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Georgopoulou A, Filippi M, Stefani L, Drescher F, Balciunaite A, Scherberich A, Katzschmann R, Clemens F. Bioprinting of Stable Bionic Interfaces Using Piezoresistive Hydrogel Organoelectronics. Adv Healthc Mater 2024:e2400051. [PMID: 38666593 DOI: 10.1002/adhm.202400051] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/09/2024] [Revised: 04/23/2024] [Indexed: 05/04/2024]
Abstract
Bionic tissues offer an exciting frontier in biomedical research by integrating biological cells with artificial electronics, such as sensors. One critical hurdle is the development of artificial electronics that can mechanically harmonize with biological tissues, ensuring a robust interface for effective strain transfer and local deformation sensing. In this study, a highly tissue-integrative, soft mechanical sensor fabricated from a composite piezoresistive hydrogel. The composite not only exhibits exceptional mechanical properties, with elongation at the point of fracture reaching up to 680%, but also maintains excellent biocompatibility across multiple cell types. Furthermore, the material exhibits bioadhesive qualities, facilitating stable cell adhesion to its surface. A unique advantage of the formulation is the compatibility with 3D bioprinting, an essential technique for fabricating stable interfaces. A multimaterial sensorized 3D bionic construct is successfully bioprinted, and it is compared to structures produced via hydrogel casting. In contrast to cast constructs, the bioprinted ones display a high (87%) cell viability, preserve differentiation ability, and structural integrity of the sensor-tissue interface throughout the tissue development duration of 10 d. With easy fabrication and effective soft tissue integration, this composite holds significant promise for various biomedical applications, including implantable electronics and organ-on-a-chip technologies.
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Affiliation(s)
- Antonia Georgopoulou
- High Performance Ceramics Laboratory, Empa, Swiss Federal Laboratories for Material Science and Technology, Dübendorf, 8600, Switzerland
| | - Miriam Filippi
- Soft Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, 8092, Switzerland
| | - Lisa Stefani
- Soft Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, 8092, Switzerland
- Department of Biomedicine, University Hospital Basel, University of Basel, Basel, 4031, Switzerland
| | - Felix Drescher
- Soft Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, 8092, Switzerland
| | - Aiste Balciunaite
- Soft Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, 8092, Switzerland
| | - Arnaud Scherberich
- Department of Biomedicine, University Hospital Basel, University of Basel, Basel, 4031, Switzerland
| | - Robert Katzschmann
- Soft Robotics Laboratory, Department of Mechanical and Process Engineering, ETH Zurich, Zurich, 8092, Switzerland
| | - Frank Clemens
- High Performance Ceramics Laboratory, Empa, Swiss Federal Laboratories for Material Science and Technology, Dübendorf, 8600, Switzerland
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Georgopoulou A, Diethelm P, Wagner M, Spolenak R, Clemens F. Soft Self-Regulating Heating Elements for Thermoplastic Elastomer-Based Electronic Skin Applications. 3D Print Addit Manuf 2024; 11:e828-e838. [PMID: 38689932 PMCID: PMC11057689 DOI: 10.1089/3dp.2022.0242] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/02/2024]
Abstract
Resistive heating elements can be of particular interest for many applications, such as e-skin. In this study, soft heating elements were developed by combining thermoplastic polyurethane (TPU) with carbon black. In contrast to previous studies on thermoplastic polymer-based thermistors, the heating elements could endure elongations above 100%. Due to the high melting point of the TPU and the carbon filler, the thermistors could be heated up to 180°C without significant deformation. The heating elements were extruded on TPU substrates using material extrusion additive manufacturing in one-step process. Self-regulating behavior to control the maximum temperature was achieved with the application of two different voltages (20 and 25 V) and different current thresholds, between 100 and 800 mA. The heating performance was adjusted by changing the geometry of the sensing elements; an increase in cross section resulted in a lower current density and lower temperature. For the heating elements, variation of the additive manufacturing parameters such as offset, layer height, nozzle speed, and extrusion multiplier resulted in a different width/height aspect ratio of the cross section of the extruded lines, affecting the initial resistivity of the thermistor. Orientation of the carbon filler during extrusion process is one reason for the small change of the longitudinal conductivity of the heating elements. The resulting skin with the integrated heating elements allowed the possibility to perform the in situ heating for the localized healing of structural damage, while maintaining the softness required for the application of soft robotic electronic skin.
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Affiliation(s)
- Antonia Georgopoulou
- Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
- Brubotics, Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Pascal Diethelm
- Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Marius Wagner
- Laboratory for Nanometallurgy, Department of Materials, ETH Zürich, Zürich, Switzerland
| | - Ralph Spolenak
- Laboratory for Nanometallurgy, Department of Materials, ETH Zürich, Zürich, Switzerland
| | - Frank Clemens
- Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
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Promsung R, Chuaybamrung A, Georgopoulou A, Clemens F, Nakaramontri Y, Johns J, Lehman N, Songtipya L, Kalkornsurapranee E. Rapid formation of carbon nanotubes-natural rubber films cured with glutaraldehyde for reducing percolation threshold concentration. Discov Nano 2024; 19:30. [PMID: 38372836 PMCID: PMC10876504 DOI: 10.1186/s11671-024-03970-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/17/2023] [Accepted: 02/07/2024] [Indexed: 02/20/2024]
Abstract
Carbon nanotubes (CNTs) filled natural rubber (NR) composites with various CNT contents at 0, 1, 2, 3, 4 and 5 phr were prepared by latex mixing method using glutaraldehyde as curing agent. This work aims to improve the electrical and mechanical properties of CNT filled NR vulcanizates. The CNT dispersion of NR composites was clarified using dispersion grader, optical microscopy and scanning electron microscopy. The electrical properties of NR composites in the existing of CNT networks were studied by following the well-known percolation theory. It was observed that the NR composites exhibited low percolation threshold at 0.98 phr of CNT. Moreover, a three-dimensional network formation of CNT in the NR composites was observed and it is indicated by the t-value of 1.67. The mechanical properties of NR composites in terms of modulus, tensile strength and hardness properties were increased upon the addition of CNT to the optimum mechanical properties at 1 phr of CNT. Therefore, the present work is found the novelty of the study that the conductive rubber latex film can be produced using GA as low-temperature curing agent which enhanced good electrical properties. Moreover, this work is found to be beneficial in case of conductive rubber latex film that requires high modulus at low strain. The additional advantage of this system is the curing process occurs at low-temperature using GA and it can be easily processed.
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Affiliation(s)
- Rawiporn Promsung
- Division of Physical Sciences, Faculty of Science, Prince of Songkla University, Hat-Yai, Thailand
- Department of Functional Materials, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Arthittaya Chuaybamrung
- Division of Physical Sciences, Faculty of Science, Prince of Songkla University, Hat-Yai, Thailand
| | - Antonia Georgopoulou
- Department of Functional Materials, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Frank Clemens
- Department of Functional Materials, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Yeampon Nakaramontri
- Sustainable Polymer and Innovative Composite Materials Research Group, Department of Chemistry, Faculty of Science, King Mongkut's University of Technology Thonburi, Bangkok, Thailand
| | - Jobish Johns
- Department of Physics, Rajarajeswari College of Engineering, Bangalore, India
| | - Nussana Lehman
- Division of Physical Sciences, Faculty of Science, Prince of Songkla University, Hat-Yai, Thailand
| | - Ladawan Songtipya
- Center of Excellence in Bio-Based Materials and Packaging Innovation, Faculty of Agro-Industry, Prince of Songkla University, Hat-Yai, Thailand
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Sarraf F, Churakov SV, Clemens F. Preceramic Polymers for Additive Manufacturing of Silicate Ceramics. Polymers (Basel) 2023; 15:4360. [PMID: 38006084 PMCID: PMC10674695 DOI: 10.3390/polym15224360] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/27/2023] [Revised: 10/31/2023] [Accepted: 11/02/2023] [Indexed: 11/26/2023] Open
Abstract
The utilization of preceramic polymers (PCPs) to produce both oxide and non-oxide ceramics has caught significant interest, owing to their exceptional characteristics. Diverse types of polymer-derived ceramics (PDCs) synthesized by using various PCPs have demonstrated remarkable characteristics such as exceptional thermal stability, resistance to corrosion and oxidation at elevated temperatures, biocompatibility, and notable dielectric properties, among others. The application of additive manufacturing techniques to produce PDCs opens up new opportunities for manufacturing complex and unconventional ceramic structures with complex designs that might be challenging or impossible to achieve using traditional manufacturing methods. This is particularly advantageous in industries like aerospace, automotive, and electronics. In this review, various categories of preceramic polymers employed in the synthesis of polymer-derived ceramics are discussed, with a particular focus on the utilization of polysiloxane and polysilsesquioxanes to generate silicate ceramics. Further, diverse additive manufacturing techniques adopted for the fabrication of polymer-derived silicate ceramics are described.
