Experimental analysis of a separation control device based on plasma technology

In this thesis effects of plasma actuators based on Dielectric Barrier Discharge (DBD) technology over a NACA 0015 bidimensional airfoil have been analyzed in an experimental way, at low Reynolds number. Work developed on thesis has been carried on in partnership with the Department of Electrical Engineering of Università di Bologna, inside Wind Tunnel of the Applied Aerodynamic Laboratory of Aerospace Engineering faculty. In order to verify the effectiveness of these active control devices, the analysis has shown how actuators succeed in prevent boundary layer separation only in certain conditions af angle of attack and Reynolds numbers. Moreover, in this thesis actuators’ chordwise position effect has been also analyzed, together with the influence of steady and unsteady operations.

Sviluppo di un sistema miniaturizzato per il controllo real-time di assetto di nano e microsatelliti

Microsatelliti e nanosatelliti, come ad esempio i Cubesat, sono carenti di sistemi integrati di controllo d’assetto e di manovra orbitale. Lo scopo di questa tesi è stato quello di realizzare un sistema compatibile con Cubesat di una unità, completo di attuatori magnetici e attuatori meccanici, comprendente tutti i sensori e l’elettronica necessaria per il suo funzionamento, creando un dispositivo totalmente indipendente dal veicolo su cui è installato, capace di funzionare sia autonomamente che ricevendo comandi da terra. Nella tesi sono descritte le campagne di simulazioni numeriche effettuate per validare le scelte tecnologiche effettuate, le fasi di sviluppo dell’elettronica e della meccanica, i test sui prototipi realizzati e il funzionamento del sistema finale. Una integrazione così estrema dei componenti può implicare delle interferenze tra un dispositivo e l’altro, come nel caso dei magnetotorquer e dei magnetometri. Sono stati quindi studiati e valutati gli effetti della loro interazione, verificandone l’entità e la validità del progetto. Poiché i componenti utilizzati sono tutti di basso costo e di derivazione terrestre, è stata effettuata una breve introduzione teorica agli effetti dell’ambiente spaziale sull’elettronica, per poi descrivere un sistema fault-tolerant basato su nuove teorie costruttive. Questo sistema è stato realizzato e testato, verificando così la possibilità di realizzare un controller affidabile e resistente all’ambiente spaziale per il sistema di controllo d’assetto. Sono state infine analizzate alcune possibili versioni avanzate del sistema, delineandone i principali aspetti progettuali, come ad esempio l’integrazione di GPS e l’implementazione di funzioni di determinazione d’assetto sfruttando i sensori presenti a bordo.

Chemical Production and Microelectronic Applications of Graphene and Nano-Graphene Derivatives

Graphene and graphenic derivatives have rapidly emerged as an extremely promising system for electronic, optical, thermal, and electromechanical applications. Several approaches have been developed to produce these materials (i.e. scotch tape, CVD, chemical and solvent exfoliation). In this work we report a chemical approach to produce graphene by reducing graphene oxide (GO) via thermal or electrical methods. A morphological and electrical characterization of these systems has been performed using different techniques such as SPM, SEM, TEM, Raman and XPS. Moreover, we studied the interaction between graphene derivates and organic molecules focusing on the following aspects: - improvement of optical contrast of graphene on different substrates for rapid monolayer identification1 - supramolecular interaction with organic molecules (i.e. thiophene, pyrene etc.)4 - covalent functionalization with optically active molecules2 - preparation and characterization of organic/graphene Field Effect Transistors3-5 Graphene chemistry can potentially allow seamless integration of graphene technology in organic electronics devices to improve device performance and develop new applications for graphene-based materials. [1] E. Treossi, M. Melucci, A. Liscio, M. Gazzano, P. Samorì, and V. Palermo, J. Am. Chem. Soc., 2009, 131, 15576. [2] M. Melucci, E. Treossi, L. Ortolani, G. Giambastiani, V. Morandi, P. Klar, C. Casiraghi, P. Samorì, and V. Palermo, J. Mater. Chem., 2010, 20, 9052. [3] J.M. Mativetsky, E. Treossi, E. Orgiu, M. Melucci, G.P. Veronese, P. Samorì, and V. Palermo, J. Am. Chem. Soc., 2010, 132, 14130. [4] A. Liscio, G.P. Veronese, E. Treossi, F. Suriano, F. Rossella, V. Bellani, R. Rizzoli, P. Samorì and V. Palermo, J. Mater. Chem., 2011, 21, 2924. [5] J.M. Mativetsky, A. Liscio, E. Treossi, E. Orgiu, A. Zanelli, P. Samorì , V. Palermo, J. Am. Chem. Soc., 2011, 133, 14320

