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Functional materials, also called "Smart Materials", are described by their ability to fulfill a desired task through targeted interaction with its environment. Due to this functional integration, such materials are of increased interest, especially in areas where the increasing micronization of components is required. Modern manufacturing processes (e.g. microfluidics) and the availability of a wide variety of functional materials (e.g. shape memory materials) now enable the production of particle-based switching components. This category includes micropumps and microvalves, whose basic function is the active control of liquid flows. One approach in realizing those microcomponents as pursued by this work, enables variable size-switching of water-filled microballoons by implementing a stimulus-sensitive switching motif in the capsule's membrane shell, while being under the influence of a constant driving force. The switching motif with its gatekeeper function has a critical influence on one or more material parameters, which modulate the capsule's resistance against the driving force in microballoon expansion process. The advantage of this concept is that even non-variable analyte conditions, such as concentration levels of ions, can be capitalized to generate external force fields that, under the control of the membrane, cause an inflation of the microballoon by an osmotically driven water influx. In case of osmotic pressure gradients as the driving force for the capsule expansion, material parameters associated with the gatekeeper function are specifically the permeability and the mechanical stiffness of the shell material. While a modulation of the shell permeability could be utilized to kinetically impede the water influx on large time scales, a modulation of the shell's mechanical stiffness even might be utilized to completely prevent the capsule inflation due to a possible non-deformability beneath a certain threshold pressure. In polymer networks, which are a suitable material class for the demanded capsule shell because of their excellent elasticity, both the permeability and the mechanical properties are strongly influenced by the crystallinity of the material. Since the permeability is effectively reduced with increasing crystallinity, while the mechanical stiffness is simultaneously greatly increased, both effects point in the same direction in terms of their functional relationship. For this reason and due to a reversible and contactless modulation of the membrane crystallinity by heat input, crystallites may be suitable switching motifs for controlling the capsule expansion. As second design element of reversible expandable microballoons, the capsule geometry, defined by an aqueous core enveloped by the temperature-sensitive polymer network membrane, should allow an osmotic pressure gradient across the membrane layer. The strength of the inflation pressure and the associated inflation velocity upon membrane melting should be controlled by the salt concentration within the aqueous core, while a turn in the osmotic gradient should furthermore allow the reversible process of capsule deflation. Therefore, it should be possible to build either microvalves and micropumps, while their intended action of either pumping or valving is determined by their state of expansion and the direction of the osmotic pressure gradient.. Microballoons of approximately 300 µm in diameter were formed via droplet-based microfluidics from double-emulsion templates (w/o/w). The elastomeric capsule membrane was formed by photo-crosslinking of methacrylate (MA) functionalized oligo(ε-caprolactone) precursors (≈ 3.8 MA-arms, Mn ≈ 12000 g mol-1) within the organic medium layer (o) via UV-exposure after droplet-formation. After removal of the toluene/chloroform mixture by slow extraction via the continuous aqueous phase, the capsules solidified under the development of a characteristic "mushroom"-like shape at specific experimental conditions (e.g. λ = 308 nm, 57 mJ·s-1·cm-2, 16 min). It could be furthermore shown that in dependency to the process parameters: oligomer concentration and curing-time also spherical capsules were accessible. Long curing-times and high oligomer concentrations at a fixed light-intensity favored the formation of "mushroom"-like capsules, whereas the contrary led to spherical shaped capsules. A comparative study on thin polymer network films of same composition and equal treatment proved a correlation between the film's crosslink density and their contraction capability, while stronger crosslinked polymer networks showed a stronger contraction after solvent removal. In combination with observations during capsule solidification via light-microscopy, where a continuous shaping from almost spherical crosslinked templates to "mushroom"-shaped and solidified capsules was stated, the following mechanism was proposed. In case of low oligomer contents and short curing-times, the contraction of the capsule shell during solvent removal is strongly diminished due to a low degree of crosslinking. Therefore, the solidifying shell could freely collapse onto the aqueous core. In the other case, high oligomer concentrations and long curing-times will favor the formation of highly crosslinked capsule membranes with a strong contraction capability. Due to an observed decentered location of the aqueous core within the swollen polymer network, an uneven radial stress along the capsule's circumference is exerted to the incompressible core. This lead to an uneven contraction during solvent removal and a directed flow of the core fluid into the direction of the minimal stress vector. In consequence, the initially thicker spherical cap contracts, whereas