of both printed and conventionally turned materials. The findings suggest that, under specific process parameters, 3D printed pins exhibit comparable strength to conventionally manufactured pins. The research also demonstrates that the anisotropy resulting from the layer-by-layer construction of the pins significantly influences the strength of the connection. Furthermore, the study reveals that 3D printed pins exhibit good forming accuracy during the heat staking process, and the cavities formed during printing can be substantially reduced.}, language = {en} } @misc{MaiwaldHierl, author = {Maiwald, Frederik and Hierl, Stefan}, title = {Laser welding device for clamping and welding components and method for clamping and welding components}, organization = {Ostbayerische Technische Hochschule Regensburg}, language = {en} } @inproceedings{SchorrEbnetZimmermannetal., author = {Schorr, Philipp and Ebnet, Markus and Zimmermann, Klaus and B{\"o}hm, Valter}, title = {Dynamic Investigation of a Rolling Locomotion System Based on a Tensegrity Structure with Spatially Curved Compressed Members}, series = {Perspectives in Dynamical Systems I Applications : DSTA Ł{\´o}d{\'{z}} Poland December 6 - 9 2021. - (Springer Proceedings in Mathematics \& Statistics ; Bd. 453)}, booktitle = {Perspectives in Dynamical Systems I Applications : DSTA Ł{\´o}d{\'{z}} Poland December 6 - 9 2021. - (Springer Proceedings in Mathematics \& Statistics ; Bd. 453)}, editor = {Awrejcewicz, Jan}, publisher = {Springer International Publishing}, address = {Cham}, isbn = {978-3-031-56491-8}, doi = {10.1007/978-3-031-56492-5_32}, pages = {437 -- 449}, abstract = {In this paper a compliant tensegrity structure based on spatially curved compressed members is presented. Due to an internal variation of the prestress state the shape of the structure can be controlled. In particular, a modification of a cylindrical outer shape to a conical form is achieved. Regarding to the applications in mobile robotics this approach enables a steerable two-dimensional rolling locomotion system. Beside the consideration of the underlying non-holonomic constraints a simplified mechanical model an the corresponding equations of motion are derived for a predefined actuation principle. Various numerical simulations are evaluated focusing on the corresponding locomotion behavior. Based on these results a reliable actuation strategy to navigate in two dimensions is proposed.}, language = {en} } @inproceedings{HerrmannSchaefferLehmannetal., author = {Herrmann, David and Schaeffer, Leon and Lehmann, Lukas and Busch, Tobias and B{\"o}hm, Valter}, title = {Preliminary Theoretical Considerations on 2D Multistable Tensegrity Structures Based on Equilateral Triangles}, series = {New trends in mechanism and machine science: Proceedings of EuCoMeS 2024}, booktitle = {New trends in mechanism and machine science: Proceedings of EuCoMeS 2024}, editor = {Rosati, Giulio and Gasparetto, Alessandro and Ceccarelli, Marco}, publisher = {Springer}, address = {Cham}, isbn = {978-3-031-67294-1}, doi = {10.1007/978-3-031-67295-8_21}, pages = {183 -- 191}, language = {en} } @article{HimmeleinPerezRuizdeGaribayBrandeletal., author = {Himmelein, Susanne and Perez Ruiz de Garibay, Aritz and Brandel, Veronika and Zierfuß, Frank and Bingold, Tobias Michael}, title = {The ADVanced Organ Support (ADVOS) hemodialysis system removes IL-6: an in vitro proof-of-concept study}, series = {Intensive care medicine experimental}, volume = {12}, journal = {Intensive care medicine experimental}, number = {1}, publisher = {SpringerOpen}, address = {Berlin ; Heidelberg}, issn = {2197-425X}, doi = {10.1186/s40635-024-00652-5}, abstract = {BACKGROUND IL-6 is a pleiotropic cytokine modulating inflammation and metabolic pathways. Its proinflammatory effect plays a significant role in organ failure pathogenesis, commonly elevated in systemic inflammatory conditions. Extracorporeal blood purification devices, such as the Advanced Organ Support (ADVOS) multi hemodialysis system, might offer potential in mitigating IL-6's detrimental effects, yet its efficacy remains unreported. METHODS We conducted a proof-of-concept in vitro study to assess the ADVOS multi system's efficacy in eliminating IL-6. Varying concentrations of IL-6 were introduced into a swine blood model and treated with ADVOS multi for up to 12 h, employing different blood and concentrate flow rates. IL-6 reduction rate, clearance, and dynamics in blood and dialysate were analyzed. RESULTS IL-6 clearance rates of 0.70 L/h and 0.42 L/h were observed in 4 and 12-h experiments, respectively. No significant differences were noted across different initial concentrations. Reduction rates ranged between 40 and 46\% within the first 4 h, increasing up to 72\% over 12 h, with minimal impact from flow rate variations. Our findings suggest that an IL-6-albumin interaction and convective filtration are implicated in in vitro IL-6 elimination with ADVOS multi. CONCLUSIONS This study demonstrates for the first time an efficient and continuous in vitro removal of IL-6 by ADVOS multi at low blood flow rates. Initial concentration-dependent removal transitions to more consistent elimination over time. Further clinical investigations are imperative for comprehensive data acquisition.