Zeitschriftenaufsätze

The parallel connection of technical and biological systems with a comparable mechanical behavior offers the possibility of reducing the interaction forces between those systems. Especially in the context of human-robot interaction (e.g., exoskeletons), it can improve user safety and acceptance at the same time. With this aim, we used antagonistic actuators with nonlinear compliance for a modular upper-extremity exoskeleton following biological paragons, mirroring the “blueprint” of its human user. In a test-bed setup, we compared antagonistic compliant actuation with antagonistic stiff, unilateral stiff and unilateral compliant actuation in the artificial “elbow joint” of the exoskeleton test bed. We show that this type of actuation allows the variation of the joint stiffness during motion, independent of the position. With the approach we propose, compliance leads to reduced force peaks and angular jerk, without sacrifices in terms of time constants and overshoot of amplitudes. We conclude that the presented actuation principle has considerable benefits in comparison to other types of exoskeleton actuation, even when using only commercially available and 3D printed components. Based on our work, further investigations into the control of compliant antagonistically actuated exoskeletons become realizable.

Memristive devices are under intense development as non-volatile memory elements for extending the computing capabilities of traditional silicon technology by enabling novel computing primitives. In this respect, interface-based memristive devices are promising candidates to emulate synaptic functionalities in neuromorphic circuits aiming to replicate the information processing of nervous systems. A device composed of Nb/NbOx/Al2O3/HfO2/Au that shows promising features like analog switching, no electro-forming, and high current-voltage non-linearity is reported. Synchrotron-based X-ray photoelectron spectroscopy and depth-dependent hard X-ray photoelectron spectroscopy are used to probe in situ different resistance states and thus the origin of memristive switching. Spectroscopic evidence for memristive switching based on the charge state of electron traps within HfO2 is found. Electron energy loss spectroscopy and transmission electron microscopy support the analysis. A device model is proposed that considers a two-terminal metal-insulator-semiconductor structure in which traps within the insulator (HfO2/Al2O3) modulate the space charge region within the semiconductor (NbOx) and, thereby, the overall resistance. The experimental findings are in line with impedance spectroscopy data reported in the companion paper (Marquardt et al). Both works complement one another to derive a detailed device model, which helps to engineer device performance and integrate devices into silicon technology.

The evaporation of water from bare soil is often accompanied by the formation of a layer of crystallized salt, a process that must be understood in order to address the issue of soil salinization. Here, we use nuclear magnetic relaxation dispersion measurements to better understand the dynamic properties of water within two types of salt crusts: sodium chloride (NaCl) and sodium sulfate (Na2SO4). Our experimental results display a stronger dispersion of the relaxation time T1 with frequency for the case of sodium sulfate as compared to sodium chloride salt crusts. To gain insight into these results, we perform molecular dynamics simulations of salt solutions confined within slit nanopores made of either NaCl or Na2SO4. We find a strong dependence of the value of the relaxation time T1 on pore size and salt concentration. Our simulations reveal the complex interplay between the adsorption of ions at the solid surface, the structure of water near the interface, and the dispersion of T1 at low frequency, which we attribute to adsorption-desorption events.

Emission 57Fe Mössbauer spectroscopy (eMS), following the implantation of radioactive 57Mn+ ions, has been used to study the temperature dependence of the hyperfine magnetic field at Fe sites in Ba-doped BiFeO3 (BFO) thin films. 57Mn β decays (t1/2 = 90 s) to the 14.4 keV Mössbauer state of 57Fe, thus allowing online eMS measurements at a selection of sample temperatures during Mn implantation. The eMS measurements were performed on two thin film BFO samples, 88 nm and 300 nm thick, and doped to 15% with Ba ions. The samples were prepared by pulsed laser deposition on SrTiO3 substrates. X-ray diffraction analyses of the samples showed that the films grew in a tetragonal distorted structure. The Mössbauer spectra of the two films, measured at absorber temperatures in the range 301 K-700 K, comprised a central pair of paramagnetic doublets and a magnetic sextet feature in the wings. The magnetic component was resolved into (i) a component attributed to hyperfine interactions at Fe3+ ions located in octahedral sites (Bhf); and (ii) to Fe3+ ions in implantation induced lattice defects, which were characterized by a distribution of the magnetic field BDistr. The hyperfine magnetic field at the Fe probes in the octahedral site has a room temperature value of Bhf = 44.5(9) T. At higher sample temperatures, the Bhf becomes much weaker, with the Fe3+ hyperfine magnetic contribution disappearing above 700 K. Simultaneous analysis of the Ba-BFO eMS spectra shows that the variation of the hyperfine field with temperature follows the Brillouin curve for S = 5/2.

Antenna arrays and spatial processing techniques are among the most effective countermeasures against interference. Here, we demonstrate a new array concept consisting of spatially-distributed subarrays that are small enough to fit inside the non-metallic parts of an automobile. This will facilitate concealed installation of these devices in bumpers or side mirrors, which is a strict requirement of the industry and preferred by the customers. Using beamforming algorithms, this array was proven to be robust against jammers in the L1 band. The large distances between the individual antenna elements resulted in a non-negligible baseband delay that violated the narrowband assumption and increased with bandwidth. Hence, this paper demonstrates the influence of a jammer in the L5 band. Space-time adaptive processing that allows for compensation of the delays was introduced and analyzed. Improvements in interference mitigation capabilities were assessed and compared to those of pure spatial state-of-the-art implementation. Real-life measurement data was used to ensure realistic results.