the opposing thinner spherical cap get stretched. The "mushroom"-shape over some advantages over their spherical shaped counterparts, why they were selected for the further experiments. Besides the necessity of a high density of crosslinking for the purpose of extraordinary elasticity and toughness, the form-anisotropy promotes a faster microballoon expandability due to a partial reduction of the membrane thickness. Additionally, pre-stretched regions of thin thickness might provide a better resistance against inflation pressure than spherical but non-stretched capsules of equal membrane thickness. The resulting "mushroom"-shaped microcapsules exhibited a melting point of Tm ≈ 50 - 60 °C and a degree of crystallinity of Xc ≈ 29 - 38 % depending on the membrane thickness and internal salt content, which is slightly lower than for the non-crosslinked oligomer and reasoned by a limited chain mobility upon crosslinking. Nonetheless, the melting transition of the polymer network was associated with a strong drop in its mechanical stiffness, which was shown to have a strong influence on the osmotic driven expansion of the microcapsules. Capsules that were subjected to osmotic pressures between 1.5 and 4.7 MPa did not expand if the temperature was well below the melting point of the capsule's membrane, i.e. at room temperature. In contrast, a continuous expansion, while approaching asymptotically to a final capsule size, was observed if the temperature exceeded the melting point, i.e. 60 °C. Microballoons, which were kept for 56 days at ∆Π = 1.5 MPa and room temperature, did not change significantly in diameter, why the impact of the mechanical stiffness on the expansion behavior is considered to be the greater than the influence of the shell permeability. The time-resolved expansion behavior of the microballoons above their Tm was subsequently modeled, using difusion equations that were corrected for shape anisotropy and elastic restoring forces. A shape-related and expansion dependent pre-factor was used to dynamically address the influence of the shell thickness differences along the circumference on the inflation velocity, whereas the microballoon's elastic contraction upon inflation was rendered by the inclusion of a hyperelastic constitutive model. An important finding resulting from this model was the pronounced increase in inflation velocity compared to hypothetical capsules with a homogeneous shell thickness, which stresses the benefit of employing shape anisotropic balloon-like capsules in this study. Furthermore, the model was able to predict the finite expandability on basis of entropy-elastic recovery forces and strain-hardening effects. A comparison of six different microballoons with different shell thicknesses and internal salt contents showed the linear relationship between the volumetric expansion, the shell thickness and the applied osmotic pressure, as represented by the model. As the proposed model facilitates the prediction of the expansion kinetics depending on the membranes mechanical and diffusional characteristics, it might be a screening tool for future material selections. In course of the microballoon expansion process, capsules of intermediate diameters could be isolated by recrystallization of the membrane, which is mainly caused by a restoration of the membrane's mechanical stiffness and is otherwise difficult to achieve with other stimuli-sensitive systems. The capsule's crystallinity of intermediate expansion states was nearly unchanged, whereas the lamellar crystal size tends to decreased with the expansion ratio. Therefore, it was assumed that the elastic modulus was only minimally altered and might increased due to the networks segment-chain extension. In addition to the volume increase achieved by inflation, a turn in the osmotic gradient also facilitated the reversible deflation, which was shown in inflation/deflation cycles. These both characteristics of the introduced microballoons are important parameter regarding the realization of micropumps and microvalves. The fixation of expanded microcapsules via recrystallization enabled the storage of entropy-elastic strain-energy, which could be utilized for pumping actions in non-aqueous media. Here, the pumping velocity depended on both, the type of surrounding medium and the applied temperature. Surrounding media that supported the fast transport of pumped liquid showed an accelerated deflation, while high temperatures further accelerate the pumping velocity. Very fast rejection of the incorporated payload was furthermore realized with pierced expanded microballoons, which were subjected to temperatures above their Tm. The possible fixation of intermediate particle sizes provide opportunities for vent constructions that allowed the precise adjustment of specific flow-rates and multiple valve openings and closings. A valve construction was realized by the insertion of a single or multiple microballoons in a microfluidic channel. A complete and a partial closing of the microballoon-valves was demonstrated as a function of the heating period. In this context, a difference between the inflation and deflation velocity was stated, summarizing slower expansion kinetics. Overall, microballoons, which presented both on-demand pumping and reversible valving by a temperature-triggered change in the capsule's volume, might be suitable components that help to design fully integrated LOC devices, due to the implementation of the control switch and controllable inflation/deflation kinetics. In comparison to other state of the art stimuli-sensitive materials, one has to highlight the microballoons capability of stabilizing almost continuously intermediate capsule sizes by simple recrystallization of the microballoon's membrane.
