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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.
Mechanical cues such as extracellular matrix stiffness and movement have a major impact on cell differentiation and function. To replicate these biological features in vitro, soft substrata with tunable elasticity and the possibility for controlled surface translocation are desirable. Here we report on the use of ultra-soft (Young’s modulus <100 kPa) PDMS-based magnetoactive elastomers (MAE) as suitable cell culture substrata. Soft non-viscous PDMS (<18 kPa) is produced using a modified extended crosslinker. MAEs are generated by embedding magnetic microparticles into a soft PDMS matrix. Both substrata yield an elasticity-dependent (14 vs. 100 kPa) modulation of α-smooth muscle actin expression in primary human fibroblasts. To allow for static or dynamic control of MAE material properties, we devise low magnetic field (≈40 mT) stimulation systems compatible with cell-culture environments. Magnetic field-instigated stiffening (14 to 200 kPa) of soft MAE enhances the spreading of primary human fibroblasts and decreases PAX-7 transcription in human mesenchymal stem cells. Pulsatile MAE movements are generated using oscillating magnetic fields and are well tolerated by adherent human fibroblasts. This MAE system provides spatial and temporal control of substratum material characteristics and permits novel designs when used as dynamic cell culture substrata or cell culture-coated actuator in tissue engineering applications or biomedical devices.
Surface topographical modifications of a soft magnetoactive elastomer (MAE) in response to variable applied magnetic field are investigated. The analysis is performed in situ and is based on optical microscopy, spread optical reflection and optical profilometry measurements. Optical profilometry analysis shows that the responsivity of magnetic field-induced surface roughness with respect to external magnetic field is in the range of 1 mu m/T. A significant hysteresis of surface modifications takes place for increasing and decreasing fields. Investigations of shape of sessile water droplets deposited on the MAE surface reveal that field-induced topographical modifications affect the contact angle of water at the surface. This effect is reversible and the responsivity to magnetic field is in the range of 20 degrees/T. Despite the increased surface roughness, the apparent contact angle decreases with increasing field, which is attributed to the field-induced protrusion of hydrophilic microparticles from the surface layer.
A novel method for controlling the rebound behavior of small balls made of Al2O3 with a radius of 2.381 mm is presented. It uses different types of micro-structured surfaces of soft magnetoactive elastomers. These surfaces were fabricated via laser micromachining and include fully ablated surfaces as well as micrometer-sized lamellas with a fixed width of 90 µm, height of 250 µm and three different gap sizes (15, 60 and 105 µm). The lamellas can change their orientation from edge-on to face-on configuration according to the direction of the external magnetic field from a permanent magnet. The orientation of the external magnetic field significantly influences the rebound behavior of the balls, from a coefficient of restitution e of to < 0.1. The highest relative change in the coefficient of restitution between zero field and face-on configuration of is observed for lamellas with a gap of 60 µm. Other characteristics of the ball rebound such as the penetration depth into an Magnetoactive elastomer and the maximum deceleration are investigated as well. The proposed method does not require a constant power supply due to the use of permanent magnets. It may find novel applications in the field of impact engineering.
The significant effect of an external dc magnetic field on the splashing behavior of ethanol drops impacting on the unstructured (flat) surface of soft magnetoactive elastomers (MAEs) is reported. The Weber number corresponding to the transition between the deposition and the splashing regime is reduced by ≈20% in a moderate magnetic field of ≈300 mT. Alongside this effect, a two-fold increase of the initial deceleration of the ejection sheet is observed for the softest sample. The main underlying mechanism for the observed phenomena is believed to be the magnetic-field-induced stiffening of the MAEs. Further possible mechanisms are magnetically induced changes in the surface roughness and magnetic-field-induced plasticity (magnetic shape memory effect). The potential application areas are magnetically regulable wetting and magneto-responsive surfaces for controlling the drop splashing.
It is shown that the advancing (ACA) and receding (RCA) contact angles of water on extremely soft (shear modulus of the order of 10 kPa) magnetoactive elastomer (MAE) films significantly depend on the applied magnetic field. The difference between these angles, known as the contact angle hysteresis, is examined. The roles of the filler concentration and material softness are elaborated. The highest change in the contact angle hysteresis (CAH) from 34° in the absence of magnetic field to 76° in a magnetic field of 0.4 T is achieved for the softest sample with the lowest mass fraction of iron particles (70 wt%). The dependence of the CAH on magnetization history (“magnetic hysteresis”) is observed. This magnetic hysteresis is clearly pronounced for the ACA and has little effect on the RCA. Magnetic field-induced changes of the surface roughness exhibit qualitatively the same hysteresis behavior with regard to the external magnetic field as the ACA. The results are promising for the development of smart surfaces for applications where the dynamic wetting has to be controlled.
Transmission properties of magnetoinductive waves propagating in two coupled one-dimensional metamaterial arrays are studied both experimentally and theoretically for the case when one of the arrays is shifted relative to the other one. Two different kinds of resonant metamaterial elements, split-pipe and spiral resonators, are investigated in the frequency bands centred at 46.2 and 586 MHz, respectively. It is shown that within a certain frequency range close to the resonant frequencies the transmission is strongly dependent on the shift. Theoretical calculations based on the impedance matrix show good agreement with the experimental results
Significant deformations of bodies made from compliant magnetoactive elastomers (MAE) in magnetic fields make these materials promising for applications in magnetically controlled actuators for soft robotics. Reported experimental research in this context was devoted to the behaviour in the quasi-static magnetic field, but the transient dynamics are of great practical importance. This paper presents an experimental study of the transient response of apparent longitudinal and transverse strains of a family of isotropic and anisotropic MAE cylinders with six different aspect ratios in time-varying uniform magnetic fields. The time dependence of the magnetic field has a trapezoidal form, where the rate of both legs is varied between 52 and 757 kA/(s·m) and the maximum magnetic field takes three values between 153 and 505 kA/m. It is proposed to introduce four characteristic times: two for the delay of the transient response during increasing and decreasing magnetic field, as well as two for rise and fall times. To facilitate the comparison between different magnetic field rates, these characteristic times are further normalized on the rise time of the magnetic field ramp. The dependence of the normalized characteristic times on the aspect ratio, the magnetic field slew rate, maximum magnetic field values, initial internal structure (isotropic versus anisotropic specimens) and weight fraction of the soft-magnetic filler are obtained and discussed in detail. The normalized magnetostrictive hysteresis loop is introduced, and used to explain why the normalized delay times vary with changing experimental parameters.
