Universität Stuttgart
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Item Open Access Designing covalent organic framework‐based light‐driven microswimmers toward therapeutic applications(2023) Sridhar, Varun; Yildiz, Erdost; Rodríguez‐Camargo, Andrés; Lyu, Xianglong; Yao, Liang; Wrede, Paul; Aghakhani, Amirreza; Akolpoglu, Birgul M.; Podjaski, Filip; Lotsch, Bettina V.; Sitti, MetinWhile micromachines with tailored functionalities enable therapeutic applications in biological environments, their controlled motion and targeted drug delivery in biological media require sophisticated designs for practical applications. Covalent organic frameworks (COFs), a new generation of crystalline and nanoporous polymers, offer new perspectives for light‐driven microswimmers in heterogeneous biological environments including intraocular fluids, thus setting the stage for biomedical applications such as retinal drug delivery. Two different types of COFs, uniformly spherical TABP‐PDA‐COF sub‐micrometer particles and texturally nanoporous, micrometer‐sized TpAzo‐COF particles are described and compared as light‐driven microrobots. They can be used as highly efficient visible‐light‐driven drug carriers in aqueous ionic and cellular media. Their absorption ranging down to red light enables phototaxis even in deeper and viscous biological media, while the organic nature of COFs ensures their biocompatibility. Their inherently porous structures with ≈2.6 and ≈3.4 nm pores, and large surface areas allow for targeted and efficient drug loading even for insoluble drugs, which can be released on demand. Additionally, indocyanine green (ICG) dye loading in the pores enables photoacoustic imaging, optical coherence tomography, and hyperthermia in operando conditions. This real‐time visualization of the drug‐loaded COF microswimmers enables unique insights into the action of photoactive porous drug carriers for therapeutic applications.Item Open Access The role of dimensionality and geometry in quench-induced nonequilibrium forces(2021) Nejad, Mehrana Raeisian; Khalilian, Hamidreza; Rohwer, Christian M.; Moghaddam, Ali GhorbanzadehWe present an analytical formalism, supported by numerical simulations, for studying forces that act on curved walls following temperature quenches of the surrounding ideal Brownian fluid. We show that, for curved surfaces, the post-quench forces initially evolve rapidly to an extremal value, whereafter they approach their steady state value algebraically in time. In contrast to the previously-studied case of flat boundaries (lines or planes), the algebraic decay for curved geometries depends on the dimension of the system. Specifically, steady-state values of the force are approached in time as t-d/2 in d-dimensional spherical (curved) geometries. For systems consisting of concentric circles or spheres, the exponent does not change for the force on the outer circle or sphere. However, the force exerted on the inner circles or sphere experiences an overshoot and, as a result, does not evolve to the steady state in a simple algebraic manner. The extremal value of the force also depends on the dimension of the system, and originates from curved boundaries and the fact that particles inside a sphere or circle are locally more confined, and diffuse less freely than particles outside the circle or sphere.Item Open Access Unravelling parameter interactions in calcium alginate/polyacrylamide double network hydrogels using a design of experiments approach for the optimization of mechanical properties(2024) Gorke, Oliver; Stuhlmüller, Marc; Tovar, Günter E. M.; Southan, AlexanderCalcium alginate/polyacrylamide double network hydrogels were reported to be exceptionally tough. However, literature reports so far varied the sample compositions mainly by one parameter at a time approaches, thus only drawing an incomplete picture of achievable material properties. In this contribution, sample compositions are varied according to a face-centered central composite experimental design taking into account the four parameters of alginate concentration cAlg, high/low molar mass alginate mixing ratio RP, acrylamide concentration cAAm, and N,N′-methylenebisacrylamide concentration cMBA. Each sample composition is investigated in triplicate. Thus, 75 samples were investigated by tensile testing, and a detailed analysis of the significant parameters and parameter interactions influencing the mechanical properties is conducted. The data shows that two parameter interactions, involving all four tested parameters, have a large effect on the Young's modulus, the strength, the toughness and the strain at material failure. As a consequence, it becomes evident that the experimental procedure from previous studies did not always result in optimum sample compositions. The results allow optimization of the mechanical properties within the studied parameter space, and a new maximum value of the strength of 710 kPa is reported. The data also give rise to the assumption