As intelligent hydraulic systems with embedded sensors become more ubiquitous, the real or perceived reliability challenge associated with sensors must be addressed to encourage their adoption. In this paper, a fault-tolerant control strategy for an intelligent independent metering valve that allows continued operation if a sensor fails is described. The twin-spool valve example utilizes position sensors to stabilize the spool positions and eliminate hysteresis, and pressure sensors to provide digital pressure compensation, electronic load sensing, and other features. An independent metering valve has redundancy provided by four sensors working together to control the flow into and out of a single actuator. Although two sensors are needed to control the flow through a spool, the controller can be reconfigured to ensure the flow is always controlled on the spool with both sensors working. To accomplish this, the concept of cross-port pressure control is introduced that uses the faulty side of the valve to maintain constant pressure on the non-faulty side. By maintaining a constant pressure, the flow in and out of the actuator are balanced. Experimental results on the boom of a backhoe demonstrate the operation of the fault tolerant control strategy.

Complexity management is the key to success for mobile machinery where the variety of customers and applications requires individual solutions. This paper presents the way Bosch Rexroth supports each OEM with hydraulic controls – from specification and conception towards application and production. It gives examples how platforms and processes are optimized according to the customer needs. The demand for flexible, short-term deliveries is met by an agile production with the technologies of Industry 4.0.

Hydraulic main stages for off highway machines have usually electromagnetic driven pilot valves. You rarely find stepper motor driven pilot systems that are directly positioning the main spool in the sectional control valve. The presented concept shows the development of an actuator in a unique setup to fulfill the requirements of most off- highway applications. Precise positioning, strength, speed and fail safe requirements were the main goals of the concept. The concept has a two phase BLDC transversal flux motor with a single gear stage transmission. The software and control unit are specially designed for this electric motor setup. On a test bench some results of the first samples reveal the technical potential of this concept. The development of the actuator was done in-house of Thomas Magnete GmbH (mechanical, electronical, and software development).

Reliability of a piston rod position measurement system is key when applied to large hydraulic cylinders. This and other requirements lead to the development of the CIMS (Cylinder Integrated Measurement System), a contactless and highly accurate system that uses the Hall effect to detect an encoded piston rod. To eliminate deviations caused by mechanical tolerances, temperature and air gap variations etc., the raw signals are filtered and compensated. Its functionality has been extended by making statistical data available, based on the values measured. These include the number of strokes, cumulative stroke length, stroke length distribution, maximum velocity and acceleration, temperature classification and extreme temperatures. Assessment of these data enables the user to optimize his application. Comparison to historic data can give input to the preventive maintenance plan to reduce (unforeseeable) system downtime and to increase the system reliability. This development resulted into the CIMSmart. It is a significant step towards cylinder intelligence.

The presented innovative magnetic testing method utilises the fact, that each commercially available electromagnet can not only be used as an actuator, but also comprises internal sensor functions. This allows a huge application variety in the fields of non-destructive testing and condition monitoring of electromagnetic systems during production and within the application in the field.

