Department of Mechanical and Process Engineering

D-MAVT

Research

Contents
Institute for Biomechanics Professor Ralph Mller Professor Jess Snedeker Institute for Dynamic Systems and Control Professor Raffaello DAndrea Professor Lino Guzzella Institute of Energy Technology Professor Reza S. Abhari Professor Konstantinos Boulouchos Professor Wolfgang Krger Professor Christoph Mller Professor Hyung Gyu Park Professor Dimos Poulikakos Professor Horst-Michael Prasser Professor Aldo Steinfeld Institute of Fluid Dynamics Professor Patrick Jenny Professor Leonhard Kleiser Professor Thomas Rsgen Institute of Mechanical Systems Professor Jrg Dual Professor Paolo Ermanni Professor Christoph Glocker Professor Edoardo Mazza Institute of Process Engineering Professor Marco Mazzotti Professor Sotiris E. Pratsinis Professor Philipp Rudolf von Rohr Institute of Robotics and Intelligent Systems Professor Roger Gassert Professor Fumiya Iida Professor Bradley Nelson Professor Robert Riener Professor Roland Siegwart 9 10 12 15 16 18 21 22 24 26 28 30 32 34 36 39 40 42 44 47 48 50 52 54 57 58 60 62 65 66 68 70 72 74 Individual professorships and single professors 77 Institute of Machine Tools and Manufacturing Professor Konrad Wegener Institute of Virtual Manufacturing Professor Pavel Hora Professorship of Micro- and Nanosystems Professor Christofer Hierold Professorship of Nanotechnology Professor Andreas Stemmer

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Welcome
The Department of Mechanical and Process Engineering (D-MAVT)

D-MAVT is one of sixteen departments of ETH Zurich and traces its history back to the opening of the University in 1855. The Department provides undisputed leadership in mechanical engineering research and education in Switzerland, and is currently the largest engineering department at ETH in numbers of students, staff and faculty. D-MAVT also plays an important role in making ETH a leading engineering university worldwide. The Department and the current faculty of thirty one professors strives to maintain a strong international reputation in research. This report presents current research in the Department. Each professors research activities are presented individually, and professorships that combine into larger institutes which are grouped under their respective institute. Institutes that consist of single professorships and professors not associated with an institute are listed individually. Please do not hesitate to contact professors directly if any questions arise or clarifications are desired.

Institute for Biomechanics

The Institute for Biomechanics is a multidisciplinary research unit dedicated to the biomechanical investigation of the human body. Under two professors, the Institute totals approximately 60 members, including four faculty, five senior scientists, seven postdoctoral researchers, and more than thirty doctoral and graduate students, plus technical and administrative staff (two secretaries, a mechanical and an electronics specialist, and three apprentices). The Institute for Biomechanics investigates the mechanics and material properties of the musculoskeletal system, as well as human movement, from a macroscopic (whole body, organ) scale to a microscopic (cell) scale. Many diseases, like osteoporosis, arthritis or muscle atrophy lead to reduced functionality of this system. Additionally, the growth and aging processes demand adaptation of the system as a response to function, as do the requirements of daily life; i.e. work, leisure, and even, in peak performance, sports activities. The Institutes interests lie in characterizing the material properties of the tissues, the quantification of their adaptation from birth to death, with disease, and due to mechanical demands, as well as comparing the kinetics and kinematics of the functional and dysfunctional system. Monitoring risk at an early stage of pathological development, and quantifying optimal treatment and rehabilitation are crucial for the health and welfare of society. With this aim, the Institute develops, refines and uses biomechanical engineering tools and concepts to explore and understand musculoskeletal organisation, while maintaining a philosophy of respect and compassion for all human and animal life. The Institute for Biomechanics comprises five research domains; Bone Biomechanics, Soft Tissue Biomechanics, Joint and Implant Biomechanics, Mechanobiology, and Sports and Movement Biomechanics. Bone Biomechanics This research is concerned with ultrastructural assessment of bone in relation to its response to loading, in order to better understand the structure-function relationship. For this reason 3D approaches for quantitative bioimaging as well as experimental and computational mechanics are investigated. Furthermore, bone fracture as assessed by microcomputed tomography has been combined with discrete micro-compression testing in order to understand fracture at a 3D microscopic scale, and its relationship to bone material composition and structure. Soft Tissue Biomechanics Soft tissue biomechanics includes muscles, tendons, ligaments and cartilage. Experimental and computational approaches are used to measure the internal structural dynamics of these, and models are developed to simulate this. Novel bioimaging approaches are being developed to study the structural, cellular and molecular mechanisms underlying skeletal homeostasis, pathology and healing in these tissues. Investigations focus on diseases such as muscle atrophy, and arthritis, as well as muscle, ligament and tendon injury mechanisms. Joint and Implant Biomechanics Implant loosening is a major cause of failure, so our aim is to provide a better understanding of implant anchorage and stability. For that purpose, peri-implant bone quality is studied; including deformation and failure under load, and how stability and failure are affected by bone-implant interface characteristics. Additionally, the success of postoperative implantation is studied with respect to shoulder, knee and ankle prostheses, where it can provide critical information for improved longevity. Mechanobiology The mechanical loading environment is an important factor regulating bone mass and shape, as well as cellular response. An understanding of the mechanisms governing this adaptation could ultimately lead to the development of pharmacological agents which mimic this mechano-sensitive response, thereby offering novel strategies for the management of disease. An understanding of the cellular response aids tissue engineering efforts. Skeletal tissue engineering is carried out, where substitute tissues that restore or improve function are developed and construct growth is monitored. Sports and Movement Biomechanics Quantification of the movements of the human body such as walking, stair climbing, running, or during sporting activities is the focus of this domain. Special interest lies in the load conditions on the musculoskeletal system, and the description of changes as a result of (i) pathology and (ii) short and long-term adaptations due to interventions (i.e. prostheses/orthoses). The system is described kinematically, using optical 3D measurement and simultaneous muscle signals. Kinetic information is gathered from five force plates, which allows inverse dynamic modeling for estimation of internal loading of the human body.

Institute for Biomechanics Professor Ralph Mller

Vision in Research and Education
Professor Mllers research aims at providing a bridge between biologists, who have brought molecular and cellular components within the realm of engineering, and engineers, who have brought the methods of measurement, analysis, synthesis, and control within the realm of molecular and cell biology. More specifically, new developments in biomechanical research are aimed at the quantification and modeling of the musculoskeletal system at the molecular, cellular, and organ level incorporating novel principles and techniques of biomechanics, biomedical imaging, biological signal processing, and biomodeling. As an educational goal, the group is interested in a fast and direct translation of knowledge from basic and applied research into the classroom, providing students with novel theories and methods of cutting-edge science, as well as a strong interest in the field of biomedical engineering in general, and biomechanics specifically.

Ralph Mller is an Associate Professor of Biomechanics at the Department of Mechanical and Process Engineering and the Director of the Institute for Biomechanics at ETH Zurich. Born in 1964, in Schaffhausen Switzerland, he studied electrical engineering at ETH Zurich where he also received his Ph.D. in 1994. Subsequently, he served as a Project Manager for the micro-computed tomography project of the European Union Concerted Action BIOMED1. In 1996, he moved to Boston, where he served as a tenure-track Assistant Professor of Orthopedic Surgery at Harvard Medical School and the Associate Director of the Orthopedic Biomechanics Laboratory. Between 2000 and 2006, he was an SNF Professor of Bioengineering at the Institute for Biomedical Engineering, University and ETH Zurich. He is an author of over 600 refereed publications in international scientific journals and conferences. He has received a number of awards, including the inaugural John Haddad Young Investigator Award (1998) from the American Society for Bone and Mineral Research (ASBMR) and Advances in Mineral Metabolism (AIMM), as well as the Promising Young Scientist Award (1999) from the International Society of Biomechanics (ISB). In 2004, he was named Young Leader by the American-Swiss Foundation, and in 2007, he and his team received the Publication Group Award from the German Academy of Osteological and Rheumatological Sciences.

Microcomputed tomography is used to image and quantify bone in three dimensions providing resolutions ranging from a few millimeters down to one hundred nanometers. Synchrotron light can also be used to explore phenomena on the nanoscopic scale. These systems allow relatively easy, volumetric and nondestructive access to the ultrastructure of biological materials for quantification. On a larger scale, in vivo computed tomography can be used to assess structurefunction relationships in human bone, and computational models developed in the lab can improve the prediction of patient-specific fracture risk. To understand how bone fractures are related to changes in architecture, we have developed image-guided techniques that utilise micro-bending or -compression in combination with imaging. This is able to provide 3D visualisation and quantification of fracture progression at the nanometer scale.

Biological Quantification for Structure Function Assessment in Bone

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Implant Fixation in Osteoporotic Bone

In clinical orthopedics, implant stability is a critical issue, particularly in patients with low-bone quality (e.g. osteoporosis). Research in the group of Professor van Lenthe is carried out with a view to shedding light on this problem and proposing strategies for improvement. For that purpose, experimental time-lapsed imaging of bone-implant constructs is used to visualize how these constructs deform, where failure is initiated, and how this leads to implant loosening. These data are further analyzed with computational methods using highly detailed models of trabecular bone structure and implant geometry with the aim to understand and quantify the mechanisms leading to implant failure. We expect that this computational approach will provide critical information to define new solutions for improved implant anchorage and longevity.

Functional Outcomes in Tissue Engineering

The need for functional tissue substitutes is increasing as the worlds population ages. Organ transplantation and mechanical devices have revolutionised medical practice but still have limitations such as availability, biocompatibility and host acceptance. Methods currently being used include conduction (by a scaffold) and induction (by bioactive molecules) of cell migration to repair relatively small defects, and cell transplantation into the defect site (with or without biomaterial) to repair larger defects. Even these methods are often inadequate because of the complexity of the structure that must be replaced. In our group we specialise in the measurement of functional outcomes in tissue engineering and regenerative medicine as well as the development of optimised bioreactors for biomechanical stimulation of tissue cultures.

A Model of Load-induced Bone Adaptation to Study Skeletal Mechanobiology

Mechanical loading is perhaps the single most important physiological/environmental factor regulating bone mass and shape. A decrease in mechanical usage of the skeleton will result in bone loss, while overloading results in bone formation and a gain in bone mass. Very little is known about the mechanisms involved, so to that end we have recently developed a mouse model to study this, as well as genetic control of microstructural bone adaptation. Here we observed a dose response in both trabecular and cortical bone following regular bouts of mechanical stimulation. New research has focused on simulating this adaptation to understand the mechanical regulation of bone structure through biological pathways. This provides opportunities to mimic or augment the response to mechanical stimulation by pharmacological agents and may lead to novel strategies for managing bone pathologies, as well as the assessing treatment strategies.