that other parameters and parameter interactions ignored also in this study may allow further tailoring of mechanical properties.Item Open Access Investigation of oxide layer development of X6CrNiNb18-10 stainless steel exposed to high-temperature water(2024) Veile, Georg; Hirpara, Radhika; Lackmann, Simon; Weihe, StefanThe oxide layer development of X6CrNiNb18-10 (AISI 347) during exposure to high-temperature water has been investigated. Stainless steels are known to form a dual oxide layer in corrosive environments. The secondary Fe-rich oxide layer has no significant protective effect. In contrast, the primary Cr-rich oxide layer is known to reach a stabilized state, protecting the base metal from further oxidation. This study’s purpose was to determine the development of oxide layer dimensions over exposure time using SEM, TEM and EDX line scans. While a parabolic development of Cr in the protective primary layer and Fe in the secondary layer was observed, the dimensions of the Ni layer remained constant. Ni required the presence of a pronounced Fe-rich secondary layer before being able to reside on the outer secondary layer. With increasing immersion time, the Ni element fraction surpassed the Cr element fraction in the secondary layer. Oxide growth on the secondary layer could be observed. After 480 h, nearly the entire surface was covered by the outer oxide layer. In the metal matrix, no depletion of Cr or Ni could be observed over time; however, an increased presence of Cr and Ni in the primary layer was found at the expense of Fe content. The Nb-stabilized stainless steel was subject to the formation of Niobium pentoxide (Nb2O5), with the quantity and magnitude of element fraction increasing over exposure time.Item Open Access Dynamic ultrasound projector controlled by light(2022) Ma, Zhichao; Joh, Hyungmok; Fan, Donglei Emma; Fischer, PeerDynamic acoustic wavefront control is essential for many acoustic applications, including biomedical imaging and particle manipulation. Conventional methods are either static or in the case of phased transducer arrays are limited to a few elements and hence limited control. Here, a dynamic acoustic wavefront control method based on light patterns that locally trigger the generation of microbubbles is introduced. As a small gas bubble can effectively stop ultrasound transmission in a liquid, the optical images are used to drive a short electrolysis and form microbubble patterns. The generation of microbubbles is controlled by structured light projection at a low intensity of 65 mW cm-2 and only requires about 100 ms. The bubble pattern is thus able to modify the wavefront of acoustic waves from a single transducer. The method is employed to realize an acoustic projector that can generate various acoustic images and patterns, including multiple foci and acoustic phase gradients. Hydrophone scans show that the acoustic field after the modulation by the microbubble pattern forms according to the prediction. It is believed that combining a versatile optical projector to realize an ultrasound projector is a general scheme, which can benefit a multitude of applications based on dynamic acoustic fields.Item Open Access Engineered bioinspired natural dynamics and their synergy with control and learning in legged robots(2022) Ruppert, Felix; Schmitt, Syn (Prof. Dr.)The performance of legged locomotion relies on the successful mitigation of unstructured, rough terrain in the presence of sparse information and neurosensory delays. Bioinspired walking systems benefit from carefully engineered passive compliant behavior that models the inherent elastic behavior of muscle-tendon structures in animals. To leverage the passive behavior that provides energy efficiency, passive stability as well as simplified control and learning tasks to the system, locomotion control and learning algorithms have to be designed and coordinated with the natural system dynamics in mind to achieve similar locomotion behavior we see in animals. The major contribution of this thesis is the synergy of a bio-inspired leg design with biarticular muscle-tendon structures, a wearable force and pressure sensor design for closed-loop control in legged locomotion, a biologically inspired closed-loop central pattern generator with reflex-like feedback and a learning approach that enables the locomotion controller to leverage the carefully engineered natural dynamics of the robot to learn convincing locomotion skills and increase energy efficiency. The first contribution is a biologically inspired leg design focusing on the biarticular lower leg muscle-tendon structure in vertebrate animals. The biarticular elasticity provides two-dimensional passive impedance to the leg and allows the storage of energy orthogonal to the leg axis direction. The leg blueprint is characterized in its capability to store and release elastic energy in the biarticular structure. The stored energy can be recuperated back into the system and increases the energy