Development of a Compact Piezoworm Actuator For Mr Guided Medical Procedures

In this research, a novel piezoelectric actuator was developed to operate safely inside the magnetic resonance imaging (MRI) machine. The actuator based on novel design that generates linear and rotary motion simultaneously for higher needle insertion accuracy. One of the research main objectives is to aid in the selection of suitable materials for actuators used in this challenging environment. Usually only nonmagnetic materials are used in this extremely high magnetic environment. These materials are classified as MRI compatible materials and are selected to avoid hazardous conditions and image quality degradation. But unfortunately many inert materials to the magnetic field do not possess desirable mechanical properties in terms of hardness, stiffness and strength and much of the available data for MRI compatible materials are scattered throughout the literature and often too device specific . Furthermore, the fact that significant heating is experienced by some of these devices due to the scanner’s variable magnetic fields makes it difficult to draw general conclusions to support the choice of suitable material and typically these choices are based on a trial-and-error with extensive time required for prototype development and MRI testing of such devices. This research provides a quantitative comparison of several engineering materials in the MRI environment and comparison to theoretical behavior which should aid designers/engineers to estimate the MRI compatible material performance before the expensive step of construction and testing. This work focuses specifically on the effects in the MRI due to the material susceptibility, namely forces, torques, image artifacts and induced heating

Volume 3 – Conference

We are pleased to present the conference proceedings for the 12th edition of the International Fluid Power Conference (IFK). The IFK is one of the world’s most significant scientific conferences on fluid power control technology and systems. It offers a common platform for the presentation and discussion of trends and innovations to manufacturers, users and scientists. The Chair of Fluid-Mechatronic Systems at the TU Dresden is organizing and hosting the IFK for the sixth time. Supporting hosts are the Fluid Power Association of the German Engineering Federation (VDMA), Dresdner Verein zur Förderung der Fluidtechnik e. V. (DVF) and GWT-TUD GmbH. The organization and the conference location alternates every two years between the Chair of Fluid-Mechatronic Systems in Dresden and the Institute for Fluid Power Drives and Systems in Aachen. The symposium on the first day is dedicated to presentations focused on methodology and fundamental research. The two following conference days offer a wide variety of application and technology orientated papers about the latest state of the art in fluid power. It is this combination that makes the IFK a unique and excellent forum for the exchange of academic research and industrial application experience. A simultaneously ongoing exhibition offers the possibility to get product information and to have individual talks with manufacturers. The theme of the 12th IFK is “Fluid Power – Future Technology”, covering topics that enable the development of 5G-ready, cost-efficient and demand-driven structures, as well as individual decentralized drives. Another topic is the real-time data exchange that allows the application of numerous predictive maintenance strategies, which will significantly increase the availability of fluid power systems and their elements and ensure their improved lifetime performance. We create an atmosphere for casual exchange by offering a vast frame and cultural program. This includes a get-together, a conference banquet, laboratory festivities and some physical activities such as jogging in Dresden’s old town.:Group 8: Pneumatics Group 9 | 11: Mobile applications Group 10: Special domains Group 12: Novel system architectures Group 13 | 15: Actuators & sensors Group 14: Safety & reliabilit

Study and Development of Mechatronic Devices and Machine Learning Schemes for Industrial Applications