}, language = {en} } @article{UhrhanSchwindtWitte, author = {Uhrhan, Katja and Schwindt, Esther and Witte, Hartmut}, title = {Fabrication and Dielectric Validation of an Arm Phantom for Electromyostimulation}, series = {Bioengineering}, volume = {11}, journal = {Bioengineering}, number = {7}, publisher = {MDPI}, address = {Basel}, issn = {2306-5354}, doi = {10.3390/bioengineering11070724}, abstract = {Electromyostimulation (EMS) is an up-and-coming training method that demands further fundamental research regarding its safety and efficacy. To investigate the influence of different stimulation parameters, electrode positions and electrode sizes on the resulting voltage in the tissue, a tissue mimicking phantom is needed. Therefore, this study describes the fabrication of a hydrogel arm phantom for EMS applications with the tissue layers of skin, fat, blood and muscle. The phantom was dielectrically validated in the frequency range of 20 Hz to 100 Hz. We also conducted electromyography (EMG) recordings during EMS on the phantom and compared them with the same measurements on a human arm. The phantom reproduces the dielectric properties of the tissues with deviations ranging from 0.8\% to more than 100\%. Although we found it difficult to find a compromise between mimicking the permittivity and electrical conductivity at the same time, the EMS-EMG measurements showed similar waveforms (1.9-9.5\% deviation) in the phantom and human. Our research contributes to the field of dielectric tissue phantoms, as it proposes a multilayer arm phantom for EMS applications. Consequently, the phantom can be used for initial EMS investigations, but future research should focus on further improving the dielectric properties.}, language = {en} } @inproceedings{MaiwaldFriesSchulzeetal., author = {Maiwald, Frederik and Fries, Fabian and Schulze, Julian and Honnerov{\´a}, Petra and Hierl, Stefan and Schmidt, Michael}, title = {Optical coherence tomography for in situ weld seam monitoring in absorber-free laser transmission welding}, series = {Laser Applications in Microelectronic and Optoelectronic Manufacturing (LAMOM) XXX, 25-31 January 2025, San Francisco, California, United States}, booktitle = {Laser Applications in Microelectronic and Optoelectronic Manufacturing (LAMOM) XXX, 25-31 January 2025, San Francisco, California, United States}, publisher = {SPIE}, doi = {10.1117/12.3040607}, abstract = {Optical and medical devices are frequently made of polymers and place high demands on precision, cleanliness, and reliability of the manufacturing processes used. Absorber-free laser transmission welding is well-suited for joining these devices: the energy input is contactless, no adhesives, additives, or absorbers are required, and the fiber lasers used enable precise weld seams. As the weld seam geometry is decisive for the joint strength and thus crucial for the quality of the product, the welding process is monitored in-situ using Optical Coherence Tomography (OCT). Subsequently, the weld seam geometry is identified automatically using the AI model "Segment Anything" (SAM), which performs semantic segmentation of the OCT data without requiring any training from the user. Welding tests using polyamide six indicate that the seam size is measured with an accuracy of a few hundredths of a millimeter, showing excellent agreement with microscopic images of microtome sections.}, language = {en} } @article{ChristiansenAlbrechtStrunketal., author = {Christiansen, Silke H. and Albrecht, Manuel and Strunk, Horst P. and Hornberger, Helga and Marquis, Peter M. and Franks, J.