Publikationen

Magnetorheological (MR) dampers have a virtue over conventional dampers, where their damping properties can be adjusted using a magnetic field. However, MR dampers have been barely implemented in small vibratory systems, in which the modal mass and stiffness are relatively small. This is due to two major reasons, namely its high parasitic damping force and big moving mass. When such an MR damper is installed in a small vibratory system, the system‘s default damping ratio is increased and therefore its dynamic is reduced. Here, a new concept of an MR damper utilizing the porous medium and shear operating mode together with an external non-moving electromagnet is proposed. This combination results in an MR damper with a low parasitic damping force and a small moving mass. For comparison purposes, a benchmark MR damper with comparable geometry is constructed. The proposed MR damper possesses a passive friction force that is 8× smaller and OFF-state passive viscous damping that is 10-20× smaller than the benchmark MR damper. An investigation of the proposed MR damper performance in a test vibratory system shows almost no reduction of the system dynamic. Therefore, this proposed MR damper configuration can be suitable for applications in small vibratory systems.

Ongoing developments in nanotechnology demand higher spatial resolution and thus, higher amplitude sensitivity in Atomic Force Microscopy (AFM). In this work, active cantilevers with integrated sensor and actuator systems are parametrically excited using a novel, analog feedback circuit. With that it is possible to adapt the strength and sign of a cubic nonlinearity which provides a bound to the amplitudes in resonance operation. The system response shows steeper resonance curves and therefore higher amplitude sensitivities compared to forced excited cantilevers. Theoretical findings are validated experimentally.

Magnetorheological fluid (MR) based dampers have been established as an alternative to classical hydraulic dampers with proportional electromagnetic valves under vibration processes which demand adaptive damping forces. Almost all MR-dampers are spatially 1-Degree-of-Freedom (DOF) dampers, having only one axis or direction of damping force generation. In many technical applications there exist movements in more than one spatial DOF, eventually necessitating more than one damper. Because of this, the damping is required not only in one but in more spatial directions, yet adjustable. In this work, a new design of a spatial 3DOF MR damper is proposed to allow damping in three directions within one damping device. The underlying motivation is to spatially integrate three damping directions in one device to potentially reduce installation space compared to three separate 1 DOF dampers. The basic idea of the construction is to use one fluid chamber with several spatially distributed control elements at different positions of the fluid chamber. The control elements are electromagnets, generating the magnetic field in the fluid at different positions so that in total 3 spatial DOFs can be damped individually. Experiments and investigation are made, where the damper's behavior are analyzed not only in one single DOF but also in more than one DOF. It is shown, that the damping concept can generate damping in all three spatial DOFs, both individually or together. Moreover, the damping can be generated to be dominant in one specific direction, meanwhile minimum in the other direction orthogonal to it.

A hybrid damper concept is presented here using a combination of a Magnetorheological (MR) Fluid (MRF) and Shape Memory Alloy (SMA)-based energy dissipation. A demonstration is performed utilizing the shear operating mode of the MRF and the one-way effect of the SMA. The damping performance of different MRF-SMA configurations is investigated and the corresponding energy consumption is evaluated. We demonstrate that the operation of MRF and SMA dampers complement each other, compensating for each other's weaknesses. In particular, the slow response from the MR damper is compensated by passive SMA damping using the pseudoplastic effect of martensite reorientation, which can dissipate a significant amount of shock energy at the beginning of the shock occurrence. The MR damper compensates for the incapability of the SMA to dampen subsequent vibrations as long as the magnetic field is applied. The presented hybrid SMA-MR damper demonstrates superior performance compared to individual dampers, allowing for up to five-fold reduction in energy consumption of the MR damper alone and thereby opening up the possibility of reducing the construction volume of the MR damper.

In this paper, we propose a path-planning problem for stereotactic neurosurgery using concentric tube robots. The main goal is to reach a given region of interest inside the brain, e.g. a tumor, starting from a feasible point on the skull with an ideally short path avoiding certain sensitive brain areas. To describe the shape of the entire cannula from an entry point to the point of interest we use an existing mechanical model for continuum robots. We show numerically that our approach enables the surgeon to reach areas within the brain that would be impossible with a straight cannula as it is currently state of the art.