Measuring and Modeling Single Myofibrils and Whole Muscle Systems

In this group, investigation of the mechanics of whole-body muscle systems and single muscle fibres is carried out on the cellular and subcellular level. The goal is to understand basic events at the composite mechanical level of an active biological material. On a macroscopic scale, the power output of the human muscular system during cycling is determined. The aim is to test existing theoretical models with respect to maximum performance from a mechano-physiological point of view. On a microscopic scale single muscle myofibril experiments are performed, and sophisticated microscopy techniques are used to describe the dynamics of a population of half-sarcomeres. The response during activation, relaxation, stretch and release provide the main concepts in analysing and modeling the mechanics of a single myofibril or a bundle of myofibrils.

Pictures from left to right: 1: The Bone Crusher device entering the in vivo HR-pQCT, for image-guided failure assessment of human bone (80 m resolution); 2: Micro-compression device for dynamic image-guided failure assessment of bone fracture for use with synchrotron radiation-based CT (350 nm resolution); 3: Remodeling response of vertebral trabecular bone from the C5 vertebra of two mice, following bouts of 0 N (left) or 8 N (right) mechanical stimulation, respectively. Imaged using in vivo micro-CT, (10 m resolution); 4: Implant-bone interaction for a particular screw implant geometry; 5: Strain energy density (SED) calculated by an FE analysis of a slab of the distal human radius as measured by in vivo HR-pQCT; 6: Micro-CT image of a silk scaffold, (6 m resolution).

Institute for Biomechanics Professor Jess Snedeker

Clinical Biomechanics: Systematically Improving Todays Treatments

Jess Snedeker is a Dual Professor at the ETH Zurich Department of Mechanical Engineering and the University of Zurich, Department of Orthopedics. His research group is located at the University Hospital, Balgrist, in close proximity to orthopedic patients and their surgeons. Thus the projects undertaken and realized within Professor Snedekers group are clinically motivated and seek to develop improved surgical and therapeutic approaches. Professor Snedeker received his BSc. in Mechanical Engineering from Lehigh University in 1995. After several years in industrial research and development, he returned to academia to earn his MSc. in Bioengineering from Penn State University in 2000, and his doctorate in Mechanical Engineering from the ETH Zurich in 2004. He was appointed as Assistant Professor at the University of Zurich in September 2006, and to the ETH Zurich in August 2008. The Snedeker group focuses on the development of numerical models of biological systems and the multi-scale (macro-, micro-, nanoscale) experiments required to validate them. The group has authored over 50 refereed publications in international scientific journals and conference proceedings, and has received various international awards for their work.

Todays orthopedic surgery offers pain relief and a return to function from a wide range of degenerative skeletal disorders. However, surgical techniques and technologies are constantly evolving and certain joints (like the shoulder) are beset by some persistent problems that have no adequate therapeutic solution. We seek to fill these gaps through the development of fresh clinical concepts. A considerable part of clinical innovation issues from the operating room itself and our group actively collaborates with in-house surgeons to devise new treatments, test their potential efficacy, and develop them into practicable therapeutic approaches. We examine clinical problems and potential solutions in quantitative terms, applying highprecision measurement techniques and high-resolution computational models to identify and explore the most important biological/clinical factors at work. For example, we have performed parametric modeling studies of osteotomy design, quantifying the biomechanical consequences of cut geometry on the way that bones are likely to bear load postoperatively and eventually heal. We have also investigated various commercially available joint prostheses, critically evaluating implant systems with regard to robustness of primary fixation in bone, mechanisms for long-term implant loosening, and biomechanical consequences on joint function.

Tendon Structure and Function: Understanding the Processes of Disease, Injury and Healing

Tendon disorders continue to be among the most common medical conditions for which treatment is sought, and they are associated with huge societal and economic costs. Like many skeletal tissues, tendon has a low blood supply and heals poorly as we increase in age. Injuries of certain tendons like those of the rotator cuff muscles can seriously

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compromise an individuals ability to perform daily activities and drastically reduce quality of life. Unfortunately, many cases of tendon injury cannot be adequately treated by even the best therapies available. The Snedeker group is interested in developing advanced tendon therapies through a basic understanding of how a tendon derives its functional properties from its molecular constituents. Specifically, we are interested in how tendon cells sense and interpret mechanical forces, and respond to those forces by the creation of the extra-cellular matrix that gives tendon its functional integrity. Our work centers on the belief that molecular cross-linking of collagen holds a large therapeutic potential that has yet to be sufficiently exploited. To explore the potential functional impact of collagen crosslinking, we have devised large-scale numerical models of tendons at the protein level, and are validating these models with appropriate experiments. Through the help of small animal models, we are also characterizing the biological sequences of tendon healing, hoping to identify critical cell-sensing mechanisms and cell-signaling pathways that may be augmented through therapeutic intervention. The nature of this augmentation can be through micro-designed biomaterials that provide specific mechanical and/or biochemical cues to healing cells that stimulate tissue growth and formation of a robust and sustainable extra-cellular matrix. The Snedeker group is engaged in active collaborations with biomaterial scientists to attain these goals.

The Snedeker group is creating novel experimental and computational platforms for quantifying cellular level forces (cell-matrix interactions) and how cells respond to those forces (cell differentiation, protein synthesis, and extra-cellular matrix production). This work is performed with the longer term aim of applying cell-mechanics within a tissue-engineering framework to intelligently guide cells to regenerate tissues of improved mechanical competency and long term viability. We also focus on the use of cell mechanics as a diagnostic and research tool for characterizing diseases like osteosarcoma (bone cancer). Cancer metastasis depends on changes in functional cell behaviors such as adhesion and migration that are associated with changes in cell phenotypic cell elasticity and viscoelasticity. A large part of the group is dedicated to developing unique tools to characterize cell properties in 2D and 3D culture, as well as in vivo.

Cell Mechanics in Disease Diagnosis and Regenerative Medicine

It is becoming increasingly clear that static and dynamic forces play key roles in the extremely complex biochemical and biophysical processes that underlie cell function. Cell mechanics can be involved in aberrant cell processes lying at the roots of disease, but also offer opportunities as focal points for therapeutic intervention.

Pictures from left to right: Research on surgical techniques at the Balgrist University Hospital; Experimental models of rotator cuff tear; Healing tendon to bone; 3D ultrastructural models of tendon; Cell mechanics experiments and models.

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Institute for Dynamic Systems and Control

The Institute for Dynamic Systems and Control (IDSC; formerly the Measurement and Control Laboratory) is headed by Professor R. DAndrea and Professor L. Guzzella, and offers ten courses in the undergraduate and graduate program. Visiting scholars and students from around the world complement our team of 40+ researchers and staff. IDSC graduates have a solid understanding of feedback, dynamics and control. They must also be able to work with specialists in other fields. Our pedagogical environment encourages teamwork and multidisciplinary collaboration to help prepare students for both workplace and academic success. Students are engaged in research in the early stages of their curriculum and are gradually led toward more challenging problems and independent research. Highly motivated students who enjoy working with others will find like-minded colleagues in our lab. Main Research Areas From aerial vehicles to combustion engines, multi-robot systems and even the human body, research in dynamics and control is crucial to the efficient monitoring, control and design of complex systems. Building on first principles in mathematics and physics, we bring a model-based approach to a wide range of environmental, commercial, social, biomedical and experimental design challenges. Innovation is critical to our research at IDSC. Cutting-edge control theory, state-of-the-art modeling and novel design are at the centre of each project we undertake. Our research portfolio includes projects in the following areas: optimization and distributed estimation to create cooperative mobile systems capable of coping with changing conditions and improving their performance over time.

Modeling, optimization, and control of internal combustion

engine systems. Our aim is to reduce pollutant emissions and fuel consumption in engine systems by developing new sensors and actuators, as well as on-line and off-line (numerical), optimization and control systems.

Modeling, optimization, and control of novel vehicle

propulsion systems. Hybrid-electric and fuel cell systems can be combined with new vehicle designs to drastically reduce fuel consumption. Such innovations can be further enhanced by interconnecting them with terrestrial and satellite navigation and communication systems, vehicle-to-vehicle links, and advanced computation capabilities.

Modeling, optimization, and control of energy conver-

sion systems. Traditional energy conversion systems such as gas turbines, fuel reformers and heat pumps are still a long way from meeting their efficiency potential. Our objective is to equip these systems with novel sensing, actuating, and computation devices to optimize fuel efficiency and reduce emissions.

Innovating controls research by making public art.

Modeling, optimization and control of unmanned aerial vehicles. Despite advances in sensors, actuators and embedded computation, experienced pilots can still easily outperform autopilot systems. We are active in the development of new algorithms to minimize this gap. Our objective is to develop systems capable of guiding multiple agile vehicles into complex, acrobatic flight formations.
In applications ranging from soccer-playing robots to intelligent warehouses with hundreds of autonomous robots, we use tools such as optimal control, adaptive control, nonlinear

We use state-of-the-art control algorithms to build dynamic art installations for public display. These projects are our playground for innovative research and help us push the boundary of what is possible with control algorithms in the broadest sense. Examples include systems with many interconnected components, self-organizing systems, and systems that learn from experience and improve their performance over time. A complete list of our projects can be found at http://www.idsc.ethz.ch.

Design and control of autonomous, multi-robot systems.

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Institute for Dynamic Systems and Control Professor Raffaello DAndrea

Control of Distributed, Autonomous Systems
We are on the threshold of being able to place sensors everywhere. This has been precipitated in part by the continued rapid advances in sensor technology, which will allow us to embed sensors ranging from the nano-scale to the macroscale on almost any physical device, at an economically viable cost. Fortunately, computing and communications technology have been keeping pace with sensor technology, and all the ingredients are there for major breakthroughs in the near future in how we interface to, and control, our environment. Serious challenges, however, must be overcome. One of the most significant of these is the present difficulty in making appropriate decisions based on distributed information across a distributed network. To put this in context, it is well known that two simple dynamic systems can exhibit comparatively complex behavior when interconnected; the present challenge is to effectively design and control systems with many interconnected components. Part of our research efforts are aimed at developing new tools for designing and controlling systems such as these. The emphasis is on tools for systems governed by differential and difference equations, both linear and nonlinear, with a large number of components, and interconnected through networks of structured connectivity. Examples are varied and include regular interconnection structures for systems defined on lattices, and sparse structures for systems with limited connectivity such as vehicle platoons, smart materials with embedded actuation, aircraft flying in formations, and power distribution systems. Semi-definite programming algorithms can be brought to bear on these problems, resulting in computationally tractable algorithms for system analysis and control design. Other tools include optimal control to create motion primitives, adaptive control and machine learning to improve system performance over time and to cope with changing conditions, and distributed

Raffaello DAndrea has been Full Professor at ETH Zurich since 2007. He received the BSc. degree in Engineering Science from the University of Toronto in 1991, and the MSc. and Ph.D. degrees in the Division of Engineering & Applied Science from the California Institute of Technology in 1992 and 1997. He was a professor at Cornell University from 1997 to 2007. Professor DAndreas contributions range from the highly theoretical to the very applied, and incorporate mathematics, physics, computer science, technological innovations and art. He received a United States Presidential Early Career Award in 2002 for his Theoretical and Experimental Advances in the Robust Control of Feedback Systems. He is the recipient of two best paper awards from the American Automatic Control Council and the IEEE, has won a National Science Foundation Career Award, and has received several teaching awards in the area of project-based learning. He was the faculty advisor and system architect of the Cornell Robot Soccer Team, four-time world champions at the international RoboCup competition in Sweden, Australia, Italy, and Japan. He is also one of the founders of logistics and robotics company Kiva Systems. His work has been featured on Scientific American Frontiers and the Discovery Channel, at the Smithsonian, the Tech Museum of Innovation, and the Spoleto Festival. Exhibitions include the Venice Biennale, the Luminato Festival, Ars Electronica, ideaCity, and the National Gallery of Canada.