}, title = {Mechanical properties and microstructural analysis of a diamond-like carbon coating on an alumina/glass composite}, series = {Journal of Materials Research}, volume = {11}, journal = {Journal of Materials Research}, number = {8}, doi = {10.1557/JMR.1996.0244}, pages = {1934 -- 1942}, abstract = {We investigate the mechanical and microstructural properties of a diamond-like carbon coating (DLC) which is deposited by plasma enhanced chemical vapor deposition (PECVD) onto an alumina/aluminosilicate glass composite used for biomedical applications. Ball-on-ring tests yield a fracture strength that is essentially influenced by the surface topology/roughness. The surface topology of the coating is investigated by atomic force microscopy (AFM). Tribology tests and nanoindentation represent the wear resistance and hardness; these are properties that are mainly influenced by the microstructural properties of the DLC coating. This microstructure is investigated by transmission electron microscopy (TEM) and analyzed by parallel electron energy loss spectroscopy (PEELS). For the general applicability of the coated composite, the interfacial adhesion of the DLC coating on the comparably rough substrate (roughness amplitudes and wavelengths are in the micrometer range) is important. Therefore, we focus on TEM investigations that show the interface to be free of gaps and pores that we, together with a characteristic microstructure adjacent to the interface, relate to the excellent adhesion. The interlayer consists of a high density of SiC grains, part of them directly bound to the substrate, and part of them bound to other SiC grains. This interlayer is followed by an essentially different region of the coating as concerns the microstructure; this region consists of nanocrystalline diamond particles embedded in an amorphous carbon matrix. It is this heterogeneous microstructure to which we attribute (i) the good adhesion based upon the interface stabilizing SiC grains, and (ii) the high hardness and wear resistance based upon the diamond nanocrystals in the coating.}, language = {en} } @article{KloiberSchultheissSoteloetal., author = {Kloiber, Jessica and Schultheiß, Ulrich and Sotelo, Lamborghini and Sarau, George and Christiansen, Silke H. and Gavras, Sarkis and Hort, Norbert and Hornberger, Helga}, title = {Corrosion behaviour of electropolished magnesium materials}, series = {Materials Today Communications}, journal = {Materials Today Communications}, edition = {Journal Pre-proof}, publisher = {Elsevier}, doi = {10.1016/j.mtcomm.2023.107983}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:898-opus4-68254}, abstract = {Although magnesium and its alloys are promising candidates as biodegradable implant materials, the tendency for localized corrosion mechanism in physiological environment limit their biomedical application. Electropolishing is an attractive strategy for improving the corrosion behaviour of metals, but it is still largely unexplored in magnesium materials. In this study, the characterization of electropolished surfaces of AM50 and pure magnesium was performed, focussing on their in vitro degradation behaviour in cell medium. Corrosion rates were evaluated using potentiodynamic polarisation. The surface morphology before and after the onset of corrosion was investigated by scanning electron microscopy and confocal laser scanning microscopy. The presented electropolishing process led to improved surface performances, observable by significantly lower corrosion rates (0.08 mm·year-1 in Dulbecco's modified Eagle's medium), lower arithmetical mean height (0.05 µm), lower water contact angle (25-35°) and lower micro hardness (35-50 HV 0.1) compared to mechanically and chemically treated surfaces. MgO/Mg(OH)2 could be detected on electropolished surfaces. The localized corrosion mode could be reduced, but not entirely prevented. Electropolishing shows great potential as post-treatment of magnesium-based components, but detailed tests of the long-term corrosion behaviour are an important area of future research.}, language = {en} } @article{ChavezVegaBoehmBeckeretal., author = {Chavez Vega, Jhohan Harvey and B{\"o}hm, Valter and Becker, Tatiana I. and Gast, Simon and Zeidis, Igor and Zimmermann, Klaus}, title = {Actuators based on a controlled particle-matrix interaction in magnetic hybrid materials for applications in locomotion and manipulation systems}, series = {Physical Sciences Reviews}, volume = {7}, journal = {Physical Sciences Reviews}, number = {11}, publisher = {de Gruyter}, doi = {10.1515/psr-2019-0087}, pages = {1263 -- 1290}, abstract = {The paper deals with the investigation of magneto-sensitive elastomers (MSE) and their application in technical actuator systems. MSE consist of an elastic matrix containing suspended magnetically soft and/or hard particles. Additionally, they can also contain silicone oil, graphite particles, thermoplastic components, etc., in various concentrations in order to tune specific properties such as viscosity, conductivity and thermoelasticity, respectively. The focuses of investigations are the beneficial properties of MSE in prototypes for locomotion and manipulation purposes that possess an