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Electrical actuation of coated and composite fibers based on poly[ethylene-co-(vinyl acetate)]
(2020)
Robots are typically controlled by electrical signals. Resistive heating is an option to electrically trigger actuation in thermosensitive polymer systems. In this study electrically triggerable poly[ethylene-co-(vinyl acetate)] (PEVA)-based fiber actuators are realized as composite fibers as well as polymer fibers with conductive coatings. In the coated fibers, the core consists of crosslinked PEVA (cPEVA), while the conductive coating shell is achieved via a dip coating procedure with a coating thickness between 10 and 140 mu m. The conductivity of coated fibers sigma = 300-550 S m(-1) is much higher than that of the composite fibers sigma = 5.5 S m(-1). A voltage (U) of 110 V is required to heat 30 cm of coated fiber to a targeted temperature of approximate to 65 degrees C for switching in less than a minute. Cyclic electrical actuation investigations reveal epsilon '(rev) = 5 +/- 1% reversible change in length for coated fibers. The fabrication of such electro-conductive polymeric actuators is suitable for upscaling so that their application potential as artificial muscles can be explored in future studies.
Active fibers can serve as artificial muscles in robotics or components of smart textiles. Here, we present an origami hand robot, where single fibers control the reversible movement of the fingers. A recovery/contracting force of 0.2 N with a work capacity of 0.175 kJ kg(-1) was observed in crosslinked poly[ethylene-co-(vinyl acetate)] (cPEVA) fibers, which could enable the bending movement of the fingers by contraction upon heating. The reversible opening of the fingers was attributed to a combination of elastic recovery force of the origami structure and crystallization-induced elongation of the fibers upon cooling.
Multifunctional reprogrammable actuators based on polymer networks with crystallizable segments
(2019)
Soft polymeric materials, which can change their shape reversibly in response to external stimuli, can serve as actuating components in robotic systems. Besides electroactive polymers (EAP), hydrogels and liquid crystalline elastomers (LCE), crosslinked crystallizable shape-memory polymers networks have been introduced recently as reprogrammable thermo-reversible actuators. The integration of additional functions in such materials will lead to multifunctional polymeric actuators, which meet the complex requirements of modern robotic applications.
The primary aim of this thesis was to achieve multifunctional reprogrammable thermo-reversible actuators based on thermoplastic polymers. Here, three different actuators providing additional functionalities such as surface modification capability (i), self-healing capability (ii) or a tailorable non-response function enabling noncontinuous multi-step motions (iii) were realized. At first, it was hypothesized that surface modifiable polymeric actuators (i) can be achieved by crosslinking of crystallizable thermoplastic terpolymers having reactive moieties, where subsequent thermomechanical programming enables reversible actuations while the sustained reactive groups allow post surface modification. For the second actuator type (ii) it was hypothesized that self-healing during reprogramming of polymeric actuators prepared by crosslinking of crystallizable linear homopolymers, can be achieved by adjusting the amount of freely interpenetrating extractable polymer moieties. Finally, it was hypothesized that thermo-reversible actuators providing a non-response function (iii) and thus enable multistep motions upon continuous normal stimulation, can be achieved by a crosslinked blend of two thermoplastic polymers with co-continuous morphology having a well-separated melting and crystallization transitions. In addition, these actuators can be physically reprogrammed by heating above all melting transitions to provide a different actuating shape.
In this study, surface functionalizable actuators were realized from crosslinked poly[(ethylene)-co-(ethyl acrylate)-co-(maleic anhydride)] (cPEEAMA) based networks. Here crystallizable polyethylene (PE) segments should serve as actuation segments, ethyl acrylate (EA) provides elasticity to the system required for deformation, while reactive maleic anhydride (MA) will be used as chemically modifiable entities for post surface modification. Networks with varied crosslink density were prepared and its effect on thermomechanical properties as well as actuation performance was analyzed. Cyclic thermomechanical experiments were employed to investigate the actuation capability, which revealed a reversible actuation (ε׳rev) between 5 and 15%. Fourier-transform infrared spectroscopy (FTIR) measurements confirmed that MA groups were sustained at the sample surface after processing and programming, which could be modified by reaction with ethylene diamine. Such amine functionalization allows the attachment of bioactive molecules to the actuator surface, which might provide a route to actuating substrates for biotechnology.
Self-healable actuating materials were realized by poly(ε-caprolactone) (PCL) polymer networks with extractable linear PCL fractions of 5 to 60 wt%. A detailed evaluation of the actuation capabilities by cyclic experiments revealed the highest reversible change in strain of Δε = 24% for the cPCL network with 30 wt% of linear polymer. The thermal treatment of damaged samples resulted in the healing of the network when heated to 80 °C. Here a linear polymer fraction ≥ 30 wt% was necessary to achieve a self-healing efficiency of ≥ 50%. The application of such high temperatures erases the programmed actuator shape and at the same time allows to reprogram a new actuating shape. Such sustainable actuators with self-healing function are of great interest for future robotic devices.