Transient magnetorheological response of magnetoactive elastomers to step and pyramid excitations
(2016)
Transient rheological response of magnetoactive elastomers is experimentally studied using dynamic torsion at a fixed oscillation frequency in temporally stepwise changing magnetic fields and oscillation amplitudes. For step magnetic-field excitations, at least three exponential functions are required to reasonably describe the time behavior of the storage shear modulus over long time scales (>10(3) s). The deduced characteristic time constants of the corresponding rearrangement processes of the filler network differ approximately by one order of magnitude: tau(1) less than or similar to 10(1) s, tau(2) similar to 10(2) s, and tau(3) similar to 10(3) s. The sudden imposition of the external magnetic field activates a very fast rearrangement process with the characteristic time under 10 s, which cannot be determined more precisely due to the measurement conditions. Even more peculiar transient behavior has been observed during pyramid excitations, when either the external magnetic field was first stepwise increased and then decreased in a staircase manner at a fixed strain amplitude gamma or the strain amplitude gamma was first stepwise increased and then decreased in a staircase manner at a fixed magnetic field. In particular, the so-called "cross-over effect'' has been identified in both dynamical loading programs. This cross-over effect seems to be promoted by the application of the external magnetic field. The experimental results are discussed in the context of the specific rearrangement of the magnetic filler network under the simultaneous action of the external magnetic field and shear deformation. Striking similarities of the observed phenomena to the structural relaxation processes in glassy materials and to the jamming transition of granular materials are pointed out. The obtained results are important for fundamental understanding of material behavior in magnetic fields as well as for the development of devices on the basis of magnetoactive elastomeric materials.
In this paper, the results of Thermally Stimulated Depolarization Currents (TSDC)-measurements of a complex system of stacked dielectric layers, like typically appearing in semiconductor packages, is presented. Characteristics of the individual isolation layers are presented solely and the results are compared to the stack. The investigated layers are comprising polyimide film, alkali-free glass, polyolefin film and epoxy based mold compound. Measurements have been carried out in the temperature range from 19 - 195°C at varying polarization fields for every material. Various relaxation peaks, originated by different polarization mechanisms within the materials could be observed. A comparison between the TSDC-peaks of the layer stack and the individual materials is shown. Our results demonstrate, that the super positioned spectrum is getting dominated by a single portion, the mold compound.
Theoretical Modeling of Magnetoactive Elastomers on Different Scales: A State-of-the-Art Review
(2022)
A review of the latest theoretical advances in the description of magnetomechanical effects and phenomena observed in magnetoactive elastomers (MAEs), i.e., polymer networks filled with magnetic micro- and/or nanoparticles, under the action of external magnetic fields is presented. Theoretical modeling of magnetomechanical coupling is considered on various spatial scales: from the behavior of individual magnetic particles constrained in an elastic medium to the mechanical properties of an MAE sample as a whole. It is demonstrated how theoretical models enable qualitative and quantitative interpretation of experimental results. The limitations and challenges of current approaches are discussed and some information about the most promising lines of research in this area is provided. The review is aimed at specialists involved in the study of not only the magnetomechanical properties of MAEs, but also a wide range of other physical phenomena occurring in magnetic polymer composites in external magnetic fields.
We propose a theoretical approach for calculating effective electric and magnetic properties of composites, with field dependent restructuring of the filler. The theory combines the effective medium approximation, extended to a field-dependent (variable) percolation threshold, with an approximate treatment of the nonlinearity of material properties. Theoretical results are compared with experiments on magnetorheological elastomers, which in the context of investigated phenomena are often called magnetoactive elastomers (MAEs). In MAEs with soft polymer matrices, the mutual arrangement of inclusions changes in an applied magnetic field. This reorganization of the microstructure leads to unconventionally large changes of electrical and magnetic properties. The obtained theoretical results describe observed phenomena in MAEs well. For the magnetodielectric effect, qualitative agreement between theory and experiment is demonstrated. In the case of magnetic permeability, quantitative agreement is achieved. The theoretical approach presented can be useful for the development of field-controlled smart materials and design of intelligent structures on their basis, because the field dependence of physical properties can be predicted. (C) 2019 Elsevier B.V. All rights reserved.
The Trilopede
(2012)
A randomly inhomogeneous composite consisting of two, ferromagnetic and nonmagnetic (para-or diamagnetic), phases is considered. The dependence of the effective permeability of the composite on the concentration of the ferromagnetic phase and on the applied magnetic field is found for the case of the negligible hysteresis loop. When the hysteresis loop is appreciable, the remanent magnetization as a function of the ferromagnet concentration is calculated.
The magnetoactive electret
(2017)
A magnet which adheres to every surface, not only those of ferromagnetic materials, has hitherto been the domain of science fiction. Now for the first time such a novel device exists. The fusion of a permanently magnetized magnetoactive polymer containing hard magnetic particles and an electret enhanced with ferroelectric particles has resulted in the development of a new smart device-the magnetoactive electret. Magnetoactive electrets can be made to exhibit the usual magnetic properties of permanent magnetism together with the electrostatic properties of electrets. This results in simultaneous magnetoadhesion and electroadhesion forces from the same elastomeric element. The biasing field, needed to avoid discontinuities concerned with transition through the zero point in operating curves, is normally provided by means of either a magnetic or an electric field. This novel technology provides both bias options in a single device.
Various theoretical models (self-consistent field, local linearization, and percolation theory methods and an analytic solution of the linear problem for an ordered medium) for calculating the magnetostatic properties of two-phase composites containing one ferromagnetic phase were considered. The concentration and field dependences of the effective magnetic permeability were found. A method for determining the coercive force and remanent magnetization as functions of the ferromagnetic phase concentration was suggested. Numerical experiments were performed for composites with a periodic distribution of circular inclusions. The results were compared with the analytically calculated effective magnetic permeability.
The magnetic properties of a magnetoactive elastomer (MAE) filled with mu m-sized soft-magnetic iron particles have been experimentally studied in the temperature range between 150 K and 310 K. By changing the temperature, the elastic modulus of the elastomer matrix was modified, and it was possible to obtain magnetization curves for an invariable arrangement of particles in the sample and in the case when the particles were able to change their position within the MAE under the influence of magnetic forces. At low (less than 220 K) temperatures, when the matrix becomes rigid, the magnetization of the MAE does not show a hysteresis behavior, and it is characterized by a negative value of the Rayleigh constant. At room temperature, when the polymer matrix is compliant, a magnetic hysteresis exists where the dependence of the differential magnetic susceptibility on the magnetic field exhibits local maxima. The appearance of these maxima is explained by the elastic resistance of the matrix to the displacement of particles under the action of magnetic forces.
The dependence of the resonant direct magnetoelectric effect on temperature is studied experimentally in planar composite structures. Samples of rectangular shapes with dimensions of 5 mm x 20 mm employed ferromagnetic layers of either an amorphous (metallic glass) alloy or nickel with a thickness of 20-200 m and piezoelectric layers of single crystalline langatate material or lead zirconate titanate piezoelectric ceramics with a thickness of 500 m. The temperature of the samples was varied in a range between 120 and 390 K by blowing a gaseous nitrogen stream around them. It is shown that the effective characteristics of the magnetoelectric effectsuch as the mechanical resonance frequency f(r), the quality factor Q and the magnitude of the magnetoelectric coefficient (E) at the resonance frequencyare contingent on temperature. The interrelations between the temperature changes of the characteristics of the magnetoelectric effect and the temperature variations of the following material parametersYoung's modulus Y, the acoustic quality factor of individual layers, the dielectric constant epsilon, the piezoelectric modulus d of the piezoelectric layer as well as the piezomagnetic coefficients ((n)) of the ferromagnetic layerare established. The effect of temperature on the characteristics of the nonlinear magnetoelectric effect is observed for the first time. The results can be useful for designing magnetoelectric heterostructures with specified temperature characteristics, in particular, for the development of thermally stabilized magnetoelectric devices.