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estimation to build models of the environment from multiple, error-prone sources. The underlying architecture of these systems is crucial to their success. To be effective, they must be modular, easy to adapt, and allow a large number of individuals to concurrently develop them. This is why, from a pedagogical perspective, we have adopted a multi-disciplinary team-based approach for many of our projects: individuals learn how to create modular subsystems that can easily interface with the subsystems created by other members of their team, and in the process acquire a solid understanding of feedback, dynamics and control. This kind of building block approach where each self-contained subsystem can be easily put to use by non-experts is crucial to effective systems engineering, where individuals across many fields must collaborate, where manufacturability and maintainability are key, and where prediction can greatly simplify the interface between the robots and the high-level algorithms that ultimately control them.

Learning Control, with computer science concepts such as Machine Learning and Artificial Intelligence to enable our systems to learn from experience. Concurrently, we are developing new distributed planning techniques based on motion primitives that guarantee collision-free flight in the presence of disturbances and communication non-idealities.The next logical step is to network our flight systems, so that they can learn from each other, and eventually perform sophisticated, coordinated flight maneuvers.

Dynamic Installations

In todays world, engineering, science, and mathematics are essentially utilitarian, and research in these areas is expected to have direct societal relevance. Unfortunately, utilitarian often means for the benefit of consumerism, and narrow metrics are typically used to gauge societal relevance. We have an incredible opportunity to push the boundary of what is possible with control algorithms in the broadest sense when we remove the purpose-driven objectives typical to engineering from our research agenda. Novel ideas are often discovered in an unrestrained environment, and to encourage out-of-the-box thinking, we bring creativity to our research by building dynamic art installations for public display. Our efforts are geared towards using motion design to explore the interface between mathematics, physics, engineering, and art. One of our research aims is to augment model-based control design with learning and adaptation to provide a flexible methodology for designing high-performance, robust systems. In the process, students are exposed to Systems Engineering, with an emphasis on system analysis, design, and integration. They learn skills such as requirements-driven design, manufacturability, maintainability, modeling and simulation of dynamic systems, and acquire an understanding of the interplay between system design, control design, and simulation.

High Performance Autonomous Flying Vehicles

Human beings learn from experience: when we try something and fail, we try doing it a different way the next time around. And we are incredibly efficient at this process. We are so adept, in fact, that when it comes to learning complex activities such as racing a car or playing a violin, we can easily out-perform automated systems. This is why we use autopilot programs for the routine aspects of flying a plane (such as cruising, take-off and landing), but why we still need human pilots to handle unexpected events and emergencies. We are currently developing algorithms that will narrow the learning gap between humans and machines, and enable flight systems to learn the way humans do: through practice. Rather than programming these flight systems with detailed instructions, we combine control concepts such as Optimal Estimation and Control, Trajectory Control, and Iterative

Pictures from left to right: 1) Kiva Systems Intelligent warehouse, where fleets of autonomous mobile robots use distributed intelligence to efficiently manage inventory; 2) The Robotic Chair, a chair that falls apart and then autonomously reassembles itself ... a collaboration with artists Max Dean and Matt Donovan; 3) The Distributed Flight Array, used to test distributed estimation and control algorithms; 4) Mathematical abstractions of regularly interconnected systems; 5) The Balancing Cube, used to test distributed estimation and control algorithms; 6) A quadrocoptor, used to develop the modeling, optimization and control of unmanned aerial vehicles capable of coordinated flight maneuvers.

Institute for Dynamic Systems and Control Professor Lino Guzzella

Model-Based Adaptive and Cylinder Individual Air/Fuel Ratio Control

Lino Guzzella is a member of the Institute of Dynamic Systems and Control at ETH Zurich, where he has, since 1999, held the Chair of Thermotronics. After receiving his mechanical engineering diploma in 1981 and his doctoral degree in 1986 from ETH, he held several positions in industry (R&D team leader at Sulzer Brothers, Winterthur and R&D mechatronics department head at Hilti, Schaan) and in academia (electrical and mechanical engineering departments at ETH and Honda Visiting Professor at Ohio State University). His research group focuses on novel approaches in system dynamics and control of energy conversion systems, with control-oriented systems modeling and dynamic optimization and feedback control design as the main areas of research. A particular emphasis is placed on minimizing fuel consumption and pollutant emission in land vehicle propulsion systems. Professor Guzzella is a Fellow and a Member of the board of IFAC and an Associate Editor of the Journal Control Engineering Practice. He is a Member of the Swiss Academy of Engineering and a Member of the CTI Committee on Engineering Sciences. He is also a consultant to various automotive companies and holds several patents in the area of automotive research.

As it ages over the course of its lifetime, an engines air/fuel ratio sensor undergoes a substantial change in its dynamics. To some extent, a robust controller can mitigate this change. The resulting increased demands on the system, however, can reduce its overall performance. The goal of this project is to design a controller capable of dealing with changes of the air/fuel sensor dynamics without sacrificing overall system performance. Our control strategy identifies changes in sensor dynamics and adapts its parameters accordingly, ultimately superceding the need for global robustness and circumventing the system performance problem.

Emission-Controlled Diesel Engine

Diesel engines are more fuel efficient than other engines, but their pollutant emissions must be substantially reduced to meet future environmental standards. To achieve this aim, robust and accurate control of the engine is critical. Engine variability and ageing must also be dealt with, and information about exhaust gas must be integrated into the emission control loop. This project focuses on the development of control-oriented engine models and flexible control structures that use integrated sensor information to minimize emissions.

Optimized Control of Standard and Plug-In HEVs

Hybrid electric vehicles (HEVs) promise excellent fuel-efficiency without sacrificing vehicle performance or passenger comfort. Because they have more than one power source, however, these vehicles are complex and, from a controls perspective, pose significant a design challenge. This project focuses on the development of control strategies capable of managing complex systems such as these. Our strategy also makes use of dynamic programming to handle issues such as component sizing.

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Pneumatic Hybrid Engine for Fuel Consumption Reduction

Smart-Shunt Project

Here at IDSC we have built the worlds first fully-functional hybrid pneumatic engine. Using compressed air as an energy buffer, our engine is substantially smaller than a conventional internal combustion engine with the same power. The result: a 30% improvement in fuel efficiency over conventional engines, and excellent driveability. Because they require no batteries or electric motors, hybrid pneumatic vehicles offer an affordable alternative to the hybrid electric vehicle.

This transdisciplinary project aims at conducting the basic research necessary for the subsequent development of a smart cerebrospinal fluid (CSF) shunt for normal pressure hydrocephalus (NPH). NPH is most commonly treated by the surgical placement of a ventriculoperitoneal shunt that drains CSF from the patients ventricular space to the peritoneal area. The IDSC contributes to the project with the design of a SmartShunt functional model, and the development of a control algorithm that regulates CSF drainage.

Monte Rosa Hut

Modeling and Control of Three-Way Catalysts

The Monte Rosa Hut is a collaborative project designed with sustainability in mind. Using photovoltaic systems with large battery capacity, solar panels with hot-water reservoirs, and a cogeneration power plant, the Monta Rosa Hut can host up to 125 guests with minimal environmental impact. With so many interacting energy and storage systems, however, the Monta Rosa hut poses a significant control challenge. At IMRT we are developing ways to optimize the interactions of the various energy systems, storage systems, and the people that use them.

Three-way catalysts have been the most successful exhaust gas after treatment systems for many years already. Conversion rates of over 98% are reached if the exhaust gases remain very close to stoichiometry. Based on recently developed nonlinear catalyst models, novel feedforward and feedback algorithms are being developed that allow compensating for most of the detrimental effects occurring during fuel cut-off and heavy accelerations.

Formula Hybrid

Optimal Control of Cables

Because of their low damping and long length, cables on large span cable-stayed bridges are prone to potentially damaging vibrations. Fortunately, promising new feedbackcontrolled magnetorheological damping systems are under development to prevent premature material failure within cable anchor systems. The behaviour of both damper and cable are complex, however, and an intelligent damping system is needed. The goal of this project is to create a robust and accurate non-linear model of such a system.

Formula Hybrid is an international competition challenging students to design, build and race high-performance, plug-in hybrid vehicles. Minimizing energy consumption is a key part of the design objective. Project management, fund raising and safety assessment also come into play. In 2008, hyb-a, the first Formula Hybrid vehicle from ETHZ, won the Formula Hybrid competition in Italy.

Pictures from left to right: Glowing three-way catalytic converter during controller test Configuration of the dynamic diesel engine testbench; Particle tracking velocimetry, measurements of the CSF-Phantom; PAC-Car II on the racetrack during the Shell ECO-marathon in Nogaro/F 19

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Institute of Energy Technology

Main Research Areas The continual drive for efficient use of our natural resources necessitates improvements in the efficiency of current and future power generation and air transportation systems. The Laboratory for Energy Conversion (LEC) has for many decades been one of the leaders in research and teaching related to turbomachinery. The current turbomachinery activities of LEC span a broad range of multidisciplinary fields, including management and control of flows, thermal management, aeroelasticity, instrumentation, as well as model-based numerical design tools. The development of wind energy through experiments, computation and econometric modeling is also undertaken at LEC. Leveraging our experience in thermal and flow management, LEC is also engaged in the research and development of a laser-produced-plasma extreme ultra violet source for the manufacture of next generation semiconductors. The Aerothermochemistry and Combustion Systems Laboratory is engaged in research in chemically reactive flows with emphasis on unsteady turbulent combustion. The long-term vision aims at the realization of zero-emission combustion systems for transportation and power generation, where biogenic/ synthetic fuels also play a role. To this end both modeling and simulation of reactive flows (from DNS over LES to RANS) and non-intrusive diagnostics in optical test rigs and real engines are carried out. In this way, key thermochemical flow parameters are obtained with high spatial and temporal resolution. The Laboratory of Safety Analysis provides advanced techniques and tools to model, analyze (simulate) and evaluate large-scale technical systems which have witnessed a much greater and tighter integration and interdependence among them. The scope of analysis has been extended from reliability and risk to vulnerability issues and to an increasing set of threats. The methods are applied to energy supply systems and other complex critical infrastructures, also to increase their robustness and to support the development of protective strategies. Research in the Laboratory of Energy Science and Engineering is aimed at applying a fundamental understanding gained from laboratory-scale experiments, together with appropriate mathematical modeling, to the industrial challenges of generating electricity in efficient and sustainable ways. The three main research areas of the Laboratory of Energy Science and Engineering are: (i) sustainable energy generation, (ii) heterogeneous reaction engineering and (iii) fundamentals of multi-phase granular systems.