Wireless Sensor Networks for Monitoring Applications

Wireless Sensor Networks (WSNs) are getting wide-spread attention since they became easily accessible with their low costs. One of the key elements of WSNs is distributed sensing. When the precise location of a signal of interest is unknown across the monitored region, distributing many sensors randomly/uniformly may yield with a better representation of the monitored random process than a traditional sensor deployment. In a typical WSN application the data sensed by nodes is usually sent to one (or more) central device, denoted as sink, which collects the information and can either act as a gateway towards other networks (e.g. Internet), where data can be stored, or be processed in order to command the actuators to perform special tasks. In such a scenario, a dense sensor deployment may create bottlenecks when many nodes competing to access the channel. Even though there are mitigation methods on the channel access, concurrent (parallel) transmissions may occur. In this study, always on the scope of monitoring applications, the involved development progress of two industrial projects with dense sensor deployments (eDIANA Project funded by European Commission and Centrale Adritica Project funded by Coop Italy) and the measurement results coming from several different test-beds evoked the necessity of a mathematical analysis on concurrent transmissions. To the best of our knowledge, in the literature there is no mathematical analysis of concurrent transmission in 2.4 GHz PHY of IEEE 802.15.4. In the thesis, experience stories of eDIANA and Centrale Adriatica Projects and a mathematical analysis of concurrent transmissions starting from O-QPSK chip demodulation to the packet reception rate with several different types of theoretical demodulators, are presented. There is a very good agreement between the measurements so far in the literature and the mathematical analysis.