The magnetization of a magnetoactive elastomer (MAE) with microparticles of soft magnetic carbonyl iron embedded in a highly elastic matrix has been studied. It is shown that at high temperatures its magnetization curve has the form of a specific hysteresis loop. This hysteresis is attributed to the influence of displacement of magnetized particles in the elastically soft elastomer matrix under the effect of magnetic forces, leading to the change of magnetic interaction between the particles. In this case, there is a maximum in the field dependence of the magnetic susceptibility, the occurrence of which has been associated with the competition between rearrangement of particles, when they are displaced in a magnetic field, and saturation of particles' magnetization. When the MAE is cooled below approximately 225 K, both the magnetic hysteresis and the maximum in the field dependence of the magnetic susceptibility disappear. When the MAE material is cooled below the solidification temperature of the elastomer matrix, the displacements of the magnetic particles during magnetization are blocked by the rigid matrix. The magnetization reversal of the MAE is reversible. This means that the shape of subsequent magnetization loops remains constant and the sample returns into the initial non-magnetized state after the magnetic field is turned off.
The ability to image the elastic properties of tissue is potentially useful in a variety of applications. The field of elastic imaging has grown in response to the Potential use of such information in medical diagnosis. Real time ultrasound elastography represents a recent development in determining strain and elasticity distributions. Nevertheless, commonly used imaging techniques rely on the interpretation of two dimensional visual data displayed on a video screen. In reality however, physicians often prefer tactile exploration making the simultaneous portrayal of both video and haptic information most desirable.
Since the 1970's many alphanumeric to tactile data conversion methods have been investigated, mainly with the ultimate aim of assisting the blind. More recently, interest has been directed toward the display of pictures on haptically explorable surfaces - Tactile imaging. Such a system would allow surgeons to examine hard sectors contained within soft tissue, and thereby assist in operations held remotely. The expansion of ultrasound elastography to 3D formats would mean the ability to haptically explore regions of the body normally inaccessible to human hands. For three-dimensional imaging the acquisition of sequential tomographic slices using Elastography, combined with image segmentation, enables the reconstruction, quantification and visualisation of tumour volumes.
In a collaborative project between four research Institutes, the aim is to produce a prototype three dimensional tactile displays comprising electrically switchable micromachined cells, whose mechanical moduli are governed by phase changes experienced by electrorheological and/or magnetorheological fluids. This will be integrated with a sensory ultrasonic elastography in order to present the human fingers with controllable surfaces capable of emulating biological tissue, muscle and bone.
Since the 1960s many alphanumeric to tactile data conversion methods have been investigated, mainly with the ultimate aim of assisting the blind. More recently, interest has been directed toward the display of pictures on haptically explorable surfaces – tactile imaging – for a range of medical, remote sensing and entertainment purposes. This paper examines the technologies which have been utilised for haptically explorable tactile displays over the past three decades, focussing on those which appear commercially viable in the immediate future.
A theoretical and experimental study of magnetic metamaterials with unit cells containing two resonant elements is presented. The properties of these structures, consisting of split rings, are governed by strongly anisotropic magnetic coupling between individual elements. This coupling leads to propagation of slow magnetoinductive waves in the vicinity of the resonant frequency. The wavelength of magnetoinductive waves is much smaller than the free-space wavelength of the electromagnetic radiation. This opens up the possibility of manipulating the near field on a subwavelength scale. We develop a theoretical formulation for coupled chains of metamaterial elements allowing the tailoring of their guiding properties in the near field. In a comprehensive analysis modes of coupled waveguides supporting forward and/or backward waves are identified and the corresponding hybridization mechanisms for dispersion equations of magnetoinductive waves are determined. Analytical predictions are verified both experimentally and numerically on a variety of coupled waveguides. The approach can be employed for the design of near-field manipulating devices.
Smart materials change their properties with external energy supply. Besides the known ferro-fluids and Magneto Rheological Fluid (MRF) also the Electro Active Polymer (EAP) and Magneto Rheological Elastomer (MRE) belong to these intelligent materials. The latest generation of magnetic elastomers represents a new class of composite materials. This consists of small magnetized particles which are sized in the micron or even nanometer range that in turn is bounded in a highly elastic rubber matrix. These materials are very often called MRE. Only recently, it has managed to develop these materials even further, so that very soft composite materials with a young?s modulus up to 10 kPa are possible. These soft polymers could be named magneto-active polymers. The combination of polymers with magnetic materials show novel and often enhanced properties. A precisely controllable young?s modulus and hardness, giant and non-homogeneous deformation behavior and rapid response to the magnetic field opens up new possibilities for various applications. Since MAP represent a very new technology, the behavior of these materials as a function of their composition and external conditions so far are not yet sufficiently understood. Therefore, some fundamental studies are necessary. In this paper, the mechanical surface properties are studied using a micro hardness meter. This work shows the possibility to control mechanical properties at the surface of MAP with new developed magnetic systems.
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).
Transmission spectra of wet human teeth and dentin slices, together with blood of different flow rates were investigated. The measurements carried out over a wide spectral range, from visible light down to terahertz radiation. The results make it possible to find the optimum light frequency for an all-optical determination of pulpal blood flow and, consequently, for clinically diagnosis of tooth vitality.
Transmission spectra of wet human teeth and dentin slices, together with blood of different flow rates were investigated. The measurements carried out over a wide spectral range, from visible light down to terahertz radiation. The results make it possible to find the optimum light frequency for an all-optical determination of pulpal blood flow and, consequently, for clinically diagnosis of tooth vitality.
Soft robotics
(2022)
Magnetoactive elastomers (MAEs) are composite materials comprised of micrometer-sized ferromagnetic particles in a nonmagnetic elastomermatrix. Asingle-particle mechanism ofmagnetostriction in MAEs, assuming the rotation of a soft magnetic, mechanically rigid particle with uniaxial magnetic anisotropy in magnetic fields is identified and considered theoretically within the framework of an alternative model. In this mechanism, the total magnetic anisotropy energy of the filling particles in the matrix is the sum over single particles. Matrix displacements in the vicinity of the particle and the resulting direction of the magnetization vector are calculated. The effect of matrix deformation is pronounced well if the magnetic anisotropy coefficient K is much larger than the shear modulus mu of the elastic matrix. The feasibility of the proposed magnetostriction mechanism in soft magnetoactive elastomers and gels is elucidated. The magnetic-field-induced internal stresses in the matrix lead to effects of magnetodeformation and may increase the elastic moduli of these composite materials.