The program of Nanoscience for Energy Technology and Sustainability will focus on fundamental sciences of nanomaterials and their applications to energy technology and sustainability, through development of hierarchical nanomanufacturing techniques that can bridge nano-, micro- and mesoscales. Carbon nanotube nanofluidics for energy technology will be the main thrust of the program. The research focus at the Laboratory of Thermodynamics in Emerging Technologies is on interfacial and transport phenomena in emerging energy conversion and transport technologies, including biomedical technologies. We often aim at bridging the gap between the molecular level and the macroscopic domain. Examples of relevant technologies are: Micro- and nanoscale energy conversion and transport in transportable fuel cell and solar cell based personal power systems, manufacturing and liquid-cooling of micro-, nano-, and high-density electronics in the new generation of supercomputers for zero CO2 emission data centers, biomedical technologies and modeling for the human body, and nanoelectromechanical systems. The research of the Laboratory of Nuclear Energy Systems aims to support a safe, reliable and economic utilization of nuclear power. The emphasis is put on thermal fluid dynamic modeling. To this end, the laboratory develops flow measuring instrumentation, performs experiments for the model development, and contributes to the improvement of computer codes. It promotes the application of modern methods, such as 3D simulations and novel experimental techniques for safety assessments and improvements as well as for the development of future nuclear energy systems. The research program of the Professorship of Renewable Energy Carriers is aimed at the advancement of the thermal, thermochemical, and electrochemical engineering sciences applied in the development of renewable energy technologies. Current research applications include the production of solar fuels (e.g. hydrogen), the thermal decarbonization of fossil fuels (e.g. reforming, cracking, gasification), the thermal processing and recycling of energy-intensive materials, and CO2 capture/mitigation technologies. On the more fundamental aspects of energy conversion, the research emphasis is on the analysis of radiation heat exchange in multi-phase reacting flows, applied in the engineering design and optimization of high-temperature reactors.

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Institute of Energy Technology Laboratory for Energy Conversion Professor Reza S. Abhari
Research Direction
The continual drive for efficient use of our natural resources necessitates improvement in the efficiency of current and future power generation and air transportation systems. The current activities of the laboratory in a broad range of multidisciplinary fields related to the field of energy efficiency and renewable energy, continue to focus on the unsteady nature of the flow in such devices. Research into aero-elasticity, aerodynamic loss and heat transfer processes, as well as modelbased numerical design tools form the thrust areas in these activities. The instrumentation work continues to evolve from a development phase into application tools. In addition, some of our current measurement technologies and signal processing techniques are being explored in emerging fields such as semiconductor manufacturing processes.

Reza S. Abhari has been a Full Professor of Aerothermo-dynamics at ETH Zurich since October 1999. He received his BA degree in Engineering Science from Oxford University in 1984 and his Ph.D. from the Aeronautical and Astronautical Department of MIT in 1991. Following his Ph.D. , he held various research and development positions in industry, and in 1995 he joined the faculty of the Ohio State University. The Laboratory for Energy Conversion (LEC) has maintained an active research group of about 30 to 40 scientific staff from around the globe, with collaborations with academia and industry in Europe, US and Japan. The research activities of Professor Abharis group focus on developing novel technologies that substantially lower fuel consumption and pollutant emissions, while increasing the reliability of different types of energy conversion devices. His current research interests include the experimental and computational study of fluid dynamics, heat transfer, structures and vibration, advanced diagnostic sensor technologies and active and passive flow control. He has been the author of over 130 peer reviewed technical papers in various scientific areas. He is a Member of the Swiss Academy of Engineering Sciences (SATW), Fellow of the American Society of Mechanical Engineers (ASME), and is a Member of many scientific boards.

Turbomachinery Research

Secondary Flow Control Through Endwall Contouring The aerodynamic performance of axial turbines is being significantly improved through 3D contouring of the endwalls, allowing the control of the secondary flow generation and its subsequent evolution. High Work, Low Solidity Axial Turbine Aerodynamics Research to gain a fundamental understanding of fluid dynamic losses in an unsteady multi-stage turbine at low solidities and with clocking is being performed with applications to improve steam turbines efficiencies for power generation applications. 3D Blade Tip-cavity Contouring Through 3D contouring of the tip of turbine blades, the generation and evolution of the recess cavity vortex structures have been controlled, resulting in performance gain while reducing the tip heat load.

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Tip Clearance Passive Control Significant potential for loss reduction through passive injection of the shroud cooling flow within high pressure axial turbines is being developed, allowing an actual system optimization of the cooling and the aerodynamic performance for high temperature gas turbine applications. Aero-elastic Vibration of Centrifugal Compressors Inlet distortion and exit diffuser potential fields could impose a substantial excitation force on the impeller blades of a centrifugal compressor. A project into better modeling of aerodynamic forcing function as well as damping for application in centrifugal compressors is being pursued.

source that degrade the collection optics, and then designing effective and practical debris mitigation strategies. A multi-scale physics in-house package complements the experiments that are conducted in the LEC plasma science facility. This package covers all the relevant time and length scales of laser-produced plasma, and includes a radiation-hydrodynamic code that is coupled with a PIC method and DSMC code.

Instrumentation and Signal Processing

Wind Energy

Experiments on full-scale wind turbines in the field and subscale wind turbines in LECs wind turbine facility are being conducted. Performance measurements, complemented by detailed flowfield measurements of velocity and turbulence, are being used in the development of macro models for simulation tools. A numerical site calibration tool, applicable for wind farms that are located in complex terrain, is being developed. This tool will reduce the uncertainty in the prediction of wind power production and also reduce the development time of wind farm projects. In order to lower the risks of wind energy development an econometrics wind farm model is being developed.

Miniature Entropy Probe Entropy increase within a fluid represents the actual rate of loss generations. Measuring the flow entropy rise at high frequencies in turbomachines and in other fields is a goal currently being pursued. High Temperature FRAP In-house developed piezoresistive pressure transducers are embedded in LECs Fast Response Aerodynamic Probes (FRAP) in order to measure time dependent flows. A novel high temp (260C) FRAP is being developed in order to follow the trends of higher turbine operating temperatures.

Applied Fluid Dynamics

The engineering of a EUV lithography source collector module and its operation for space- & time-resolved parametric optimization is the focus of experiments that are conducted in LECs plasma facility. The current focus is first understanding the evolution and characteristics of the debris from the

Plasma Science

Feature-based Computational Embedded Modeling A novel model is being developed that allows practical computation of multi-scale fluid dynamics problems in 3D unsteady flow with substantial computational acceleration. This approach is being applied for prediction of film cooling in high temperature turbine applications. Experimental Study of Pulsating Jet in Cross Flow An experimental study of a row of pulsating jets at differing reduced frequencies is being performed in order to better understand the influence of the pulsation and the incoming vortical field on the mixing rates.

Pictures from left to right: Water towing tank facility; Applied laser plasma science facility; In-house computational tools (A heterogeneous computing cluster system with a total of 2,200 processor cores in 756 compute nodes); Running the Axial Turbine Test Facility LISA; Particle Image Velocimetry using an Nd-YAG Laser to investigate Film Cooling Flow Structure; Radial Compressor Test Facility for Flow and Forced Response Measurements 23

Institute of Energy Technology Laboratory of Aerothermochemistry and Combustion Systems Professor Konstantinos Boulouchos

The Aerothermochemistry and Combustion Systems Laboratory is Active in Research (and Teaching) in the Following Areas:

Born in 1955 in Greece, Konstantinos Boulouchos received his diploma in Mechanical Engineering from the National Technical University of Athens in 1978 and his Ph.D. from ETH Zurich in 1984. He spent 1.5 years as a post-doctoral researcher at ETH, and in 1987 he joined the MAE Dept. of Princeton University where he worked on projects in simulation and diagnostics of combustion processes. In 1988 he returned to the I.C. Engine and Combustion Technology Laboratory of ETH where he built up the turbulent combustion research activities. In 1995, he was appointed head of the Joint Combustion Research Program with PSI, and in 1998 he became Titular Professor of ETH Zurich. He directed the Combustion Research Laboratory of PSI until 2002 when he was elected Full Professor for Aerothermochemistry and Combustion Systems at ETH Zurich. K. Boulouchos has won, among others, the Sensor Innovation Award 2007 and the Distinguished Paper Award on New Technologies Concepts 2006 by the Combustion Institute. He is also Chairman of the Board of the Energy Science Center at ETH Zurich. He is co-author of over 120 publications in refereed journals and peer-reviewed conferences.

- DNS of laminar, transitional and turbulent reactive flows using a fully parallel spectral element code with detailed chemistry and transport in 3-D; - Entropic Lattice Boltzmann simulation of microflows inclu ding effects of variable density/temperature/composition; - RANS simulation of multi-phase reactive flows in internal combustion engines based on advanced turbulent combus- tion models. Extension of this capability to include hetero geneous chemistry in exhaust after-treatment devices; - Optical diagnostics of two-phase flows, ignition and combus- tion processes, soot formation, and oxidation in optically accessible test rigs, like spray and combustion bombs, single shot compression machines, laminar and turbulent burners; - On-line, in situ detection of temperature, soot and relevant radicals concentration, flame propagation, and local wall heat flux through miniaturized sensors, including ion-probes and fast sampling valves for application in combustion chambers and in the exhaust system of research and pro- duction engines in steady and transient operation; - 3-D CRFD simulation for understanding and optimization of advanced combustion systems including combustion of biogenic/synthetic and hydrogen-enriched fuels, as well as highly turbulent, highly diluted mixtures.

