A low-energy 2.4GHz RF transceiver supporting 1Mb/s Gaussian Frequency-Shift Keying modulation and designed to run on a 1.5V battery is implemented in a standard 0.18μm CMOS technology. The integrated DC-DC converter can provide up to 100mA to an external load besides the current required by the transceiver. The transmitter current at 0dBm nominal output power is 11.9mA. The receiver draws 11.4mA and presents a sensitivity of -82.5dBm at a bit-error rate of 0.1% with the on-chip DC-DC converter delivering a total of 120mA. The transceiver is able to operate at a supply voltage as low as 0.8V.

A phase–domain approach of I/Q–quantization for RF Transceivers is presented. The I/Q–signals are converted directly from the phase domain into a digital representation of the actual phasor position. This phase–domain Analog–to–digital converter (Phase–ADC) designed in 0.18μm occupies an area of 0.049 mm2, has a dynamic range of 50 dB and draws roughly 300 μA from 1.2 Volt

In order to provide an effective system for rehabilitation of walking, a new rotational orthosis for walking with arm swing, called ROWAS II, was developed. This study focused on development and implementation of admittance control of the ankle mechanism in the ROWAS II system for promoting active training. Firstly, the mechanical structure of the ankle mechanism is briefly introduced. Then the algorithms of the closed-loop position control and the admittance control for the ankle mechanism are described in detail. Four able-bodied participants were recruited to use the ankle mechanism running in passive and active modes. The experimental results showed that the ankle mechanism well tracked the target trajectory in passive mode. In active mode, the participants interacted with the ankle mechanism, and adjusted their ankle movement based on their active force. The ankle mechanism has the technical potential to meet the requirements of passive and active training in the ankle movement for patients in different post-stroke stages.

Retinal laser photocoagulation is an established and successful treatment for a variety of retinal diseases. While being a valuable treatment modality, laser photocoagulation shows the drawback of employing high energy lasers which are capable of physically destroying the neural retina. For reliable therapy, it is therefore crucial to closely monitor the therapy effects caused in the retinal tissue. A depth resolved representation of optical tissue properties as provided by optical coherence tomography may provide valuable information about the treatment effects in the retinal layers if recorded simultaneously to laser coagulation. Therefore, in this work, the use of ultra-high resolution optical coherence tomography to represent tissue changes caused by conventional and selective retinal photocoagulation is investigated. Laser lesions were placed on porcine retina ex-vivo using a 577 nm laser as well as a pulsed laser at 527 nm built for selective treatment of the retinal pigment epithelium. Applied energies were varied to generate lesions best representing the span from under- to overtreatment. The lesions were examined using a custom-designed optical coherence tomography system with an axial resolution of 1.78 μm and 70 kHz Ascan rate. Optical coherence tomography scans included volume scans before and after irradiation, as well as time lapse scans (Mscan) of the lesions. Results show OCT lesion visibility thresholds to be below the thresholds of ophthalmoscopic inspection. With the ultra-high resolution OCT, 42% - 44% of ophthalmoscopically invisible lesions could be detected and lesions that were under- or overexposed could be distinguished using the OCT data.

Durch die sinkenden Preise sowohl bei der Photovoltaik als auch bei Batteriespeichern sowie die sinkende Rückvergütung für die Einspeisung von Solarstrom zeichnet sich ein Trend ab: Die Gebäude der Zukunft werden Energie nicht nur konsumieren, sondern auch produzieren. Da in diesem neuen Gebiet noch diverse Fragen offen sind, ist Forschung nötig. Das BFH-CSEM-Zentrum Energiespeicherung untersucht deshalb das Zusammenspiel von Photovoltaikanlagen, Energiemanagern und Solarstromspeichern in einer realitätsnahen Umgebung.

Caries and periodontitis affect the majority of adults during their lifetime. Piezoelectric ultrasonic scalers offer great benefits during the prevention and treatment of periodontal diseases. Our group developed a novel ultrasonic periodontal scaler based on a planar piezoelectric transducer. However, similar to other piezoelectric configurations, the transducer’s characteristics are strongly influenced by operation conditions. In this study, we investigated the influence of driving voltage amplitude and loading force applied using physical calculus models on the novel planar transducer’s input impedance and vibration. Our results show that the resonance frequency, i.e. the frequency at which maximal deflection of the tip occurs, decreases with increasing driving voltage amplitude while it increases with increasing force. Additionally, decreasing driving voltage amplitudes and increasing force both increase the minimal magnitude and reduce the maximal phase of the input impedance near resonance. Based on these observations, we developed a procedure to extend the Butterworth-Van-Dyke (BVD) Model. The extended BVD models allow to simulate the transducer in realistic scenarios and may facilitate the development of dedicated control systems for planar piezoelectric transducers.