Thermomechanical shape memory materials have certain disadvantages when it comes to 3D volumetric reproduction intended for rapid prototyping or robotic prehension. The need to constantly supply energy to counteract elastic retraction forces in order to maintain the required geometry, together with the inability to achieve conformal stability at elevated temperatures, limits the application of thermal shape memory polymers. Form removal also presents problems as most viscoelastic materials do not ensure demolding stability. This work demonstrates how magnetoactive boron−organo−silicon oxide polymers under the influence of an applied magnetic field can be used to achieve energy free sustainable volumetric shape memory effects over extended periods. The rheopectic properties of boron−organo−silicon oxide materials sustain form removal without mold distortion.
Robotergreifer
(2004)
Robot Grippers
(2006)
Since robotic prehension is widely used in all sectors of manufacturing industry, this book fills the need for a comprehensive, up-to-date treatment of the topic. As such, this is the first text to address both developers and users, dealing as it does with the function, design and use of industrial robot grippers. The book includes both traditional methods and many more recent developments such as micro grippers for the optolectronics industry. Written by authors from academia, industry and consulting, it begins by covering the four basic categories of robotic prehension before expanding into sections dealing with endeffector design and control, robotic manipulation and kinematics. Later chapters go on to describe how these various gripping techniques can be used for a common industrial aim, with details of related topics such as: kinematics, part separation, sensors, tool excahnge and compliance. The whole is rounded off with specific examples and case studies. With more than 570 figures, this practical book is all set to become the standard for advanced students, researchers and manufacturing engineers, as well as designers and project managers seeking practical descriptions of robot endeffectors and their applications.
In this work, the resonance enhancement of magnetoelectric (ME) coupling at the two lowest bending resonance frequencies was investigated in layered cantilever structures comprising a magnetoactive elastomer (MAE) slab and a commercially available piezoelectric polymer multilayer. A cantilever was fixed at one end in the horizontal plane and the magnetic field was applied horizontally. Five composite structures, each containing an MAE layer of different thicknesses from 0.85 to 4 mm, were fabricated. The fundamental bending resonance frequency in the absence of a magnetic field varied between roughly 23 and 55 Hz. It decreased with the increasing thickness of the MAE layer, which was explained by a simple theory. The largest ME voltage coefficient of about 7.85 V/A was measured in a sample where the thickness of the MAE layer was ≈2 mm. A significant increase in the bending resonance frequencies in the applied DC magnetic field of 240 kA/m up to 200% was observed. The results were compared with alternative designs for layered multiferroic structures. Directions for future research were also discussed.
Resonant frequencies of a split-ring resonator: Analytical solutions and numerical simulations
(2004)
A set of differential equations describing the current andvoltage distribution in a split-ring resonator is derived and solved ana-lytically. The resonant frequencies may be obtained from the solution of a characteristic equation. An approximate solution for the lowest reso-nant frequency agrees with that obtained by heuristic arguments. The analytical results are supported by numerical simulations
Resonant frequencies of a combination of split rings: Experimental, analytical and numerical study
(2005)
The resonant frequencies of five different ring resonators are measured with the aid of a network analyser within the frequency range of about 1.5 to 2.8 GHz. The resonant frequencies for those configurations are also determined from numerical calculations using the commercially available MICRO-STRIPES package. The experimental and numerical results are shown to be very close to each other. Analytical results from various authors, available for three of the configurations, are also compared with the experimental results; one of them leads to a large discrepancy, but the other analytical approximations are shown to be not too far off.
It is shown that the critical exponent for the effective shear modulus of a composite medium where a compliant polymer matrix is filled with ferromagnetic particles may significantly depend on the external magnetic field. The physical consequence of this dependence is the critical behavior of the relative magnetorheological effect.
The Applied Research Conference which is held every year at another University of Applied Sciences in Bavaria is the main event for all students in the Master of Applied Research program. They come together to present their work in oral presentations and full papers, which are published in the proceedings, as well as poster presentations of the students after their 1st semester. For sure it is interesting for Professors and interested people to see the results of upcoming scientists and researchers. Due to the Corona pandemic, this year it is not possible to organize the conference as usual in presence. We have to refrain from face-to-face discussions, having together a cup of coffee. We as Professors at the OTH Regensburg wanted to give our students the chance to finish this semester successfully – despite all limitations due to the pandemic situation. Therefore we decided to organize the RARC 2020 – Regensburg Applied Research Conference 2020 – for the Master of Applied Research students of OTH Regensburg as an online conference. However, for a Technical University the situation is rather a challenge than a problem. Using a variety of online tools for teaching during this semester, we have enough experience to find a setup for RARC2020. We received 28 submissions for full papers, which were peer reviewed and 26 of them were accepted – you will find them in this proceedings, and they will be presented orally on July 31st, 2020. Additionally, there are 22 posters which will be presented on the same day. During the Plenary Opening Session, after a welcome by our President Prof. Dr. Wolfgang Baier we will have 3 Keynote speakers:
Prof. Dr. phil. habil. Karsten Weber: Erkenntnistheorie für Ingenieure
Prof. em. Georg Scharfenberg: 11 Years Master of Applied Research Alumnis
Veronika Fetzer: Entrepreneurship
Reduction of femoral shaft fractures in vitro by a new developed reduction robot system "RepoRobo"
(2004)
Closed reduction of the long bones is associated with the use of
considerable force. This force must be maintained for the reduction maneuver and fixation process. At present, apart from the extension table or the large AO distractor, only rather inadequate reduction aids are available. A solution to this problem is being sought in the form of a robotic system with which precision can be improved and the holding effort reduced. In the research project presented here, a synthetic femur with integrated tensioned mainspring and a 32-A3 type
fracture served as a bone reduction model. The fracture was stabilized with a standard AO fixator. A Stäubli robot (model RX130) was converted by appropriate modification so that it could be used for the reduction of femoral shaft fractures in vitro. The robot was equipped with a pneumatic 2-fingered gripper, on which the fingers have
been modified so that they can grip the AO fixator clamp. A Force-Feedback-Sensor was inserted between the gripper and the robot to obtain online recordings of the forces and moments in all three axes. With this setup it is possible to achieve precise reduction of the fracture in all planes under visual control.
A surface relief grating with a period of 30 mu m is embossed onto the surface of magnetoactive elastomer (MAE) samples in the presence of a moderate magnetic field of about 180 mT. The grating, which is represented as a set of parallel stripes with two different amplitude reflectivity coefficients, is detected via diffraction of a laser beam in the reflection configuration. Due to the magnetic-field-induced plasticity effect, the grating persists on the MAE surface for at least 90 h if the magnetic field remains present. When the magnetic field is removed, the diffraction efficiency vanishes in a few minutes. The described effect is much more pronounced in MAE samples with larger content of iron filler (80 wt%) than in the samples with lower content of iron filler (70 wt%). A simple theoretical model is proposed to describe the observed dependence of the diffraction efficiency on the applied magnetic field. Possible applications of MAEs as magnetically reconfigurable diffractive optical elements are discussed. It is proposed that the described experimental method can be used as a convenient tool for investigations of the dynamics of magnetically induced plasticity of MAEs on the micrometer scale.