integrated sensor function. The research follows the principle of a model-based design, i.e. the working steps are ideation, mathematical modelling, material characterization as well as building first functional models (prototypes). The developed apedal (without legs) and non-wheeled locomotion systems use the interplay between material deformations and the mechanical motion in connection with the issues of control and stability. Non-linear friction phenomena lead to a monotonous forward motion of the systems. The aim of this study is the design of such mechanical structures, which reduce the control costs. The investigations deal with the movement and control of 'intelligent' mechanisms, for which the magnetically field-controlled particle-matrix interactions provide an appropriate approach. The presented grippers enclose partially gripped objects, which is an advantage for handling sensitive objects. Form-fit grippers with adaptable contour at the contact area enable a uniform pressure distribution on the surface of gripped objects. Furthermore, with the possibility of active shape adaptation, objects with significantly differing geometries can be gripped. To realise the desired active shape adaptation, the effect of field-induced plasticity of MSE is used. The first developed prototypes mainly confirm the functional principles as such without direct application. For this, besides the ability of locomotion and manipulation itself, further technological possibilities have to be added to the systems. The first steps are therefore being taken towards integrated MSE based adaptive sensor systems.}, language = {en} } @article{ChavezVegaSchorrKaufholdetal., author = {Chavez Vega, Jhohan Harvey and Schorr, Philipp and Kaufhold, Tobias and Zentner, Lena and Zimmermann, Klaus and B{\"o}hm, Valter}, title = {Influence of Elastomeric Tensioned Members on the Characteristics of Compliant Tensegrity Structures in Soft Robotic Applications}, series = {Procedia Manufacturing}, volume = {52}, journal = {Procedia Manufacturing}, publisher = {Elsevier}, issn = {2351-9789}, doi = {10.1016/j.promfg.2020.11.048}, pages = {289 -- 294}, abstract = {The use of mechanically prestressed compliant structures in soft robotics is a recently discussed topic. Tensegrity structures, consisting of a set of rigid disconnected compressed members connected to a continuous net of prestressed elastic tensioned members build one specific class of these structures. Robots based on these structures have manifold shape changing abilities and can adapt their mechanical properties reversibly by changing of their prestress state according to specific tasks. In the paper selected aspects on the potential use of elastomer materials in these structures are discussed with the help of theoretical analysis. Therefore, a selected basic tensegrity structure with elastomer members is investigated focusing on the stiffness and shape changing ability in dependence of the nonlinear hyperelastic behavior of the used elastomer materials. The considered structure is compared with a conventional tensegrity structure with linear elastic tensioned members. Finally, selected criterions for the advantageous use of elastomer materials in compliant tensegrity robots are discussed.}, language = {en} } @article{SchorrChavezVegaZentneretal., author = {Schorr, Philipp and Chavez Vega, Jhohan Harvey and Zentner, Lena and B{\"o}hm, Valter}, title = {Reconfiguration of planar quadrilateral linkages utilizing the tensegrity principle}, series = {Mechanism and machine theory}, journal = {Mechanism and machine theory}, number = {156}, publisher = {Elsevier}, doi = {10.1016/j.mechmachtheory.2020.104172}, abstract = {The development of reconfigurable planar four-bar linkages by applying the tensegrity principle is considered. Conventional quadrilateral linkages enable two operation modes differing in the kinematic behavior. However, a change between these states is not possible due to the geometric constraints. To enable a reconfiguration between the different modes one-sided limited nonholonomic constraints are introduced in this work. This issue is realized by applying ropes that cannot resist compression. However, to guarantee an appropriate load case in operation a prestress within the mechanism is required. Hence, the linkage is extended to a tensegrity-based mechanism. The structural dynamics are derived using the LAGRANGE formalism and the structural behavior is evaluated using numerical simulations. Furthermore, a prototype of an exemplary tensegrity-based mechanism is manufactured and experiments regarding the mechanical properties, in particular the reconfiguration, are performed. The results suggest the potential benefit of applying the tensegrity principle within conventional planar four-bar linkages.