Obiettivo del presente progetto di dottorato è lo studio e sviluppo di sistemi meccatronici e di modelli machine learning per macchine operatrici e celle robotizzate al fine di incrementarne le prestazioni operative e gestionali. Le pressanti esigenze del mercato hanno imposto lavorazioni con livelli di accuratezza sempre più elevati, tempi di risposta e di produzione ridotti e a costi contenuti. In questo contesto nasce il progetto di dottorato, focalizzato su applicazioni di lavorazioni meccaniche (e.g. fresatura), che includono sistemi complessi quali, ad esempio, macchine a 5 assi e, tipicamente, robot industriali, il cui utilizzo varia a seconda dell’impiego. Oltre alle specifiche problematiche delle lavorazioni, si deve anche considerare l’interazione macchina-robot per permettere un’efficiente capacità e gestione dell’intero impianto. La complessità di questo scenario può evidenziare sia specifiche problematiche inerenti alle lavorazioni (e.g. vibrazioni) sia inefficienze più generali che riguardano l’impianto produttivo (e.g. asservimento delle macchine con robot, consumo energetico). Vista la vastità della tematica, il progetto si è suddiviso in due parti, lo studio e sviluppo di due specifici dispositivi meccatronici, basati sull’impiego di attuatori piezoelettrici, che puntano principalmente alla compensazione di vibrazioni indotte dal processo di lavorazione, e l’integrazione di robot per l’asservimento di macchine utensili in celle robotizzate, impiegando modelli di machine learning per definire le traiettorie ed i punti di raggiungibilità del robot, al fine di migliorarne l’accuratezza del posizionamento del pezzo in diverse condizioni. In conclusione, la presente tesi vuole proporre soluzioni meccatroniche e di machine learning per incrementare le prestazioni di macchine e sistemi robotizzati convenzionali. I sistemi studiati possono essere integrati in celle robotizzate, focalizzandosi sia su problematiche specifiche delle lavorazioni in macchine operatrici sia su problematiche a livello di impianto robot-macchina. Le ricerche hanno riguardato un’approfondita valutazione dello stato dell’arte, la definizione dei modelli teorici, la progettazione funzionale e l’identificazione delle criticità del design dei prototipi, la realizzazione delle simulazioni e delle prove sperimentali e l’analisi dei risultati.The aim of this Ph.D. project is the study and development of mechatronic systems and machine learning models for machine tools and robotic applications to improve their performances. The industrial demands have imposed an ever-increasing accuracy and efficiency requirement whilst constraining the cost. In this context, this project focuses on machining processes (e.g. milling) that include complex systems such as 5-axes machine tool and industrial robots, employed for various applications. Beside the issues related to the machining process itself, the interaction between the machining centre and the robot must be considered for the complete industrial plant’s improvement. This scenario´s complexity depicts both specific machining problematics (e.g. vibrations) and more general issues related to the complete plant, such as machine tending with an industrial robot and energy consumption. Regarding the immensity of this area, this project is divided in two parts, the study and development of two mechatronic devices, based on piezoelectric stack actuators, for the active vibration control during the machining process, and the robot machine tending within the robotic cell, employing machine learning schemes for the trajectory definition and robot reachability to improve the corresponding positioning accuracy. In conclusion, this thesis aims to provide a set of solutions, based on mechatronic devices and machine learning schemes, to improve the conventional machining centre and the robotic systems performances. The studied systems can be integrated within a robotic cell, focusing on issues related to the specific machining process and to the interaction between robot-machining centre. This research required a thorough study of the state-of-the-art, the formulation of theoretical models, the functional design development, the identification of the critical aspects in the prototype designs, the simulation and experimental campaigns, and the analysis of the obtained results

Modification of the rotary machining process to improve surface form

Planing and moulding operations carried out within the woodworking industry make extensive use of rotary machining. Cutter-marks are produced on the timber surface which are generally accepted as unavoidable. More noticeable surface defects may be produced by such factors as cutter-head imbalance, and until recently most research has concentrated on removing these defects. When a high quality finish is required, a further machining operation, such as sanding, is often required to remove cutter-marks. What is required, is a modified machining process which combines a surface closer to the ideal fixed knife finish, whilst retaining the flexibility, practicality and cost effectiveness of rotary machining. [Continues.