Three-guide couplers with multimode central waveguides allow for remote coupling between optical channels. A simple three mode approximation turns out to be sufficient for the description of the main features of the power transfer behavior. The specific form of the relevant modes suggests the design of integrated optical isolators and circulators based on magnetic garnet materials. These novel devices are superior to conventional nonreciprocal couplers with respect to the total length and admissible fabrication tolerances. We characterize the isolation performance and the transmission loss for the proposed devices by propagating mode simulations and estimate the influence of geometry parameter deviations.
An equivalent circuit, consisting of bulk and distributed elements, is derived for describing the properties of a potential metamaterial element capable of providing negative effective permeability. It is the singly split double ring (SSDR), a special case of the split ring resonator (J. B. Pendry et al., IEEE Trans. Microwave Theory Tech. 47, 2075 (1999)), obtained when the gap capacitance in the inner ring is infinitely large. The variables are the inter-ring voltage and the currents flowing in the inner and outer rings. The excitation is assumed in the form of a spatially constant temporally varying magnetic field. The functions, showing the angular variation of the variables, are found by solving a set of differential equations with boundary conditions imposed at the position of the split. It is shown from the analytical solution that the SSDR can have resonant frequencies in the full spectrum from very low to very high frequencies. It is pointed out in particular that whenever the mean diameter of the ring is equal to an odd multiple of the half wavelength it is always possible to find a set of parameters which will give rise to resonance. As examples the resonant frequencies are determined for eight sets of parameters. Results are also derived by replacing the distributed circuit with a number of discrete circuits. It is finally shown that the results obtained from the equivalent circuit model are in excellent agreement with those derived from the MICRO-STRIPES numerical package which solves Maxwell’s equations in the time domain.
Piezoelectric actuators are well established for use in expensive optical equipment. Within the last decade, relatively inexpensive piezoelectric actuators have become established technology in pneumatic switching and the first piezoelectrically driven impactive robot grippers are just starting to emerge. Although this article concentrates largely on the use of piezoelectric actuators for use in robot gripping systems, the potential for applications outside this field is immense.
PPG signal acquisition and analysis on in vitro tooth model for dental pulp vitality assessmen
(2012)
Illumination of ac-biased photorefractive Bi12TiO20 crystals with a coherent light beam results in the development of strong nonlinear scattering. Theoretically and experimentally we investigate the angular and polarization characteristics of the scattered light for the diagonal ([1̲1̲1]) optical configuration and different polarization states of the pump. A satisfactory understanding of the observed scattering properties is achieved for most of the cases investigated.
A low-cost wax-cast molding technique for structuring ultrasoft (Young’s modulus ≤ 40 kPa), agglutinative magnetorheological elastomer (MRE) material is presented. MRE structures ranging from a few millimeters down to the micrometer range with highly reproducible results are possible. Semitransparent MREs are also fabricated and their surfaces modified accordingly. This method opens new possibilities for MREs in biomedical engineering and microfluidic applications. © 2012 Wiley Periodicals, Inc. J. Appl. Polym. Sci., 2013
A method to model high-gain feedback-loop analog amplifiers on an event driven timeaxis is presented. The demonstrator is coded in digital VHDL’93. In the event-driven scheme any node in the network must converge „on its own“ based on the information delivered from its neighbors, as no overall matrix is set up. For this reason signalloops with a loop gain larger than one are typically unstable. This communication presents a numerically stable generic model for high gain amplifiers with a userdefined feedback network. Non-ideal effects like offset or finite gain can be taken into account.
A detailed experimental study of the magnetoelectric response of planar bi- and symmetric trilayer composite structures to magnetic field pulses is reported. The structures consist of layers of commercially available piezoelectric (lead zirconate titanate) and magnetostrictive (permendur or nickel) materials. The magnetic-field pulses have the form of a half-wave sine function with duration of 450 μs and amplitude from 500 Oe up to 38 kOe. The measurement method is explained and the measured time dependence of the resulting voltage is presented. The most interesting case, when pulse amplitudes are sufficiently large (~ 1-10 kOe) and various types of acoustic oscillation with frequencies much larger than the reciprocal pulse length are excited in the structures, is considered. The dependencies of the magnetoelectric voltage coefficient on the excitation frequency and the applied magnetic field are calculated. By digital signal processing the results are compared with those obtained by the method of harmonic field modulation (HFM). The findings are of interest for developing magnetoelectric sensors for pulsed magnetic fields as well as for rapid characterization of magnetoelectric composite structures.
The magnetoelectric response of bi- and symmetric trilayer composite structures to pulsed magnetic fields is experimentally investigated in detail. The structures comprise layers of commercially available piezoelectric (lead zirconate titanate) and magnetostrictive (permendur or nickel) materials. The magnetic-field pulses have the form of a half-wave sine function with duration of 450 µs and amplitudes ranging from 500 Oe to 38 kOe. The time dependence of the resulting voltage is presented and explained by theoretical estimations. Appearance of voltage oscillations with frequencies much larger than the reciprocal pulse length is observed for sufficiently large amplitudes (~1-10 kOe) of the magnetic-field pulse. The origin of these oscillations is the excitation of bending and planar acoustic oscillations in the structures. Dependencies of the magnetoelectric voltage coefficient on the excitation frequency and the applied magnetic field are calculated by digital signal processing and compared with those obtained by the method of harmonic field modulation. The results are of interest for developing magnetoelectric sensors of pulsed magnetic fields as well as for rapid characterization of magnetoelectric composite structures.
In this work, multiferroic cantilevers comprise a layer of a magnetoactive elastomer (MAE) and a commercially available piezoelectric polymer-based vibration sensor. The structures are fixed at one end in the horizontal plane and the magnetic field is applied vertically. First, the magnetoelectric (ME) response to uniform, triangle-wave magnetic fields with five different slew rates is investigated experimentally. Time and field dependences of the generated voltage, electric charge, and observed mechanical deflection are obtained and compared for four different thicknesses of the MAE layer. The ME responses to triangular and sinusoidal wave excitations are examined in contrast. Second, the ME response at low frequencies (≤3 Hz) is studied by the standard method of harmonic magnetic field modulation. The highest ME coupling coefficient is observed in the bias magnetic field strength of ≈73 kA/m and it is estimated to be about 3.3 ns/m (ME voltage coefficient ≈ 25 V/A) at theoretically vanishing modulation frequency (f→0 Hz). Presented results demonstrate that the investigated heterostructures are promising for applications as magnetic-field sensors and energy harvesting devices.
This paper reports the first step in the development of a tactile array suitable for the presentation of haptic information in virtual reality. The system is based on the electric field dependence of the viscosity of electrorheological fluids. The simulation, as well as the experimental realization of single tactels is described. The mathematical approach is based on the Eckart model (Eckart W 2000 Continuum Mech. Thermodyn. 12 341–62) and its validity is demonstrated by comparing the resulting yield stress with the experimental results from Wunderlich (2000 Dissertation Universität Erlangen-Nürnberg). Two different tactel designs are realized and the experimental results are compared with numerical simulation. The design of modification B is shown to be applicable for the realization of an actuator array with high spatial resolution.