efficiency of the leg. This leg design achieves the lowest relative cost of transport documented for all dynamically hopping and running robots. The second contribution introduces the concept of training wheels, temporary mechanical modifications to the system dynamics that shape the learning reward landscape and simplify learning locomotion directly in hardware. Through deliberate changes to the system dynamics, in this case, reduced gravity, the reward landscape can be shaped to simplify the learning process. Learning with this training wheel is safer due to smoother reward landscapes with shallower gradients. Also, the initial guess for initiating the machine learning algorithm is simplified, because the salient gradient set of viable reward signals is bigger. During the learning process, the training wheel influence can be gradually reduced and the learning algorithm converges to the solution of the initial learning problem without training wheels. The third contribution presents a rugged, lightweight force and pressure sensor for feedback information and biomechanical analysis. The sensor can be mounted on a robotic foot and provides continuous force and pressure feedback during locomotion in unstructured and soft terrain. The sensor is based on a pressure sensor, encapsulated in a polyurethane dome with an air cavity around the pressure sensor. External forces deform the sensor dome and the rising pressure in the air cavity is measured by the pressure sensor. Based on the dome geometry and material, the sensor range can be adjusted for different load cases. The sensor can be used in arrays to measure pressure distributions as well as a wearable force sensor in wet or granular media where classical force plates can not be utilized. The final contribution synergizes the individual contributions into a neuroinspired learning approach that matches a bioinspired closed-loop central pattern generator with reflex-like neuroelastic feedback to the natural dynamics of a quadruped robot with biarticular legs. Through sparse contact feedback from the foot sensor, the bioinspired central pattern generator can neuroelastically mitigate short-term perturbations to adapt the robot to its environment. Because the robot dynamics and the control task dynamics initially do not match, the controller uses the neuroelastic feedback to minimize the discrepancy between commanded and measured robot behavior. The amount of feedback activity during level walking can be used as a proxy to estimate the amount of dynamics mismatching. By minimizing the amount of required neuroelastic feedback the robot learns to neuroplastically match its control task dynamics to its natural dynamics through Bayesian optimization. Through the synergy of mechanics and control the biomechatronic system benefits from both the individual functionality of its components as well as their interplay during locomotion. The designed natural dynamics provide advantageous passive behavior to the robot and the bioinspired controller learns to leverage the natural dynamics to achieve convincing locomotion.Item Open Access Endowing a NAO robot with practical social-touch perception(2022) Burns, Rachael Bevill; Lee, Hyosang; Seifi, Hasti; Faulkner, Robert; Kuchenbecker, Katherine J.Social touch is essential to everyday interactions, but current socially assistive robots have limited touch-perception capabilities. Rather than build entirely new robotic systems, we propose to augment existing rigid-bodied robots with an external touch-perception system. This practical approach can enable researchers and caregivers to continue to use robotic technology they have already purchased and learned about, but with a myriad of new social-touch interactions possible. This paper presents a low-cost, easy-to-build, soft tactile-perception system that we created for the NAO robot, as well as participants’ feedback on touching this system. We installed four of our fabric-and-foam-based resistive sensors on the curved surfaces of a NAO’s left arm, including its hand, lower arm, upper arm, and shoulder. Fifteen adults then performed five types of affective touch-communication gestures (hitting, poking, squeezing, stroking, and tickling) at two force intensities (gentle and energetic) on the four sensor locations; we share this dataset of four time-varying resistances, our sensor patterns, and a characterization of the sensors’ physical performance. After training, a gesture-classification algorithm based on a random forest identified the correct combined touch gesture and force intensity on windows of held-out test data with an average accuracy of 74.1%, which is more than eight times better than chance. Participants rated the sensor-equipped arm as pleasant to touch and liked the robot’s presence significantly more after touch interactions. Our promising results show that this type of tactile-perception system can detect necessary social-touch communication cues from users, can be tailored to a variety of robot body parts, and can provide HRI researchers with the tools needed to implement social touch in their own systems.Item Open Access Engineering and evaluating naturalistic vibrotactile feedback for telerobotic assembly(2024) Gong, Yijie; Kuchenbecker, Katherine J. (Hon.-Prof. Dr.)Teleoperation allows workers on a construction site to assemble pre-fabricated building components by controlling powerful machines from a safe distance. However, teleoperation's primary reliance on visual feedback limits the operator's efficiency in situations with stiff contact or poor visibility, compromising their situational awareness and thus increasing the difficulty of the task; it also makes construction machines more difficult to learn to operate. To bridge this gap, we propose that reliable, economical, and easy-to-implement naturalistic vibrotactile feedback could improve telerobotic control interfaces in construction and other application areas such as surgery. This type of feedback enables the operator to feel the natural vibrations experienced by the robot, which contain crucial information about its motions and its physical interactions with the environment. This dissertation explores how to deliver naturalistic vibrotactile feedback from a robot's end-effector to the hand of an operator performing telerobotic assembly tasks; furthermore, it seeks to understand the effects of such haptic cues. The presented research can be divided into four parts. We first describe the engineering of AiroTouch, a naturalistic vibrotactile feedback system tailored for use on construction sites but suitable for many other applications of telerobotics. Then we evaluate AiroTouch and explore the effects of the naturalistic vibrotactile feedback it delivers in three user studies conducted either in laboratory settings or on a construction site. The primary contribution of this dissertation is the clear explanation of details that are essential for the effective implementation of naturalistic vibrotactile feedback. We demonstrate that our accessible, audio-based approach can enhance user performance and experience during telerobotic assembly in construction and other application domains. These findings lay the foundation for further exploration of the potential benefits of incorporating haptic cues to enhance user experience during teleoperation.Item Open Access Soft urinary bladder phantom for endoscopic training(2021) Choi, Eunjin; Waldbillig, Frank; Jeong, Moonkwang; Li, Dandan; Goyal, Rahul; Weber, Patricia; Miernik, Arkadiusz; Grüne, Britta; Hein, Simon; Suarez-Ibarrola, Rodrigo; Kriegmair, Maximilian Christian; Qiu, TianBladder cancer (BC) is the main disease in the urinary tract with a high recurrence rate and it is diagnosed by cystoscopy (CY). To train the CY procedures, a realistic bladder phantom with correct anatomy and physiological properties is highly required. Here, we report a soft bladder phantom (FlexBlad) that mimics many important features of a human bladder. Under filling, it shows a large volume expansion of more than 300% with a tunable compliance in the range of 12.2 ± 2.8 - 32.7 ± 5.4 mL cmH2O-1 by engineering the thickness of the bladder wall. By 3D printing and multi-step molding, detailed anatomical structures are represented on the inner bladder wall, including sub-millimeter blood vessels and reconfigurable bladder tumors. Endoscopic inspection and tumor biopsy were successfully performed. A multi-center study was carried out, where two groups of urologists with different experience levels executed consecutive CYs in the phantom and filled in questionnaires. The learning curves reveal that the FlexBlad has a positive effect in the endourological training across different skill levels. The statistical results validate the usability of the phantom as a valuable educational tool, and the dynamic feature expands its use as a versatile endoscopic training platform.Item Open Access Magnetic putty as a reconfigurable, recyclable, and accessible soft robotic material(2023) Li, Meng; Pal, Aniket; Byun, Junghwan; Gardi, Gaurav; Sitti, MetinMagnetically hard materials are widely used to build soft magnetic robots, providing large magnetic force/torque and macrodomain programmability. However, their high magnetic coercivity often presents practical challenges when attempting to reconfigure magnetization patterns, requiring a large magnetic field or heating. In this study, magnetic putty is introduced as a magnetically hard and soft material with large remanence and low coercivity. It is shown that the magnetization of magnetic putty can be easily reoriented with maximum magnitude using an external field that is only one‐tenth of its coercivity. Additionally, magnetic putty is a malleable, autonomous self‐healing material that can be recycled and repurposed. The authors anticipate magnetic putty could provide a versatile and accessible tool for various magnetic robotics applications for fast prototyping and explorations for research and educational purposes.