}, language = {en} } @article{ChavezVegaZiolkowskiSchorretal., author = {Chavez Vega, Jhohan Harvey and Ziolkowski, Marek and Schorr, Philipp and Spiess, Lothar and B{\"o}hm, Valter and Zimmermann, Klaus}, title = {A method to approach constant isotropic permeabilities and demagnetization factors of magneto-rheological elastomers}, series = {Journal of Magnetism and Magnetic Materials}, volume = {527}, journal = {Journal of Magnetism and Magnetic Materials}, publisher = {Elsevier}, doi = {10.1016/j.jmmm.2021.167742}, abstract = {The use of non-conventional materials is nowadays of much interest in scientific community. Magneto-rheological elastomers are hybrid materials, which in presence of magnetic fields state a change in their mechanical properties. They are composed by an elastomeric matrix with embedded magnetic particles. One of the most attractive features of these materials is that as soon as the magnetic field is removed from the material, the original mechanical properties are completely recovered, with negligible differences in comparison to the original state. This paper focuses on the study of magnetic characteristics of these smart materials, such as relative permeability and demagnetizing factors, for samples with different volume concentration of ferromagnetic particles.}, language = {en} } @inproceedings{BoehmSchorrFeldmeieretal., author = {B{\"o}hm, Valter and Schorr, Philipp and Feldmeier, T. and Chavez Vega, Jhohan Harvey and Henning, S. and Zimmermann, Klaus and Zentner, Lena}, title = {An Approach to Robotic End Effectors Based on Multistable Tensegrity Structures}, series = {New Trends in Mechanism and Machine Science: 8th European Conference on Mechanism Science (EuCoMeS), 2020}, booktitle = {New Trends in Mechanism and Machine Science: 8th European Conference on Mechanism Science (EuCoMeS), 2020}, publisher = {Springer}, doi = {10.1007/978-3-030-55061-5_53}, pages = {470 -- 478}, abstract = {In this paper compliant multistable tensegrity structures with discrete variable stiffness are investigated. The different stiffness states result from the different prestress states of these structures corresponding to the equilibrium configurations. Three planar tensegrity mechanisms with two stable equilibrium configurations are considered exemplarily. The overall stiffness of these structures is characterized by investigations with regard to their geometric nonlinear static behavior. Dynamical analyses show the possibility of the change between the equilibrium configurations and enable the derivation of suitable actuation strategies.}, language = {en} } @misc{ChavezVegaHenningZentneretal., author = {Chavez Vega, Jhohan Harvey and Henning, S. and Zentner, Lena and B{\"o}hm, Valter}, title = {Soft tensegrity structures with variable stiffness and shape changing ability}, series = {Annual Meeting of the DFG Priority Programme Soft Material Robotic Systems, SPP2100, 02-04. M{\"a}rz 2020, Schneverdingen}, journal = {Annual Meeting of the DFG Priority Programme Soft Material Robotic Systems, SPP2100, 02-04. M{\"a}rz 2020, Schneverdingen}, language = {en} } @article{BeckerBoehmChavezVegaetal., author = {Becker, Tatiana I. and B{\"o}hm, Valter and Chavez Vega, Jhohan Harvey and Odenbach, Stefan and Raikher, Yuriy L. and Zimmermann, Klaus}, title = {Magnetic-field-controlled mechanical behavior of magneto-sensitive elastomers in applications for actuator and sensor systems}, series = {Archive of Applied Mechanics}, volume = {89}, journal = {Archive of Applied Mechanics}, number = {1}, publisher = {Springer Nature}, doi = {10.1007/s00419-018-1477-4}, pages = {133 -- 152}, abstract = {The development of actuator and sensor systems with complex adaptive behavior and operating sensitivity is one of the actual scientific challenges. Smart materials like magneto-sensitive elastomers (MSEs) offer great potential for designing such intelligent devices, because they possess unique magnetic-field-dependent properties. The present paper deals with investigations of the free and forced vibrational behavior displayed by cantilever beams of MSEs containing magnetically soft particles in a uniform magnetic field. It is shown experimentally as well as theoretically that the first bending eigenfrequency of MSE beams depends strongly on the strength of an applied magnetic field. The proposed magneto-mechanical model is based on the vibrational dynamics of thin rods and predicts reliably the amplitude-frequency characteristics depending on the geometric configuration of the MSE and its material parameters. It is found that the vibration response