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Wireless CAN
(2018)
In modernen elektronischen und mechatronischen Systemen, z. B. im industriellen oder automobil Bereich, kommunizieren eingebettete Steuergeräte und Sensoren vielfach über Bussysteme wie CAN oder LIN. Die Kommunikation findet in der Regel drahtgebunden statt, so dass der Kabelbaum für die Kommunikation sehr groß werden kann. Daher ist es naheliegend, Leitungen und dazugehörige Stecker, z. B. für nicht-sicherheitskritische Komfortsysteme, einzusparen und diese durch gerichtete Funkstrecken für kurze Entfernungen zu ersetzen. Somit könnten Komponenten wie ECUs oder Sensoren kabel- und steckerlos in ein Bussystem integriert werden. Zudem ist eine einfache galvanische und mechanische Trennung zu erreichen. Funkübertragung wird bei diesen Bussystemen derzeit nicht eingesetzt, da insbesondere die Echtzeitfähigkeit und die Robustheit der vorhandenen Funksysteme nicht den Anforderungen der Anwendungen entspricht. Zudem sind bestehende Funksysteme wie WLAN oder Bluetooth im Vergleich zur konventionellen Verkabelung teuer und es besteht hierbei die Möglichkeit, dass sie ausspioniert werden können und so sensible Daten entwendet werden können. In dieser Arbeit wird eine alternative Realisierung zu den bestehenden Funksystemen vorgestellt, die aus wenigen Komponenten aufzubauen ist. Es ist eine protokolllose, echtzeitfähige Übertragung möglich und somit die transparente Integration in ein Bussystem wie CAN.
The integration of sensors is one of the major tasks in embedded, control and “internet of things” (IoT) applications. For the integration mainly digital interfaces are used, starting from rather simple pulse-width modulation (PWM) interface to more complex interfaces like CAN (Controller Area Network). Even though these interfaces are tethered by definition, a wireless realization is highly welcome in many applications to reduce cable and connector cost, increase the flexibility and realize new emerging applications like wireless control systems. Currently used wireless solutions like Bluetooth, WirelessHART or IO-Link Wireless use dedicated communication standards and corresponding higher protocol layers to realize the wireless communication. Due to the complexity of the communication and the protocol handling, additional latency and jitter are introduced to the data communication that can meet the requirements for many applications. Even though tunnelling of other bus data like CAN data is generally also possible the latency and jitter prevent the tunnelling from being transparent for the bus system. Therefore a new basic technology based on dual-mode radio is used to realize a wireless communication on the physical layer only, enabling a reliable and real-time data transfer. As this system operates on the physical layer it is independent of any higher layers of the OSI (open systems interconnection) model. Hence it can be used for several different communication systems to replace the tethered physical layer. A prototype is developed and tested for real-time wireless PWM, SENT (single-edge nibble transmission) and CAN data transfer with very low latency and jitter.
The search for life on Mars and in the Solar System - strategies, logistics and infrastructures
(2018)
The question "Are we alone in the Universe?" is perhaps the most fundamental one that affects mankind. How can we address the search for life in our Solar System? Mars, Enceladus and Europa are the focus of the search for life outside the terrestrial biosphere. While it is more likely to find remnants of life (fossils of extinct life) on Mars because of its past short time window of the surface habitability, it is probably more likely to find traces of extant life on the icy moons and ocean worlds of Jupiter and Saturn. Nevertheless, even on Mars there could still be a chance to find extant life in niches near to the surface or in just discovered subglacial lakes beneath the South Pole ice cap. Here, the different approaches for the detection of traces of life in the form of biosignatures including pre-biotic molecules will be presented. We will outline the required infrastructure for this enterprise and give examples of future mission concepts to investigate the presence of life on other planets and moons. Finally, we will provide suggestions on methods, techniques, operations and strategies for preparation and realization of future life detection missions.
In this work, a cell-based biosensor to evaluate the sterilization efficacy of hydrogen peroxide vapor sterilization processes is characterized. The transducer of the biosensor is based on interdigitated gold electrodes fabricated on an inert glass substrate. Impedance spectroscopy is applied to evaluate the sensor behavior and the alteration of test microorganisms due to the sterilization process. These alterations are related to changes in relative permittivity and electrical conductivity of the bacterial spores. Sensor measurements are conducted with and without bacterial spores (Bacillus atrophaeus), as well as after an industrial sterilization protocol. Equivalent two-dimensional numerical models based on finite element method of the periodic finger structures of the interdigitated gold electrodes are designed and validated using COMSOL® Multiphysics software by the application of known dielectric properties. The validated models are used to compute the electrical properties at different sensor states (blank, loaded with spores, and after sterilization). As a final result, we will derive and tabulate the frequency-dependent electrical parameters of the spore layer using a novel model that combines experimental data with numerical optimization techniques.
In this article, we present an overview on the thermocatalytic reaction of hydrogen peroxide (H₂O₂) gas on a manganese (IV) oxide (MnO₂) catalytic structure. The principle of operation and manufacturing techniques are introduced for a calorimetric H₂O₂ gas sensor based on porous MnO₂. Results from surface analyses by X-ray photoelectron spectroscopy (XPS) and scanning electron microscopy (SEM) of the catalytic material provide indication of the H₂O₂ dissociation reaction schemes. The correlation between theory and the experiments is documented in numerical models of the catalytic reaction. The aim of the numerical models is to provide further information on the reaction kinetics and performance enhancement of the porous MnO₂ catalyst.
Wind is closely associated with the discussion of fairness in ski jumping. To counter-act its influence on the jump length, the International Ski Federation (FIS) has introduced a wind compensation approach. We applied three differently accurate computer models of the flight phase with wind (M1, M2, and M3) to study the jump length effects of various wind scenarios. The previously used model M1 is accurate for wind blowing in direction of the flight path, but inaccuracies are to be expected for wind directions deviating from the tangent to the flight path. M2 considers the change of airflow direction, but it does not consider the associated change in the angle of attack of the skis which additionally modifies drag and lift area time functions. M3 predicts the length effect for all wind directions within the plane of the flight trajectory without any mathematical simplification. Prediction errors of M3 are determined only by the quality of the input data: wind velocity, drag and lift area functions, take-off velocity, and weight. For comparing the three models, drag and lift area functions of an optimized reference jump were used. Results obtained with M2, which is much easier to handle than M3, did not deviate noticeably when compared to predictions of the reference model M3. Therefore, we suggest to use M2 in future applications. A comparison of M2 predictions with the FIS wind compensation system showed substantial discrepancies, for instance: in the first flight phase, tailwind can increase jump length, and headwind can decrease it; this is opposite of what had been anticipated before and is not considered in the current wind compensation system in ski jumping.
The overall objective of this study is to develop a new external fixator, which closely maps the native kinematics of the elbow to decrease the joint force resulting in reduced rehabilitation time and pain. An experimental setup was designed to determine the native kinematics of the elbow during flexion of cadaveric arms. As a preliminary study, data from literature was used to modify a published biomechanical model for the calculation of the joint and muscle forces. They were compared to the original model and the effect of the kinematic refinement was evaluated. Furthermore, the obtained muscle forces were determined in order to apply them in the experimental setup. The joint forces in the modified model differed slightly from the forces in the original model. The muscle force curves changed particularly for small flexion angles but their magnitude for larger angles was consistent.
Das Forschungsprojekt Produktionseffizienz in der Kleinserie (ProeK) erarbeitet kostengünstige und effiziente Lösungsansätze für Prozessketten im Zukunftsfeld der Elektromobilität. Das Teilprojekt Karosserie setzt diese Zielsetzung durch innovative und praxisorientierte Produkt- und Prozesskonzepte mit neuartigen bauteilintegrierten Vorrichtungsfunktionen (BiV) um. Im Teilprojekt Außenhaut sollen Toleranzen adaptiv durch Anpassungen der Prozessparameter sowie Bauteilmanipulation kompensiert werden.
Comparison of different training algorithms for the leg extension training with an industrial robot
(2018)
In the past, different training scenarios have been developed and implemented on robotic research platforms, but no systematic analysis and comparison have been done so far. This paper deals with the comparison of an isokinematic (motion with constant velocity) and an isotonic (motion against constant weight) training algorithm. Both algorithms are designed for a robotic research platform consisting of a 3D force plate and a high payload industrial robot, which allows leg extension training with arbitrary six-dimensional motion trajectories. In the isokinematic as well as the isotonic training algorithm, individual paths are defined i n C artesian s pace by sufficient s upport p oses. I n t he i sotonic t raining s cenario, the trajectory is adapted to the measured force as the robot should only move along the trajectory as long as the force applied by the user exceeds a minimum threshold. In the isotonic training scenario however, the robot’s acceleration is a function of the force applied by the user. To validate these findings, a simulative experiment with a simple linear trajectory is performed. For this purpose, the same force path is applied in both training scenarios. The results illustrate that the algorithms differ in the force dependent trajectory adaption.
Zusammenfassung: In der Orthopädie zählt der therapeutische Ultraschall als Mittel zur Prävention und Therapiebegleitung. Er hat mechanische, thermische und physiko-chemische Auswirkungen auf den menschlichen Körper. Um mehr Erkenntnisse über die thermischen Auswirkungen zu erlangen, wurden Versuche an einem Hydrogel-Phantom und an Probanden durchgeführt. Dabei entstand eine signifikante Erwärmung des Gewebes, welche beim Probandenversuch an der Oberfläche und beim Hydrogelversuch in der Tiefe gemessen wurde.
Summary: In orthopaedics, therapeutic ultrasound is a tool of prevention and therapy support. It has mechanical, thermal and physico-chemical effects on the human body. Tests with a hydrogel phantom and with human probands have been performed in order to obtain more knowledge about their thermal effects. Both tests measured temperature increases in cell tissue, on the surface with the human proband test and in depth with the hydrogel phantom test.
Bereits 2015 wurde in der Zeitschrift „Qualität in der Wissenschaft“ (QiW) über das Kooperationsprojekt „Guter Studienstart im Ingenieurbereich“, das Orientierungssemester von RWTH und FH Aachen, berichtet. In diesem Artikel legen wir den Schwerpunkt auf die Entwicklung des Projekts in den Jahren 2015 bis 2018 und geben eine Rückschau sowie einen Ausblick auf die Entwicklungsperspektiven nach dem offiziellen Projektende.