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Affiliation(s)
- Fateme Sarraf
- Empa-Swiss Federal Laboratories for Materials Science and Technology, Ueberlandstrasse 129, CH-8600 Dübendorf, Switzerland
- Institute of Geological Sciences, University of Bern, Hochschulstrasse 6, CH-3012 Bern, Switzerland;
| | - Sergey V. Churakov
- Institute of Geological Sciences, University of Bern, Hochschulstrasse 6, CH-3012 Bern, Switzerland;
- Paul Scherrer Institute, Forschungsstrasse 111, CH-5232 Villigen, Switzerland
| | - Frank Clemens
- Empa-Swiss Federal Laboratories for Materials Science and Technology, Ueberlandstrasse 129, CH-8600 Dübendorf, Switzerland
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Georgopoulou A, Hardman D, Thuruthel TG, Iida F, Clemens F. Sensorized Skin With Biomimetic Tactility Features Based on Artificial Cross-Talk of Bimodal Resistive Sensory Inputs. Adv Sci (Weinh) 2023; 10:e2301590. [PMID: 37679081 PMCID: PMC10602557 DOI: 10.1002/advs.202301590] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/10/2023] [Revised: 05/15/2023] [Indexed: 09/09/2023]
Abstract
Tactility in biological organisms is a faculty that relies on a variety of specialized receptors. The bimodal sensorized skin, featured in this study, combines soft resistive composites that attribute the skin with mechano- and thermoreceptive capabilities. Mimicking the position of the different natural receptors in different depths of the skin layers, a multi-layer arrangement of the soft resistive composites is achieved. However, the magnitude of the signal response and the localization ability of the stimulus change with lighter presses of the bimodal skin. Hence, a learning-based approach is employed that can help achieve predictions about the stimulus using 4500 probes. Similar to the cognitive functions in the human brain, the cross-talk of sensory information between the two types of sensory information allows the learning architecture to make more accurate predictions of localization, depth, and temperature of the stimulus contiguously. Localization accuracies of 1.8 mm, depth errors of 0.22 mm, and temperature errors of 8.2 °C using 8 mechanoreceptive and 8 thermoreceptive sensing elements are achieved for the smaller inter-element distances. Combining the bimodal sensing multilayer skins with the neural network learning approach brings the artificial tactile interface one step closer to imitating the sensory capabilities of biological skin.
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Affiliation(s)
- Antonia Georgopoulou
- Department of Functional MaterialsEmpa ‐ Swiss Federal Laboratories for Materials Science and Technology8600Switzerland
| | - David Hardman
- Bio‐Inspired Robotics LabDepartment of EngineeringUniversity of CambridgeCB2 1PZUK
| | - Thomas George Thuruthel
- Bio‐Inspired Robotics LabDepartment of EngineeringUniversity of CambridgeCB2 1PZUK
- Department of Computer ScienceUniversity College LondonE20 2AFUK
| | - Fumiya Iida
- Bio‐Inspired Robotics LabDepartment of EngineeringUniversity of CambridgeCB2 1PZUK
| | - Frank Clemens
- Department of Functional MaterialsEmpa ‐ Swiss Federal Laboratories for Materials Science and Technology8600Switzerland
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Georgopoulou A, Srisawadi S, Wiroonpochit P, Clemens F. Soft Wearable Piezoresistive Sensors Based on Natural Rubber Fabricated with a Customized Vat-Based Additive Manufacturing Process. Polymers (Basel) 2023; 15:polym15102410. [PMID: 37242985 DOI: 10.3390/polym15102410] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/14/2023] [Revised: 05/09/2023] [Accepted: 05/14/2023] [Indexed: 05/28/2023] Open
Abstract
Piezoresistive sensors for monitoring human motions are essential for the prevention and treatment of injury. Natural rubber is a material of renewable origin that can be used for the development of soft wearable sensors. In this study, natural rubber was combined with acetylene black to develop a soft piezoresistive sensing composite for monitoring the motion of human joints. An additive manufacturing technique based on stereolithography was used, and it was seen that the sensors produced with the method could detect even small strains (<10%) successfully. With the same sensor composite fabricated by mold casting, it was not possible to detect low strains reliably. TEM microscopy revealed that the distribution of the filler was not homogeneous for the cast samples, suggesting a directionality of the conductive filler network. For the sensors fabricated through the stereolithography-based method, a homogeneous distribution could be achieved. Based on mechano-electrical characterization, it was seen that the samples produced with AM combined the ability to endure large elongations with a monotonic sensor response. Under dynamic conditions, the sensor response of the samples produced by 3D printing showed lower drift and lower signal relaxation. The piezoresistive sensors were examined for monitoring the motion of the human finger joints. By increasing the bending angle of the sensor, it was possible to increase the sensitivity of the response. With the renewable origin of natural rubber and manufacturing method, the featured sensors can expand the applicability of soft flexible electronics in biomedical applications and devices.
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Affiliation(s)
- Antonia Georgopoulou
- Department of Advanced Materials and Surfaces, Empa-Swiss Federal Laboratories for Material Science and Technology, Ueberlandstrasse 129, 8600 Dübendorf, Switzerland
| | - Sasitorn Srisawadi
- National Metal and Materials Technology Center, National Science and Technology Development Agency, 114 Thailand Science Park, Phahonyothin Road, Khlong Nueng, Khlong Luang, Pathum Thani 12120, Thailand
| | - Panithi Wiroonpochit
- National Metal and Materials Technology Center, National Science and Technology Development Agency, 114 Thailand Science Park, Phahonyothin Road, Khlong Nueng, Khlong Luang, Pathum Thani 12120, Thailand
| | - Frank Clemens
- Department of Advanced Materials and Surfaces, Empa-Swiss Federal Laboratories for Material Science and Technology, Ueberlandstrasse 129, 8600 Dübendorf, Switzerland
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Sripornsawat B, Georgopoulou A, Tulaphol S, Thitithammawong A, Johns J, Nakaramontri Y, Clemens F. Use of modified deep eutectic solvent as an additional chemical in a flexible conductive natural rubber sensor for motion analysis. EXPRESS POLYM LETT 2023. [DOI: 10.3144/expresspolymlett.2023.6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022] Open
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França D, Siqueira G, Nyström G, Clemens F, Souza CF, Faez R. Charged-cellulose nanofibrils as a nutrient carrier in biodegradable polymers for enhanced efficiency fertilizers. Carbohydr Polym 2022; 296:119934. [PMID: 36087985 DOI: 10.1016/j.carbpol.2022.119934] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/12/2022] [Revised: 07/26/2022] [Accepted: 07/27/2022] [Indexed: 11/02/2022]
Abstract
An enhanced efficiency fertilizer (EEF) is essential for sustainable agriculture, and here, we evaluated cellulose nanofibrils (CNF) as a nutrient carrier dispersed in biodegradable polymeric matrices. CNF were functionalized with negative (CNF-) and positive (CNF+) charges to improve (i) the CNF-nutrient and (ii) the CNF-polymeric matrix interactions. The CNF encapsulated the KNO3 nutrient by spray drying (microcapsules) and then inserted into a poly (hydroxybutyrate)/starch-based matrix by melt-compounding (tablets). These materials were morphologically, structurally, and thermally characterized before and after biodegradation. Nutrient release profiles showed the microcapsules released the nutrients for up to 1 h, while the tablets did for 8 h in water and over 80 days in soil. Tablets with CNF- released NO3- faster than K+, and those with CNF+ behaved inversely. Besides, the biodegradation efficiencies were up to 75 % in 120 days. The CNF charges affected nutrient release and the matrix biodegradation, ensuring the matrices were harmless to the environment.
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Affiliation(s)
- Débora França
- Laboratory of Polymeric Materials and Biosorbents, Federal University of São Carlos, UFSCar, Rod. Anhanguera, km 174, Araras, SP 13600970, Brazil; Graduate Program in Materials Science and Engineering, University of São Paulo, USP-FZEA, Pirassununga, SP 13635900, Brazil.
| | - Gilberto Siqueira
- Empa, Swiss Federal Laboratories for Materials Science and Technology, Cellulose & Wood Materials Laboratory, Überlandstrasse 129, CH-8600 Dübendorf, Switzerland
| | - Gustav Nyström
- Empa, Swiss Federal Laboratories for Materials Science and Technology, Cellulose & Wood Materials Laboratory, Überlandstrasse 129, CH-8600 Dübendorf, Switzerland; Department of Health Sciences and Technology, ETH Zürich, 8092 Zürich, Switzerland.
| | - Frank Clemens
- Empa, Swiss Federal Laboratories for Materials Science and Technology, Laboratory for High Performance Ceramics, Überlandstrasse 129, CH-8600 Dübendorf, Switzerland
| | - Claudinei Fonseca Souza
- Research Group on Water, Soil and Environment Engineering, Federal University of São Carlos, UFSCar, Rod. Anhanguera, km 174, Araras, SP, 13600970, Brazil
| | - Roselena Faez
- Laboratory of Polymeric Materials and Biosorbents, Federal University of São Carlos, UFSCar, Rod. Anhanguera, km 174, Araras, SP 13600970, Brazil; Graduate Program in Materials Science and Engineering, University of São Paulo, USP-FZEA, Pirassununga, SP 13635900, Brazil.
