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Smart Stiction
(2019)
Soft robotics could loosely be described as the engineering science of expanded dexterity through controllable flexibility. The exploitation of controllable compliance through the judicious choice of soft flexible members, as opposed to a finite number of rigid kinematic joints, can result in greater dexterity without compromising simplicity. One example is the replacement of segmented mechanical legs with simple compliant material eruciform prolegs. To achieve this in robotics, without introducing additional mechanical joints, mobile surfaces with switchable coefficients of friction is essential. This paper explains how, using silicone based smart materials, the rapid alternation between kinematic and static friction (stiction) may be achieved.
Basics for inline measurement of tribological conditions in series production of car body parts
(2019)
The quality of car body parts in series production is strongly dependent on the tribological behavior. Fluctuating material properties such as the sheet roughness and the amount of lubricant have an influence on the forming process. On the basis of large amounts of data it is possible to investigate the friction behavior in series production and to make process adjustments if required. Therefore, inline measurement systems have a great potential to detect the sheet roughness during the cutting process of blanks in the coil line. Furthermore, contactless systems are advantageous as they do not damage the surface. Nevertheless, the optical measuring is influenced by the lubricant layer on top of the surface. Therefore, the previously unknown impact of the lubricant on the measuring result is investigated.
Within this study, stationary optical roughness measurements have been conducted using different amounts of lubricant on hot-dip galvanized EDT steel. The results demonstrate the influence of different amounts of lubricant on the sheet roughness measurement. Hence, it is possible to correct the inline measuring results and gain knowledge of fluctuating surface roughness. In addition, strip drawing test has been carried out to investigate the effect of fluctuating tribological conditions.
A Hybrid Solution Method for the Capacitated Vehicle Routing Problem Using a Quantum Annealer
(2019)
he Capacitated Vehicle Routing Problem (CVRP) is an NP-optimization problem (NPO) that has been of great interest for decades for both, science and industry. The CVRP is a variant of the vehicle routing problem characterized by capacity constrained vehicles. The aim is to plan tours for vehicles to supply a given number of customers as efficiently as possible. The problem is the combinatorial explosion of possible solutions, which increases superexponentially with the number of customers. Classical solutions provide good approximations to the globally optimal solution. D-Wave's quantum annealer is a machine designed to solve optimization problems. This machine uses quantum effects to speed up computation time compared to classic computers. The problem on solving the CVRP on the quantum annealer is the particular formulation of the optimization problem. For this, it has to be mapped onto a quadratic unconstrained binary optimization (QUBO) problem. Complex optimization problems such as the CVRP can be translated to smaller subproblems and thus enable a sequential solution of the partitioned problem. This work presents a quantum-classic hybrid solution method for the CVRP. It clarifies whether the implementation of such a method pays off in comparison to existing classical solution methods regarding computation time and solution quality. Several approaches to solving the CVRP are elaborated, the arising problems are discussed, and the results are evaluated in terms of solution quality and computation time.
This paper concerns recent research into the autonomous formation of micro-structures in low carbonyl iron powder (CIP) concentration magneto active polymers (MAP). Higher concentrations of CIP show an isotropic distribution of magnetic filler throughout the entire sample, while autonomous structure formation is possible at mass concentrations lower than 3%. The formation of micro-toroids commences as CIP concentration approaches 1% wt. Further development of coherent rings with a defined order follow as CIP concentrations increase toward 2% wt, whilst exceeding 3% wt leads to the same isotropic distribution found in higher concentration MAP. Structured samples containing between 1% wt and 3% wt CIP were investigated using X-Ray tomography where solitary structures could clearly be observed. The ring structures represent microinductivities whose geometries can be manipulated during fabrication. In addition, these structures are magnetic field sensitive. This is not only relevant to applications in the GHz and THz areas but recent research has revealed implications for optical, thermal, acoustic and even chemical MAP sensors. (C) 2019 Author(s).