Background: The limitations of functional electrical stimulation (FES) cycling directly affect the health benefits acquired from this technology and prevents its’ full potential to be realised. Experiments should be done on a test bed which can isolate and focus only on one muscle group, namely the quadriceps. The aim of this work was to design and develop an isokinetic robotic leg extension/flexion dynamometer which can mimic knee joint motion during actual cycling to be used for evaluation of novel functional electrical stimulation strategies. Although the main motivation for development of the dynamometer was for application in FES studies, it has the potential to be used for various different muscle physiology studies. Methods: A feedback control system with integrated electrical stimulation for isokinetic knee joint torque measurement has been developed and tested for safety and functionality. The leg extension/flexion device was modified and equipped with a DC motor drive system to imitate isokinetic knee joint motion during cycling when the hip joint remains fixed. Real-time bi-directional effective torque on the lever arm was measured by a magnetostrictive torque sensor and a load cell. Closed-loop motor control system was also designed to mimic the cyclical motion at desired angular velocity. Results: A functional model of the robotic dynamometer was developed and evaluated. The dynamometer is capable of simulating the knee angle during cycling at a cadence of up to 70 rpm with range of motion of 72 ◦. The magnetostrictive torque sensor can measure torque values up to 75 Nm. The lever arm can be adjusted and the target knee angle was controlled with RMSE tracking error of less than 2.1 ◦in tests with and without a test person, and with and without muscle stimulation. Conclusions: The isokinetic knee joint torque measurement system was designed and validated in this work, and subsequently used to develop and evaluate novel muscle activation strategies. This is important for fundamental research on effective stimulation patterns and novel activation strategies. This will, in turn, enhance the efficiency of FES cycling exercise and has the potential to improve the health-beneficial effects.

In order to promote early rehabilitation, we proposed a system which provides full-body arm-leg training for patients in a bed-lying position. As the preliminary development, a platform for leg movement was investigated. An innovative system with four servo drives was designed and manufactured. An artificial leg frame was attached to the platform via belts. The positions of the hip and knee joints were recorded using potentiometers. Closed-loop PID position control algorithms were implemented for production of various stepping movements. Technical evaluation on a test participant showed that the platform tracked the circular trajectory of the foot in a supine-lying position with an area difference of 8.2%, and produced walking-like trajectories in the hip and knee joints in a side-lying position with a mean error of 10.6%. The mechanical structure can be resized, and the control system can be expanded, so as to produce 3-dimensional stepping movement in both arms and legs. This innovative platform combined with the closed-loop position control strategy shows the technical potential to be a promising full-body rehabilitation platform for the patients in the early post-injury stage.

In a parallel development to traditional rigid rehabilitation robotic systems, cable-driven systems are becoming popular. The robowalk expander product uses passive elastic bands in the training of the lower limbs. However, a well-controlled assistance or resistance is desirable for effective walking relearning and muscle training. To achieve well-controlled force during locomotion training with the robowalk expander, we replaced the elastic bands with actuator-driven cables and implemented force control algorithms for regulation of cable tensions. The aim of this work was to develop an active cable-driven robotic system, and to evaluate force control strategies for walking rehabilitation using frequency-domain analysis. The system parameters were determined through experiment-assisted simulation. Then force-feedback lead controllers were developed for static force tracking, and velocity-feedforward lead compensators were implemented to reduce velocity-related disturbances during walking. The technical evaluation of the active cable-driven robotic system showed that force-feedback lead controllers produced satisfactory force tracking in the static tests with a mean error of 5.5%, but in the dynamic tests, a mean error of 13.2% was observed. Further implementation of the velocity-feedforward lead compensators reduced the force tracking error to 9% in dynamic tests. With the combined control algorithms, the active cable-driven robotic system produced constant force within the four cables during walking on the treadmill, with a mean force-tracking error of 10.3%. This study demonstrates that the force control algorithms are technically feasible. The active cable-driven, force-controlled robotic system has the potential to produce user-defined assistance or resistance in rehabilitation and fitness training.

Selective retina therapy and optical coherence tomography have been combined to monitor laser-tissue interaction in real-time. An ex-vivo study of porcine eyes unveils mechanisms that enable automated and accurate dose-control during laser-therapy.