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Clemens F, Sarraf F, Borzì A, Neels A, Hadian A. Material extrusion additive manufacturing of advanced ceramics: Towards the production of large components. Ann Ital Chir 2022. [DOI: 10.1016/j.jeurceramsoc.2022.10.019] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/26/2022]
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Hardman D, George Thuruthel T, Georgopoulou A, Clemens F, Iida F. 3D Printable Soft Sensory Fiber Networks for Robust and Complex Tactile Sensing. Micromachines (Basel) 2022; 13:1540. [PMID: 36144163 PMCID: PMC9502117 DOI: 10.3390/mi13091540] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/29/2022] [Revised: 09/09/2022] [Accepted: 09/14/2022] [Indexed: 06/16/2023]
Abstract
The human tactile system is composed of multi-functional mechanoreceptors distributed in an optimized manner. Having the ability to design and optimize multi-modal soft sensory systems can further enhance the capabilities of current soft robotic systems. This work presents a complete framework for the fabrication of soft sensory fiber networks for contact localization, using pellet-based 3D printing of piezoresistive elastomers to manufacture flexible sensory networks with precise and repeatable performances. Given a desirable soft sensor property, our methodology can design and fabricate optimized sensor morphologies without human intervention. Extensive simulation and experimental studies are performed on two printed networks, comparing a baseline network to one optimized via an existing information theory based approach. Machine learning is used for contact localization based on the sensor responses. The sensor responses match simulations with tunable performances and good localization accuracy, even in the presence of damage and nonlinear material properties. The potential of the networks to function as capacitive sensors is also demonstrated.
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Affiliation(s)
- David Hardman
- Bio-Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, UK
| | - Thomas George Thuruthel
- Bio-Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, UK
| | - Antonia Georgopoulou
- Department of Functional Materials, Empa-Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Duebendorf, Switzerland
- Brubotics, Vrije Universiteit Brussel (VUB), Pleinlaan 2, B-1050 Brussels, Belgium
| | - Frank Clemens
- Department of Functional Materials, Empa-Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Duebendorf, Switzerland
| | - Fumiya Iida
- Bio-Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, UK
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Costi L, Tagliabue A, Maiolino P, Clemens F, Iida F. Magneto-Active Elastomer Filter for Tactile Sensing Augmentation Through Online Adaptive Stiffening. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3160590] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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Roels E, Terryn S, Iida F, Bosman AW, Norvez S, Clemens F, Van Assche G, Vanderborght B, Brancart J. Processing of Self-Healing Polymers for Soft Robotics. Adv Mater 2022; 34:e2104798. [PMID: 34610181 DOI: 10.1002/adma.202104798] [Citation(s) in RCA: 38] [Impact Index Per Article: 19.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/23/2021] [Revised: 09/27/2021] [Indexed: 06/13/2023]
Abstract
Soft robots are, due to their softness, inherently safe and adapt well to unstructured environments. However, they are prone to various damage types. Self-healing polymers address this vulnerability. Self-healing soft robots can recover completely from macroscopic damage, extending their lifetime. For developing healable soft robots, various formative and additive manufacturing methods have been exploited to shape self-healing polymers into complex structures. Additionally, several novel manufacturing techniques, noted as (re)assembly binding techniques that are specific to self-healing polymers, have been created. Herein, the wide variety of processing techniques of self-healing polymers for robotics available in the literature is reviewed, and limitations and opportunities discussed thoroughly. Based on defined requirements for soft robots, these techniques are critically compared and validated. A strong focus is drawn to the reversible covalent and (physico)chemical cross-links present in the self-healing polymers that do not only endow healability to the resulting soft robotic components, but are also beneficial in many manufacturing techniques. They solve current obstacles in soft robots, including the formation of robust multi-material parts, recyclability, and stress relaxation. This review bridges two promising research fields, and guides the reader toward selecting a suitable processing method based on a self-healing polymer and the intended soft robotics application.
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Affiliation(s)
- Ellen Roels
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Pleinlaan 2, Brussels, 1050, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050, Belgium
| | - Seppe Terryn
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Pleinlaan 2, Brussels, 1050, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050, Belgium
| | - Fumiya Iida
- Machine Intelligence Lab, University of Cambridge, Trumpington Street, Cambridge, CB2 1PZ, UK
| | - Anton W Bosman
- SupraPolix B. V., Horsten 1.29, Eindhoven, 5612 AX, The Netherlands
| | - Sophie Norvez
- Chimie Moléculaire, Macromoléculaire, Matériaux, École Supérieure de Physique et de Chimie (ESPCI), 10 Rue Vauquelin, Paris, 75005, France
| | - Frank Clemens
- Laboratory for High Performance Ceramics, Swiss Federal Laboratories for Materials Science and Technology (EMPA), Überlandstrasse 129, Dübendorf, 8600, Switzerland
| | - Guy Van Assche
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050, Belgium
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Pleinlaan 2, Brussels, 1050, Belgium
| | - Joost Brancart
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050, Belgium
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Georgopoulou A, Vanderborght B, Clemens F. Fabrication of a Soft Robotic Gripper With Integrated Strain Sensing Elements Using Multi-Material Additive Manufacturing. Front Robot AI 2021; 8:615991. [PMID: 35372524 PMCID: PMC8965514 DOI: 10.3389/frobt.2021.615991] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/10/2020] [Accepted: 09/24/2021] [Indexed: 01/01/2023] Open
Abstract
With the purpose of making soft robotic structures with embedded sensors, additive manufacturing techniques like fused deposition modeling (FDM) are popular. Thermoplastic polyurethane (TPU) filaments, with and without conductive fillers, are now commercially available. However, conventional FDM still has some limitations because of the marginal compatibility with soft materials. Material selection criteria for the available material options for FDM have not been established. In this study, an open-source soft robotic gripper design has been used to evaluate the FDM printing of TPU structures with integrated strain sensing elements in order to provide some guidelines for the material selection when an elastomer and a soft piezoresistive sensor are combined. Such soft grippers, with integrated strain sensing elements, were successfully printed using a multi-material FDM 3D printer. Characterization of the integrated piezoresistive sensor function, using dynamic tensile testing, revealed that the sensors exhibited good linearity up to 30% strain, which was sufficient for the deformation range of the selected gripper structure. Grippers produced using four different TPU materials were used to investigate the effect of the Shore hardness of the TPU on the piezoresistive sensor properties. The results indicated that the in situ printed strain sensing elements on the soft gripper were able to detect the deformation of the structure when the tentacles of the gripper were open or closed. The sensor signal could differentiate between the picking of small or big objects and when an obstacle prevented the tentacles from opening. Interestingly, the sensors embedded in the tentacles exhibited good reproducibility and linearity, and the sensitivity of the sensor response changed with the Shore hardness of the gripper. Correlation between TPU Shore hardness, used for the gripper body and sensitivity of the integrated in situ strain sensing elements, showed that material selection affects the sensor signal significantly.
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Affiliation(s)
- Antonia Georgopoulou
- Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
- Department of Mechanical Engineering (MECH), Vrije Universiteit Brussel (VUB), and Flanders Make, Brussels, Belgium
- *Correspondence: Antonia Georgopoulou, ; Frank Clemens,
| | - Bram Vanderborght
- Department of Mechanical Engineering (MECH), Vrije Universiteit Brussel (VUB), and Flanders Make, Brussels, Belgium
| | - Frank Clemens
- Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
- *Correspondence: Antonia Georgopoulou, ; Frank Clemens,
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Sebastian T, Bach M, Geiger A, Lusiola T, Kozielski L, Clemens F. Investigation of Electromechanical Properties on 3-D Printed Piezoelectric Composite Scaffold Structures. Materials (Basel) 2021; 14:ma14205927. [PMID: 34683518 PMCID: PMC8539048 DOI: 10.3390/ma14205927] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/07/2021] [Revised: 09/20/2021] [Accepted: 10/05/2021] [Indexed: 11/23/2022]
Abstract
Piezoelectric composites with 3-3 connectivity gathered attraction due to their potential application as an acoustic transducer in medical imaging, non-destructive testing, etc. In this contribution, piezoelectric composites were fabricated with a material extrusion-based additive manufacturing process (MEX), also well-known under the names fused deposition modeling (FDM), fused filament fabrication (FFF) or fused deposition ceramics (FDC). Thermoplastic filaments were used to achieve open and offset printed piezoelectric scaffold structures. Both scaffold structures were printed, debinded and sintered successfully using commercial PZT and BaTiO3 powder. For the first time, it could be demonstrated, that using the MEX processing method, closed pore ferroelectric structure can be achieved without pore-former additive. After ceramic processing, the PZT scaffold structures were impregnated with epoxy resin to convert them into composites with 3-3 connectivity. A series of composites with varying ceramic content were achieved by changing the infill parameter during the 3D printing process systematically, and their electromechanical properties were investigated using the electromechanical aix PES device. Also, the Figure of merit (FOM) of these composites was calculated to assess the potential of this material as a candidate for transducer applications. A maximum for the FOM at 25 vol.% of PZT could be observed in this study.