The magnetodielectric response of magnetoactive elastomers (MAEs) in its dependence on filler concentration, magnetic field, and test frequency is studied experimentally. MAEs are synthesized on the basis of a silicone matrix filled with spherical carbonyl iron particles characterized by a mean diameter of 4.5 mu m. The concentration of the magnetic filler within composite materials is equal to 70, 75, and 80 mass%. The effective lossless permittivity epsilon as well as the dielectric loss tan grow significantly when the magnetic field increases. The permittivity increases and the dielectric loss decreases with increasing filler concentration. In the measurement frequency range between 1 kHz and 200 kHz, the frequency hardly affects the values of epsilon and tan in the absence of a magnetic field. However, both parameters decrease considerably with the growing frequency in a constant magnetic field. The more strongly the magnetic field is applied, the larger the change in permittivity and loss tangent at the same test frequency is observed. An equivalent circuit formulation qualitatively describes the main tendencies of the magnetodielectric response.
We investigated magnetic-field-induced modifications of the surface roughness of magnetoactive elastomers (MAEs) with four material compositions incorporating two concentrations of ferromagnetic microparticles (70 wt% and 80 wt%) and exhibiting two shear storage moduli of the resulting composite material (about 10 kPa and 30 kPa). The analysis was primarily based on spread optical reflection measurements. The surfaces of all four materials were found to be very smooth in the absence of magnetic field (RMS roughness below 50 nm). A maximal field-induced roughness modification (approximately 1 m/T) was observed for the softer material with the lower filler concentration, and a minimal modification (less than 50 nm/T) was observed for the harder material with the higher filler concentration. All four materials showed a significant decrease in the total optical reflectivity with an increasing magnetic field as well. This effect is attributed to the existence of a distinct surface layer that is depleted of microparticles in the absence of a magnetic field but becomes filled with particles in the presence of the field. We analyzed the temporal response of the reflective properties to the switching on and off of the magnetic field and found switching-on response times of around 0.1 s and switching-off response times in the range of 0.3-0.6 s. These observations provide new insight into the magnetic-field-induced surface restructuring of MAEs and may be useful for the development of magnetically reconfigurable elastomeric optical surfaces.
The direct magnetoelectric (ME) effect is investigated in a planar structure comprising mechanically coupled layers of a magnetostrictive fibrous composite (MFC) and a piezoelectric ceramics (lead zirconate titanate, PZT). The MFC is an array of Ni-wires with a diameter of 200 mu m that are aligned parallel to each other in a single layer. The wires are separated by a distance of 250 or 500 mu m and fixed in a polyamide matrix. The structure was placed in a tangential constant field H and was excited by an alternating magnetic field h parallel to H, while the voltage generated by the PZT layer was measured. The resulting field dependences of the magnetization M(H) and the magnetostriction lambda(H) were determined by the orientation of the field H in the plane of the structure and the distance between the Ni-wires. The ME coupling coefficient of the structure decreased from 4.8 to 0.25 V/A when the orientation of H was changed from parallel to perpendicular to Ni-wires. With an increase in the excitation field amplitude h, a nonlinear ME effect in the output voltage, namely frequency doubling, was observed. The frequency and field dependences of the efficiency of the ME transduction in the MFC-piezoelectric heterostructure are well described by the existing theory.
This work describes the development of a new miniature extruder, essential to cavity-free 3D printing of silicone-based smart materials. This makes the 3D printing of magnetoactive and electroactive polymer soft robotic components and devices directly from CAD data possible. The special feature of such an extruder is that it is designed for use with addition-crosslinking RTV-2 silicones, including solid particulate additives. The extruder merges the respective components automatically during extrusion which obviates the need for premixing and vacuum evacuation. Problems associated with inhomogeneities and unwanted cavity production are consequently eliminated. Rheological details necessary to the design, together with some preliminary performance results, are presented.
Power-to-Methane as one part of Power-to-Gas has been recognized globally as one of the key elements for the transition towards a sustainable energy system. While plants that produce methane catalytically have been in operation for a long time, biological methanation has just reached industrial pilot scale and near-term commercial application. The growing importance of the biological method is reflected by an increasing number of scientific articles describing novel approaches to improve this technology. However, these studies are difficult to compare because they lack a coherent nomenclature. In this article, we present a comprehensive set of parameters allowing the characterization and comparison of various biological methanation processes. To identify relevant parameters needed for a proper description of this technology, we summarized existing literature and defined system boundaries for Power-to-Methane process steps. On this basis, we derive system parameters providing information on the methanation system, its performance, the biology and cost aspects. As a result, three different standards are provided as a blueprint matrix for use in academia and industry applicable to both, biological and catalytic methanation. Hence, this review attempts to set the standards for a comprehensive description of biological and chemical methanation processes.
