Grasping devices and methods in automated production processes

In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications and continues explaining different releasing strategies and principles. Then the paper classifies the numerous sensors used to monitor the effectiveness of grasping (part presence, exchanged force, stick-slip transitions, etc.). Later the grasping and releasing problems in different fields (from mechanical assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes.     

Parallel arrays of Schottky barrier nanowire field effect transistors: Nanoscopic effects for macroscopic current output

We present novel Schottky barrier field effect transistors consisting of a parallel array of bottom-up grown silicon nanowires that are able to deliver high current outputs. Axial silicidation of the nanowires is used to create defined Schottky junctions leading to on/off current ratios of up to 10⁶. The device concept leverages the unique transport properties of nanoscale junctions to boost device performance for macroscopic applications. Using parallel arrays, on-currents of over 500 μA at a source-drain voltage of 0.5 V can be achieved. The transconductance is thus increased significantly while maintaining the transfer characteristics of single nanowire devices. By incorporating several hundred nanowires into the parallel array, the yield of functioning transistors is dramatically increased and deviceto-device variability is reduced compared to single devices. This new nanowirebased platform provides sufficient current output to be employed as a transducer for biosensors or a driving stage for organic light-emitting diodes (LEDs), while the bottom-up nature of the fabrication procedure means it can provide building blocks for novel printable electronic devices.      

Bottom-up synthesis of ultrathin straight platinum nanowires: Electric field impact

We present a study of the electric field effect on electrochemically grown ultrathin, straight platinum nanowires with minimum diameter of 15 nm and length in the micrometer range, synthesized on a silicon oxide substrate between metal electrodes in H₂PtCl₆ solution. The influence of the concentration of the platinumcontaining acid and the frequency of the applied voltage on the diameter of the nanowires is discussed with a corresponding theoretical analysis. We demonstrate for the first time that the electric field profile, provided by the specific geometry of the metal electrodes, dramatically influences the growth and morphology of the nanowires. Finally, we provide guidelines for the controlled fabrication and contacting of straight, ultrathin metal wires, eliminating branching and dendritic growth, which is one of the main shortcomings of the current bottom-up nanotechnology. The proposed concept of self-assembly of thin nanowires, influenced by the electric field, potentially represents a new route for guided nanocontacting via smart design of the electrode geometry. The possible applications reach from nanoelectronics to gas sensors and biosensors.      

Repair of Erosion Defects in Gun Barrels by Direct Laser Deposition

In recent years the development of functional carbide coatings follows the trend to use composite powders with fine grained hard particles. In addition to thermal spraying, laser cladding is a suitable surface technology in particular for dynamically loaded components, and it is widely used for the manufacturing of coatings as well as complex 3D structures. The paper presents an application addressing the repair of erosion defects in large gun barrels using a novel internal diameter laser cladding head. The most promising material systems are TiC- and VC-based metal-matrix composites. Samples were evaluated in a special erosion test that emulates realistic load conditions. In this test, the materials are exposed to extreme stresses by temperature and pressure shocks, a very reactive atmosphere and erosive particles. As result, TiC-based coatings showed the best performance, and they are applicable for both repair and surface protection of inner surfaces of components and tools.     

Synthetic substrates for long-term stem cell culture

Stem cells have a host of applications in regenerative medicine and basic research. However, clinical translation hinges on the availability of effective stem cell expansion. Stem cell expansion has been limited due to the use of xenogenic factors in the culture system, batch-to-batch variation, and processes that do not readily lend themselves to scale-up. Synthetic substrates represent attractive alternatives to standard feeder layer culture, as they address many of these pressing limitations. Specifically, we use a grafting-to approach to create a zwitterionic hydrogel capable of maintaining human pluripotent stem cells in long-term culture. This approach enables the control of substrate physiochemical properties, is relatively inexpensive, and results in a substrate with good storage and sterilization stability. In this feature, we focus on the contributions of our culture system to prolonged stem cell culture and compare it to other culture systems currently available.     

Strength of soil reinforced with fiber materials (Papyrus)

Construction of building and other civil engineering structures on weak or soft soil is highly risky because such soil is susceptible to differential settlements, poor shear strength, and high compressibility. Various soil improvement techniques have been used to enhance the engineering properties of soil. Soil reinforcement by fiber material is considered an effective ground improvement method because of its cost effectiveness, easy adaptability, and reproducibility. Hence, in the present investigation, papyrus fiber has been chosen as the reinforcement material, and it was randomly included into the soil at four different percentages of fiber content, i.e., 5, 10, 15, 25% by volume of raw soil. The main objective of this research is to focus on the strength behavior of soil reinforced with randomly included papyrus fiber. Direct shear, consolidation, and displacement tests were performed on papyrusreinforced specimens with various fiber contents. The results of these tests have clearly shown a significant improvement in the failure deviator stress and shear strength parameters (c and φ) of the studied soil with a percent addition of 10% (the preferred percent). Moreover, this addition ratio reduced the displacement of the soil under loading. It can be concluded that papyrus fiber can be considered an appropriate soil reinforcement material.     

Multispecificity of drug transporters: probing inhibitor selectivity for the human drug efflux transporters ABCB1 and ABCG2

Multidrug resistance transporters P-glycoprotein/ABCB1 and ABCG2 limit the effect of a large number of cytostatic and cytotoxic drugs by energy-dependent efflux. In experimental models, pump inhibitors reestablish sensitivity towards these drugs. Both transporters demonstrate remarkably broad and partly overlapping substrate specificity. Propafenone analogues are inhibitors of a large number of drug efflux pumps including P-glycoprotein and ABCG2 as well as the microbial pumps. Here the two human ABC transporters ABCB1 and ABCG2 have been studied with respect to interaction with this class of compounds. Data indicate that within the same chemical scaffold, selectivity indices span three orders of magnitude. Compounds with the highest selectivity indices contain a non-ionizable nitrogen atom. Qualitative and quantitative pharmacophore models indicate that hydrophobicity, the number of rotatable bonds, and the number of H-bond acceptors are key features for both activity and selectivity.     

Influence of Currents from Electrostatic Charges on WEC Formation in Rolling Bearings

White etching crack (WEC) early bearing failures occur when the rolling contact is subjected to a so-called additional load such as an electrical current flowing through the bearing, in addition to the pure rolling load (p_Hz). Tests on rolling bearings showed that a low electrical direct current flow, such as that resulting from electrostatic charges, can lead to WEC failures in oil-lubricated roller bearings and greased ball bearings.

The WEC formation in the performed tests was dependent on the current, electrical polarity, load type (rotating or stationary ring load), and bearing load. A black oxidation of the WEC critical bearing ring led to a significant increase in lifetime. Based on the findings, the failure hypothesis “cathodic WEC fatigue” for electrical direct current-initiated WEC failures was established.