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Affiliation(s)
- Tutu Sebastian
- Laboratory for High Performance Ceramics, Empa, Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland; (T.S.); (M.B.); (A.G.); (T.L.)
| | - Miriam Bach
- Laboratory for High Performance Ceramics, Empa, Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland; (T.S.); (M.B.); (A.G.); (T.L.)
- Institute of Ceramics, Refractories and Composite Materials, TU Bergakademie Freiberg, Agricolastraße 17, 09596 Freiberg, Germany
| | - Andreas Geiger
- Laboratory for High Performance Ceramics, Empa, Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland; (T.S.); (M.B.); (A.G.); (T.L.)
| | - Tony Lusiola
- Laboratory for High Performance Ceramics, Empa, Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland; (T.S.); (M.B.); (A.G.); (T.L.)
| | - Lucjan Kozielski
- Faculty of Science and Technology, University of Silesia, 1A 75 Pułku Piechoty St., 41-500 Chorzów, Poland;
| | - Frank Clemens
- Laboratory for High Performance Ceramics, Empa, Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland; (T.S.); (M.B.); (A.G.); (T.L.)
- Correspondence: ; Tel.: +41-58-765-4821
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Georgopoulou A, Michel S, Clemens F. Sensorized Robotic Skin Based on Piezoresistive Sensor Fiber Composites Produced with Injection Molding of Liquid Silicone. Polymers (Basel) 2021; 13:polym13081226. [PMID: 33920142 PMCID: PMC8070002 DOI: 10.3390/polym13081226] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/22/2021] [Revised: 04/06/2021] [Accepted: 04/08/2021] [Indexed: 11/16/2022] Open
Abstract
Soft robotics and flexible electronics are rising in popularity and can be used in many applications. However, there is still a need for processing routes that allow the upscaling in production for functional soft robotic parts in an industrial scale. In this study, injection molding of liquid silicone is suggested as a fabrication method for sensorized robotic skin based on sensor fiber composites. Sensor fibers based on thermoplastic elastomers with two different shore hardness (50A and 70A) are combined with different silicone materials. A mathematical model is used to predict the mechanical load transfer from the silicone matrix to the fiber and shows that the matrix of the lowest shore hardness should not be combined with the stiffer fiber. The sensor fiber composites are fixed on a 3D printed robotic finger. The sensorized robotic skin based on the composite with the 50A fiber in combination with pre-straining gives good sensor performance as well as a large elasticity. It is proposed that a miss-match in the mechanical properties between fiber sensor and matrix should be avoided in order to achieve low drift and relaxation. These findings can be used as guidelines for material selection for future sensor integrated soft robotic systems.
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Affiliation(s)
- Antonia Georgopoulou
- Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland
- Department of Mechanical Engineering (MECH), Vrije Universiteit Brussel (VUB), and Flanders Make Pleinlaan 2, B-1050 Brussels, Belgium
- Correspondence: (A.G.); (F.C.)
| | - Silvain Michel
- Department of Engineering Sciences, Empa–Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland;
| | - Frank Clemens
- Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland
- Correspondence: (A.G.); (F.C.)
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16
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Thuruthel TG, Hughes J, Georgopoulou A, Clemens F, Iida F. Using Redundant and Disjoint Time-Variant Soft Robotic Sensors for Accurate Static State Estimation. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3061399] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/17/2022]
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Clemens F, Melnykowycz M, Bar F, Goldenstein D, Georgopoulou A. 2D Printing of Piezoresistive Auxetic Silicone Sensor Structures. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3062000] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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18
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Hufenus R, Gooneie A, Sebastian T, Simonetti P, Geiger A, Parida D, Bender K, Schäch G, Clemens F. Antistatic Fibers for High-Visibility Workwear: Challenges of Melt-Spinning Industrial Fibers. Materials (Basel) 2020; 13:E2645. [PMID: 32531984 PMCID: PMC7321615 DOI: 10.3390/ma13112645] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/19/2020] [Revised: 06/04/2020] [Accepted: 06/08/2020] [Indexed: 11/16/2022]
Abstract
Safety workwear often requires antistatic protection to prevent the build-up of static electricity and sparks, which can be extremely dangerous in a working environment. In order to make synthetic antistatic fibers, electrically conducting materials such as carbon black are added to the fiber-forming polymer. This leads to unwanted dark colors in the respective melt-spun fibers. To attenuate the undesired dark color, we looked into various possibilities including the embedding of the conductive element inside a dull side-by-side bicomponent fiber. The bicomponent approach, with an antistatic compound as a minor element, also helped in preventing the severe loss of tenacity often caused by a high additive loading. We could melt-spin a bicomponent fiber with a specific resistance as low as 0.1 Ωm and apply it in a fabric that fulfills the requirements regarding the antistatic properties, luminance and flame retardancy of safety workwear.
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Affiliation(s)
- Rudolf Hufenus
- Laboratory for Advanced Fibers, Empa, Swiss Federal Laboratories for Materials Science and Technology, Lerchenfeldstrasse 5, 9014 St. Gallen, Switzerland; (A.G.); (P.S.); (D.P.)
| | - Ali Gooneie
- Laboratory for Advanced Fibers, Empa, Swiss Federal Laboratories for Materials Science and Technology, Lerchenfeldstrasse 5, 9014 St. Gallen, Switzerland; (A.G.); (P.S.); (D.P.)
| | - Tutu Sebastian
- Laboratory for High Performance Ceramics, Empa, Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland; (T.S.); (A.G.); (F.C.)
| | - Pietro Simonetti
- Laboratory for Advanced Fibers, Empa, Swiss Federal Laboratories for Materials Science and Technology, Lerchenfeldstrasse 5, 9014 St. Gallen, Switzerland; (A.G.); (P.S.); (D.P.)
| | - Andreas Geiger
- Laboratory for High Performance Ceramics, Empa, Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland; (T.S.); (A.G.); (F.C.)
| | - Dambarudhar Parida
- Laboratory for Advanced Fibers, Empa, Swiss Federal Laboratories for Materials Science and Technology, Lerchenfeldstrasse 5, 9014 St. Gallen, Switzerland; (A.G.); (P.S.); (D.P.)
| | - Klaus Bender
- EMS-CHEMIE AG, Business Unit EMS-GRILTECH, Via Innovativa 1, 7013 Domat/Ems, Switzerland; (K.B.); (G.S.)
| | - Gunther Schäch
- EMS-CHEMIE AG, Business Unit EMS-GRILTECH, Via Innovativa 1, 7013 Domat/Ems, Switzerland; (K.B.); (G.S.)
| | - Frank Clemens
- Laboratory for High Performance Ceramics, Empa, Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, 8600 Dübendorf, Switzerland; (T.S.); (A.G.); (F.C.)
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Nakaramontri Y, Kummerloewe C, Nakason C, Pichaiyut S, Wisunthon S, Clemens F. Piezoresistive carbon-based composites for sensor applications: Effects of polarity and non-rubber components on shape recovery. EXPRESS POLYM LETT 2020. [DOI: 10.3144/expresspolymlett.2020.79] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022] Open
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21
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Liu Y, Zeder S, Lin S, Carron R, Grossmann G, Bolat S, Nishiwaki S, Clemens F, Graule T, Tiwari AN, Wu H, Romanyuk YE. Draw-spun, photonically annealed Ag fibers as alternative electrodes for flexible CIGS solar cells. Sci Technol Adv Mater 2018; 20:26-34. [PMID: 30719183 PMCID: PMC6346713 DOI: 10.1080/14686996.2018.1552480] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 06/16/2018] [Revised: 11/22/2018] [Accepted: 11/22/2018] [Indexed: 06/09/2023]
Abstract
We explore the feasibility of Ag fiber meshes as electron transport layer for high-efficiency flexible Cu(In,Ga)Se2 (CIGS) solar cells. Woven meshes of Ag fibers after UV illumination and millisecond flash-lamp treatment results in a sheet resistance of 17 Ω/sq and a visible transmittance above 85%. Conductive Ag meshes are integrated into flexible CIGS cells as transparent conductive electrode (TCE) alone or together with layers of Al-doped ZnO (AZO) with various thickness of 0…900 nm. The Ag mesh alone is not able to function as a current collector. If used together with a thin AZO layer (50 nm), the Ag mesh markedly improves the fill factor and cell efficiency, in spite of the adverse mesh shadowing. When Ag mesh is combined with thicker (200 nm or 900 nm) AZO layers, no improvements in photovoltaic parameters are obtained. When comparing a hybrid TCE consisting of 50 nm AZO and Ag fiber mesh with a thick 900 nm reference AZO device, an improved charge carrier collection in the near-infrared range is observed. Regardless of the AZO thickness, the presence of Ag mesh slows down cell degradation upon mechanical tensile stress, which could be interesting for implementation into flexible thin film CIGS modules.