Photovernetzbare flüssigkristalline Polymere unterschiedlicher Kettentopologien

„Photovernetzbare flüssigkristalline Polymere unterschiedlicher Kettentopologien“, Patrick Beyer, Mainz 2007 Zusammenfassung In der vorliegenden Arbeit wurde die Synthese und Charakterisierung flüssigkristalliner Elastomere unterschiedlicher Polymertopologien vorgestellt. Dabei wurden Systeme synthetisiert, bei denen die mesogenen Einheiten entweder als Seitengruppen an ein Polymerrückgrat angebunden (Seitenkettenelastomere) oder direkt in die Polymerkette integriert (Hauptkettenelastomere) sind (siehe Abbildung). Bezüglich der Seitenkettensysteme konnten erstmals photovernetzbare smektische Seitenkettenpolymere, in denen aufgrund der Anknüpfung eines photoisomerisierbaren Azobenzols eine Photo- modulation der ferroelektrischen Eigenschaften möglich ist, dargestellt werden. Homöotrop orientierte freistehende Filme dieser Materialien konnten durch Spincoaten dargestellt und unter Ausnutzung des Dichroismus der Azobenzole durch geeignete Wahl der Bestrahlungsgeometrie photovernetzt werden. Aufbauend auf diesen Untersuchungen wurde anhand eines nicht vernetzbaren Modellsystems im Detail der Einfluss der trans-cis Isomerisierung des Azobenzols auf die ferroelektrischen Parameter untersucht. Durch zeitaufgelöste Messungen der Absorption der Azobenzole, der spontanen Polarisation und des Direktorneigungswinkels und Auswertung der kinetischen Prozesse konnte eine lineare Abhängigkeit der ferroelektrischen Eigenschaften vom Grad der Isomerisierungsreaktion festgestellt werden. Durch Vergleich dieser in der flüssigkristallinen Phase erhaltenen Ergebnisse mit der Kinetik der thermischen Reisomerisierung in Lösung (Toluol) konnte ferner eine deutliche Reduzierung der Relaxationszeiten in der anisotropen flüssigkristallinen Umgebung festgestellt und auf eine Absenkung der Aktivierungsenergie zurückgeführt werden. Makroskopische Formänderungen der Seitenkettenelastomere am Phasenübergang von der flüssigkristallinen in die isotrope Phase konnten jedoch nicht festgestellt werden. Aus diesem Grund wurden neue Synthesestrategien für die Darstellung von Hauptkettenelastomeren entwickelt, die sich aufgrund der direkten Kopplung von flüssigkristallinem Ordnungsgrad und Polymerkettenkonformation besser für die Herstellung thermischer Aktuatoren eignen. Auf Basis flüssigkristalliner Polymalonate konnten dabei lateral funktionalisierte smektische Hauptkettenpolymere synthetisiert werden, welche erstmals die Darstellung von LC-Hauptkettenelastomeren durch Photovernetzung in der flüssigkristallinen Phase erlauben. Durch laterale Bromierung konnte in diesen Systemen die Kristallisationstendenz der verwendeten Biphenyleinheiten unterdrückt werden. Bezüglich der Photovernetzung konnten zwei neue Synthesemethoden entwickelt werden, bei denen der Vernetzungsschritt entweder durch radikalische Polymerisation lateral angebundener Acrylatgruppen oder durch photoaktive Benzophenongruppen erfolgte. Basierend auf den Benzophenon funktionalisierten Systemen konnte ein neuartiges Verfahren zur Darstellung makroskopisch orientierter Hauptkettenelastomere durch Photovernetzung entwickelt werden. Die Elastomerproben, deren Ordnungsgrad durch Röntgenuntersuchungen ermittelt werden konnte, zeigen am Phasenübergang von der flüssigkristallinen in die isotrope Phase eine reversible Formänderung von 40%. Im Gegensatz zu anderen bekannten smektischen Systemen konnten die in dieser Arbeit vorgestellten Elastomere ohne Zerstörung der Phase bis zu 60% entlang der smektischen Schichtnormalen gestreckt werden, was im Kontext einer geringen Korrelation der smektischen Schichten in Hauptkettenelastomeren diskutiert wurde.

Qualifica a Vibrazioni di Componenti Meccanici: Studio e Verifica di una Procedura di Test Tailoring.

I test di qualifica a vibrazioni vengono usati in fase di progettazione di un componente per verificarne la resistenza meccanica alle sollecitazioni dinamiche (di natura vibratoria) applicate durante la sua vita utile. La durata delle vibrazioni applicate al componente durante la sua vita utile (migliaia di ore) deve essere ridotta al fine di realizzare test fattibili in laboratorio, condotti in genere utilizzando uno shaker elettrodinamico. L’idea è quella di aumentare l’intensità delle vibrazioni riducendone la durata. Esistono diverse procedure di Test Tailoring che tramite un metodo di sintesi definiscono un profilo vibratorio da applicare in laboratorio a partire dalle reali vibrazioni applicate al componente: una delle metodologie più comuni si basa sull’equivalenza del danno a fatica prodotto dalle reali vibrazioni e dalle vibrazioni sintetizzate. Questo approccio è piuttosto diffuso tuttavia all’autore non risulta presente nessun riferimento in letteratura che ne certifichi la validità tramite evidenza sperimentalmente. L’obiettivo dell’attività di ricerca è stato di verificare la validità del metodo tramite una campagna sperimentale condotta su opportuni provini. Il metodo viene inizialmente usato per sintetizzare un profilo vibratorio (random stazionario) avente la stessa durata di un profilo vibratorio non stazionario acquisito in condizioni reali. Il danno a fatica prodotto dalla vibrazione sintetizzata è stato confrontato con quello della vibrazione reale in termini di tempo di rottura dei provini. I risultati mostrano che il danno prodotto dalla vibrazione sintetizzata è sovrastimato, quindi l’equivalenza non è rispettata. Sono stati individuati alcuni punti critici e sono state proposte alcune modifiche al metodo per rendere la teoria più robusta. Il metodo è stato verificato con altri test e i risultati confermano la validità del metodo a condizione che i punti critici individuati siano correttamente analizzati.