Afore mentioned actuators operate continuously between two shapes and their movements can only be interrupted when the temperature is stopped. To overcome this limitation, noncontinuously responding actuators enabling multi-step actuation were realized from crosslinked blend networks prepared from PCL and poly[(ethylene)-co-(vinyl acetate)] (PEVA). These polymers (PCL and PEVA) were selected due to their immiscible character, where crystallizable PE and PCL segments provide two different actuation units, while vinyl acetate (VA) segment enabled sufficient elasticity of the system. A gap of 20 K in the melting and crystallization temperature of PE and PCL was achieved by selecting PEVA with 5 wt% VA content (cPCL-PEVA5) providing a co-continuous phase morphology. Cyclic thermomechanical investigations were employed to investigate noncontinuous actuation, which revealed a high Δε = 25% with a similar contribution from PCL and PE actuation units with a non-response region in the temperature range from 50 to 71 °C in heating step and 30 to 60 °C in cooling step. The actuation related to PCL part changed from 13 to 2% by altering the heating and cooling rates from 3 to 10 K·min-1. Free-standing reversible noncontinuous actuation was realized by rotating demonstrator which exhibits reversible angle change in a custom-made setup. For this purpose, cPCL-PEVA5 stripe was programmed by twisting and reversible rotational actuation was realized from 0 to 180° while pausing in the 90° position during non-response. These blends can be physically programmed to perform reversible noncontinuous actuations, while the programmed geometry can be erased by heating it to temperature above all melting transitions. By physically reprogramming of the material various different actuation modes can be obtained. Such a noncontinuous actuator would be relevant for designing interruptive actuating soft robots at continuous trigger signals.
Electrophysiological research using verbal response paradigms faces the problem of muscle artifacts that occur during speech production or in the period preceding articulation. In this context, this paper has two related aims. The first is to show how the nature of the first phoneme influences the alignment of the ERPs. The second is to further characterize the EEG signal around the onset of articulation, both in temporal and frequency domains. Participants were asked to name aloud pictures of common objects. We applied microstate analyses and time-frequency transformations of ERPs locked to vocal onset to compare the EEG signal between voiced and unvoiced labial plosive word onset consonants. We found a delay of about 40 ms in the set of stable topographic patterns for /b/ relative to /p/ onset words. A similar shift was observed in the power increase of gamma oscillations (30-50 Hz), which had an earlier onset for /p/ trials (similar to 150 ms before vocal onset). This 40-ms shift is consistent with the length of the voiced proportion of the acoustic signal prior to the release of the closure in the vocal responses. These results demonstrate that phonetic features are an important parameter affecting response-locked ERPs, and hence that the onset of the acoustic energy may not be an optimal trigger for synchronizing the EEG activity to the response in vocal paradigms. The indexes explored in this study provide a step forward in the characterization of muscle-related artifacts in electrophysiological studies of speech and language production.
In silicate glasses and melts, water acts according to two main processes. First, it can be dissolved in high temperature/high pressure melts. Second, it constitutes a weathering agent on the glass surface. A number of in-situ x- ray absorption fine structure (XAFS) studies for Fe, Ni, Zr, Th and U show that the more charged cations (Zr, Nb, Mo, Ta, Sn, Th and U) are little affected by the presence of dissolved water in the melt. In contrast, divalent iron and nickel are highly sensitive to the presence of water, which enhance nucleation processes, for example, of phyllosilicates at the angstrom-scale. Such information provides additional constraints on the role of water deep in the Earth, particularly in magmatology. By contrast, the weathering of glass surfaces by water can be studied from a durability perspective. Experimental weathering experiments Of nuclear waste glasses performed in the laboratory show a variety of surface enrichments (carbon, chlorine, alkalis, iron) after exposure to atmospheric fluids and moisture. Mn-, and Fe-surface enrichments of analogous glasses of the XIVth century are related to the formation of Mn and Fe oxy/ hydroxides on the surface. The impact on the glass darkening is considered in terms of urban pollution and mass tourism
This paper presents the results of a novel experimental approach to relative quantifier scope in German that elicits data in an indirect manner. Applying the covered-box method (Huang et al. 2013) to scope phenomena, we show that inverse scope is available to some extent in the free constituent order language German, thereby validating earlier findings on other syntactic configurations in German (Rado & Bott 2018) and empirical claims on other free constituent order languages (Japanese, Russian, Hindi), as well as recent corpus findings in Webelhuth (2020). Moreover, the results of the indirect covered-box experiment replicate findings from an earlier direct-query experiment with comparable target items, in which participants were asked directly about the availability of surface scope and inverse scope readings. The configuration of interest consisted of canonical transitive clauses with deaccented existential subject and universal object QPs, in which the restriction of the universal QP was controlled for by the context.
This article presents several acceptability rating experiments concerned with crossing wh-movement in German multiple questions. Our results show that there is no general superiority effect in German, thus refuting claims to the contrary by Featherston (2005). However, acceptability is reduced when a wh-phrase crosses a wh-subject with which it agrees in animacy. We explain this finding in terms of the availability of different sorting keys for the answers to the multiple questions.