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Affiliation(s)
- Yujing Liu
- Laboratory for Thin films and Photovoltaics, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Simon Zeder
- Laboratory for Thin films and Photovoltaics, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Sen Lin
- Department of Materials Science & Engineering, Tsinghua University, Beijing, China
| | - Romain Carron
- Laboratory for Thin films and Photovoltaics, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Günter Grossmann
- Laboratory for Transport at Nanoscale Interfaces, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Sami Bolat
- Laboratory for Thin films and Photovoltaics, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Shiro Nishiwaki
- Laboratory for Thin films and Photovoltaics, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Frank Clemens
- Laboratory for High Performance Ceramics, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Thomas Graule
- Laboratory for High Performance Ceramics, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Ayodhya N. Tiwari
- Laboratory for Thin films and Photovoltaics, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
| | - Hui Wu
- Department of Materials Science & Engineering, Tsinghua University, Beijing, China
| | - Yaroslav E. Romanyuk
- Laboratory for Thin films and Photovoltaics, Empa-Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
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22
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Melnykowycz M, Tschudin M, Clemens F. Piezoresistive Soft Condensed Matter Sensor for Body-Mounted Vital Function Applications. Sensors (Basel) 2016; 16:s16030326. [PMID: 26959025 PMCID: PMC4813901 DOI: 10.3390/s16030326] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/09/2015] [Revised: 02/17/2016] [Accepted: 02/19/2016] [Indexed: 02/05/2023]
Abstract
A soft condensed matter sensor (SCMS) designed to measure strains on the human body is presented. The hybrid material based on carbon black (CB) and a thermoplastic elastomer (TPE) was bonded to a textile elastic band and used as a sensor on the human wrist to measure hand motion by detecting the movement of tendons in the wrist. Additionally it was able to track the blood pulse wave of a person, allowing for the determination of pulse wave peaks corresponding to the systole and diastole blood pressures in order to calculate the heart rate. Sensor characterization was done using mechanical cycle testing, and the band sensor achieved a gauge factor of 4–6.3 while displaying low signal relaxation when held at a strain levels. Near-linear signal performance was displayed when loading to successively higher strain levels up to 50% strain.
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Affiliation(s)
- Mark Melnykowycz
- Laboratory for High Performance Ceramics, Empa, Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, Dübendorf 8600, Switzerland.
| | - Michael Tschudin
- STBL Medical Research AG, Höh-Rohnenweg 6, Wilen 8832, Switzerland.
| | - Frank Clemens
- Laboratory for High Performance Ceramics, Empa, Swiss Federal Laboratories for Materials Science and Technology, Überlandstrasse 129, Dübendorf 8600, Switzerland.
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Ramachandran D, Søgaard M, Clemens F, Gurauskis J, Kaiser A. Fabrication and performance of a tubular ceria based oxygen transport membrane on a low cost MgO support. Sep Purif Technol 2015. [DOI: 10.1016/j.seppur.2015.02.037] [Citation(s) in RCA: 17] [Impact Index Per Article: 1.9] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
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24
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Culha U, Nurzaman SG, Clemens F, Iida F. SVAS3: Strain Vector Aided Sensorization of Soft Structures. Sensors (Basel) 2014; 14:12748-70. [PMID: 25036332 PMCID: PMC4168483 DOI: 10.3390/s140712748] [Citation(s) in RCA: 26] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/07/2014] [Revised: 07/10/2014] [Accepted: 07/11/2014] [Indexed: 11/21/2022]
Abstract
Soft material structures exhibit high deformability and conformability which can be useful for many engineering applications such as robots adapting to unstructured and dynamic environments. However, the fact that they have almost infinite degrees of freedom challenges conventional sensory systems and sensorization approaches due to the difficulties in adapting to soft structure deformations. In this paper, we address this challenge by proposing a novel method which designs flexible sensor morphologies to sense soft material deformations by using a functional material called conductive thermoplastic elastomer (CTPE). This model-based design method, called Strain Vector Aided Sensorization of Soft Structures (SVAS3), provides a simulation platform which analyzes soft body deformations and automatically finds suitable locations for CTPE-based strain gauge sensors to gather strain information which best characterizes the deformation. Our chosen sensor material CTPE exhibits a set of unique behaviors in terms of strain length electrical conductivity, elasticity, and shape adaptability, allowing us to flexibly design sensor morphology that can best capture strain distributions in a given soft structure. We evaluate the performance of our approach by both simulated and real-world experiments and discuss the potential and limitations.
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Affiliation(s)
- Utku Culha
- Bio-Inspired Robotics Lab, Department of Mechanical and Process Engineering, ETH Zürich, 8092 Zurich, Switzerland.
| | - Surya G Nurzaman
- Bio-Inspired Robotics Lab, Department of Mechanical and Process Engineering, ETH Zürich, 8092 Zurich, Switzerland.
| | - Frank Clemens
- EMPA Dübendorf, Überlandstrasse 129, 8600 Dübendorf, Switzerland.
| | - Fumiya Iida
- Bio-Inspired Robotics Lab, Department of Mechanical and Process Engineering, ETH Zürich, 8092 Zurich, Switzerland.
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Melnykowycz M, Koll B, Scharf D, Clemens F. Comparison of piezoresistive monofilament polymer sensors. Sensors (Basel) 2014; 14:1278-94. [PMID: 24419161 PMCID: PMC3926615 DOI: 10.3390/s140101278] [Citation(s) in RCA: 42] [Impact Index Per Article: 4.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/30/2013] [Revised: 01/06/2014] [Accepted: 01/07/2014] [Indexed: 11/16/2022]
Abstract
The development of flexible polymer monofilament fiber strain sensors have many applications in both wearable computing (clothing, gloves, etc.) and robotics design (large deformation control). For example, a high-stretch monofilament sensor could be integrated into robotic arm design, easily stretching over joints or along curved surfaces. As a monofilament, the sensor can be woven into or integrated with textiles for position or physiological monitoring, computer interface control, etc. Commercially available conductive polymer monofilament sensors were tested alongside monofilaments produced from carbon black (CB) mixed with a thermo-plastic elastomer (TPE) and extruded in different diameters. It was found that signal strength, drift, and precision characteristics were better with a 0.3 mm diameter CB/TPE monofilament than thick (~2 mm diameter) based on the same material or commercial monofilaments based on natural rubber or silicone elastomer (SE) matrices.
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Affiliation(s)
- Mark Melnykowycz
- EMPA Dübendorf, Überlandstrasse 129, Dübendorf 8600, Switzerland.
| | - Birgit Koll
- EMPA Dübendorf, Überlandstrasse 129, Dübendorf 8600, Switzerland.
| | - Dagobert Scharf
- EMPA Dübendorf, Überlandstrasse 129, Dübendorf 8600, Switzerland.
| | - Frank Clemens
- EMPA Dübendorf, Überlandstrasse 129, Dübendorf 8600, Switzerland.
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26
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Regonini D, Teloeken AC, Alves AK, Berutti FA, Gajda-Schrantz K, Bergmann CP, Graule T, Clemens F. Electrospun TiO(2) fiber composite photoelectrodes for water splitting. ACS Appl Mater Interfaces 2013; 5:11747-11755. [PMID: 24138632 DOI: 10.1021/am403437q] [Citation(s) in RCA: 12] [Impact Index Per Article: 1.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/02/2023]
Abstract
This work has focused on the development of electrospun TiO2 fiber composite photoelectrodes for hydrogen production by water splitting. For comparison, similar photoelectrodes were also developed using commercial TiO2 (Aeroxide P25) nanoparticles (NPs). Dispersions of either fibers or P25 NPs were used to make homogenous TiO2 films on fluorine-doped SnO2 (FTO) glass substrates by a doctor blade (DB) technique. Scanning electron microscopy (SEM) analysis revealed a much lower packing density of the DB fibers, with respect to DB-P25 TiO2 NPs; this was also directly reflected by the higher photocurrent measured for the NPs when irradiating the photoelectrodes at a light intensity of 1.5AM (1 sun, 1000 W/m(2)). For a better comparison of fibers vs. NPs, composite photoelectrodes by dip-coating (onto FTO) TiO2 sol-gel (SG) matrixes containing an equal amount (5 or 20 wt %) of either fibers or P25 NPs were also investigated. It emerged that the photoactivity of the fibers was significantly higher. For composites containing 5 wt % TiO2 fibers, a photocurrent of 0.5 mA/cm(2) (at 0.23 V vs Ag/AgCl) was measured, whereas 5 wt % P25 NPs only provided 0.2 mA/cm(2). When increasing to 20 wt % fibers or NPs, the photocurrent decreased, because of the formation of microcracks in the photoelectrodes, because of the shrinkage of the sol-gel. The high photoactivity of the fiber-based electrodes could be confirmed by incident photon to current efficiency (IPCE) measurements. Remarkably, the IPCE of composites containing 5 wt % fibers was between 35% and 40% in the region of 380-320 nm, and when accounting for transmission/reflection losses, the absorbed photon to current efficiency (APCE) was consistently over 60% between 380 nm and 320 nm. The superior photoactivity is attributed to the enhanced electron transport in the electrospun fibers, with respect to P25 NPs. According to this study, it is clear that the electronic connectivity ensured by the sol-gel also contributes positively to the enhanced photocurrent.