To broaden the operational scope of monetary policy, several authors suggest cash abolition as an appropriate means of breaking through the zero lower-bound. We argue that the welfare costs of bypassing the zero lower-bound by getting rid of cash entirely are analytically equivalent to negative interest rates on cash holdings. Using a money-in-the-utility-function model, we measure in two ways the welfare loss consumers as money holders would be forced to bear once the zero lower-bound is broken: in terms of the amount needed to compensate consumers (compensated variation), and as excess burden (deadweight loss) imposed on the economy as a whole. We calibrated the model for the euro area and for Germany. Our findings suggest that the welfare losses of negative interest rates incurred by consumers as holders of cash and transaction balances (M3) are large and enduring, notably if implemented in the current low-interest rate environment.
Filler Effect in Shotcrete
(2019)
The effects of fine limestone powder on the early hydration of cementitious systems accelerated by means of alkali-free aluminum sulfate based products, commonly used for shotcrete applications, were investigated in the course of laboratory and real scale tests. In binary (CEM I + limestone) and ternary (CEM I + limestone + slag) systems the addition of fine limestone led to an enhancement of the hydration degree and strength development at early times (<24 h). The formation of ettringite, aluminate hydrates, and C-S-H is affected by the joint action of the setting accelerator and the fine limestone. Accelerator and limestone, in combination with the cement, can be optimized to enhance ettringite and silicate reaction, in some cases coupled with aluminate reaction inhibition, to produce mixes suitable for sprayed concrete applications. Such optimization can help to reduce the cement content in the mixes without compromising the early strength development of the shotcrete.
We investigate the spatial nonlinear localization of light on a quasi-plane-wave background with a harmonic perturbation induced by modulation instability in a quadratic nonlinear optical medium. In particular, we demonstrate experimentally the excitation of deterministic Akhmediev breathers and thus the growth-decay dynamics of modulation instability in a LiNbO3 slab waveguide. The results should stimulate new interest in modulation instability, extreme events, turbulence, recurrence, and supercontinuum generation in quadratic nonlinear optics.
Die Weiterbildung an Hochschulen ist an evidenzbasierten Daten interessiert, um Aussagen über die Wirksamkeit von eigenen Angeboten treffen zu können. Oftmals unklar ist, was unter Wirksamkeit verstanden werden kann und welche Voraussetzungen gegeben sein müssen, damit die Weiterbildungen Wirkung entfalten. Der Beitrag stellt eine Studie vor, die beide Aspekte adressiert und Aussagen unterschiedlicher Beteiligter am Weiterbildungsgeschehen wiedergibt. Angebotsseitig wurden Weiterbildungsverantwortliche sowie Lehrpersonen der Hochschule befragt. Nachfrageseitig wurden Teilnehmende berufsbegleitender Studiengänge und Unternehmensvertreter*innen aus ausgewählten Branchen einbezogen. Die erhobenen qualitativen Daten wurden inhaltsanalytisch analysiert und induktiv zu Kategorien zusammengefasst. Die Ergebnisse zeigen insgesamt fünf Oberkategorien auf, die die Wirksamkeit abbilden: (1) Erfolgreicher Praxistransfer; (2) Erwerb von Kenntnissen, Fähigkeiten und Kompetenzen; (3) Strategischer Nutzen; (4) Sozialer/kultureller Nutzen und (5) Resonanz der Teilnehmenden auf die wissenschaftliche Weiterbildung. Die Voraussetzungen lassen sich ebenfalls in fünf Kategorien abbilden: (a) teilnehmenden-, (b) unternehmens-, (c) angebots-, (d) hochschul- und (e) markt-/umfeldbezogene Faktoren. Im Beitrag werden nach der Darstellung der Studienergebnisse Schlussfolgerungen für die Weiterbildungspraxis in Hinblick auf die Themen Evaluation, Theorie-Praxis-Transfer und Marketing/Zielgruppenspezifische Kommunikation diskutiert.