Main Research Projects and Results:

- A fully parallel 3-D version of the DNS code for reactive flows has been developed in collaboration with Argonne National Lab and applied to problems of cellular instabilities in diffusion flames and transitions between edge and diffusion flames in opposed jet configurations. The latter results have been validated through detailed OH-LIF and Roman measurements in collaboration with PSI; - A correct formulation for multicomponent, non-isothermal

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 flows has been developed for the first time in the frame of the (Entropic) Lattice Boltzmann methodology and is cur- rently applied in 3-D problems in microflows; - The Conditional Moment Closure approach has been further applied for multi-phase RANS computations in diffusion flames in collaboration with Cambridge University; applications in re- search diesel engines have demonstrated an excellent capabili- ty of the concept to accurately predict ignition times and heat- release rates for a wide range of operating parameters both for conventional mixing-controlled and for homogeneous- charge-compression-ignition combustion modes; - Chemiluminescence and laser-induced fluorescence signals of the OH-radical, together with transient pressure measure- ments, have been applied to investigate origins and modes of thermoacoustic instabilities in lean, gas-turbine-relevant, premixed methane-air flames with vortex-breakdown sta- bilization. Fast acting valves coupled with these diagnostics and an efficient control algorithm have successfully been applied to significantly suppress the level of oscillations with- out adverse effects on the formation of nitrogen oxides; - Mie-scattering, shadowgraphy, Schlieren-imaging, OH/CH- chemiluminescence and PDA-measurements have been applied for characterization of transient diesel sprays with different geometries, injection characteristics, fuel composition and ambient conditions to understand the evaporation, mixing, and self-ignition processes under high-pressure, diesel-engine-relevant conditions. This set of data from constant-volume bombs and the single-shot compression machine has been used to validate in detail simulation models developed in parallel for multicomponent evaporation, ignition, and combustion of sprays in diesel engines, including HCCI combustion models; - Understanding of soot formation and reduction: The influence of fuel composition, ambient conditions, and fuel injection features has been well understood on the basis of planar and line-of-sight methods like Laser-Induced-Incandescence

(in collaboration with PSI), Back-Diffused-Laser-Light-Extinction, and in particular multi-wavelength Pyrometry. These investi- gations have been carried out in the constant-volume com- bustion bomb. An important spin-off has been the develop- ment of an accurate, robust, and self-cleaning pyrometer sensor in miniaturized form for the on-line detection of soot concentration and temperature in diesel engines. This product is in a commercialization phase, together with a leading sen- sor supplier for the automotive industry; - A set of phenomenological, very fast models for the efficient prediction of heat release rate, NOx-formation, and soot emis- sions in I.C. engines has been developed and validated for en- gines of several sizes. An innovation in this context was the stochastic optimization of the model parameters, based on the method of evolutionary algorithms, which is proved to be by far superior to, for example, neural networks for multi parameter problems with complex underlying physics; - A highly innovative combustion system for natural gas fuelled cogeneration engines has been developed, based on turbo- charged, stoichiometric combustion with high exhaust-gas recirculation rates. The new concept has been commercialized in collaboration with Swiss industry, so that ca. 100 powerplants with an installed power of more than 25 MWel and ~ 300000 hrs of operation have been sold worldwide. The new engine achieved world records both for electric and total efficiency in its class; - In collaboration with the automotive industry, the potential use of reformates from on-board generation to positively influence combustion in Otto engines has been investigated in detail. We have demonstrated that hydrogen-rich fuels have a tremendous potential for lowering engine-out nitrogen-oxide emissions by almost 3 orders of magnitude, while in parallel allowing significantly lowered part-load fuel consumption, due to extensive dethrottling. This work has been carried out in close cooperation with the Euro- pean automative industry.

Pictures from left to right: The high temperature high pressure constant volume combustion chamber enables 4 optical accesses providing studies of fuel spray and combustion; An optical accessible, state-of-the-art test rig, as well as advanced measurement techniques provide a unique basis for combustion analysis; Dynamics of premixed hydrogen/air flames in mesoscale channels; Simulation of turbulent liquid fuel sprays by means of threedimensional computational reactive fluid dynamics with advanced combustion models 25

Institute of Energy Technology Laboratory of Safety Analysis Professor Wolfgang Krger

Balancing Safety and Availability for the LHC Machine Protection System (MPS)

Wolfgang Krger has been Ordinarius of Safety Technology and Director of the Laboratory for Safety Analysis since 1990. He also is Founding Rector of the International Risk Governance Council (www.irgc.org), established by a Swiss initiative in 2003. Before this he headed research in nuclear energy and safety at the Paul Scherrer Institut (PSI) and served on the board of directors. Born in the Ruhr district in Germany, Professor Krger studied mechanical engineering at the RWTH Aachen, completed his doctorate in 1974 and his habilitation thesis in 1986. Professor Krger is chiefly involved in methodical developments pertaining to modeling, analysis/simulation, and optimization of highly integrated engineered systems. He is engaged in putting the assessment and management of technological risks and vulnerabilities into a broader context, and in providing tools for multi-criteria decision-making processes. His current activities related to the IRGC aim at early detection of emerging transboundary risks and provision of good governance strategies to be applied at global level. He is Chairman of the Safety Review Group of the EBRD, Member of the European Academy, Member of the Swiss Academy of Engineering Sciences, and Honorary Member of the Swiss Nuclear Society. He was scientific chairman of the Forum Engelberg in 1999. He has published numerous articles and contributed to various books focusing on risk issues and on comprehensive assessement of energy systems.

The design and operation of the MPS of the LHC at CERN entails a trade-off between machine safety and beam availability. The MPS detects the failures in the LHC and stops the operation to prevent components from being damaged. A simulation-based methodology has been developed to yield the probability of the relevant scenarios, i.e. missed emergency beam dump and false beam dump. An analytical description of the underlying model provides an accurate verification of the simulation results suggesting itself for an alternative to simulations. Therefore, in view of the apparent advantages of both the simulation and analytical approach, the merging of the two approaches represents a starting point for further development. An algorithm for the automatic set-up of the analytical equations based on the graphical model representation underlying the simulations would provide an accurate and time saving calculation. It will be further investigated whether the methodology can be applied to more advanced models. The Ph.D. project is supported by CERN.

Scientific Support of the IRGC

The IRGC is dedicated to improving how re-emerging systemic risks are handled. It supports key decision makers by providing authoritative information and designing innovative governance strategies. The risks and vulnerabilities of critical infrastructures (CI) have been a priority for IRGC, with focus both on individual infrastructures and the increasing interdependence between them as in the use of ICT for industrial control. A study has been undertaken aimed at identifying weaknesses within a system-of-systems of five selected CI including the power system and proposing potential solutions to vulnerabilities which may cause end-user disruptions. The work was published as a White Paper and Policy Brief. A current study focuses on maritime global CI with the Strait of Malacca and linked hubs as well as major hazards as the example.

(LHC)

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Using Binary Decision Diagrams (BDD)

Most PRA-tools quantify logical tree models by applying simplifying assessment techniques (e.g., minimal cut sets, rare event approximation). Further problems arise when handling relatively high probability events (e.g., seismic contributions to reactor core damage frequency) as needed for nuclear licensing purposes. These methodological restrictions are overcome by the use of BDD. Efforts are needed to convert a fault tree structure to BDD, while the modeling complexity has to be reduced, e.g. by optimizing the basic event ordering. The Ph.D. project was sponsored by Kernkraftwerk Leibstadt.

Coping with Vulnerabilities of Interconnected CI

Modeling of Failure Propagation in Complex Engineering Systems

Market liberalization and technological trends (including integration of intermittent generators) have lead to the unprecedented complexity of the European power system and to its operation at design limits. This has only been possible through the pervasive use of digital control systems, which in turn introduces new vulnerabilities. Reliability policies and assessment methodologies did not keep pace with these developments. The primary objective of this project sponsored by swisselectric research is to develop a novel probabilistic modeling and simulation technique focusing on more complex failure sequences spreading over several control areas. A hybrid object-oriented modeling approach was chosen to simulate the system behavior as a whole explicitly in time and to include highly non-linear responses and non-technical factors, e.g. control room operators. This allows the calculation of expected frequencies of power outages versus size, representing the reliability of the system in a highly differentiated way. Various simulation studies performed on both a virtual test system and on a model of the Swiss transmission grid confirm the suitability and feasibility of the developed approach. With respect to potential industrial applications, the results permit elaboration on a novel complementary probabilistic security criterion and on adequate operator response times.

CI are large-scale, technical systems essential for the minimum operation of our economy and society. They are exposed to a set of multiple threats and may even be misused to cause significant harm to the public or trigger panic. The debiliation of a single CI can snowball into other systems depending on the degree of interconnectedness. Civil defense authorities confronted with such situations have to broaden their knowledge base and implement tools allowing them to reliably assess and manage the vulnerability of CI. The project introduced here assists the Swiss Federal Office for Civil Protection (FOCP) in developing a national strategy for the protection of CI by improving the scientific basis. This includes the evaluation and development of models and tools for vulnerability/risk analysis of interconnected CI as well as their application. Based on a criticality parameter evaluation, several infrastructures have been identified to be analyzed according to a tailored framework. In a screening analysis to start with, an adequate system understanding has to be set up and conventional techniques including network analysis have to be applied to identify obvious vulnerabilities. Based on more detailed information, an in-depth analysis may be necessary, making use of more sophisticated modeling and simulation methods (such as object-oriented modeling/ Monte-Carlo simulation) following a system-of-systems approach. The current focus is on Swiss systems for electricity supply, information and communication, urban drinking water and transportation by rail including their interdependencies, which may either be physical, functional or given by a host technology. Special emphasis will be placed on events like earthquakes and storms potentially affecting the CI in a region. The present work is part of a long-term cooperation with FOCP, making use of work done under other auspices, e.g. swisselectric research and FOE.

Pictures from left to right: LHC performance estimates, assessment matrix for selected infrastructures, Ph.D. Student running a simulation, model for the grid operator and interplay with transmission lines 27

Institute of Energy Technology Energy Science and Engineering Professor Christoph Mller

Research on sustainable energy generation concentrates on: (i) chemical-looping combustion, particularly applied to solid fuels, and the sustainable generation of hydrogen and (ii) post-combustion capture of CO2, using natural and synthetic sorbents. Chemical looping combustion Chemical looping combustion (CLC) is a novel chemical cycle in which a fuel is oxidised by oxygen derived from a metal oxide, rather than directly from the air. The products of such combustion are CO2 and H2O, with the latter easily removed by condensation. In conventional CLC, a gaseous fuel, e.g. a hydrocarbon like natural gas, is oxidized in the fuel reactor: (2n + m) MeO + CnH2m (2n+m) Me + m H2O + n CO2, where Me is a metal like copper. Subsequent condensation of the steam yields a stream of pure CO2. The metal, Me, is conveyed to an oxidation reactor, where it is regenerated in air: Me + 1 2 O2 MeO In effect, the fuel has been combusted in air, but the CO2 is produced in a pure form, i.e. separated from the N2 in the air, thus avoiding the major cost of separating CO2 from N2 in the flue gases after conventional combustion in air. So far, research has predominantly focused on the CLC of gaseous fuels, e.g. methane. In our group we are focusing on extending CLC to solid fuels, such as coal and biomass, which will play an important role into the future as a fuel. Post-combustion capture of CO2 using natural and synthetic solid sorbents If CO2 has to be sequestered from an existing power station, a post-combustion technology for capturing it has to be employed. One attractive possibility is the use of calcium-based sorbents. The carbonation reaction of solid CaO with CO2, viz. CaO + CO2 CaCO3 can be used to remove CO2 from process streams (this exothermic carbonation reaction occurs at ~ 65oC, a temperature at which it is advantageous to recover

Sustainable Energy Generation

Christoph Mller will join ETH Zurich on 1st January, 2010 to head the Laboratory of Energy Science and Engineering. Born 1978 in Nuremberg (Germany) he received his undergraduate degree (Dipl.-Ing.) at the TU Mnchen, Department of Mechanical Engineering. He received his Ph.D. in 2008 at the Department of Chemical Engineering, University of Cambridge. His doctoral thesis was entitled Fundamental Studies of Fluidised Bed Reactors. On the basis of that work, he was awarded a Junior Research Fellowship at Queens College, University of Cambridge.

Research

Research in the Laboratory of Energy Science and Engineering is aimed at applying a fundamental understanding gained from laboratory-scale experiments, together with appropriate mathematical modeling, to the industrial challenge of generating electricity in efficient and sustainable ways. The three main research areas of the Laboratory of Energy Science and Engineering are: (i) sustainable energy generation, (ii) heterogeneous reaction engineering and (iii) fundamentals of multi-phase granular systems. These topics are now described in more detail using some typical projects as examples.