Nonlinear Control of Magnetically Actuated Spacecraft

The topic of this thesis is the feedback stabilization of the attitude of magnetically actuated spacecraft. The use of magnetic coils is an attractive solution for the generation of control torques on small satellites flying inclined low Earth orbits, since magnetic control systems are characterized by reduced weight and cost, higher reliability, and require less power with respect to other kinds of actuators. At the same time, the possibility of smooth modulation of control torques reduces coupling of the attitude control system with flexible modes, thus preserving pointing precision with respect to the case when pulse-modulated thrusters are used. The principle based on the interaction between the Earth's magnetic field and the magnetic field generated by the set of coils introduces an inherent nonlinearity, because control torques can be delivered only in a plane that is orthogonal to the direction of the geomagnetic field vector. In other words, the system is underactuated, because the rotational degrees of freedom of the spacecraft, modeled as a rigid body, exceed the number of independent control actions. The solution of the control issue for underactuated spacecraft is also interesting in the case of actuator failure, e.g. after the loss of a reaction-wheel in a three-axes stabilized spacecraft with no redundancy. The application of well known control strategies is no longer possible in this case for both regulation and tracking, so that new methods have been suggested for tackling this particular problem. The main contribution of this thesis is to propose continuous time-varying controllers that globally stabilize the attitude of a spacecraft, when magneto-torquers alone are used and when a momentum-wheel supports magnetic control in order to overcome the inherent underactuation. A kinematic maneuver planning scheme, stability analyses, and detailed simulation results are also provided, with new theoretical developments and particular attention toward application considerations.

Development of control-oriented models of Dual Clutch Transmission systems

A control-oriented model of a Dual Clutch Transmission was developed for real-time Hardware In the Loop (HIL) applications, to support model-based development of the DCT controller. The model is an innovative attempt to reproduce the fast dynamics of the actuation system while maintaining a step size large enough for real-time applications. The model comprehends a detailed physical description of hydraulic circuit, clutches, synchronizers and gears, and simplified vehicle and internal combustion engine sub-models. As the oil circulating in the system has a large bulk modulus, the pressure dynamics are very fast, possibly causing instability in a real-time simulation; the same challenge involves the servo valves dynamics, due to the very small masses of the moving elements. Therefore, the hydraulic circuit model has been modified and simplified without losing physical validity, in order to adapt it to the real-time simulation requirements. The results of offline simulations have been compared to on-board measurements to verify the validity of the developed model, that was then implemented in a HIL system and connected to the TCU (Transmission Control Unit). Several tests have been performed: electrical failure tests on sensors and actuators, hydraulic and mechanical failure tests on hydraulic valves, clutches and synchronizers, and application tests comprehending all the main features of the control performed by the TCU. Being based on physical laws, in every condition the model simulates a plausible reaction of the system. The first intensive use of the HIL application led to the validation of the new safety strategies implemented inside the TCU software. A test automation procedure has been developed to permit the execution of a pattern of tests without the interaction of the user; fully repeatable tests can be performed for non-regression verification, allowing the testing of new software releases in fully automatic mode.