Most of the mechanical simulations for industrial usage are done by finite element (FE-) analysis. Milling machines are mechatronic systems, combining electrical, mechanical and control components for machining certain materials. Modelica provides a powerful and strong tool to simulate different physical ares in one model. For this usage a mechanical model of a 5-Axis-Milling Machine is implemented with rigid and flexible bodies. Specific attention will be paid to which components can be modelled rigid without significant deviation in accordance to the real behaviour of the machine. Two classes of implementing flexible bodies in multi body systems are given by the flexible bodies Library, advantages and disadvantages of both classes will be evaluated. At the end a comparision of the static and dynamic behaviour of the passive structure of the model in contrast to a FE-analysis is given.
The mixed-signal event-driven (MixED) simulationalgorithm using standard VHDL is capable of modelinga number of analog and mixed-signal problems in digital circuits, e.g. RCL networks representing pads or wires, charge pumps, dynamic logic, voltage-controlledoscillators, phase-locked loops, etc. Important featuresare single-kernel simulation as well as rapid A/D andD/A interfacing.
This paper demonstrates the simulation of a phase-locked loop (PLL), which is one of the most interesting applications of the MixED method. Many digital designs contain a PLL as only mixed-signal building block. The MixED method allows to simulate such designs with standard VHDL.
A method for solving networks containing generic analog components such as resistors, capacitors and inductors onan event driven time axis using digital VHDL is presented. The components are modeled as complex state machines communicating with their neighbors using INOUT type ports. The method takes advantage of simulation deltas to iterate without simulation-time consumption. A limited range of implicit equations can be solved this way.
The mixed-signal event-driven (MixED) method developed to simulate small portions of analog circuitry within a digital environment is demonstrated in a mixed signal application. The MixED models using concurrent iteration to account for analog nodes were coded and run in standard VHDL’93. Networks containing linear components such as sources, resistors, capacitors, inductors and operational amplifiers are presented. The possibility to manipulate resistors during runtime is used to simulate switches.
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.
We demonstrate the control of wettability of non-structured and microstructured magnetoactive elastomers (MAEs) by magnetic field. The synthesized composite materials have a concentration of carbonyl iron particles of 75 wt.% (≈27 vol.%) and three different stiffnesses of the elastomer matrix. A new method of fabrication of MAE coatings on plastic substrates is presented, which allows one to enhance the response of the apparent contact angle to the magnetic field by exposing the particle-enriched side of MAEs to water. A magnetic field is not applied during crosslinking. The highest variation of the contact angle from (113 ± 1)° in zero field up to (156 ± 2)° at about 400 mT is achieved in the MAE sample with the softest matrix. Several lamellar and pillared MAE structures are fabricated by laser micromachining. The lateral dimension of surface structures is about 50 µm and the depth varies between 3 µm and 60 µm. A systematic investigation of the effects of parameters of laser processing (laser power and the number of passages of the laser beam) on the wetting behavior of these structures in the absence and presence of a magnetic field is performed. In particular, strong anisotropy of the wetting behavior of lamellar structures is observed. The results are qualitatively discussed in the framework of the Wenzel and Cassie-Baxter models. Finally, directions of further research on magnetically controlled wettability of microstructured MAE surfaces are outlined. The obtained results may be useful for the development of magnetically controlled smart surfaces for droplet-based microfluidics.
Mechanism of subwavelength imaging with bilayered magnetic metamaterials: Theory and experiment
(2007)
We present a theoretical and experimental study of a bilayered metamaterial structure for subwavelength imaging of magnetic field. The simplest version of such a structure consists of one or two linear arrays of capacitively loaded split pipe resonators. Its subwavelength physics is governed by strongly anisotropic magnetic coupling between individual resonators and by propagation of magnetoinductive waves with wavelength much shorter than the wavelength of the electromagnetic radiation in free space. It is shown that magnetoinductive waves propagating in the lateral direction are undesirable because they spread the image. Good subwavelength imaging is achieved when, due to the strong interlayer coupling, a stop band in the vicinity of the resonant frequency appears in the dispersion characteristics. The imaging properties of the single and double lens are compared and it is shown that the double lens has a superior performance. Excellent agreement is obtained between experimental and theoretical results for the magnetic field in the image plane in the operation frequency range of 30–60 MHz. It is shown that the same mechanism is responsible for image formation using bilayered planar metamaterial structures and a design of such a lens comprising two planar layers with a total of 542 elements is provided. The conclusions are not restricted to the radio frequency region because the elements can be scaled down.
We present a method to extract monopole and dipole polarizability from experimental measurements of two-dimensional acoustic meta-atoms. In contrast to extraction from numerical results, this enables all second-order effects and uncertainties in material properties to be accounted for. We apply the technique to 3D-printed labyrinthine meta-atoms of a variety of geometries. We show that the polarizability of structures with a shorter acoustic path length agrees well with numerical results. However, those with longer path lengths suffer strong additional damping, which we attribute to the strong viscous and thermal losses in narrow channels.
The characteristics of both direct and converse magnetoelectric (ME) interactions in bilayer composite structures comprising layers of a commercially available magnetostrictive permendur CoFe alloy and different piezoelectric PZT ceramics are investigated in detail by the method of harmonic field modulation. It is shown that, given the optimum DC magnetic bias field, a high piezomagnetic coefficient in the alloy leads to increased efficiency of ME interactions. The resonant behavior of frequency dependencies of the magnetoelectric voltage is explained by excitation of bending and planar mechanical oscillations in the structures. The results are of interest for developing highly sensitive AC magnetic field sensors and magnetoelectric transducers for energy harvesting from mechanical vibrations.
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.
Magneto-active Polymers (MAP) are closely related to magneto-rheological fluids in that they contain magnetic micro-particles. However, instead of being freely suspended in a carrier fluid they are physically bound within a highly elastic polymer-matrix. The application of an external magnetic field allows changes in the mechanical properties, such as elastic and shear moduli, of the composite material to be achieved. The colossal magneto-rheological effect has been shown to demonstrate changes in Young's modulus by over 1E6 %. Current research concentrates on controllable compliance and the resulting shape memory properties of MAP. This paper deals with recent advancements in this respect, including tubular magneto-active devices with potential applications in medical and other technology.
Herein, the effect of an applied moderate (~240 mT) magnetic field on the work of adhesion (WoA) of mechanically soft (the shear modulus ~10 kPa) magnetoactive elastomer (MAE) samples with two different mass fractions (70 and 80 wt%) of carbonyl iron powder (CIP) is concerned. The unfilled elastomer sample is used for comparison. Due to some sedimentation of filling particles, the concentration of inclusions in thin (~10 μm) subsurface layers is different. It is shown that the WoA increases (up to 1.8-fold) on the particle-enriched side (PES) in the magnetic field and its value is higher for higher filler concentration. On the particle-depleted side (PDS), WoA does not depend on particle concentration and on the magnetic field. Adhesion and friction are coupled in MAEs. No statistically significant difference in the friction coefficient, determined from the extended Amontons´ law, depending on sample side, CIP concentration, or presence of magnetic field is found. However, the PDS in the magnetic field demonstrates significantly higher critical shear stress compared to that for the PES or PDS in the absence of magnetic field. Correlations between different surface properties are discussed. Obtained results are useful for the development of magnetically controllable soft robots.