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heat). The carbonated sorbent can then be transferred to a second reactor, where it is heated to ~ 900C to drive off the CO2 (calcination). The calcined sorbent can then be recycled. Here, the main challenge lies in developing synthetic sorbents with a high uptake of CO2 over a large number of cycles.

For the novel chemical cycles, described above, to be applicable at the industrial scale, an improved fundamental understanding of the kinetics of the underlying heterogeneous reactions, including the morphological changes, is of fundamental importance. Because most of these novel cycles involve synthetic particles, not only the reactivity, but also the cyclic stability is paramount. However, the development of oxygen-carriers and CO2 sorbents of high cyclic stability and reactivity is currently a black art, as there is a significant lack of detailed understanding of: (i) the processes involved in the manufacturing of these particles, mainly co-precipitation and wet-impregnation techniques, (ii) the effect of morphological changes during repeated cycles on performance stability and reactivity and (iii) catalysis in the presence of a gas-solid non-catalytic reaction. Research will be performed in all three areas. Therefore, the ultimate goal will be the tailored design of particles with high cyclic reactivity and stability, based on a fundamental understanding of the underlying manufacturing process and morphological changes during heterogeneous reactions.

Heterogeneous Reaction Engineering for Novel Energy Cycles

and sulphur removal by calcareous materials, NOx reduction by iron), (iii) high rates of heat transfer and (iv) economic operation at relatively small scales. Therefore, before these schemes can be applied efficiently, major challenges have to be overcome. These are mainly due to a lack of understanding of single- and two-phase granular flows on a very fundamental level. This lack of understanding originates in the fact that granular systems are usually opaque, making experimental measurements intrinsically difficult. Consequently, a significant part of our research concentrates on the experimental and numerical investigation of two-phase granular systems. This includes: (a) Further development of experimental measurements using among others Magnetic Resonance Imaging (MRI), Particle Image Velocimetry (PIV) and Planar Laser Induced Fluorescence (PLIF) and (b) modeling of granular systems, including the development of a multi-scale modeling strategy, ranging from fully-resolved direct simulation, through Discrete Element simulations to two-fluid simulations. An emphasis will be on polydisperse and reacting systems. Thus, to advance the field of sustainable energy science, expertise and knowledge across a number of cognate disciplines ranging from classical chemical and mechanical engineering through catalysis and wet chemistry to computational physics and imaging techniques is essential. Such a multi-disciplinary approach is a key facet of the Laboratory of Energy Science and Engineering.

Fundamentals of Multi-Phase Granular Systems

The majority of these novel energy cycles will take place in one or more bubbling or circulating fluidised beds in addition to moving and packed bed reactors. This is because fluidised beds offer huge advantages over other types of reactors for this application in terms of: (i) tolerance to changes in fuel mix and type, (ii) the catalysis of reactions or capture of pollutants by the bed material (e.g. tar cracking

Pictures from left to right: SEM picture of an iron oxygen carrier used for the production of hydrogen; Magnetic Resonance image showing the formation of jets at a single- and multi-orifice distributor in a fluidised bed; PIV measurements of the particle velocity around a rising bubble; Two phase Discrete element Model simulation of a gas fluidised bed; Single-phase Discrete Element Model simulation showing the segregation of particles of different particle sizes in a rotating kiln. 29

Institute of Energy Technology Nanoscience for Energy Technology & Sustainability Professor Hyung Gyu Park
Research Direction
Parks Professorship of Energy Technology will focus on fundamental nanoscience for energy technology and sustainability applications. The initial stage of the program will utilize a variety of carbon nanotube nanofluidic platforms in studying basic properties of transport under extreme confinement that is commensurable with the own sizes of transporting entities (i.e. molecules). By controlling shape and configuration of carbon nanotubes at the synthesis stage and through formation of different nanocomposites at the post-synthesis stage, the program envisions provision of membrane- and nanofluidic-type platforms with diverse properties and functionalities. These platforms will enable experimental studies to be carried out ranging from fundamental nanoscale transport phenomena to energyefficient filtration to novel energy generation schemes. As it grows, the program will explore other nanomaterials that are functional, either as is or in the form of nanocomposites, in energy technologies and chem-bio sensing. The progress of projects in this program will also build knowledge about micro- and nanomanufacturing techniques. Therefore, students and researchers trained in the program may end up acquiring various experiences in fundamental nanoscale transport phenomena, applications in energy technology and sustainability, and multiple techniques of micro/ nanomanufacturing, which will become useful in both academia and industry.

Hyung Gyu Park joined ETH Zurich in April, 2009, as an Assistant Professor of Energy Technology in D-MAVT. He was born in 1973 in Seoul, Korea. After an earlier preparation of science in Seoul Science High School, he entered Seoul National University (SNU) in 1992 and received BSc. and MSc. in Mechanical Engineering in 1998 and 2000, respectively. His M.S. thesis was about the numerical treatment of axisymmetric flows in a Cartesian coordinate system, motivated by the hemodynamic simulation of an artery. After one year in SNU research center, he went to the University of California at Berkeley, and carried out research topics including (1) microfluidic fuel processor for a micro fuel cell system and (2) mass transport in carbon nanotubes, supported by Lawrence Livermore National Laboratory (LLNL). His research on mass transport in carbon nanotubes received an academic spotlight in the form of a cover article in Science in May 2006. Since then, the article has been one of the most frequently cited chemistry articles in the journal. Upon receiving his Ph.D. in 2007, he joined LLNL as a postdoctoral research staff member and conducted many projects in the fields of CNT nanofluidics and surface enhanced Raman spectroscopy, etc.

Carbon Nanotube Nanofluidics for Energy Technology and Sustainability

This program will focus on understanding of fundamentals of mass transport through carbon nanotubes and the application of this acquired basic nanoscience to energy technologies for addressing our future sustainability. Previous experimental study of the molecular transport through the internal space of CNT demonstrated enhanced flows of water

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under extreme (sub-2-nm) one-dimensional confinement by atomic-scale smooth, hydrophobic surfaces. Through a hierarchical micro/nanomanufacturing technique, the study also developed a prototype membrane with CNTs serving as pores. Those findings, together with a recent demonstration of ion exclusion by the CNT-membrane, are shedding light on the capability of energy-efficient filtration by CNTmembranes. Much more to learn: the current state of understanding of the basics of transport in CNTs still lies in its adolescence stage. There is much more science to uncover that could potentially nurture new fields of applications. The fundamental science domain of this program will, therefore, center on broadening the basic knowledge of CNT nanofluidics and expand it toward noncontinuum fluid dynamics and mass transfer at nanoscale. Energy technology for sustainability: it is predicted that the 21st century societal and economic developments will place enormous demands on clean water and energy supplies. CNT-membranes have many potential advantages to address these demands. First, as previous research has demonstrated, chemically functionalized CNT-membranes can exclude ions in an aqueous solution through reverse osmosis. Second, water flows in CNTs can experience 1000 times less viscous drag than other reverse osmosis membranes. Thirdly, if ionic solutions are driven by electrokinetic potential, very interesting phenomena may occur related to the equilibrium conformation of ions under extreme confinement. Fourthly, it is possible to functionalize the surface of the CNT-membrane in a variety of ways for other purposes, such as solar energy harvesting and drug delivery for on-demand treatments. This potential facilitates a wide range of applications in energy technology from sea water desalination and water decontamination to next generation fuel cells to solar energy

harvesting. Parks research program requires a series of interrelated, coordinated and synergistic research topics outlined as follows:

CNT synthesis control; characterization; interaction with Hierarchical micro/nanomanufacturing of membrane Study of fluid and solution flows under extreme confine Water technology applications: energy-efficient filtration Energy technology applications: fuel cell components and
membrane reactors, etc. ment of CNTs using those platforms platforms and characterization other materials and functional groups

Pictures from left to right: Multiscale images of carbon nanotube membrane zooming from centimeter- into nanometer-scales; Figure-of-merit diagram of carbon nanotube membranes compared with a commercial polycarbonate membrane. Both gas and water can flow much faster when confined inside carbon nanotubes (From J. K. Holt, H.G. Park et al., Science 312:1034 (2006). Reprinted with permission from AAAS); artists imagination of water molecules flowing into carbon nanotubes, leaving ions behind; schematic explanation of a proposed ion exclusion mechanism. 31

Institute of Energy Technology Laboratory of Thermodynamics in Emerging Technologies Professor Dimos Poulikakos
The research interests of the Laboratory of Thermodynamics in Emerging Technologies (LTNT) can be subdivided into two main areas: A) Transport Phenomena, Energy Conversion and Energy Conservation This group focuses on transport phenomena and interfacial aspects. Typical applications are ultra-high heat flux liquid cooling of electronics, energy reuse in zero emission data centers, highly efficient energy conversion systems such as fuel cell - based micropowerplants, manufacturing of micro- and high-density electronics, surface coating technologies, and nanoelectro-mechanical systems based on nanoparticle, carbon nanotube and graphene assemblies. B) Biothermofluidics and Species Transport in Biomedical Technologies and Devices The central topic of the research of this group is the virtual medical subject. This area of activity involves the development of efficient methodologies and computational tools for the simulation of human body functions and systems. Although the research focuses on the macroscopic transport processes, we integrate necessary information from microscopic biophysical phenomena (cellular/biological/biochemical) as well. We strive to improve the understanding of complex phenomena in systems of biological/medical relevance, and to introduce advanced computational simulation techniques to the everyday clinical environment.

Professor Poulikakos holds the Chair of Thermodynamics and founded the Laboratory of Thermodynamics in Emerging Technologies in 1996. His current research is in the area of interfacial transport phenomena, heat transfer and thermodynamics in novel technologies, focusing on transport phenomena and energy conversion including the physics at micro- and nano-scales, surface driven energy conversion, and on medical applications with special emphasis on the human body. Among the honors he has received are the NSF Presidential Young Investigator Award in 1985, the Pi Tau Sigma Gold Medal in 1986, and the 2000 James Harry Potter Gold Medal of the ASME. He was a Russell S. Springer Professor of Mechanical Engineering at the University of California at Berkeley in 2003, and the Hawkins Memorial Lecturer at Purdue University in 2004. He received the Heat Transfer Memorial Award for Science from the ASME in 2003. He received the Dr. honoris causa of the National Technical University of Athens in 2006. He is the 2009 recipient of the Nusselt-Reynolds prize. He is the editor or on the editorial board of several prestigious international journals in his field. Professor Poulikakos is a Member of the Swiss National Academy of Engineering.

Thermofluidic Phenomena in Multiphase Flows Carrying Nanoparticles.

Novel methods of fabricating small-scale structures gained significant importance in science and microelectronic industries. Research at LTNT demonstrated that nanoink-based manufacturing is a promising technique, as it allows the writing of small scale structures on different flexible or rigid surfaces without requiring clean room environments or silicon substrates. Our research aims at further developing nanoparticle based manufacturing for nano- and microtechnology applications.