Functional dextran-based hydrogels

Dextran-based polymers are versatile hydrophilic materials, which can provide functionalized surfaces in various areas including biological and medical applications. Functional, responsive, dextran based hydrogels are crosslinked, dextran based polymers allowing the modulation of response towards external stimuli. The controlled modulation of hydrogel properties towards specific applications and the detailed characterization of the optical, mechanical, and chemical properties are of strong interest in science and further applications. Especially, the structural characteristics of swollen hydrogel matrices and the characterization of their variations upon environmental changes are challenging. Depending on their properties hydrogels are applied as actuators, biosensors, in drug delivery, tissue engineering, or for medical coatings. However, the field of possible applications still shows potential to be expanded. rnSurface attached hydrogel films with a thickness of several micrometers can serve as waveguiding matrix for leaky optical waveguide modes. On the basis of highly swelling and waveguiding dextran based hydrogel films an optical biosensor concept was developed. The synthesis of a dextran based hydrogel matrix, its functionalization to modulate its response towards external stimuli, and the characterization of the swollen hydrogel films were main interests within this biosensor project. A second focus was the optimization of the hydrogel characteristics for cell growth with the aim of creating scaffolds for bone regeneration. Matrix modification towards successful cell growth experiments with endothelial cells and osteoblasts was achieved.rnA photo crosslinkable, carboxymethylated dextran based hydrogel (PCMD) was synthesized and characterized in terms of swelling behaviour and structural properties. Further functionalization was carried out before and after crosslinking. This functionalization aimed towards external manipulation of the swelling degree and the charge of the hydrogel matrix important for biosensor experiments as well as for cell adhesion. The modulation of functionalized PCMD hydrogel responses to pH, ion concentration, electrochemical switching, or a magnetic force was investigated. rnThe PCMD hydrogel films were optically characterized by combining surface plasmon resonance (SPR) and optical waveguide mode spectroscopy (OWS). This technique allows a detailed analysis of the refractive index profile perpendicular to the substrate surface by applying the Wentzel Kramers Brillouin (WKB) approximation. rnIn order to perform biosensor experiments, analyte capturing units such as proteins or antibodies were covalently coupled to the crosslinked hydrogel backbone by applying active ester chemistry. Consequently, target analytes could be located inside the waveguiding matrix. By using labeled analytes, fluorescence enhancement was achieved by fluorescence excitation with the electromagnetic field in the center of the optical waveguide modes. The fluorescence excited by the evanescent electromagnetic field of the surface plasmon was 2 3 orders of magnitude lower. Furthermore, the signal to noise ratio was improved by the fluorescence excitation with leaky optical waveguide modes.rnThe applicability of the PCMD hydrogel sensor matrix for clinically relevant samples was proofed in a cooperation project for the detection of PSA in serum with long range surface plasmon spectroscopy (LRSP) and fluorescence excitation by LRSP (LR SPFS). rn

Functional hydrogels: ferrogel thin films

Die Kombination magnetischer Nanopartikel (NP) mit temperatursensitiven Polymeren führt zur Bildung neuer Komposit-Materialien mit interessanten Eigenschaften, die auf vielfältige Weise genutzt werden können. Mögliche Anwendungsgebiete liegen in der magnetischen Trennung, der selektiven Freisetzung von Medikamenten, dem Aufbau von Sensoren und Aktuatoren. Als Polymerkomponente können z.B. Hydrogele dienen. Die Geschwindigkeit der Quellgradänderung mittels externer Stimuli kann durch eine Reduzierung des Hydrogelvolumens erhöht werden, da das Quellen ein diffusionskontrollierter Prozess ist. rnIm Rahmen dieser Arbeit wurde ein durch ultraviolettes Licht vernetzbares Hydrogel aus N-isopropylacrylamid, Methacrylsäure und dem Vernetzer 4-Benzoylphenylmethacrylat hergestellt (PNIPAAm-Hydrogel) und mit magnetischen Nanopartikeln aus Magnetit (Fe3O4) kombiniert. Dabei wurde die Temperatur- und die pH-Abhängigkeit des Quellgrades im Hinblick auf die Verwendung als nanomechanische Cantilever Sensoren (NCS) untersucht. Desweiteren erfolgte eine Charakterisierung durch Oberflächenplasmonen- und optischer Wellenleitermoden-Resonanz Spektroskopie (SPR/OWS). Die daraus erhaltenen Werte für den pKa-Wert und die lower critical solution Temperatur (LCST) stimmten mit den bekannten Literaturwerten überein. Es konnte gezeigt werden, dass eine stärkere Vernetzung zu einer geringeren LCST führt. Die Ergebnisse mittels NCS wiesen zudem auf einen skin-effect während des Heizens von höher vernetzten Polymeren hin.rnDie Magnetit Nanopartikel wurden ausgehend von Eisen(II)acetylacetonat über eine Hochtemperaturreaktion synthetisiert. Durch Variation der Reaktionstemperatur konnte die Größe der hergestellten Nanopartikel zwischen 3.5 und 20 nm mit einer Größenverteilung von 0.5-2.5 nm eingestellt werden. Durch geeignete Oberflächenfunktionalisierung konnten diese in Wasser stabilisiert werden. Dazu wurde nach zwei Strategien verfahren: Zum einen wurden die Nanopartikel mittels einer Silika-Schale funktionalisiert und zum anderen Zitronensäure als Tensid eingesetzt. Wasserstabilität ist vor allem für biologische Anwendungen wünschenswert. Die magnetischen Partikel wurden mit Hilfe von Transmissionselektronenmikroskopie (TEM), und superconductive quantum interference device (SQUID) charakterisiert. Dabei wurde eine Größenabhängigkeit der magnetischen Eigenschaften sowie superparamagnetisches Verhalten beobachtet. Außerdem wurde die Wärmeerzeugung der magnetischen Nanopartikel in einem AC Magnetfeld untersucht. rnDie Kombination beider Komponenten in Form eines Ferrogels wurde durch Mischen Benzophenon funktionalisierter magnetischer Nanopartikel mit Polymer erreicht. Durch Aufschleudern (Spin-Coaten) wurden dünne Filme erzeugt und diese im Hinblick auf ihr Verhalten in einem Magnetfeld untersucht. Dabei wurde eine geringes Plastikverhalten beobachtet. Die experimentellen Ergebnisse wurden anschließend mit theoretisch berechneten Erwartungswerten verglichen und mit den unterschiedlichen Werten für dreidimensionale Ferrogele in Zusammenhang gestellt. rn