In this work organic molecules, namely derivatives of BODIPY and poly-para-phenyls are investigated on different metal surfaces by means of LT-STM. These molecule are important for the development of molecular electronics and spintronics. I show that aza-BODIPY molecules form a weak chemical bond with the Au(111) substrate and the molecular structure significantly changes upon adsorption. Due to the low corrugation of the Au(111) surface, diffusion of the molecule is observed for applied bias in excess of ±1 V. The temperature dependent formation of different molecular nanostructures formed by polyparaphenyls and Au adatoms is discussed. The diffusing Au adatoms act as coordination centers for the cyano groups present on one end of the molecules. The structure of the super molecular assemblies completely changes in a temperature range of only 60 K. Furthermore, I investigate in this work the hybridization of atomic orbitals within the molecular ligand. The Kondo resonance of a Co atom incorporated into an other aza-BODIPY derivative is investigated in detail on Ag(100). The hybridization of the atomic Co orbital with the organic ligands molecular orbitals is shown by spectroscopy measurements with submolecular resolution. The changing line shape of the Kondo resonance for the molecule-substrate system is discussed. This data is compared to measurements of Co incorporated in another molecular binding motive and on different metal samples to show the importance of the local environment for molecular materials.:Introduction 1 1 Basic Principles 5 1.1 The Scanning Tunneling Microscope 6 1.2 Theory of STM/STS 8 1.2.1 Scanning Tunneling Microscopy 8 1.2.2 Scanning Tunneling Spectroscopy 12 1.2.3 dI/dV-maps and SPECGRIDs 15 1.3 Lateral Manipulation of Adsorbates 15 1.4 The Kondo Effect 17 1.4.1 Investigation of Kondo Systems by STM 19 2 Experimental Setup 23 2.1 LT-STM and UHV System 24 2.2 Substrates 26 2.2.1 Au(111) 26 2.2.2 Ag(100) 28 2.2.3 Cu(110) 28 2.2.4 Surface Preparation 29 2.3 The Molecules 29 2.3.1 aza-BODIPY 29 2.3.2 6Ph-CN 30 2.3.3 Co-(BiPADI)2, Co-BiPADI, and BiPADI 31 2.3.4 Sample Preparation 32 2.4 Organic Photovoltaics 32 3 Aza-BODIPY on Au(111) 35 3.1 Experimental Results 36 3.1.1 STM Images 36 3.1.2 Spectroscopy 38 3.1.3 Lateral Manipulation 38 3.2 Discussion 39 4 6Ph-CN on Au(111) 43 4.1 Experimental Results 44 4.1.1 STM Images 44 4.1.2 Temperature Dependent Nanostructure Formation 44 4.1.3 Spectroscopy 46 4.2 Discussion 47 5 Co-BiPADI on Ag(100) and Cu(110) 55 5.1 Experimental Results 56 5.1.1 Co-BiPADI on Ag(100) 56 5.1.1.1 STM Images and Identification 56 5.1.1.2 Adsorption Geometry 56 5.1.1.3 Spectroscopy and Kondo Resonance 59 5.1.1.4 Temperature Dependent Measurements 63 5.1.1.5 SPECGRID Measurements and Comparison with Molecular Structure 64 5.1.1.6 Interaction of Several Co-BiPADI Molecules and Related Changes of Their Kondo Resonances 67 5.1.1.7 Determination of Adsorption Position of Molecules in SPECGRID Measurements 69 5.1.2 Co-BiPADI on Cu(110) 71 5.1.2.1 STM Images and Identification 71 5.1.2.2 STS Measurements and dI/dV Maps 72 5.2 Discussion 74 6 Co-(BiPADI)2 on Au(111) 81 6.1 Experimental Results 82 6.1.1 STM Images 82 6.1.2 Spectroscopy 82 6.2 Discussion 86 7 Conclusions and Outlook 89 Bibliography 93 List of Publications 101 Acknowledgments 103 A Appendices 105 A.1 Fitting Routine for Kondo STS 105 A.2 Background Subtraction in Kondo STS 107 A.3 MATLAB Fitting Tool fit.m 107 A.4 Import Routine and Fitting Script for SPECGRID Files 111 A.5 Calibration of Piezo Constants from Atomically Resolved Images 112 A.5.1 Au(111) 112 A.5.2 Ag(100) 112 Confirmation 113 / In dieser Arbeit werden organische Moleküle, Derivate von BODIPY und poly-para-Phenyl, auf