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Affiliation(s)
- D Regonini
- Laboratory for High Performance Ceramics, EMPA-Swiss Federal Laboratories for Materials Science & Technology , Überlandstrasse 129, 8600 Dübendorf, Switzerland
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Salehi M, Clemens F, Otal EH, Ferri D, Graule T, Grobéty B. Debinding mechanisms in thermoplastic processing of a Ba(0.5)Sr(0.5)Co(0.8)Fe(0.2)O(3-δ)- stearic acid-polystyrene mixture. ChemSusChem 2013; 6:336-344. [PMID: 23281298 DOI: 10.1002/cssc.201200540] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/27/2012] [Indexed: 06/01/2023]
Abstract
In the present study, we address the interaction between a thermoplastic binder system and Ba(0.5)Sr(0.5)Co(0.8)Fe(0.2)O(3-δ) (BSCF) during thermal treatment of the thermoplastic feedstock. BSCF powder was coated with different amounts of stearic acid (SA) acting as a surfactant. Oxygen release from the uncoated BSCF surface changes the decomposition of polystyrene (PS) in inert atmospheres from a pyrolytic to a thermoxidative mechanism, thereby decreasing the break-down temperature and the activation energy. In mixtures with coated BSCF powder, the decomposition products of SA carbonatize the BSCF surface, which inhibits oxygen release. Mass spectrometry of the breakdown products indicates that the decomposition of SA in the presence of BSCF also modifies the decomposition pathway of PS. The influence of BSCF on the polymer decomposition reaction in air is not as strong. Oxygen diffusion seems to be responsible for the differences to pure PS in reaction rates and the activation energies.
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Affiliation(s)
- Mehdi Salehi
- Empa, Swiss Federal Laboratories for Materials Science and Technology, Laboratory for High Performance Ceramics, Überlandstrasse 129, 8600 Dübendorf, Switzerland.
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van Bijnen M, Korving H, Clemens F. Impact of sewer condition on urban flooding: an uncertainty analysis based on field observations and Monte Carlo simulations on full hydrodynamic models. Water Sci Technol 2012; 65:2219-2227. [PMID: 22643419 DOI: 10.2166/wst.2012.134] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/01/2023]
Abstract
In-sewer defects are directly responsible for affecting the performance of sewer systems. Notwithstanding the impact of the condition of the assets on serviceability, sewer performance is usually assessed assuming the absence of in-sewer defects. This leads to an overestimation of serviceability. This paper presents the results of a study in two research catchments on the impact of in-sewer defects on urban pluvial flooding at network level. Impacts are assessed using Monte Carlo simulations with a full hydrodynamic model of the sewer system. The studied defects include root intrusion, surface damage, attached and settled deposits, and sedimentation. These defects are based on field observations and translated to two model parameters (roughness and sedimentation). The calculation results demonstrate that the return period of flooding, number of flooded locations and flooded volumes are substantially affected by in-sewer defects. Irrespective of the type of sewer system, the impact of sedimentation is much larger than the impact of roughness. Further research will focus on comparing calculated and measured behaviour in one of the research catchments.
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Peek GJ, Elbourne D, Mugford M, Tiruvoipati R, Wilson A, Allen E, Clemens F, Firmin R, Hardy P, Hibbert C, Jones N, Killer H, Thalanany M, Truesdale A. Randomised controlled trial and parallel economic evaluation of conventional ventilatory support versus extracorporeal membrane oxygenation for severe adult respiratory failure (CESAR). Health Technol Assess 2010; 14:1-46. [PMID: 20642916 DOI: 10.3310/hta14350] [Citation(s) in RCA: 102] [Impact Index Per Article: 7.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/08/2023] Open
Abstract
OBJECTIVES To determine the comparative effectiveness and cost-effectiveness of conventional ventilatory support versus extracorporeal membrane oxygenation (ECMO) for severe adult respiratory failure. DESIGN A multicentre, randomised controlled trial with two arms. SETTING The ECMO centre at Glenfield Hospital, Leicester, and approved conventional treatment centres and referring hospitals throughout the UK. PARTICIPANTS Patients aged 18-65 years with severe, but potentially reversible, respiratory failure, defined as a Murray lung injury score > or = 3.0, or uncompensated hypercapnoea with a pH < 7.20 despite optimal conventional treatment. INTERVENTIONS Participants were randomised to conventional management (CM) or to consideration of ECMO. MAIN OUTCOME MEASURES The primary outcome measure was death or severe disability at 6 months. Secondary outcomes included a range of hospital indices: duration of ventilation, use of high frequency/oscillation/jet ventilation, use of nitric oxide, prone positioning, use of steroids, length of intensive care unit stay, and length of hospital stay - and (for ECMO patients only) mode (venovenous/veno-arterial), duration of ECMO, blood flow and sweep flow. RESULTS A total of 180 patients (90 in each arm) were randomised from 68 centres. Three patients in the conventional arm did not give permission to be followed up. Of the 90 patients randomised to the ECMO arm, 68 received that treatment. ECMO was not given to three patients who died prior to transfer, two who died in transit, 16 who improved with conventional treatment given by the ECMO team and one who required amputation and could not therefore be heparinised. Ninety patients entered the CM (control) arm, three patients later withdrew and refused follow-up (meaning that they were alive), leaving 87 patients for whom primary outcome measures were available. CM consisted of any treatment deemed appropriate by the patient's intensivist with the exception of extracorporeal gas exchange. No CM patients received ECMO, although one received a form of experimental extracorporeal arteriovenous carbon dioxide removal support (a clear protocol violation). Fewer patients in the ECMO arm than in the CM arm had died or were severely disabled 6 months after randomisation, [33/90 (36.7%) versus 46/87 (52.9%) respectively]. This equated to one extra survivor for every six patients treated. Only one patient (in the CM arm) was known to be severely disabled at 6 months. Patients allocated to ECMO incurred average total costs of 73,979 pounds compared with 33,435 pounds for those undergoing CM (UK prices, 2005). A lifetime model predicted the cost per quality-adjusted life-year (QALY) of ECMO to be 19,252 pounds (95% confidence interval 7622 pounds to 59,200 pounds) at a discount rate of 3.5%. Lifetime QALYs gained were 10.75 for the ECMO group compared with 7.31 for the conventional group. Costs to patients and their relatives, including out of pocket and time costs, were higher for patients allocated to ECMO. CONCLUSIONS Compared with CM, transferring adult patients with severe but potentially reversible respiratory failure to a single centre specialising in the treatment of severe respiratory failure for consideration of ECMO significantly increased survival without severe disability. Use of ECMO in this way is likely to be cost-effective when compared with other technologies currently competing for health resources. TRIAL REGISTRATION Current Controlled Trials ISRCTN47279827.
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Affiliation(s)
- G J Peek
- Department of Cardiothoracic Surgery, Glenfield Hospital, Leicester, UK
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Daly CA, Clemens F, Lopez Sendon JL, Tavazzi L, Boersma E, Danchin N, Delahaye F, Gitt A, Julian D, Mulcahy D, Ruzyllo W, Thygesen K, Verheugt F, Fox KM. Inadequate control of heart rate in patients with stable angina: results from the European Heart Survey. Postgrad Med J 2010; 86:212-7. [DOI: 10.1136/pgmj.2009.084384] [Citation(s) in RCA: 26] [Impact Index Per Article: 1.9] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/04/2022]
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Rothmaier M, Luong MP, Clemens F. Textile Pressure Sensor Made of Flexible Plastic Optical Fibers. Sensors (Basel) 2008; 8:4318-4329. [PMID: 27879938 PMCID: PMC3697177 DOI: 10.3390/s8074318] [Citation(s) in RCA: 148] [Impact Index Per Article: 9.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/02/2008] [Revised: 07/23/2008] [Accepted: 07/23/2008] [Indexed: 11/16/2022]
Abstract
In this paper we report the successful development of pressure sensitive textile prototypes based on flexible optical fibers technology. Our approach is based on thermoplastic silicone fibers, which can be integrated into woven textiles. As soon as pressure at a certain area of the textile is applied to these fibers they change their cross section reversibly, due to their elastomeric character, and a simultaneous change in transmitted light intensity can be detected. We have successfully manufactured two different woven samples with fibers of 0.51 and 0.98 mm diameter in warp and weft direction, forming a pressure sensitive matrix. Determining their physical behavior when a force is applied shows that pressure measurements are feasible. Their usable working range is between 0 and 30 N. Small drifts in the range of 0.2 to 4.6%, over 25 load cycles, could be measured. Finally, a sensor array of 2 x 2 optical fibers was tested for sensitivity, spatial resolution and light coupling between fibers at intersections.