Nanoscopic studies of conjugated polymer blends by (electric) scanning probe microscopy

Conjugated polymers and conjugated polymer blends have attracted great interest due to their potential applications in biosensors and organic electronics. The sub-100 nm morphology of these materials is known to heavily influence their electromechanical properties and the performance of devices they are part of. Electromechanical properties include charge injection, transport, recombination, and trapping, the phase behavior and the mechanical robustness of polymers and blends. Electrical scanning probe microscopy techniques are ideal tools to measure simultaneously electric (conductivity and surface potential) and dielectric (dielectric constant) properties, surface morphology, and mechanical properties of thin films of conjugated polymers and their blends.rnIn this thesis, I first present a combined topography, Kelvin probe force microscopy (KPFM), and scanning conductive torsion mode microscopy (SCTMM) study on a gold/polystyrene model system. This system is a mimic for conjugated polymer blends where conductive domains (gold nanoparticles) are embedded in a non-conductive matrix (polystyrene film), like for polypyrrole:polystyrene sulfonate (PPy:PSS), and poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS). I controlled the nanoscale morphology of the model by varying the distribution of gold nanoparticles in the polystyrene films. I studied the influence of different morphologies on the surface potential measured by KPFM and on the conductivity measured by SCTMM. By the knowledge I gained from analyzing the data of the model system I was able to predict the nanostructure of a homemade PPy:PSS blend.rnThe morphologic, electric, and dielectric properties of water based conjugated polymer blends, e.g. PPy:PSS or PEDOT:PSS, are known to be influenced by their water content. These properties also influence the macroscopic performance when the polymer blends are employed in a device. In the second part I therefore present an in situ humidity-dependence study on PPy:PSS films spin-coated and drop-coated on hydrophobic highly ordered pyrolytic graphite substrates by KPFM. I additionally used a particular KPFM mode that detects the second harmonic electrostatic force. With this, I obtained images of dielectric constants of samples. Upon increasing relative humidity, the surface morphology and composition of the films changed. I also observed that relative humidity affected thermally unannealed and annealed PPy:PSS films differently. rnThe conductivity of a conjugated polymer may change once it is embedded in a non-conductive matrix, like for PPy embedded in PSS. To measure the conductivity of single conjugated polymer particles, in the third part, I present a direct method based on microscopic four-point probes. I started with metal core-shell and metal bulk particles as models, and measured their conductivities. The study could be extended to measure conductivity of single PPy particles (core-shell and bulk) with a diameter of a few micrometers.