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Polymeric materials, which can perform reversible shape changes after programming, in response to a thermal or electrical stimulation, can serve as (soft) actuating components in devices like artificial muscles, photonics, robotics or sensors. Such polymeric actuators can be realized with hydrogels, liquid crystalline elastomers, electro-active polymers or shape-memory polymers by controlling with stumuli such as heat, light, electrostatic or magnetic field. If the application conditions do not allow the direct heating or electric stimulation of these smart devices, noncontact triggering will be required. Remotely controlled actuation have been reported for liquid crystalline elastomer composites or shape-memory polymer network composites, when a persistent external stress is applied during inductive heating in an alternating magnetic field. However such composites cannot meet the demands of applications requiring remotely controlled free-standing motions of the actuating components.
The current thesis investigates, whether a reprogrammable remotely controlled soft actuator can be realized by magneto-sensitive multiphase shape-memory copolymer network composites containing magnetite nanoparticles as magneto-sensitive multivalent netpoints. A central hypothesis was that a magnetically controlled two-way (reversible bidirectional) shape-memory effect in such nanocomposites can be achieved without application of external stress (freestanding), when the required orientation of the crystallizable actuation domains (ADs) can be ensured by an internal skeleton like structure formed by a second crystallizable phase determing the samples´s geometry, while magneto-sensitive iron oxide nanoparticles covalently integrated in the ADs allow remote temperature control. The polymer matrix of these composites should exhibit a phase-segregated morphology mainly composed of cyrstallizable ADs, whereby a second set of higher melting crystallites can take a skeleton like, geometry determining function (geometry determining domains, GDs) after programming of the composite and in this way the orientation of the ADs is established and maintained during actuation. The working principle for the reversible bidirectional movements in the multiphase shape-memory polymer network composite is related to a melting-induced contraction (MIC) during inductive heating and the crystallization induced elongation (CIE) of the oriented ADs during cooling. Finally, the amount of multivalent magnetosensitive netpoints in such a material should be as low as possible to ensure an adequate overall elasticity of the nanocomposite and at the same time a complete melting of both ADs and GDs via inductive heating, which is mandatory for enabling reprogrammability.
At first, surface decorated iron oxide nanoparticles were synthesized and investigated. The coprecipitation method was applied to synthesize magnetic nanoparticles (mNPs) based on magnetite with size of 12±3 nm and in a next step a ring-opening polymerization (ROP) was utilized for covalent surface modification of such mNPs with oligo(ϵ-caprolactone) (OCL) or oligo(ω-pentadecalactone) (OPDL) via the “grafting from” approach. A successful coating of mNPs with OCL and OPDL was confirmed by differential scanning calorimetry (DSC) experiments showing melting peaks at 52±1 °C for mNP-OCL and 89±1 °C for mNP-OPDL. It was further explored whether two-layered surface decorated mNPs, can be prepared via a second surface-initiated ROP of mNP-OCL or mNP-OPDL with ω-pentadecalactone or ϵ-caprolactone. The observation of two distinct melting transitions in DSC experiments as well as the increase in molecular weight of the detached coatings determined by GPC and 1H-NMR indicated a successful synthesis of the twolayered nanoparticles mNP-OCL-OPDL and mNP-OPDL-OCL. In contrast TEM micrographs revealed a reduction of the thickness of the polymeric coating on the nanoparticles after the second ROP, indicating that the applied synthesis and purification required further optimization.
For evaluating the impact of the dispersion of mNPs within a polymer matrix on the resulting inductive heating capability of composites, plain mNPs as well as OCL coated magnetite nanoparticles (mNP-OCLs) were physically incorporated into crosslinked poly(ε-caprolactone) (PCL) networks. Inductive heating experiments were performed with both networks cPCL/mNP and cPCL/mNP-OCL in an alternating magnetic field (AMF) with a magnetic field strength of H = 30 kA·m-1. Here a bulk temperature of Tbulk = 74±2 °C was achieved for cPCL/mNP-OCL, which was almost 20 °C higher than the melting transition of the PCL-based polymer matrix. In contrast, the composite with plain mNPs could only reach a Tbulk of 48±2 °C, which is not sufficient for a complete melting of all PCL crystallites as required for actuation.