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To achieve consistent patterning at the nanoscale, better understanding of the underlying physical phenomena has to be gained. We combine experiments with theoretical modeling and numerical simulation, addressing the numerous thermophysical aspects involved, such as the influence of wettability, local changes in the surface tension due to temperature, and concentration gradients and particle coagulation/coalescence in a phase-changing carrier medium.

replace the battery of standard portable electronic equipment. Since liquid butane is used as an energy carrier, large geographic independence is gained. Additionally, the operational time is increased due to the higher energy density compared to Li-ion batteries. To develop a prototype, novel micro-fabrication techniques and detailed numerical simulations are employed.

Thermophysical Properties of Individual Carbon Nanotubes

Smart Treatment of Normal Pressure Hydrocephalus

Research on CNTs at LTNT mainly addresses the following aspects: The challenge of a precise handling of CNTs has to be made commercially viable. Our goal, therefore, is to investigate possibilities to reliably assemble CNT-integrated electrical on-chip circuits and novel nanodevices, such as new solutions for pressure sensor transducers based on CNTs. Once assembled, the CNT-integrated chips can also be used to measure the thermophysical properties of the CNTs, as the property data available is still incomplete.

In microfluidic chips for drug discovery and medical diagnostics, the sensitivity is limited by unspecific adhesion of DNA and protein molecules to the channel walls. We have succeeded in preventing wall contact by ultrasonically levitating the liquid. Droplets of 1 nL to 1 L were levitated in line-shaped acoustic pressure nodes, along which they can be transported. The goal is to produce a contactless microfluidics platform in which highly sensitive biochemical analyses can be performed.

Contactless Microfluidics

Normal pressure hydrocephalus is a condition of the cerebrospinal fluid (CSF) system that leads to the mechanical destruction of brain tissue. The current treatment relies on the implantation of differential-pressure valves (shunts) in the patients head, from where the CSF is drained into the peritoneal area. In this research, we aim at developing an intelligent shunt that will automatically adapt to changes in the patients physiology. To this end, we are combining in-vivo data from magnetic resonance imaging with computational and experimental models of hydrocephalus in a multidisciplinary team of surgeons, radiologists, infectiologists, physicists and engineers.

Pathogenesis of Spontaneous Dissection of the Cervical Carotid Artery

Fuel Processing in a Micro Fuel Cell System

The ONEBAT multipartner project with LTNT participation focuses on the development of a micro Solid Oxide Fuel Cell system. This novel power source has a high potential to

Spontaneous dissection of the cervical internal carotid artery (sICAD) is a major cause of stroke in young adults. In this project, the wall stress in the cervical ICA during static and dynamic positions of the head in patients with sICAD and healthy volunteers are compared by acquiring the ICA geometry and position with magnetic resonance imaging, and calculating the wall stress induced by blood flow and head motion. The goal is to verify if the working hypothesis that sICAD is due to an increased wall stress in the cervical ICA is correct.

Pictures from left to right: Microchannels of a direct methanol fuel cell (DMFC) containing liquid methanol and hydrogen gas; NURBS fitted segmented geometry of the human subarachnoid space (l). CFD simulation of cerebrospinal fluid motion in the intracranial cavities (r); Towards contactless microfluidics: a water droplet is ultrasonically levitated between a resonator A and reflector B; A single-walled carbon nanotube is positioned between embedded gold electrodes by dielectrophoresis; Hydrogen production test facility for microscale fuel cell systems. Active phase in the catalytic reaction consists of nanoparticles made by flame spray pyrolysis. 33

Institute of Energy Technology Laboratory of Nuclear Energy Systems Professor Horst-Michael Prasser

in the new position at ETH is carried out in cooperation with the Paul Scherrer Institute, where he is the head of the Laboratory of Thermal Hydraulics in the Department of Nuclear Energy and Safety. Since 2008, Professor Prasser is a Member of the board of the Federal Nuclear Safety Inspectorate, ENSI. The Laboratory of Nuclear Energy Systems of Professor Prasser carries out fundamental and applied research with the aim of supporting the safe, reliable, and economic utilization of nuclear power. The main focus is on thermal fluid-dynamic modeling, and selected issues of reactor dynamic, control and instrumentation, uranium supply and waste disposal are included as well. To this end the laboratory develops measuring instrumentation for single and two-phase flows, performs experiments to obtain the database for model development and contributes to the application of improved models in computer codes. It contributes to the validation and introduction of modern methods, like 3D simulations and novel experimental techniques for the needs of existing nuclear power plants as well as for the development of future nuclear energy systems. Research is strongly linked to teaching through the involvement of students of the new master program in Nuclear Engineering launched in 2008.

Horst-Michael Prasser was born in Grlitz, Germany. After graduating from the Moscow Institute of Power Engineering, he obtained a Ph.D. at the Institute of Engineering in Zittau in 1984, specializing in reactor fluid dynamics. In 1987 he joined the Central Institute of Nuclear Research Rossendorf. During German reunification, he took part in the reorganization of the institute and the foundation of the Forschungszentrum Dresden Rossendorf (FZD) in the position of a Personal Assistant to the Scientific Director. Since 1994, Professor Prasser has been the head of the departments of Accident Analyses and Experimental Thermal Fluid Dynamics at the Institute of Safety Research within FZD. Professor Prassers work focuses on thermal fluid dynamics applied to nuclear power plants. His results on boron dilution transients directly contribute to nuclear safety. Novel measuring methods for gas-liquid two-phase flows, such as wiremesh sensors, time-resolving gamma and X-ray tomography are used to study the dynamics of the gas-liquid interface. Professor Prasser developed novel experimental methodologies to study fundamental and complex phenomena in environments typical for industrial applications, used in large experiments, like the TOPFLOW and ROCOM test facilities build under the lead of Professor Prasser at FZD. Experimental results are used to develop and validate computer codes for fluid-dynamic simulations of two-phase flows. The research

Fluid dynamics play a major role in many energy conversion processes, especially in safety technology of nuclear power plants, where research contributes to the enhancement of efficiency. The phenomena investigated include in particular: - containment thermal hydraulics, - two-phase flow in nuclear fuel assemblies, - optimization of the energy conversion chain and - plant lifetime relevant fluid-dynamic phenomena. Containment studies are conducted at the large-scale thermalhydraulic test facility PANDA at the Paul Scherrer Institute (PSI). For these experiments, new instrumentation for the containment atmosphere during accident simulations is being

Efficiency and Safety Related Fluid-dynamic Studies

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developed, such as in-situ sensors of the local gas composition using ultrasound. The work at PANDA aims at the improvement of safety of existing nuclear power plants, at the test of passive safety systems for novel reactor types and at CFD code validation related to containment behavior. The enhancement of fuel efficiency by a fluid dynamic optimization of nuclear fuel assemblies relies more and more on detailed CFD modeling. Their development and validation requires high-resolution measurement data. A test facility to study liquid film flows in cooling channels of boiling water reactors has been build for this purpose; a second test rig addressing the two-phase flows in fuel assemblies of pressurized water reactors is under construction. A major advantage is the availability of high-resolution local gas fraction measurements developed by Professor Prasser. This work is complemented by theoretical studies on flow boiling heat transfer, which aim in the long term at the modeling of boiling crisis on the basis of fundamental principles. Plant lifetime is, among other things, limited by load cycles resulting from transient temperature changes, which are often the result of turbulent mixing processes in complex geometries. A prominent example is the so-called pressurized thermal shock (PTS) that is expected when the emergency core cooling system delivers cold water into the hot reactor system. Steep temperature transients in the reactor pressure vessel wall may potentially occur, which may cause thermal fatigue, which is still a hypothesis lacking experimental proof. The laboratory takes part in an experimental program conducted in the Forschungszentrum Dresden Rossendorf, where PTS tests are under preparation with a novel experimental methodology developed by Professor Prasser. Further main partners of this research are EdF, CEA, Framatome, and IRSN. Another issue of mechanical integrity that is of great industrial interest is thermal fatigue in pipe tee-junctions, where mixing of coolant streams with different temperatures occurs. The laboratories of Professor Prasser study the thermal fluid-dynamic part of the phenomena leading to the thermal loads to the structures.

Fundamental Studies on Gas-liquid Two-phase Flows

Fundamental studies deal with multi-bubble size modeling of a poly-disperse gas-liquid flow, fundamental modeling of boiling using Large Eddy Simulation techniques coupled with surface tracking as well as turbulent mixing in stratified single-phase flows with strong density gradients. These are an important basis for the application of these codes to model safety and efficiency relevant processes in nuclear energy systems. The work combines experiments with high- resolution instrumentation, like wire-mesh sensors, PIV, LDA, and novel sensors for dynamic liquid film thickness measurements, with theoretical activities in the field of computational fluid dynamics.

Development of Experimental Instrumentation for Fluid-dynamic Studies

On the basis of the wire-mesh sensor technology, which is nowadays used by a number of research groups worldwide, a novel sensor for dynamic liquid films has been developed. It records the two-dimensional film thickness distribution on a wetted surface with a sampling rate up to 10 kHz. It is used in the experiments dedicated to boiling water reactor fuel assemblies mentioned above. The sensor can be applied to the curved surface of an individual fuel rod model and has many potential applications also outside nuclear technology. The data reports wavy structures and the effect of droplet deposition events in great detail. It is ideal for the validation of surface tracking techniques. Furthermore, a long-term goal is the development of novel non-intrusive methods. Complementary to the earlier developed phase-locked gamma tomography techniques for periodically changing gas-fraction fields and the fast X-ray tomography based on deflected electron beams, a feasibility study on imaging with fast neutrons is under way.

Pictures from left to right: Students in the Grimsel underground laboratory of NAGRA; Turbulent mixing pattern recorded by a wire-mesh sensor; Measurement of wave structures in the liquid film on a fuel rod simulator; Transition from bubbly to slug flow visualized by a wire-mesh sensor; Novel ways to perform fluid-dynamic studies at high pressure - the pressure tank of Forschungszentrum Rossendorf for the PTS experiments; PANDA facility of PSI - unique large-scale containment tests for the reactor safety; Injection pipe, reactor vessel model, PANDA during construction; Inspection of a cooling tower - applied fluid-dynamics to enhance efficiency of nuclear power plants. 35

Institute of Energy Technology Renewable Energy Carriers Professor Aldo Steinfeld

His contributions to science and education have been recognized with the ASME Calvin Rice Award (2006), the UOP/Honeywell Lecturer (2006), the Electrosuisse Fachliteraturpreis (2006), the University of Minnesota Founders Lecturer (2007), and the ASME Yellott Award (2008).