Functional hydrogels

Hydrogels are used in a variety of applications in daily life, such as super absorbers, contact lenses and in drug delivery. Functional hydrogels that allow the incorporation of additional functionalities have enormous potential for future development. The properties of such hydrogels can be diversified by introducing responsiveness to external stimuli. These crosslinked polymers are known to respond to changes in temperature, pH and pressure, as well as chemical and electrical stimuli, magnetic fields and irradiation. From this responsive behavior possible applications arise in many fields like drug delivery, tissue engineering, purification and implementation as actuators, biosensors or for medical coatings. However, their interaction with biomaterial and way of functioning are yet not fully understood. Therefore, thorough investigations regarding their optical, mechanical and chemical nature have to be conducted. A UV-crosslinkable polymer, consisting of N-isopropylacrylamide, methacrylic acid and the UV-crosslinker 4-benzoylphenyl methacrylate was synthesized. Its composition, determined by a comprehensive NMR study, is equivalent to the composition of the monomer mixture. The chemical characteristics were preserved during the subsequently formation of hydrogel films by photo-crosslinking as proved by XPS. For the optical characterization, e.g. the degree of swelling of very thin films, the spectroscopy of coupled long range surface plasmons is introduced. Thicker films, able to guide light waves were analyzed with combined surface plasmon and optical waveguide mode spectroscopy (SPR/OWS). The evaluation of the data was facilitated by the reverse Wentzel-Kramers-Brillouin (WKB) approximation. The meshsize and proper motion of the surface anchored hydrogels were investigated by fluorescence correlation spectroscopy (FCS), micro photon correlation spectroscopy (µPCS) and SPR/OWS. The studied gels exhibit a meshsize that allowed for the diffusion of small biomolecules inside their network. For future enhancement of probing diffusants, a dye that enables FRET in FCS was immobilized in the gel and the diffusion of gold-nanoparticles embedded in the polymer solution was studied by PCS. These properties can be conveniently tuned by the crosslinking density, which depends on the irradiation dose. Additionally, protocols and components for polymer analogous reactions based on active ester chemistry of the hydrogel were developed. Based on these syntheses and investigations, the hydrogel films are applied in the fields of medical coatings as well as in biosensing as matrix and biomimetic cushion. Their non-adhesive properties were proved in cell experiments, SPR/OWS and ToF-SIMS studies. The functionality and non-fouling property of the prepared hydrogels allowed for adaption to the needs of the respective application.

Fault detection, diagnosis and active fault tolerant control for a satellite attitude control system

Modern control systems are becoming more and more complex and control algorithms more and more sophisticated. Consequently, Fault Detection and Diagnosis (FDD) and Fault Tolerant Control (FTC) have gained central importance over the past decades, due to the increasing requirements of availability, cost efficiency, reliability and operating safety. This thesis deals with the FDD and FTC problems in a spacecraft Attitude Determination and Control System (ADCS). Firstly, the detailed nonlinear models of the spacecraft attitude dynamics and kinematics are described, along with the dynamic models of the actuators and main external disturbance sources. The considered ADCS is composed of an array of four redundant reaction wheels. A set of sensors provides satellite angular velocity, attitude and flywheel spin rate information. Then, general overviews of the Fault Detection and Isolation (FDI), Fault Estimation (FE) and Fault Tolerant Control (FTC) problems are presented, and the design and implementation of a novel diagnosis system is described. The system consists of a FDI module composed of properly organized model-based residual filters, exploiting the available input and output information for the detection and localization of an occurred fault. A proper fault mapping procedure and the nonlinear geometric approach are exploited to design residual filters explicitly decoupled from the external aerodynamic disturbance and sensitive to specific sets of faults. The subsequent use of suitable adaptive FE algorithms, based on the exploitation of radial basis function neural networks, allows to obtain accurate fault estimations. Finally, this estimation is actively exploited in a FTC scheme to achieve a suitable fault accommodation and guarantee the desired control performances. A standard sliding mode controller is implemented for attitude stabilization and control. Several simulation results are given to highlight the performances of the overall designed system in case of different types of faults affecting the ADCS actuators and sensors.

