Mechatronics
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Die Mensch-Roboter-Kollaboration verspricht, die Leistungsfähigkeit eines Roboters und die Stärken eines Menschen zu kombinieren. Das junge Thema bringt nicht nur Vorteile, sondern auch neue Sicherheitsbestimmungen und aufwändige Validierungsverfahren mit sich, was den Zeitbedarf für die Entwicklung neuer MRK-Applikationen erhöht. Oft ergibt sich erst bei der Validierung, dass die Sicherheitsbestimmungen (meist die biomechanischen Grenzwerte) nicht eingehalten werden können und dadurch Änderungen an der Applikation durchgeführt werden müssen. So bildet sich ein Kreislauf aus „Validieren“ und „Änderungen vornehmen“, der erst nach mehreren Zyklen beendet werden kann. Ziel der vorliegenden Masterarbeit ist es, Empfehlungen zu konzipieren, mit welchen dieser Kreislauf frühzeitig durchbrochen werden kann. Die Arbeit beschränkt sich dabei auf das Leistungs- und Kraftbegrenzungsschutzprinzip. Um den Einfluss unterschiedlicher Parameter, wie beispielsweise die maximale TCP-Geschwindigkeit oder die Greifergeometrie, auf die Kollisionskräfte und Drücke zu erforschen, wurde ein biofideles Messsystem und ein Roboter vom Typ ABB GoFa™ verwendet. Diese Untersuchungen dienen zusammen mit den Sicherheitsbestimmungen als Grundlage der Gestaltungsempfehlungen. Um eine Anwendung der Empfehlungen vorzuzeigen, wird in der vorliegenden Arbeit exemplarisch eine MRK-Applikation gestaltet und validiert
In today’s world, fiber optic networks for data transmission are an essential technology. This technology provides multiple advantages compared to conventional electrical data transmission. The simultaneous transmission of multiple optical signals in a single fiber is one of the main benefits of fiber optic cable. This is accomplished by directing the different optical signals into a single fibre and splitting them up after the transmission in order to obtain the individual signals. Arrayed Waveguide Gratings (AWGs) are used for this purpose in modern optical networks. Design and evaluation process are two components of AWG development. During the evaluation of several simulated and already manufactured AWGs for telecommunication applications, it was discovered that the channel spacing parameter does not conform telecommunication standards. The correct shift of the geometric parameter ”separation of the output waveguides” leads to the standard-conform channel spacing.
According to the current state of the art, no commercial tool is available which calculates the shift of this parameter correctly. The aim of this thesis is the development of a software tool to calculate the accurate shifting of the geometric parameter ”separation of the output waveguides” of an AWG. This tool operates as an interface between the design and evaluation processes and must be able to import the data format of the evaluation process and returns the data in a suitable data format for the design process. The Vorarlberg University of Applied Sciences uses three different methods for the shifting of the geometric parameter ”separation of the output waveguides”. These methods are evaluated and optimised as part of this thesis. Additionally, it has been determined that the shift of the geometric parameter ”separation of the output waveguides” has no significant impact on the performance of the AWG.
The detection of glucose is an essential part of diabetes management and can help to prevent secondary diseases, that can occur as a result of diabetes. For this reason, it is important to improve the current glucose monitoring by developing novel sensors with high efficiency, low cost and compact design. The use of microelectrodes with interdigitated array (IDA) structures reduces the total detector size while providing benefits such as large currents, high sensitivity, and fast response. The aim of this thesis is to develop a novel sensor based on platinum interdigitated array (IDA) electrodes and to investigate which method is most effective for the detection of glucose. This work is divided into two parts. The first part is focused on the design and the fabrication of the sensor chips. The second part is concerned with the electrochemical characterisation of the sensors. Two distinct sensor designs are created, each consisting of a four-electrode system arranged as an interdigitated array. For the fabrication of the sensors, two different manufacturing processes are used. A lift-off process is used to fabricate the 2 μm-Gap sensor chips, whereas a lift-off free process is applied to produce the nanogap sensor chips. The electrochemical characterisation of both sensor chips is achieved by the immobilisation of the enzyme glucose oxidase (GOx) on the electrode surface. This thesis investigates the immobilisation of GOx by reduction of diazonium salts and the direct immobilisation of GOx by cyclic voltammetry. As a result of this work, it has been demonstrated that glucose detection by reduction of diazonium salts is error-prone due to modification with a multi-step procedure and is not suitable for our sensors based on platinum IDA electrodes. The direct immobilisation of GOx by cyclic voltammetry, by contrast, demonstrates the successful detection of glucose. In glucose solutions ranging from 5 mM to 20 mM, a direct correlation between the glucose concentration and the measured current is obtained. The reproducibility of direct immobilization is demonstrated by repeated performance with various sensors.
This master’s thesis provides an overview of a more efficient, future-oriented living concept in Dornbirn, Austria. The use of a combined heat and power unit (CHP), in combination with a thermal storage, as a heating system is specifically investigated. In order to make this heating system more attractive for the consumer, the sale of the generated electricity from the CHP is considered. The more efficient use of energy for heating increases the attractiveness by a minimisation of the living space. This master’s thesis aims to draw attention to the issue and to achieve a rethinking in the planning of future living space. For the research and elaboration of this thesis, statistics and trustworthy literature were used, and physical modelling was applied. This Master’s thesis can be assigned to the fields of energy technology, mechatronics, architecture and civil engineering. It contributes for students, researchers, and other interested person in these sectors.
IEC 61499 ist ein Standard für die verteilte Automatisierung. Damit lassen sich Systeme designen, die eine Vielzahl von Knoten vernetzen können. Dadurch lassen sich komplexe Aufgaben in der Industrie leichter bewältigen. Um dies zu ermöglichen, müssen alle Systembestandteile miteinander kommunizieren können. Ein solches Kommunikationsnetzwerk kann dann schnell sehr komplex werden und damit schwer zu verwalten sein. Wenn es darum geht, an viele Teilnehmer Daten zu verteilen, hat sich das Publish-Subscribe Kommunikationsmuster bewährt.
ZeroMQ ist eine Bibliothek, mit der über Sockets unter anderem solche Publish-Subscribe Kommunikationsnetzwerke realisiert werden können. Sie baut auf dem ZeroMQ Message Transport Protocol (ZMTP) auf. Dabei ist die Verwendung unwesentlich komplexer als mit Berkeley Sockets.
4DIAC/Forte bietet ein Framework um Applikationen nach IEC 61499 zu erstellen. In dieser Thesis wird 4DIAC/Forte und ZeroMQ vorgestellt. Es wird die Struktur einer Kopplungsschicht zwischen Forte und ZeroMQ präsentiert und implementiert. Anschließend werden Messungen von Latenz und Throughput durchgeführt, um die Performance zu evaluieren.
In Forte sind traditionelle Sockets für die Kommunikation bereits implementiert. Sie unterstützen das Client-Server Muster und Publish-Subscribe mittels UDP Multicast. Mit diesen Lösungen werden die Messungen ebenfalls durchgeführt um einen Vergleich mit ZeroMQ aufzustellen. Es werden auch vorhandene Daten für DDS herangezogen. Die Ergebnisse zeigen, dass sich ZeroMQ für die Kommunikation in Forte eignet und dabei hilft, die Komplexität zu reduzieren und die Handhabung zu vereinfachen.
Development of a low pressure syringe pump for detecting cannabinoids through liquid chromatography
(2022)
The following thesis covers the miniaturization and characterization of a pneumatic syringe pump, which is used for applications in low-pressure liquid chromatography. For this purpose, the components of the prototype are dealt with in the first section. These include the membrane pump and the cylinder for pressure and force generation, the syringe used for sample preparation and the construction of the test column. Furthermore, the pressure preparation on the cylinder, the friction losses of the syringe and then the behavior of the syringe in various application scenarios are considered. In the second section, the focus is on the different behaviors when using water and ethanol as a solvent. Tests in normal applications, as well as with air pockets or leaking seals, show the different behavior and the resulting deviations in the test pressure of the column. In addition, the maximum forces that can be applied to the syringe are worked out in several tests and the different maximum pressures, which depend on the solvent contained, are evaluated. These different maximum pressures, which are due to the different sealing behavior in connection with the surface tension of the liquid, will be discussed in conclusion. An outlook follows, up to which test pressures the system can be used and how these can be achieved.