verschiedenen Metalloberflächen mittels Tief-Temperatur Rastertunnelmikroskopie (LT-STM) untersucht. Diese Moleküle sind wichtig für die Entwicklung von molekularer Elektronik und Spintronik. Ich zeige, dass aza-BODIPY-Moleküle eine schwache chemische Bindung mit dem Au(111)- Substrat eingehen und die molekulare Struktur bei der Adsorption deutlich verändert wird. Wegen der geringen Rauigkeit der Au(111)-Oberfläche wird bereits bei einer angelegten Spannungen über ±1 V die Diffusion der Moleküle beobachtet. Die temperaturabhängige Bildung verschiedener molekularer Nanostrukturen aus poly-para-Phenyl und frei beweglichen Goldatomen wird diskutiert. Die diffundierenden Goldatome agieren hierbei als Koordinationszentren für die Cyanogruppen am einen Ende der Moleküle. Die Struktur der supramolekularen Anordnungen verändert sich dabei in einem Temperaturbereich von nur 60 K vollkommen. Außerdem beschäftige ich mich in dieser Arbeit mit der Hybridisierung atomare Orbitale im molekularen Verbund. Die Kondo-Resonanz eine Co-Atoms, welches in einem anderen aza-BODIPY-Derivat gebunden ist, wird detailliert auf der Ag(100)-Oberfläche untersucht. Die Hybridisierung des atomaren Co-Orbitals mit den molekularen Orbitalen des organischen Liganden wird an Hand von Spektroskopiemessungen mit submolekularer Auflösung gezeigt. Die veränderte Form der Kondo-Resonanz für dieses Molekül-Substrat-System wird diskutiert. Diese Daten werden mit Messungen an Co-Atomen in anderen molekularen Bindungsschemen und auf anderen Substraten verglichen um dieWichtigkeit der lokalen Umgebung für molekulare Materialien zu verdeutlichen.:Introduction 1 1 Basic Principles 5 1.1 The Scanning Tunneling Microscope 6 1.2 Theory of STM/STS 8 1.2.1 Scanning Tunneling Microscopy 8 1.2.2 Scanning Tunneling Spectroscopy 12 1.2.3 dI/dV-maps and SPECGRIDs 15 1.3 Lateral Manipulation of Adsorbates 15 1.4 The Kondo Effect 17 1.4.1 Investigation of Kondo Systems by STM 19 2 Experimental Setup 23 2.1 LT-STM and UHV System 24 2.2 Substrates 26 2.2.1 Au(111) 26 2.2.2 Ag(100) 28 2.2.3 Cu(110) 28 2.2.4 Surface Preparation 29 2.3 The Molecules 29 2.3.1 aza-BODIPY 29 2.3.2 6Ph-CN 30 2.3.3 Co-(BiPADI)2, Co-BiPADI, and BiPADI 31 2.3.4 Sample Preparation 32 2.4 Organic Photovoltaics 32 3 Aza-BODIPY on Au(111) 35 3.1 Experimental Results 36 3.1.1 STM Images 36 3.1.2 Spectroscopy 38 3.1.3 Lateral Manipulation 38 3.2 Discussion 39 4 6Ph-CN on Au(111) 43 4.1 Experimental Results 44 4.1.1 STM Images 44 4.1.2 Temperature Dependent Nanostructure Formation 44 4.1.3 Spectroscopy 46 4.2 Discussion 47 5 Co-BiPADI on Ag(100) and Cu(110) 55 5.1 Experimental Results 56 5.1.1 Co-BiPADI on Ag(100) 56 5.1.1.1 STM Images and Identification 56 5.1.1.2 Adsorption Geometry 56 5.1.1.3 Spectroscopy and Kondo Resonance 59 5.1.1.4 Temperature Dependent Measurements 63 5.1.1.5 SPECGRID Measurements and Comparison with Molecular Structure 64 5.1.1.6 Interaction of Several Co-BiPADI Molecules and Related Changes of Their Kondo Resonances 67 5.1.1.7 Determination of Adsorption Position of Molecules in SPECGRID Measurements 69 5.1.2 Co-BiPADI on Cu(110) 71 5.1.2.1 STM Images and Identification 71 5.1.2.2 STS Measurements and dI/dV Maps 72 5.2 Discussion 74 6 Co-(BiPADI)2 on Au(111) 81 6.1 Experimental Results 82 6.1.1 STM Images 82 6.1.2 Spectroscopy 82 6.2 Discussion 86 7 Conclusions and Outlook 89 Bibliography 93 List of Publications 101 Acknowledgments 103 A Appendices 105 A.1 Fitting Routine for Kondo STS 105 A.2 Background Subtraction in Kondo STS 107 A.3 MATLAB Fitting Tool fit.m 107 A.4 Import Routine and Fitting Script for SPECGRID Files 111 A.5 Calibration of Piezo Constants from Atomically Resolved Images 112 A.5.1 Au(111) 112 A.5.2 Ag(100) 112 Confirmation 113

Aus der Einführung: "Betrachtet man die Jahre von ca. 1880 bis ca. 1970 unter technikhistorischen Aspekten, kann man sie – abweichend von gängigen Periodisierungen – als Einheit auffassen und als technokratische Hochmoderne bezeichnen. Zentrales und durchgehendes Kennzeichen dieser Zeitspanne war der fast uneingeschränkte Glauben an eine bessere Zukunft, die auf technischem Fortschritt basierte. Zwischen dem Beginn der Hochindustrialisierung und dem Ende der Atomeuphorie wurden technischer und sozialer Fortschritt vielfach gleichgesetzt. Das lag zum Einen am Eindringen technischer Artefakte und Lösungen in die Lebenswelt breiter Massen, die unbestreitbar das Leben erleichterten, zum Anderen an einem sich immer weiter ausbreitenden Glauben an die prinzipiell unbegrenzte Weiterentwicklung technischer Systeme und der damit verbundenen Lösung komplexer gesellschaftlicher Probleme. Dieser Glaube wurde nicht einmal durch die verheerenden Auswirkungen von zwei technisierten Weltkriegen gebrochen. Zentrale Signatur der technokratischen Hochmoderne blieb ein auf Technikoptimismus beruhendes Fortschrittsversprechen."

The mechanical parameters of biological cells are relevant indicators of their function or of disease. For example, certain cancerous cells are more deformable than healthy cells. The challenge consists in developing methods that can measure these parameters while not affecting the cell. The Optical Stretcher is a microfluidic system that deforms single suspended cells without contact using lasers and determines the cells’ viscoelastic properties. The advantage compared to standard methods of molecular biology is that cells do not need to be treated with additional markers. Basic versions of the Optical Stretcher have existed for some years. These allow the measurement of homogeneous cell populations. Up until now, it was only possible to calculate average population values of compliance. To characterize inhomogeneous populations however, it is necessary to consider each single cell and measure additional mechanical or optical parameters such as the refractive index. This work highlights various extensions of the Optical Stretcher. A novel procedure, including an improved image processing algorithm, is presented to analyze mechanical data in real time. In combination with measurements of the optical refractive index, single cells can now be characterized in more detail. Moreover, it is now possible to extract interesting subpopulations that can be further examined with molecular biology techniques. Depending on the intended purpose, novel devices for cell measurements, based on microfluidic and optical considerations, are presented. The fundamental concept involves microstructured chips that can be integrated into a commercial microscope. These chips offer the possibility of separating measured cell populations according to their mechanical properties. This separation, including mathematical classification, is demonstrated. These methods are tested with cell types of differing mechanical properties to prove their applicability in practice. Single cells are sorted into their respective population of origin. These novel methods offer the possibility of a versatile device to be applied in biophysical research.

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Der folgende Text beruht auf einer subjektiven Auffassung, auf empirischen Erkenntnissen, ist nicht wissenschaftlich fundiert, aber stützt sich dennoch auf messbare Ergebnisse – zumeist in den Auftragsbüchern unserer Kunden. Es soll hier um die Darlegung einer Herangehensweise, einer Denkauffassung gehen. Wir bezeichnen dies nicht unbedingt als Methode oder unseren Prozess, denn dafür fehlt es an klar umrissenen, immer gleichen Parametern. Da wir keine Wissenschaftler sind, möge man uns dies verzeihen. [... aus dem Text]