Efficient transportation of droplets (∽10 ¹ ̶̶̶̶ 10 ² µl) and small solid objects (∽10 ¹ ̶ 10 ² mm ³ ) have important applications in many fields, such as microfluidics, lab‐on‐a‐chip devices, drug delivery, etc. A novel multifunctional surface consisting of a periodic array of micro‐lamellae from a soft magnetoactive elastomer (MAE) on a plastic substrate is reported for these purposes. The physical origin of the propulsion is the bending of soft magnetic lamellae in non‐uniform magnetic fields, which is also observed in uniform magnetic fields. The magnetoactive surface is fabricated using a facile and rapid method of laser ablation. The propulsion of items is realized using a four‐pole rotating magnet. This results in a cyclic lamellar fringe motion over the micro‐structured surface and brings an advantage of easy reciprocation of transport by rotation reversal. Two modes of object transportation are identified: “pushing” mode for precise control of droplet and solid positioning and “bouncing” mode for heavier solid objects transportation. A water droplet of 5 μl or a glass sphere with a 2.1 mm diameter can be moved at a maximum speed of 60 mm s ⁻¹ . The multifunctionality of the proposed mechatronic platform is demonstrated on the examples of selective solid‐liquid separation and droplet merging.
Polydimethylsiloxane based magnetoactive elastomers demonstrate above the melting transition range (e.g. at room temperature) an induced uniaxial magnetic anisotropy, which grows with increasing magnetic field. By freezing a material down to 150 K, displaced iron microparticles are immobilized, so that the magnetic anisotropy can be measured. Magnetic anisotropy “constant” is a consequence of particle displacements and a characteristic of the energy of internal deformations in the polymer matrix. The maximum anisotropy constant of the filling is at least one order of magnitude larger than the shear modulus of the pure elastomer (matrix). In a magnetic field, the gain in the rigidity of the composite material is attributed to the magnetomechanical coupling, which is in turn a source of anisotropy. The concept of effective magnetic field felt by the magnetization allows one to explain the magnetization curve at room temperature from low-temperature measurements. The results can be useful for developing vibration absorbers and isolators.
A simple method for structuring of the surface of a magnetoactive elastomer (MAE) on the tens of micrometers scale, which capabilities extend beyond conventional mold-based polymer casting, is reported. The method relies on the ablation of the material by absorption of nanosecond infrared pulses from a commercial laser. It is shown that it is possible to fabricate parallel lamellar structures with a high aspect ratio (up to 6:1) as well as structures with complex scanning trajectories. The method is fast (fabrication time for the 7 × 7 mm2 is about 60 s), and the results are highly reproducible. To illustrate the capabilities of the fabrication method, both orthogonal to the MAE surface and tilted lamellar structures are fabricated. These magnetosensitive lamellae can be easily bent by ±45° using an external magnetic field of about 230 mT. It is demonstrated that this bending allows one to control the sliding angle of water droplets in a great range between a sticky (>90°) and a sliding state (<20°). Perspectives on employing this fabrication technology for magnetosensitive smart surfaces in microfluidic devices and soft robotics are discussed.
Conventional calculations of the inertia tensor in undergraduate physics course are usually done for highly symmetrical bodies. Students might therefore get the impression that the moment of inertia about any axis through the center of mass is the same only for bodies with the highest degree of symmetry relative to this point, e.g., for spheres. A simple, seemingly counterintuitive example is presented, showing that the moment of inertia of a non-regular body, here an assembly of material points, can be the same about any axis passing through its center of mass.
Optical fiber sensors based on intensity measurement require some form of intensity referencing to avoid errors arising from parasitic losses. Known techniques of referencing such as balanced bridge, divided beam systems or two-wavelength referencing are not suitable for low-cost applications since they use relatively complicated optical components such as multiple LED sources, couplers, filters etc. In this work a novel method of referencing in an extrinsic optical fiber sensor system utilizing temperature dependence of absorption edge in a semiconductor crystal is described. The sensor system comprises a single LED source and no optical fiber junctions. The emission spectrum of an LED depends on its temperature. The reference is provided by controlling the temperature of an LED source and transmission measurements with different emission spectra. The entire process is controlled by a microprocessor unit. Performance of a sensor system is investigated and it is shown that the losses in connectors may be compensated for.
In a three-guide coupler with multimode central waveguide, more than two modes of the entire structure participate in the coupling between the outer waveguides. Using a three-mode approximation we found simple conditions for complete power transfer between the outer waveguides: the device length has to match certain multiples of the con- ventionally defined coupling length. The specific form of the relevant modes allows us to design a magneto-optic isolator or circulator with significantly reduced device length (as compared to the conventional nonreciprocal coupler). The performance of the proposed devices is simulated by propagating-mode calculations. Estimates for admissible fabrication tolerances for the layer thicknesses are presented.
Transmission spectra of wet human teeth and dentin slices, together with blood of different flow rates were investigated over a wide spectral range, from visible to terahertz (THz) light. The results make it possible to find the optimum light frequency for an all-optical determination of pulpal blood flow and, consequently, for clinically diagnosis of tooth vitality.
Hysteresis in dynamic modulus, loss factor and normal forces of magnetoactive elastomers (MAEs) comprising various proportions of small (3-5 mu m) and large (50-60 mu m) ferromagnetic particles are experimentally studied using dynamic torsion performed at a fixed oscillation frequency in varying DC magnetic fields. It is shown that hysteresis is a characteristic feature of MAEs observed both under increasing/decreasing magnetic field strength and increasing/decreasing strain amplitude. This hysteresis is attributed to the specific rearrangement of the magnetic filler network under simultaneously applied magnetic field and shear deformation. Rheological properties of the magnetic filler network formed in the magnetic field and, therefore, the rheological properties of MAEs depend strongly on the filler composition and the magnetic field magnitude. Larger magnetic particles and higher magnetic fields provide stronger magnetic networks. Both factors result in the extension of the linear viscoelastic regime to larger strain amplitudes and lead to higher values of shear storage and loss moduli. It is found that the hysteresis width maximises at an intermediate magnetic field where it is attributed to the balance between elastic and magnetic particle interactions. This is apparently where the most significant restructuring of the magnetic network occurs. The hysteresis width decreases with increasing fraction of large particles in the magnetic filler. The loss factor grows significantly when the magnetic network is physically broken by large strains gamma > 1%. A huge (more than one order of magnitude) increase of normal force at maximum magnetic field strengths is observed. It is predicted that any physical quantity depending on the internal structuring of the magnetic filler should demonstrate hysteresis either with a changing magnetic field and constant deformation amplitude or under variable deformation in a constant magnetic field. (C) 2015 Elsevier Ltd. All rights reserved.