Research

Aldo Steinfeld has been Full Professor of Renewable Energy Carriers at ETH Zurich since 2007. He further leads the Solar Technology Laboratory at the Paul Scherrer Institute. He was born 1960 in Montevideo, Uruguay. He received his B.Sc. in Aeronautical Engineering from the Technion in 1983 and his Ph.D. in Mechanical Engineering from the University of Minne ota in 1989. Prior to joining PSI and ETH, he was s Research Fellow at the Weizmann Institute of Science. His research program is aimed at the advancement of the thermal, thermochemical, and electrochemical engineering sciences applied to renewable energy technologies, with focus on: radiation heat transfer in multi-phase reacting flows; applied thermodynamics of novel energy conversion processes; high-temperature chemical reactor engineering; renewable fuels (e.g. solar hydrogen production); decarbonization and CO2 mitigation technologies. Professor Steinfeld is the Editor of the ASME Journal of Solar Energy Engineering. He has authored over 150 research articles in refereed scientific journals and has contributed chapters to the Encyclopedia of Physical Science & Technology and Encyclopedia of Energy.

The thermodynamic fundamentals of energy conversion are applied in the development of novel, efficient, and clean energy technologies. The current research focus is in Solar Chemistry: an interdisciplinary emerging field that deals with the utilization of concentrated solar power for the production of chemical energy carriers (e.g. solar hydrogen, syngas, metals). Further areas of R&D are the decarbonization of fossil fuels, the thermal processing and recycling of energy-intensive materials, and CO2 capture/mitigation technologies. On the more fundamental aspects of energy conversion, the research emphasis is on the analysis of radiation heat exchange in multi-phase reacting flows, applied in the engineering design and optimization of high-temperature thermochemical reactors. Three selected projects are briefly described.

A two-step H2O-splitting thermochemical cycle based on the ZnO/Zn redox reactions is investigated using concentrated solar radiation as the energy source of high-temperature process heat. In the first endothermic solar step, ZnO is thermally reduced into Zn and O2 at 2000K. In the second exothermic step, Zn is hydrolyzed with water to generate H2 and ZnO; the latter is being recycled to the solar reactor. The net reaction is H2O = H2 + 0.5O2, but since H2 and O2 are formed in different steps, the need for high-temperature gas separation is thereby eliminated. The projects goals are the development of the chemical reactor technology for both reduction and

Solar Hydrogen by a 2-step H2O-splitting Thermochemical Cycle

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hydrolysis steps, and the experimental demonstration of the closed material cycle with high-energy conversion efficiency. The solar chemical reactor concept for the first step of the cycle (ZnO-reduction) features a rotating cavity-receiver lined with ZnO particles that are directly exposed to highflux solar irradiation. With this arrangement, ZnO serves simultaneously the functions of radiant absorber, thermal insulator, and chemical reactant. The second step of the cycle (Zn-hydrolysis) uses an aerosol flow reactor for the formation of Zn nanoparticles and their in-situ hydrolysis for H2 generation. Since nanoparticles have inherently high specific surface area, the reaction kinetics and heat/mass transfer are significantly augmented. Both reaction steps and associated reactor technology, which have been patented by PSI/ETH, are currently being optimized using computational models for heat/mass transport.

Radiation Heat Transfer in Chemical Reacting Multi-Phase Flows

Hydrogen Production via the Solar Thermal Decarbonization of Fossil Fuels.

Hybrid solar/fossil endothermic processes make use of fossil fuels as the chemical source of hydrogen and concentrated solar radiation as the energy source of high-temperature process heat. Examples include the cracking, reforming, and gasification of fossil fuels. The advantages of these hybrid processes are three-fold: 1) the calorific value of the feedstock is solar-upgraded; 2) the gaseous products are not contaminated by combustion by-products; and 3) the discharge of pollutants to the environment is avoided. A Second-Law analysis for generating electricity using the solar reaction products indicates the potential of doubling the specific electrical output and, consequently, halving the specific CO2 emissions, vis--vis conventional fossil fuel-fired power plants. These processes have been experimentally demonstrated in solar chemical reactors at a power level ranging from 5 to 500 kW. Hybrid solar/fossil processes offer a viable route for fossil fuel decarbonization and create a transition path towards solar hydrogen.

This research theme has fundamental significance to several energy-related fields such as combustion, advanced materials processing, atmospheric sciences, and solar chemistry. Thermal radiative transport coupled to the reaction kinetics is analyzed for heterogeneous chemical systems in which their optical properties, species composition, and phases vary as the chemical reaction progresses. Of special interest is the transient radiative exchange within particle/gas suspensions, applied in thermochemical fuel processing such as cracking, gasification, reforming, decomposition, and reduction processes. The radiative analyses are incorporated in computational fluid dynamics simulation models of solar chemical reactors to support their design and optimization for maximum energy conversion efficiency. The methodologies applied include Monte-Carlo ray tracing and band-approximation radiosity techniques for treating nongray nonisothermal absorbing-emitting-scattering participating media undergoing chemical transformations. For complex porous media, tomography-based pore-level numerical simulations are developed for the determination of the effective heat/ mass transport properties. Numerical models are validated with experimental data obtained from testing lab-scale reactor prototypes at ETH/PSI solar concentrating facilities.

Research Facilities

The ETH/PSI solar concentrating facilities include the solar furnace and the high-flux solar simulators, capable of delivering over 50 kW of radiative thermal power with peak flux concentration ratios over 10000 suns. These state-of-the-art research facilities serve as unique experimental platforms for investigating the thermochemical processing of solar fuels and for testing advanced ceramic materials at temperatures exceeding 3000 K and heating rates exceeding 1000 K/second.

Pictures from left to right: 70 kW 3000 suns parabolic concentrator for solar power and fuel production; 40 kW 5000 suns solar furnace for R&D of high temperature chemical reactor technology; Solar hydrogen production via a water-splitting thermochemical cycle; 50 kW 10000 suns high-flux solar simulator for investigating the fundamentals of radiative heat transfer in reacting flows and advanced ceramic materials; High-temperature thermochemical reactor engineering 37

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Institute of Fluid Dynamics

The Institute of Fluid Dynamics (IFD) comprises the three professorships held by P. Jenny, L. Kleiser and T. Rsgen. While the research activities of the professors are largely complementary, there is close cooperation and resource sharing in teaching, infrastructure and administrative matters. Fluid mechanics is both a core discipline of modern engineering and a highly active area of ongoing research and development. The field is linked to fundamental questions in mathematics, physics, chemistry and biology, and at the same time forms an integral part of many technical designs, products and processes. Its established importance in fields such as aerodynamics (e.g. cars, trains, ships, aircraft), energy technology (turbomachinery, combustion engines, windmills) or environmental modeling (oceanography, meteorology, limnology) is increasingly being augmented by interdisciplinary applications, for example in medicine, biology or micro- and nanoscale engineering. The joint research objective of the Institute is the scientific exploration and the engineering application of fluid dynamic processes. By conducting active research in a number of specialized areas, IFD faculty and researchers contribute to the solution of challenging problems both at the fundamental and applied level. Priority is given to areas and topics where results will have an impact beyond their original setting, demonstrating a widely recognizable and sustained expertise at the Institute. Within this framework, research at IFD is primarily aimed at the development and application of modern computational and experimental tools to probe a broad spectrum of problems in fluid dynamics. One specific area of technical competence is the development of advanced numerical simulation techniques (DNS, LES and PDF methods) for engineering flows. Basic research projects at IFD in which such techniques are applied include the simulation and modeling of transitional and turbulent boundary layers, turbulent particle-laden flows, computational aeroacoustics, turbulent combustion, and flows in random media. Some of the associated engineering applications are jet noise prediction and reduction, advanced film cooling for turbine blades, abrasive water jet cutting, clean combustion, oil extraction, or underground CO2 sequestration. On the experimental side, the emphasis lies on the development of quantitative flow imaging diagnostics for research and industrial applications. A main objective is the development of fast, multidimensional measurement techniques, such as global Doppler velocimetry, multispectral image thermometry or optical pressure sensing methods. The link to practical applications is established through research in tunnel fire dynamics, gravity driven cryogenic flows, hypersonic re-entry flight and aerodynamic optimization. The broad in-house competence facilitates also the implementation of joint experimental and numerical studies. This approach has proven to be particularly successful in different biomedical applications. Here, the existing medical knowledge of doctors is combined with rigorous analytical models describing the underlying fluid dynamics. Computer simulations and experiments using custom-designed engineering models are then employed to further explain the observed phenomena and to develop possible diagnostic and treatment scenarios. Examples for this multi-tiered approach are the study of alveolar micro-flows in the human lung; particle-laden flows in the semicircular canals of the inner ear; fluid-structure interaction in the cochlea and the dynamic behaviour of artificial heart valves or blood perfusion in the human brain. Modern large-scale facilities (in-house computers and national supercomputers, wind and water tunnel facilities, advanced imaging systems, etc.) are available at IFD to conduct the different research projects in a state-of-the-art and technologically competitive environment. Funding for the activities comes from different sources such as national research grants (ETH internal and Swiss national funding agencies), European research programs, and collaborations with Swiss and foreign industries. With its chosen portfolio of activities, IFD is recognized as a competence centre for fluid dynamics research within ETH and in the wider national/international context. Collaborations with other institutes, organisations and companies are actively sought and maintained, both on the level of undergraduate student work and in the form of multi-year graduate research projects.

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Institute of Fluid Dynamics Professor Patrick Jenny

Probability Density Function (PDF) Modeling of Turbulent Reacting Flows

In 1997 Patrick Jenny received his Ph.D. in Computational Fluid Dynamics (CFD) under the supervision of Professor Bernhard Mller at ETH Zurich. The primary focus of his research was on developing numerical algorithms to solve the compressible Navier-Stokes equations for reactive flow with applications to studies of thermoacoustic instabilities. From July 1997 till October 1999 Patrick Jenny was a member of Professor Stephen B. Popes Turbulence and Combustion Group in the Mechanical and Aerospace Engineering Department of Cornell University, Ithaca, New York. His research dealt with probability density function (PDF) modeling of turbulent reactive flow. From November 1999 till April 2003 Patrick Jenny was part of the reservoir simulation and optimization research group of Chevron in San Ramon, California. In spring 2003 Patrick Jenny joined the Institute of Fluid Dynamics at ETH Zurich as an SNF Assistant Professor for Computational Fluid Dynamics and in August 2006 he became an Associate Professor. Patrick Jennys main research interests include modeling of turbulent combustion, multi-phase flow in porous media and multi-scale modeling of complex physical phenomena. He has developed various new models and numerical methodologies to solve the governing equations efficiently and accurately. Besides concentrating on fundamental research topics, applications to relevant problems in various industrial sectors are at the center of his focus.

Worldwide, more than 80% of the energy consumed is converted by burning fossil fuels. Therefore, improving emission rates and efficiency of combustion devices automatically has a significant impact on our environment and is of crucial importance. To achieve such improvements, however, the capability of accurately predicting the governing physical processes is essential. In contrast to other approaches, joint probability density function (PDF) methods have the crucial advantage that they require no model for turbulent convection nor turbulence-reaction interaction. PDF solution algorithm: Compared with Reynolds-averaged Navier-Stokes (RANS) models, PDF methods are computationally more expensive. Motivated by this deficiency a new hybrid particle/finite-volume PDF solver, which proved to be much faster than previous solution algorithms (up to 370 times), was developed. Recently, this hybrid algorithm was generalized for problems with complex 3D geometries and in order to make large, complex studies feasible, the code was parallelized. