07 Fakultät Konstruktions-, Produktions- und Fahrzeugtechnik

Permanent URI for this collectionhttps://elib.uni-stuttgart.de/handle/11682/8

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Start date: 2022Subject: search.filters.subject.530

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    A family of total Lagrangian Petrov-Galerkin Cosserat rod finite element formulations
    (2023) Eugster, Simon R.; Harsch, Jonas
    The standard in rod finite element formulations is the Bubnov-Galerkin projection method, where the test functions arise from a consistent variation of the ansatz functions. This approach becomes increasingly complex when highly nonlinear ansatz functions are chosen to approximate the rod's centerline and cross-section orientations. Using a Petrov-Galerkin projection method, we propose a whole family of rod finite element formulations where the nodal generalized virtual displacements and generalized velocities are interpolated instead of using the consistent variations and time derivatives of the ansatz functions. This approach leads to a significant simplification of the expressions in the discrete virtual work functionals. In addition, independent strategies can be chosen for interpolating the nodal centerline points and cross-section orientations. We discuss three objective interpolation strategies and give an in-depth analysis concerning locking and convergence behavior for the whole family of rod finite element formulations.
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    General mathematical model for the period chirp in interference lithography
    (2023) Bienert, Florian; Graf, Thomas; Abdou Ahmed, Marwan
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    Depth from axial differential perspective
    (2022) Faulhaber, Andreas; Krächan, Clara; Haist, Tobias
    We introduce an imaging-based passive on-axis technique for measuring the distance of individual objects in complex scenes. Two axially separated pupil positions acquire images (can be realized simultaneously or sequentially). Based on the difference in magnification for objects within the images, the distance to the objects can be inferred. The method avoids some of the disadvantages of passive triangulation sensors (e.g., correspondence, shadowing), is easy to implement and offers high lateral resolution. Due to the principle of operation it is especially suited for applications requiring only low to medium axial resolution. Theoretical findings, as well as follow-up experimental measurements, show obtainable resolutions in the range of few centimeters for distances of up to several meters.
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    Physics-informed regression of implicitly-constrained robot dynamics
    (2022) Geist, Andreas René; Allgöwer, Frank (Prof. Dr.-Ing.)
    The ability to predict a robot’s motion through a dynamics model is critical for the development of fast, safe, and efficient control algorithms. Yet, obtaining an accurate robot dynamics model is challenging as robot dynamics are typically nonlinear and subject to environment-dependent physical phenomena such as friction and material elasticities. The respective functions often cause analytical dynamics models to have large prediction errors. An alternative approach to analytical modeling forms the identification of a robot’s dynamics through data-driven modeling techniques such as Gaussian processes or neural networks. However, solely data-driven algorithms require considerable amounts of data, which on a robotic system must be collected in real-time. Moreover, the information stored in the data as well as the coverage of the system’s state space by the data is limited by the controller that is used to obtain the data. To tackle the shortcomings of analytical dynamics and data-driven modeling, this dissertation investigates and develops models in which analytical dynamics is being combined with data-driven regression techniques. By combining prior structural knowledge from analytical dynamics with data-driven regression, physics-informed models show improved data-efficiency and prediction accuracy compared to using the aforementioned modeling techniques in an isolated manner.
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    Theoretical investigation on the elimination of the period chirp by deliberate substrate deformations
    (2022) Bienert, Florian; Graf, Thomas; Abdou Ahmed, Marwan
    We present a theoretical investigation on the approach of deliberately bending the substrate during the exposure within laser interference lithography to compensate for the period chirp. It is shown that the yet undiscovered function of the surface geometry, necessary to achieve the zero-chirp case (i.e. having a perfectly constant period over the whole substrate) is determined by a first-order differential equation. As the direct analytical solution of this differential equation is difficult, a numerical approach is developed, based on the optimization of pre-defined functions towards the unknown analytical solution of the differential equation by means of a Nelder-Mead simplex algorithm. By applying this method to a concrete example, we show that an off-center placement of the substrate with respect to the point sources is advantageous both in terms of achievable period and substrate curvature and that a fourth-order polynomial can greatly satisfy the differential equation leading to a root-mean-square deviation of only 1.4 pm with respect to the targeted period of 610 nm.
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    3D printing of colored micro-optics
    (2023) Aslani, Valese; Toulouse, Andrea; Schmid, Michael; Giessen, Harald; Haist, Tobias; Herkommer, Alois
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    State observers for the time discretization of a class of impulsive mechanical systems
    (2022) Preiswerk, Pascal V.; Leine, Remco I.
    In this work, we investigate the state observer problem for linear mechanical systems with a single unilateral constraint, for which neither the impact time instants nor the contact distance is explicitly measured. We propose to attack the observer problem by transforming and approximating the original continuous‐time system by a discrete linear complementarity system (LCS) through the use of the Schatzman-Paoli scheme. From there, we derive a deadbeat observer in the form of a linear complementarity problem. Sufficient conditions guaranteeing the uniqueness of its solution then serve as observability conditions. In addition, the discrete adaptation of an existing passivity‐based observer design for LCSs can be applied. A key point in using a time discretization is that the discretization acts as a regularization, that is, the impacts take place over multiple time steps (here two time steps). This makes it possible to render the estimation error dynamics asymptotically stable. Furthermore, the so‐called peaking phenomenon appears as singularity within the time discretization approach, posing a challenge for robust observer design.
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    Influence of pulse duration on X-ray emission during industrial ultrafast laser processing
    (2022) Holland, Julian; Weber, Rudolf; Sailer, Marc; Graf, Thomas
    Soft X-ray emissions during the processing of industrial materials with ultrafast lasers are of major interest, especially against the background of legal regulations. Potentially hazardous soft X-rays, with photon energies of >5 keV, originate from the fraction of hot electrons in plasma, the temperature of which depends on laser irradiance. The interaction of a laser with the plasma intensifies with growing plasma expansion during the laser pulse, and the fraction of hot electrons is therefore enhanced with increasing pulse duration. Hence, pulse duration is one of the dominant laser parameters that determines the soft X-ray emission. An existing analytical model, in which the fraction of hot electrons was treated as a constant, was therefore extended to include the influence of the duration of laser pulses on the fraction of hot electrons in the generated plasma. This extended model was validated with measurements of H (0.07) dose rates as a function of the pulse duration for a constant irradiance of about 3.5 × 1014 W/cm2, a laser wavelength of 800 nm, and a pulse repetition rate of 1 kHz, as well as for varying irradiance at the laser wavelength of 1030 nm and pulse repetition rates of 50 kHz and 200 kHz. The experimental data clearly verified the predictions of the model and confirmed that significantly decreased dose rates are generated with a decreasing pulse duration when the irradiance is kept constant.
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    Generation of a radially polarized beam in a polycrystalline ceramic Yb:Lu2O3 thin-disk laser
    (2023) Didychenko, Denys; Esser, Stefan; Beirow, Frieder; Savchenko, Anton; Pruss, Christof; Graf, Thomas; Abdou Ahmed, Marwan
    AbstractWe report on the generation of a continuous-wave (CW) radially polarized beam with an Yb:Lu2O3 polycrystalline ceramic disk in a thin-disk laser (TDL) oscillator. A circular grating-waveguide mirror (CGWM) with a high polarization discrimination given by a reflectivity difference between the two orthogonal polarization states of 44.6% was used as a polarization-selective cavity end-mirror. An output power of 175 W was achieved with an optical efficiency of 39.6%. A high degree of radial polarization of 96.2% and a beam propagation factor of M2hor. = 2.05 and M2ver. = 2.32 were measured at the maximum output power.