Collaboration between robots and humans requires communicative skills on both sides. The robot has to understand the conscious and unconscious activities of human workers. Many state-of-the-art activity recognition algorithms with high performance rates on existing benchmark datasets are available for this task. This paper re-evaluates appropriate architectures in light of human work activity recognition for working cells in industrial production contexts. The specific constraints of such a domain is elaborated and used as prior knowledge. We utilize state-of-the-art algorithms as spatiotemporal feature encoders and search for appropriate classification and fusion strategies. Furthermore, we combine keypoint-based with appearance-based approaches to a multi-stream recognition system. Due to data protection rules and the high effort of data annotation within industrial domains only small datasets are available that reflect production aspects. Therefore, we use transfer learning approaches to reduce the dependency on data volume and variance in the target domain. The resulting recognition system achieves high performance for both singular person action and human-object interaction.
This chapter introduces composite smart materials known as magnetoactive (MAEs) or magnetorheological elastomers. It starts by defining these materials and distinguishing them from relevant magnetorheological fluids and ferrofluids. It then gives the overview of constitutive materials for the polymer matrix and filler particles. Next, the influence of external magnetic field on physical properties of MAEs is discussed. The emphasis is made on mechanical properties, which are the most important for real-world applications. In particular, magnetomechanical effects such as magnetostriction, magnetodeformation, and magnetorheological effect are discussed. The magnetic Payne effect is presented as an example of a nonlinear behavior. Electromagnetic and acoustic properties are also considered. The chapter finishes with the brief discussion of the future prospects in research and development of MAEs.
Es werden Herstellung und Charakterisierung eines faseroptischen Elementarsensors zur Temperaturmessung vorgestellt. Der Sensorkopf in Form eines Prismas aus Indiumphosphid nutzt die Temperaturabhängigkeit der Absorptionskante des Halbleitermaterials. Aufgrund der Abmessungen des Prismas im Grenzbereich von Feinmechanik zu Mikrosystemtechnik ist ein angepasstes Herstellungsverfahren notwendig.
The application of robotics in manufacturing industry is increasingly spreading to other fields such as service, security and medical, and more recently into orthopedic surgery. Most research projects to date have concentrated on the lighter side of non‐invasive surgery, camera, laser guidance, light cutting and milling through bone. Just as in industrial production and processing applications, the choice of robot and its accompanying control and programming system is absolutely paramount. This simple fact has been justified in recent research dealing with the heavier forms of fracture repositioning robotics in accident surgery. This paper discusses the development of the complete system including robot, end‐effector and sensors.
Mechanical properties of biological tissue represent important diagnostic information and are of histological relevance (hard lesions, "nodes" in organs: tumors; calcifications in vessels: arteriosclerosis). The problem is, that such information is usually obtained by digital palpation only, which is limited with respect to sensitivity. It requires intuitive assessment and does not allow quantitative documentation. A suitable sensor is required for quantitative detection of mechanical tissue properties. On the other hand, there is also some need for a realistic mechanical display of those tissue properties. Suitable actuator arrays with high spatial resolution and real-time capabilities are required operating in a haptic sensor actuator system with different applications. The sensor system uses real time ultrasonic elastography whereas the tactile actuator is based on electrorheological fluids. Due to their small size the actuator array elements have to be manufactured by micro-mechanical production methods. In order to supply the actuator elements with individual high voltages a sophisticated switching and control concept have been designed. This haptic system has the potential of inducing real time substantial forces, using a compact lightweight mechanism which can be applied to numerous areas including intraoperative navigation, telemedicine, teaching, space and telecommunication.
Field induced plasticity of magneto-sensitive elastomers for gripping technology applications
(2018)
Feedback-nach-Feedforward-Transformation zur Verhaltensmodellierung rückgekoppelter Verstärker
(1997)
Experimental study of the magnetic field enhanced Payne effect in magnetorheological elastomers
(2014)
The dynamic modulus and the loss factor of magnetorheological elastomers (MREs) of various compositions and anisotropies are studied by dynamic torsion oscillations performed in the absence and in the presence of an external magnetic field. The emphasis is on the Payne effect, i.e. the dependence of the elastomer magnetorheological characteristics on the strain amplitude and their evolution with cyclically increasing and decreasing strain amplitudes. MREs are based on two silicone matrices differing in storage modulus (soft, G' similar to 10(3) Pa, and hard, G' similar to 10(4) Pa, matrices). For each matrix, the concentration of carbonyl iron particles with diameters of 3-5 mu m was equal to 70 and 82 mass% (22 and 35 vol%, respectively) in the composite material. Samples for each filler content, isotropic and aligned-particles, are investigated. It is found that the Payne effect significantly increases in the presence of an external magnetic field and varies with the cyclical loading which reaches saturation after several cycles. The results are interpreted as the processes of formation-destruction-reformation of the internal filler structure under the simultaneously applied mechanical force and magnetic field. Impacts of matrix elasticity and magnetic interactions on the filler alignment are elucidated.
Magnetoactive elastomers (MAEs) are promising materials for realization of magnetic field-controlled soft actuators. Herein, a systematic investigation of magnetic field-induced macroscopic deformations of soft MAE cylinders with a diameter of 15 mm in uniform quasi-static magnetic fields directed parallel to the cylinder’s axis is reported. The measurements were based on image processing. Thirty-six MAE samples differing in the weight fraction of the iron filler (70 wt%, 75 wt% and 80 wt%), alignment of filling particles, and the aspect ratio (0.2, 0.4, 0.6, 0.8, 1.0 and 1.2) were fabricated. MAE cylinders exhibited high relative change in height (up to 35% in the field of 485 kA/m) and lateral contraction. The dependence of the maximum extensional strain on the aspect ratio was obtained and compared with theoretical considerations. A concave dent was formed on the free circular base in magnetic fields. This concavity was characterized experimentally. A significant volumetric strain of the order of magnitude of 10% was calculated in MAEs for the first time. In consequently repeated magnetization cycles, the remanent extensional strain significantly increased after each cycle. The results are qualitatively discussed in the framework of the modern views on the magnetically induced macroscopic deformations of MAEs. The directions of further research are outlined.
Magnetoinductive waves propagating along a line consisting of two kinds of metamaterial elements are studied. Both elements are made up by the same metallic loop but are loaded by different capacitors resulting in different resonant frequencies. The dispersion characteristics are derived from phase and amplitude measurements for the cases when the line consists of (i) identical elements and (ii) of alternating elements. Both planar (elements in the same plane as the axis of the line) and axial (elements perpendicular to the axis of the line) configurations are investigated. It is shown that in the bi-periodic arrangement of the elements, the dispersion curves have a forward wave in the lower frequency branch and a backward wave in the upper frequency branch independent of the configuration whether it is planar or axial. Comparisons between theoretical and experimental results show good agreement.