An indirectly controlled high-speed servo valve using piezo actuators

Since the exhaust emissions legislation for motor vehicles with combustion engines is complicating the manufacturing of environmental yet powerful engines more than ever, automobile manufacturers have approached this challenge by means of downsizing, hybridization of combustion and electric engines and variable valve opening times. In these cases conventional, mechanical valve trains are still used. The subject of this master thesis is the development of a mechatronic control unit as replacement for the camshaft driven valve train of common combustion engines. The system’s aim is a contribution to the progression of the development of modern combustion engines satisfying current demands in terms of economy and efficiency. The developed system is based on the “Full Variable Valve Train” project, founded at the “Institute of Vehicle Construction Wolfsburg” at the “Ostfalia University of Applied Sciences”. An indirectly controlled high speed servo valve that is actuated by a piezoelectric actuator and pressurized hydraulic fluid is being developed. The overall aim is to obtain advantages from a control engineering perspective, being able to reduce the size of the used piezo actuator and hence solve the packaging and regulation issues of the overall system. After manufacturing and improvement activities, a system could be developed that allows a variable control of the engine valve movement. The best results are achieved using a rectangular function for the engine valve actuator. The system allows engine valve operation independent from the crankshaft position and shows the potential to generate higher engine torque and power output while decreasing fuel consumption and emissions at the same time

An indirectly controlled high-speed servo valve using piezo actuators

Since the exhaust emissions legislation for motor vehicles with combustion engines is complicating the manufacturing of environmental yet powerful engines more than ever, automobile manufacturers have approached this challenge by means of downsizing, hybridization of combustion and electric engines and variable valve opening times. In these cases conventional, mechanical valve trains are still used. The subject of this master thesis is the development of a mechatronic control unit as replacement for the camshaft driven valve train of common combustion engines. The system’s aim is a contribution to the progression of the development of modern combustion engines satisfying current demands in terms of economy and efficiency. The developed system is based on the “Full Variable Valve Train” project, founded at the “Institute of Vehicle Construction Wolfsburg” at the “Ostfalia University of Applied Sciences”. An indirectly controlled high speed servo valve that is actuated by a piezoelectric actuator and pressurized hydraulic fluid is being developed. The overall aim is to obtain advantages from a control engineering perspective, being able to reduce the size of the used piezo actuator and hence solve the packaging and regulation issues of the overall system. After manufacturing and improvement activities, a system could be developed that allows a variable control of the engine valve movement. The best results are achieved using a rectangular function for the engine valve actuator. The system allows engine valve operation independent from the crankshaft position and shows the potential to generate higher engine torque and power output while decreasing fuel consumption and emissions at the same time

Development of novel micropneumatic grippers for biomanipulation

Microbjects with dimensions from 1 μm to 1 mm have been developed recently for different aspects and purposes. Consequently, the development of handling and manipulation tools to fulfil this need is urgently required. Micromanipulation techniques could be generally categorized according to their actuation method such as electrostatic, thermal, shape memory alloy, piezoelectric, magnetic, and fluidic actuation. Each of which has its advantage and disadvantage. The fluidic actuation has been overlooked in MEMS despite its satisfactory output in the micro-scale. This thesis presents different families of pneumatically driven, low cost, compatible with biological environment, scalable, and controllable microgrippers. The first family demonstrated a polymeric microgripper that was laser cut and actuated pneumatically. It was tested to manipulate microparticles down to 200 microns. To overcome the assembly challenges that arise in this family, the second family was proposed. The second family was a micro-cantilever based microgripper, where the device was assembled layer by layer to form a 3D structure. The microcantilevers were fabricated using photo-etching technique, and demonstrated the applicability to manipulate micro-particles down to 200 microns using automated pick-and-place procedure. In addition, this family was used as a tactile-detector as well. Due to the angular gripping scheme followed by the above mentioned families, gripping smaller objects becomes a challenging task. A third family following a parallel gripping scheme was proposed allowing the gripping of smaller objects to be visible. It comprises a compliant structure microgripper actuated pneumatically and fabricated using picosecond laser technology, and demonstrated the capability of gripping microobject as small as 100 μm microbeads. An FEA modelling was employed to validate the experimental and analytical results, and excellent matching was achieved