of an MSE beam under kinematic excitation of its base can be modified indirectly by a magnetic field control due to the change of the vibration characteristics. As a result, the resonance can occur in different ranges of the excitation frequency. The dependencies of the amplification ratio on the excitation frequency are obtained experimentally and compared with the result provided by the theoretical model. Moreover, investigations on the potential use of the field-induced plasticity effect of MSEs in form-fit gripper applications are presented. This effect can be used to realize shape adaptable system parts. It is found that the mechanical properties of each component and its concentration within the mixture have an impact on the mechanical behavior of the whole MSE compound. Such parameters as the strength of magnetic field and geometry of the MSE sample have influence on the quality of shape adaptation. The evidence presented provides a good basis for the realization of MSE-based actuator and sensor systems with adaptable sensitivity.}, language = {en} } @article{PremChavezVegaBoehmetal., author = {Prem, Nina and Chavez Vega, Jhohan Harvey and B{\"o}hm, Valter and Sindersberger, Dirk and Monkman, Gareth J. and Zimmermann, Klaus}, title = {Properties of Polydimethylsiloxane and Magnetoactive Polymers with Electroconductive Particles}, series = {Macromolecular Chemistry and Physics}, volume = {219}, journal = {Macromolecular Chemistry and Physics}, number = {18}, publisher = {Wiley}, doi = {10.1002/macp.201800222}, abstract = {Magnetoactive polymers are intelligent materials whose mechanical and electrical characteristics are reversibly influenced by external magnetic stimuli. They consist of a highly elastic polymer matrix in which magnetically soft and/or hard particles are distributed by means of special fabrication processes. In addition to ferromagnetic particles such as carbonyl iron powder, electrically conductive particles may also be embedded into the polymer matrix. After characterizing a range of compounds, this work focuses on a comparison of the electrical properties and the suitability of various materials for applications, with particular emphasis on integration into 3D and 6D printing processes. 6D printing is based on the selective positioning of particles in a 3D polymer matrix with a further three degrees of freedom for a graduated dispersion of the particles at certain points and in desired directions. The aim is therefore to ensure that the polymers containing electroconductive tracks have the best possible electrical properties, that is, low resistivity but are still capable of being printed. A comparison between the traditionally used compounds containing graphite and carbon black is made for the first time. This latter is found to be greatly superior both in terms of electrical conductivity and applicability to 3D printing and 6D printing.}, language = {en} } @inproceedings{ChavezVegaSchorrScharffetal., author = {Chavez Vega, Jhohan Harvey and Schorr, Philipp and Scharff, Moritz and Schale, Florian and B{\"o}hm, Valter and Zimmermann, Klaus}, title = {Towards Magneto-Sensitive Elastomers Based End-Effectors for Gripping Application Technologies}, series = {2019 IEEE International Conference on Mechatronics (ICM), 18-20 March 2019, Ilmenau, Germany}, volume = {1}, booktitle = {2019 IEEE International Conference on Mechatronics (ICM), 18-20 March 2019, Ilmenau, Germany}, publisher = {IEEE}, doi = {10.1109/ICMECH.2019.8722922}, pages = {217 -- 222}, abstract = {Nowadays, the demands in engineering systems become more challenging and the use of conventional materials for certain applications is not suitable. This issue encourages the investigation of novel and innovative materials in soft robotics field. A promising approach is the consideration of magneto-sensitive elastomers (MSE). These materials enable a useful adaptability responding to their mechanical properties. By applying a static magnetic field, the static and dynamic characteristics can be tuned. However, currently the knowledge about the correlations are not satisfying and the resulting material properties can only be predicted approximately with the use of time-expensive simulations regarding to the nano scale. Therefore, feasible material simulations of the description of the mechanical behavior are necessary. In this paper experimental studies of the influence of a static magnetic field on the mechanical properties and shape adaptability of MSE are presented. Furthermore, based on these results a simulation for the material behavior is executed. These results can be implemented into further simulations for various MSE exemplars.}, language = {en} }