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Affiliation(s)
- Markus Rothmaier
- Empa, Swiss Federal Laboratories for Materials Testing and Research, Laboratory for Protection and Physiology, Lerchenfeldstrasse 5, 9014 St. Gallen, Switzerland.
| | - Minh Phi Luong
- Empa, Swiss Federal Laboratories for Materials Testing and Research, Laboratory for Protection and Physiology, Lerchenfeldstrasse 5, 9014 St. Gallen, Switzerland
| | - Frank Clemens
- Empa, Swiss Federal Laboratories for Materials Testing and Research, Laboratory for High Performance Ceramics, Ueberlandstrasse 129, 8600 Duebendorf, Switzerland
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Jansohn P, Griffin T, Mantzaras I, Clemens F, Marechal F. CO2-Reduktion bei Gasturbinen-Prozessen. CHEM-ING-TECH 2007. [DOI: 10.1002/cite.200750057] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
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Lubbers C, Clemens F. Detection of gas pockets in pressurised wastewater mains using dynamic system response analysis. Water Sci Technol 2007; 55:31-8. [PMID: 17425069 DOI: 10.2166/wst.2007.092] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/14/2023]
Abstract
In the Netherlands, wastewater is mostly collected in combined sewer system and transported to a WWTP through pressure mains. These pressure mains form an element of the system that did not receive much attention lately with respect to monitoring of performance and maintenance. For that reason, their state of functioning is often not known. Failure of operation is only noticed when during storm conditions the capacity of the system drops, resulting in undesirable discharge to the surface water. A recently made inventory showed that about half of the pressure mains show increased pressure loss for no obvious reason. Reduction of the systems nominal capacity can result from many causes, like increased wall roughness, scaling and the occurrence of free gas in the pipeline. The occurrence of gas-pockets may be caused by degassing of dissolved gas, but also by air entrapment at the pump inlet or at air valves. A research project is started that will be carried out from 2003 to 2005. This project focuses on three goals: the description of the gas-water transport phenomena in wastewater pressure mains, a method to detect and diagnose gas problems, and to overcome future problems by either applying remedial measures or by developing improved design methods for wastewater pressure systems. This paper describes the layout of the experimental set-up to detect and diagnose gas problems and the first results of the experiments are presented and discussed. The results are used to validate a model (Wanda) developed by Delft Hydraulics that describes the phenomena involved in surges in air/water transport.
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Affiliation(s)
- C Lubbers
- WL / Delft Hydraulics, P.O. Box 177, 2600 MH Delft, the Netherlands.
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35
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Korving H, Geise M, Clemens F. Failure of sewage pumps: statistical modelling and impact assessment. Water Sci Technol 2006; 54:119-26. [PMID: 17120641 DOI: 10.2166/wst.2006.577] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/12/2023]
Abstract
Sewage pumping stations are directly responsible for affecting performance, i.e. failing pumps may result in combined sewer overflows or flooding. However, failures of sewage pumps are not yet incorporated in sewer assessments due to lack of knowledge and data. This paper presents the analysis of pump failure data provided by two sewer management authorities in The Netherlands. Pump failures have been studied accounting for the nature of the failures, the operation and maintenance procedures of the management authority, the ageing of the pumps and the changes in the environment of pumps. The analysis shows that sewage pumps fail relatively often due to the composition of sewage and the discontinuous operation of the pumps. The interarrival time and the duration of failures are highly variable and independent of the pump type and the specific function of the pump. The results also indicate that the serviceability of sewer systems is significantly affected by failing pumps. As a consequence, part of the environmental damage due to CSOs (combined sewer overflows) can be avoided by improving maintenance of pumping stations.
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Affiliation(s)
- H Korving
- Witteveen + Bos Consulting Engineers, P.O. Box 233, 7400 AE, Deventer, The Netherlands.
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Bouteligier R, Vaes G, Berlamont J, Flamink C, Langeveld JG, Clemens F. Advection-dispersion modelling tools: what about numerical dispersion? Water Sci Technol 2005; 52:19-27. [PMID: 16206840] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 05/04/2023]
Abstract
In general the transport of dissolved substances and fine suspended particles is governed by the one-dimensional advection-dispersion equation. In order to model the transport of dissolved substances and fine suspended particles, the advection-dispersion equation is incorporated into commonly used urban drainage modelling tools such as InfoWorks CS (Wallingford Software, United Kingdom) and MOUSE (DHI Software, Denmark). Two examples show the use of InfoWorks CS and MOUSE using standard model settings. Modelling results using tracer experiments show that numerical model parameters need to be altered in order to calibrate the model. Using tracer experiments as a model calibration tool, it is shown that a non-negligible amount of dispersion is generated by InfoWorks CS and MOUSE and that it is in fact the numerical dispersion that is calibrated.
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Affiliation(s)
- R Bouteligier
- Katholieke Universiteit Leuven (KULeuven), Faculty of Engineering, Department of Civil Engineering, Hydraulics Laboratory, Kasteelpark Arenberg 40, B-3001 Leuven, Belgium.
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Korving H, Clemens F. Impact of dimension uncertainty and model calibration on sewer system assessment. Water Sci Technol 2005; 52:35-42. [PMID: 16248178] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 05/05/2023]
Abstract
Assessments of sewer performance are usually based on a single computation of CSO (combined sewer overflow) volumes using a time series of rainfall as system loads. A shortcoming of this method is that uncertainties in knowledge of sewer system dimensions are not taken into account. Moreover, sewer models are rarely calibrated. This paper presents the impacts of database errors and model calibration on return periods of calculated CSO volumes. The impact of uncertainties is illustrated with two examples. Variability of calculated CSO volumes is estimated using Monte Carlo simulations. The results show that calculated CSO volumes vary considerably due to database errors, especially uncertain dimensions of the catchment area. Furthermore, event-based calibration of a sewer model does not result in more reliable predictions because the calibrated parameters have low portability. However, it enables removal of database errors harmonising model predictions and 'reality'.
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Affiliation(s)
- H Korving
- Witteveen + Bos Consulting Engineers, P.O. Box 233, 7400 AE, Deventer, The Netherlands.
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Langeveld JG, Veldkamp RG, Clemens F. Suspended solids transport: an analysis based on turbidity measurements and event based fully calibrated hydrodynamic models. Water Sci Technol 2005; 52:93-101. [PMID: 16206848] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 05/04/2023]
Abstract
Modelling suspended solids transport is a key issue for predicting the pollution load discharged by CSOs. Nonetheless, there is still much debate on the main drivers for suspended solids transport and on the modelling approach to be adopted. Current sewer models provide suspended solids transport models. These models, however, rely upon erosion-deposition criteria developed in fluvial environments, therewith oversimplifying the sewer sediment characteristics. Consequently, the performance of these models is poor from a theoretical point of view. To get an improved understanding of the temporal and spatial variations in suspended solids transport, a measuring network was installed in the sewer system of Loenen in conjunction with a hydraulic measuring network from June through December 2001. During the measuring period, 15 storm events rendered high-quality data on both the hydraulics and the turbidity. For each storm event, a hydrodynamic model was calibrated using the Clemens' method. The conclusion of the paper is that modelling of suspended solids transport has been and will be one of the challenges in the field of urban drainage modelling. A direct relation of either shear stress or flow velocity with turbidity could not be found, likely because of the time varying characteristics of the suspended solids.
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Affiliation(s)
- J G Langeveld
- Royal Haskoning, Barbarossastraat 35, 6522 DK Nijmegen, The Netherlands.
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Lubbers CL, Clemens F. Air and gas pockets in sewerage pressure mains. Water Sci Technol 2005; 52:37-44. [PMID: 16206842] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 05/04/2023]
Abstract
In The Netherlands, wastewater is collected in municipal areas and transported to large centralised WWTPs by means of an extensive system of pressure mains. Over the past decades these pressure mains did not receive much attention in terms of monitoring of performance or maintenance. For that reason, in practice their state of functioning is often not known. Failure of operation is only noticed when the capacity of the system proves to be insufficient to fulfil the minimum design capacity demand. A recent inventory showed that half of the pressure mains show an increased pressure loss for no directly obvious reason. Many causes may account for the reduction of the system's nominal capacity like an increased wall roughness, scaling or occurrence of free gas in the pipeline. The occurrence of free gas may be caused by degassing of dissolved (bio) gas or by air entrained at the pumps' inlet or at air valves. A research study is started that will focus on three main issues: The description of the gas-water phenomena in wastewater pressure mains with respect to transportation and dynamic hydraulic behaviour, A method to diagnose gas problems, and To overcome future problems by either applying remedial measures or improving the design of wastewater pressure systems. For this study, two experimental facilities are constructed, a small circuit for the study of multi-phase flow and a second, larger one for the research into diagnostic methods. This paper describes the preliminary results of the experiments in the multi-phase circuit.