Bioresorbable materials are under investigation due to their promising properties for applications as implant material. This study is about the degradation and bioactivity behaviour of magnesium foils, which allegorize dental membranes. The degradation behaviour including pitting corrosion during immersion tests can be precisely observed using micro-computed tomography. Using the bioactivity test according to Kokubo, it is shown that magnesium has strong Ca-phosphate layer formation correlated with high degradation. Therefore, magnesium foils appear to hold a great potential for bone implant application.
In-stent restenosis remains a major problem of arteriosclerosis treatment by stenting. Expansion-optimized stents could reduce this problem. With numerical simulations, stent designs/ expansion behaviours can be effectively analyzed. For reasons of efficiency, simplified models of balloon-expandable stents are often used, but their accuracy must be challenged due to insufficient experimental validation. In this work, a realistic stent life-cycle simulation has been performed including balloon folding, stent crimping and free expansion of the balloon-stent-system. The successful simulation and validation of two stent designs with homogenous and heterogeneous stent stiffness and an asymmetrically positioned stent on the balloon catheter confirm the universal applicability of the simulation approach. Dogboning ratio, as well as the final dimensions of the folded balloon, the crimped and expanded stent, correspond well to the experimental dimensions with only slight deviations. In contrast to the detailed stent life-cycle simulation, a displacement-controlled simulation can not predict the transient stent expansion, but is suitable to reproduce the final expanded stent shape and the associated stress states. The detailed stent life-cycle simulation is thus essential for stent expansion analysis/optimization, whereas for reasons of computational efficiency, the displacement-controlled approach can be considered in the context of pure stress analysis.
Finite element (FE)–based studies of preoperative processes such as folding,pleating, and stent crimping with a comparison with experimental inflation tests are not yet available. Therefore, a novel workflow is presented in which residual stresses of balloon folding and pleating, as well as stent crimping, and the geometries of all contact partners were ultimately implemented in an FE code to simulate stent expansion by using an implicit solver. The numerical results demonstrate that the incorporation of residual stresses and strains experienced during the production step significantly increased the accuracy of the subsequent simulations, especially of the stent expansion model. During the preoperative processes, stresses inside the membrane and the stent material also reached a rather high level. Hence, there can be no presumption that balloon catheters or stents are undamaged before the actual surgery. The implementation of the realistic geometry, in particular the balloon tapers, and the blades of the process devices improved the simulation of the expansion mech-anisms, such as dogboning, concave bending, or overexpansion of stent cells. This study shows that implicit solvers are able to precisely simulate the mentioned preoperative processes and the stent expansion procedure without a preceding manipulation of the simulation time or physical mass.
Document recommendation systems for locating relevant literature have mostly relied on methods developed a decade ago. This is largely due to the lack of a large offline gold-standard benchmark of relevant documents that cover a variety of research fields such that newly developed literature search techniques can be compared, improved and translated into practice. To overcome this bottleneck, we have established the RElevant LIterature SearcH consortium consisting of more than 1500 scientists from 84 countries, who have collectively annotated the relevance of over 180 000 PubMed-listed articles with regard to their respective seed (input) article/s. The majority of annotations were contributed by highly experienced, original authors of the seed articles. The collected data cover 76% of all unique PubMed Medical Subject Headings descriptors. No systematic biases were observed across different experience levels, research fields or time spent on annotations. More importantly, annotations of the same document pairs contributed by different scientists were highly concordant. We further show that the three representative baseline methods used to generate recommended articles for evaluation (Okapi Best Matching 25, Term Frequency–Inverse Document Frequency and PubMed Related Articles) had similar overall performances. Additionally, we found that these methods each tend to produce distinct collections of recommended articles, suggesting that a hybrid method may be required to completely capture all relevant articles. The established database server located at https://relishdb.ict.griffith.edu.au is freely available for the downloading of annotation data and the blind testing of new methods. We expect that this benchmark will be useful for stimulating the development of new powerful techniques for title and title/abstract-based search engines for relevant articles in biomedical research.