Power cables play an important role in power grids. Insulation faults in cables can have adverse effects on the operating behaviour. These effects can be assessed through an AC withstand test by using a very-low frequency high voltage generator. This generator produces a sinusoidal voltage waveform at 0.1Hz with high voltage levels up to 65kV peak. During the quality assessment, the power cable is repeatedly charged and discharged. The discharging process is done by a discharging circuit where the energy is dissipated thermally. But to reuse the dissipated energy a novel extension in form of an energy storage system is presented. This thesis, therefore, describes the design process of an energy storage system that allows the temporary storage of the discharge energy. The developed system is composed of a bidirectional DC/DC converter and an aluminium electrolytic capacitor as storage type. Based on the maximum VLF system ratings the energy storage unit is dimensioned and sized. The effective power flow control between the storage system and the available discharge energy is done by a synchronous buck-boost converter. This bidirectional converter works in continuous conduction mode over the complete charging phase. Together with a theoretical analysis of the underlying problem and the use of converter analysis methods the selected synchronous buck-boost converter is dimensioned and sized. In addition, a state space AC modeling of the converter with its electrical uncertainties is conducted. With the converters AC model, the controller is designed. A closed-loop input converter current control scheme based on a proportional-integral controller is implemented. The system assessment is done by a model-based hardware implementation in Matlab Simulink and Plecs Blockset. The system is rated to store discharge energies up to 4.3kJ in a short charging period of 2.5s. The maximum peak power during the charging phase is 2.7kW. The digital proportional-integral controller is implemented through an emulation process of the designed analog controller. Based on a C-code implementation of the digital controller the gap between the real hardware is reduced. During the design process theoretical calculations are made and reveal that designing a capacitor storage unit has a direct impact on the peak system currents and also impose also limitations on permissible DC voltage ranges on electrical components. The developed energy storage system and its power flow control strategy were investigated through simulation studies. The results show proper charging of the energy storage medium. In addition, also a statement of the final technical feasibility is made. In total, this work summarizes a detailed design process of the energy storage system. This proof of concept is intended to further advance the system integration.
Die vorliegende Arbeit beschäftigt sich mit der Positionsbestimmung in Innenräumen mittels der Ultra Breitband Technologie, deren Genauigkeit sowie der Positionierung solcher Systeme in relevanten Beleuchtungsmodulen. Im ersten Teil der Arbeit wird die Ultrabreitband Technologie beschrieben, die sich für Ortbarkeit in Innenräumen durch die große Bandbreite, relativ gut eignet. Hierbei wird auf das UWB-Signal, die Regulierung bezüglich Frequenznutzung für Europa und USA sowie auf die UWB-Standards eingegangen. Im weiteren Verlauf der Arbeit werden die gegenwärtigen Positionsbestimmungs Verfahren beschrieben. Beispiele hierfür sind das Time of Flight (ToF), das Time of Arrival sowie nicht funkbasierte Methoden wie z. B. die Inertial Measurement Unit (IMU). Die Positionsbestimmung in der UWB-Technologie wird häufig mittels ToF und ToA bewerkstelligt. Im darauffolgenden Kapitel werden die gegenwärtigen Lokalisierungssysteme erklärt. Real Time Locating Systems (RTLS) kommen in vielen Lebensbereichen zum Einsatz, von Krankenhäusern bis zum Sport. Der zweite Teil der Arbeit besteht aus der Ausarbeitung von verschiedenen Konzepten zur Realisierung eines Demonstrators sowie der Ausarbeitung eines Simulationsmodells für die Positionsbestimmung, mit dem eine Ortungsgenauigkeit von 30 bis 50 cm erreicht werden kann.