Liquid crystalline elastomers as stimuli-responsive microactuators

Liquid crystalline elastomers (LCEs) are known to perform a reversible change of shape upon the phase transition from the semi-ordered liquid crystalline state to the chaotic isotropic state. This unique behavior of these “artificial muscles” arises from the self-organizing properties of liquid crystals (mesogens) in combination with the entropy-elasticity of the slightly crosslinked elastomer network. In this work, micrometer-sized LCE actuators are fabricated in a microfluidic setup. The microtubular shear flow provides for a uniform orientation of the mesogens during the crosslinking, a perquisite for obtaining actuating LCE samples. The scope of this work was to design different actuator geometries and to broaden the applicability of the microfluidic device for different types of liquid crystalline mesogens, ranging from side-chain to main-chain systems, as well as monomer and polymer precursors. For example, the thiol-ene “click” mechanism was used for the polymerization and crosslinking of main-chain LCE actuators. The main focus was, however, placed on acrylate monomers and polymers with LC side chains. A LC polymer precursor, comprising mesogenic and crosslinkable side-chains was synthesized. Used in combination with an LC monomer, the polymeric crosslinker promoted a stable LC phase, which allowed the mixture to be isothermally handled in the microfluidic reactor. If processed without the additional LC components, the polymer precursor yielded actuating fibers. A suitable co-flowing continuous phase facilitates the formation of a liquid jet and lowers the tendency for drop formation. By modification of the microfluidic device, it was further possible to prepare core-shell particles, comprised of an LCE shell and filled with an isotropic liquid. In analogy to the heart, a hollow muscle, the elastomer shell expels the inner liquid core upon its contraction. The feasibility of the core-shell particles as micropumps was demonstrated. In general, the synthesized LCE microactuators may be utilized as active components in micromechanical and lab-on-chip systems.

Optische Mikroskopie an elektrostatisch stabilisierten kolloidalen Suspensionen unter dem Einfluss geladener Wände - ausgewählte Gleichgewichts- und Nichtgleichgewichtsphänomene

Das Verhalten kolloidaler Suspensionen unter räumlich beschränkter Geometrie ist von großer Bedeutung für die statistische Physik wie auch für die Technologie. Von speziellem Interesse sind Modellsysteme geladener kolloidaler Sphären aufgrund ihrer langreichweitigen und veränderbaren Wechselwirkungen. In dieser Arbeit wurde ein experimenteller Aufbau für die optische mikroskopische Untersuchung solcher, zwischen ebenen Wänden beschränkter Systeme realisiert. Anhand von Piezo-Aktuatoren kann die Zellgeometrie flexibel und präzise eingestellt werden. Unter Verwendung eines Pumpkreislaufs mit einer Ionentauschersäule können kolloidale Suspensionen unter stark entsalzten Bedingungen effizient präpariert werden. Anhand dieses Aufbaus wurde zunächst das Gleichgewichtsphasendiagramm monodisperser geladener kolloidaler Sphären zwischen parallelen Wänden untersucht. Es wurden quantitative Resultate für den Grenzfall starker Entsalzung erzielt, welche mit theoretischen Grundzustandsvorhersagen übereinstimmen. In Doppellagensystemen konnte die Existenz transienter kolloidaler Moiré-Rotationsmuster demonstriert werden, welche besondere zweidimensionale Kristallstrukturen mit komplexer Basis darstellen. Es wurden ferner Nichtgleichgewichtsphänomene untersucht, welche durch Gradienten von lokal freigesetzten Elektrolyten verursacht werden. Durch hauptsächlich diffusioosmotischen Partikeltransport entlang einer einzelnen geladenen Substratoberfläche konnten die Bildung kristalliner Ordnung sowie komplexe, selbstorganisierte Bewegungszustände in einem verdünnten kolloidalen Monolagenfluid bei kleinen Reynolds-Zahlen induziert werden. Interessante Perspektiven für die zukünftige Verwendung des experimentellen Aufbaus ergeben sich aus Beobachtungen verschiedener weiterer Phänomene.