The inductive heating capability of a multiphase copolymer nanocomposite network (designed as soft actuators) containing surface decorated mNPs as covalent netpoints was investigated. Such composite was synthesized from star-shaped OCL and OPDL precursors, as well as mNP-OCLs via reaction with HDI. The weight ratio of OPDL and OCL in the starting reaction mixture was 15/85 (wt%/wt%) and the amount of iron oxide in the nanocomposite was 4 wt%. DSC experiments revealed two well separated melting and crystallization peaks confirming the required phase-segregated morphology in the nanocomposite NC-mNP-OCL. TEM images could illustrate a phase-segregated morphology of the polymer matrix on the microlevel with droplet shaped regions attributed to the OPDL domains dispersed in an OCL matrix. The TEM images could further demonstrate that the nanoparticulate netpoints in NC-mNP-OCL were almost homogeneously dispersed within the OCL domains. The tests of the inductive heating capability of the nanocomposites at a magnetic field strength of Hhigh = 11.2 kA·m-1 revealed a achievable plateau surface temperature of Tsurf = 57±1 °C for NC-mNP-OCL recorded by an infrared video camera. An effective heat generation constant (̅P) can be derived from a multi-scale model for the heat generation, which is proportional to the rate of heat generation per unit volume of the sample. NC-mNP-OCL with homogeneously dispersed mNP-OCLs exhibited a ̅P value of 1.04±0.01 K·s- 1 at Hhigh, while at Hreset = 30.0 kA·m-1 a Tsurf of 88±1 °C (where all OPDL related crystallite are molten) and a ̅P value of 1.93±0.02 K·s-1 was obtained indicating a high magnetic heating capability of the composite.
The free-standing magnetically-controlled reversible shape-memory effect (mrSME) was explored with originally straight nanocomposite samples programmed by bending to an angle of 180°. By switching the magnetic field on and off the composite sample was allowed to repetitively heat to 60 °C and cool to the ambient temperature. A pronounced mrSME, characterized by changes in bending angle of Δϐrev = 20±3° could be obtained for a composite sample programmed by bending when a magnetic field strength of Hhigh = 11.2 kA·m-1 was applied in a multi-cyclic magnetic bending experiment with 600 heating-cooling cycles it could be shown that the actuation performance did not change with increasing number of test cycles, demonstrating the accuracy and reproducibility of this soft actuator. The degree of actuation as well as the kinetics of the shape changes during heating could be tuned by variation of the magnetic filed strength between Hlow and Hhigh or the magnetic field exposure time. When Hreset = 30.0 kA·m-1 was applied the programmed geometry was erased and the composite sample returned to it´s originally straight shape. The reprogrammability of the nanocomposite actuators was demonstrated by one and the same test specimen first exhibiting reversible angle changes when programmed by bending, secondly reprogrammed to a concertina, which expands upon inductive heating and contracts during cooling and finally reprogrammed to a clip like shape, which closes during cooling and opens when Hhigh was applied. In a next step the applicability of the presented remote controllable shape-memory polymer actuators was demonstrated by repetitive opening and closing of a multiring device prepared from NC-mNP-OCL, which repetitively opens and closes when a alternating magnetic field (Hhigh = 11.2 kA·m-1) was switched on and off.
For investigation of the micro- and nanostructural changes related to the actuation of the developed nanocomposite, AFM and WAXS experiments were conducted with programmed nanocomposite samples under cyclic heating and cooling between 25 °C and 60 °C. In AFM experiments the change in the distance (D) between representative droplet-like structures related to the OPDL geometry determining domains was used to calculate the reversible change in D. Here Drev = 3.5±1% was found for NC-mNP-OCL which was in good agreement with the results of the magneto-mechanical actuation experiments. Finally, the analysis of azimuthal (radial) WAXS scattering profiles could support the oriented crystallization of the OCL actuation domains at 25 °C.
In conclusion, the results of this work successfully demonstrated that shape-memory polymer nanocomposites, containing mNPs as magneto-sensitive multifunctional netpoints in a covalently crosslinked multiphase polymer matrix, exhibit magnetically (remotely) controlled actuations upon repetitive exposure to an alternating magnetic field. Furthermore, the (shape) memory of such a nanocomposite can be erased by exposing it to temperatures above the melting temperature of the geometry forming domains, which allows a reprogramming of the actuator. These findings would be relevant for designing novel reprogrammable remotely controllable soft polymeric actuators.
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