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Affiliation(s)
- C L Lubbers
- WL/Delft Hydraulics, P.O. Box 177, 2600 MH Delft, The Netherlands.
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Flamink C, Langeveld J, Clemens F. Aerobic transformations in sewer systems: are they relevant? Water Sci Technol 2005; 52:163-70. [PMID: 16206856] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 05/04/2023]
Abstract
In-sewer transformation processes affect wastewater quality. Especially during dwf the transformation processes can exert a significant influence on wastewater quality. The transformation rates under aerobic conditions were estimated from an oxygen mass balance over a sewer reach. Oxygen probes were installed at the upstream and downstream end of the sewer reach. Moreover, 14 wastewater samples, taken at the downstream end of the sewer reach, were used to measure the oxygen uptake rate and the water quality parameters COD(total), COD(dissolved) and ammonium. The results show that the rate of fluctuations in COD concentrations in sewer systems is an order of magnitude higher than the aerobic transformation rate. Consequently, it is concluded that the aerobic transformations in sewer systems are generally not relevant with respect to the influent fluctuations for Dutch wastewater systems. However, in situations with very long aerobic transport times, the aerobic conversions can be significant. An ASM1 based model concept for transformations in sewer systems was used to study the applicability of the model for Dutch sewer conditions. The difference between the measured and simulated values was rather low for the range of upstream dissolved oxygen and COD(total), COD(dissolved) and COD(suspended) levels. Therefore, it is concluded that the ASM1 based sewer model properly describes the changes in dissolved oxygen level in an aerobic sewer reach.
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Affiliation(s)
- C Flamink
- Delft University of Technology (TUDelft), Faculty of Civil Engineering and Geosciences, Section of Sanitary Engineering, P.O. Box 5048, NL-2600 GA Delft, The Netherlands.
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Schellart A, Veldkamp R, Klootwijk M, Clemens F, Tait S, Ashley R, Howes C. Detailed observation and measurement of sewer sediment erosion under aerobic and anaerobic conditions. Water Sci Technol 2005; 52:137-46. [PMID: 16206853] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 05/04/2023]
Abstract
A greater understanding of the erosion behaviour of sewer sediments is necessary in order to reliably estimate the amount and nature of the sewer sediments released from deposits in sewers and transported either to waste water treatment plants or discharged into the environment. Research has indicated that microbial activity in sediment can influence the physical release of sediment from in-pipe deposits. This paper reports on a series of erosion tests in which sewer sediments from different sewer networks are kept under different environmental conditions and their resistance to erosion is examined. The erosion tests are carried out under aerobic and anaerobic conditions and two temperatures, one representing ambient sewer temperatures and a lower temperature that significantly suppresses bacterial activity.
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Affiliation(s)
- A Schellart
- Delft University of Technology, Faculty of Civil Engineering and Geosciences, Stevinweg 1, P.O. Box 5048, 2600 GA Delft, The Netherlands
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Diethelm S, Sfeir J, Clemens F, Van herle J, Favrat D. Planar and tubular perovskite-type membrane reactors for the partial oxidation of methane to syngas. J Solid State Electrochem 2004. [DOI: 10.1007/s10008-003-0489-2] [Citation(s) in RCA: 27] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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Tait SJ, Ashley RM, Verhoeven R, Clemens F, Aanen L. Sewer sediment transport studies using an environmentally controlled annular flume. Water Sci Technol 2003; 47:51-60. [PMID: 12666801] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 05/24/2023]
Abstract
This paper provides an overview and some preliminary results of a collaborative project recently completed at WL Delft Hydraulics. It describes tests in an annular flume, in which sediment deposits were formed under carefully controlled and monitored environmental conditions. The deposits were then subjected to a series of time steps in which the rotational speed of the flume's top and bottom plates was increased, progressively increasing the bed shear stress. The sediment deposits were formed using three different types of sediment. An artificial organic sediment, together with a uniformly sized sand were selected as surrogate sewer sediments. The deposits in the remaining experiments were real in-sewer sediments, from catchments in the UK (Dundee) and The Netherlands (Loenen). During the erosion test, total and volatile suspended solids concentration, particle size distribution of the eroded sediment, and COD and DO levels were recorded. The bed surface topography was also measured so that the influence of the deposit formation condition on bedforms could also be examined. Where bed consolidation times were least 24 hours a biologically active surficial layer was observed to develop at the sediment/water interface. The initial deposit conditions (temperature and deposit duration) were both found to have a significant impact on the subsequent erosion of the deposit.
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Affiliation(s)
- S J Tait
- Department of Civil and Structural Engineering, University of Sheffield, Mappin Street, Sheffield S1 3JD, UK.
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Korving H, Clemens F. Bayesian decision analysis as a tool for defining monitoring needs in the field of effects of CSOs on receiving waters. Water Sci Technol 2002; 45:175-184. [PMID: 11902469] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 05/23/2023]
Abstract
In recent years, decision analysis has become an important technique in many disciplines. It provides a methodology for rational decision-making allowing for uncertainties in the outcome of several possible actions to be undertaken. An example in urban drainage is the situation in which an engineer has to decide upon a major reconstruction of a system in order to prevent pollution of receiving waters due to CSOs. This paper describes the possibilities of Bayesian decision-making in urban drainage. In particular, the utility of monitoring prior to deciding on the reconstruction of a sewer system to reduce CSO emissions is studied. Our concern is with deciding whether a price should be paid for new information and which source of information is the best choice given the expected uncertainties in the outcome. The influence of specific uncertainties (sewer system data and model parameters) on the probability of CSO volumes is shown to be significant. Using Bayes' rule, to combine prior impressions with new observations, reduces the risks linked with the planning of sewer system reconstructions.
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Affiliation(s)
- H Korving
- Department of Environmental Engineering, Faculty of Civil Engineering and Geosciences, Delft University of Technology, The Netherlands.
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Abstract
Several compounds containing an amidrazone moiety are known to be potent inhibitors of lipoxygenase-1 activity from soybeans (L-1) with IC(50)-values in the range of 10 microM to 38 nM. Recently it was proposed that phenylhydrazones act as irreversible mechanism-based inhibitors of lipoxygenases. Because of the structural similarities between both compounds it was assumed for the amidrazones to affect the lipoxygenase reaction in the same suicide manner. Cyclisation of the amidrazone moiety to the corresponding triazoline should yield compounds without substrate properties. However, they are still able to inactivate the enzyme. The inhibition of L-1 from soybeans by two representative compounds of a series of amidrazones and triazolines has been characterised as a slow, tight-binding interaction via a two-step mechanism. Dialysis experiments indicate the reversible nature of interaction of the amidrazone with the ferrous enzyme while the ferric enzyme was irreversibly inactivated. In contrast, the interaction of the triazoline with both the ferric and ferrous species of the enzyme was completely reversible which demonstrates the noncovalent and reversible mode of binding and inactivation. The triazoline was found not to be a substrate of the dioxygenase reaction of lipoxygenase whereas the amidrazone is only a very poor substrate of the enzymatic oxidation reaction. The presented results point out the inhibition of L-1 by amidrazones and triazolines to fall into the same kinetic classification. Therefore it is obvious that the inhibition of L-1 by these compounds cannot be attributed to a truly mechanism-based inactivation.
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Affiliation(s)
- F Clemens
- Department of Pharmaceutical Chemistry, Martin-Luther-Universität, Wolfgang-Langenbeck-Strasse 4, 06120 Halle, Germany
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Brack G, Clemens F. Dynamische Modellierung verfahrenstechnischer Prozesse mit substantiell verteilten Zustandsgrößen. CHEM-ING-TECH 1991. [DOI: 10.1002/cite.330630824] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Nordström K, Kallings I, Dahnsjö H, Clemens F. An outbreak of Legionnaires' disease in Sweden: report of sixty-eight cases. Scand J Infect Dis 1983; 15:43-55. [PMID: 6844878 DOI: 10.3109/inf.1983.15.issue-1.08] [Citation(s) in RCA: 30] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/22/2023]
Abstract
From August 27 to September 21, 1979, 58 patients fell ill with Legionnaires' disease (LD) in the town Västerås, Sweden. All patients had been staying in the town some time during 2 weeks preceding their illness, as had 10 LD patients who fell ill from mid-June to mid-August the same year. Clinically, high fever, headache, dizziness and gastrointestinal symptoms were dominating. Respiratory symptoms were moderate, radiologically verified pneumonia was seen in 59 of 64 patients examined. One patient died. The diagnosis was verified by serology, using the IFL method, in all cases. Legionella pneumophila serogroup 1 was isolated from a closed lung biopsy from 3 patients. Isolates of identical strains were made from the cooling tower on the roof of an indoor shopping centre in Västerås, visited by 57 of the patients during the incubation period.
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Clemens F. Thin needle-guided arterial puncture in angiography. Radiology 1981; 139:497. [PMID: 7220896 DOI: 10.1148/radiology.139.2.7220896] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/24/2023]
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