The growing number of publications on the application of artificial intelligence (AI) in medicine underlines the enormous importance and potential of this emerging field of research.
In gastrointestinal endoscopy, AI has been applied to all segments of the gastrointestinal tract most importantly in the detection and characterization of colorectal polyps. However, AI research has been published also in the stomach and esophagus for both neoplastic and non-neoplastic disorders.
The various technical as well as medical aspects of AI, however, remain confusing especially for non-expert physicians.
This physician-engineer co-authored review explains the basic technical aspects of AI and provides a comprehensive overview of recent publications on AI in gastrointestinal endoscopy. Finally, a basic insight is offered into understanding publications on AI in gastrointestinal endoscopy.
A key requirement in both native knee joints and total knee arthroplasty is a stable capsular ligament complex. However, knee stability is highly individual and ranges from clinically loose to tight. So far, hardly any in vivo data on the intrinsic mechanical of the knee are available. This study investigated if stiffness of the native ligament complex may be determined in vivo using a standard knee balancer. Measurements were obtained with a commercially available knee balancer, which was initially calibrated in vitro. 5 patients underwent reconstruction of the force-displacement curves of the ligament complex. Stiffness of the medial and lateral compartments were calculated to measure the stability of the capsular ligament complex. All force-displacement curves consisted of a non-linear section at the beginning and of a linear section from about 80 N onwards. The medial compartment showed values of 28.4 ± 1.2 N/mm for minimum stiffness and of 39.9 ± 1.1 N/mm for maximum stiffness; the respective values for the lateral compartment were 19.9 ± 0.9 N/mm and 46.6 ± 0.8 N/mm. A commercially available knee balancer may be calibrated for measuring stiffness of knee ligament complex in vivo, which may contribute to a better understanding of the intrinsic mechanical behaviour of knee joints.
Background: Currently, it is common practice to use three-dimensional (3D) printers not only for rapid prototyping in the industry, but also in the medical area to create medical applications for training inexperienced surgeons. In a clinical training simulator for minimally invasive bone drilling to fix hand fractures with Kirschner-wires (K-wires), a 3D-printed hand phantom must not only be geometrically but also haptically correct. Due to a limited view during an operation, surgeons need to perfectly localize underlying risk structures only by feeling of specific bony protrusions of the human hand.
Methods: The goal of this experiment is to imitate human soft tissue with its haptic and elasticity for a realistic hand phantom fabrication, using only a dual-material 3D printer and support-material-filled metamaterial between skin and bone. We present our workflow to generate lattice structures between hard bone and soft skin with iterative cube edge (CE) or cube face (CF) unit cells. Cuboid and finger shaped sample prints with and without inner hard bone in different lattice thickness are constructed and 3D printed.
Results: The most elastic available rubber-like material is too firm to imitate soft tissue. By reducing the amount of rubber in the inner volume through support material (SUP), objects become significantly softer. Without metamaterial, after disintegration, the SUP can be shifted through the volume and thus the body loses its original shape. Although the CE design increases the elasticity, it cannot restore the fabric form. In contrast to CE, the CF design increases not only the elasticity but also guarantees a local limitation of the SUP. Therefore, the body retains its shape and internal bones remain in its intended place. Various unit cell sizes, lattice thickening and skin thickness regulate the rubber material and SUP ratio. Test prints with higher SUP and lower rubber material percentage appear softer and vice versa. This was confirmed by an expert surgeon evaluation. Subjects adjudged pure rubber-like material as too firm and samples only filled with SUP or lattice structure in CE design as not suitable for imitating tissue. 3D-printed finger samples in CF design were rated as realistic compared to the haptic of human tissue with a good palpable bone structure.
Conclusions: We developed a new dual-material 3D print technique to imitate soft tissue of the human hand with its haptic properties. Blowy SUP is trapped within a lattice structure to soften rubber-like 3D print material, which makes it possible to reproduce a realistic replica of human hand soft tissue.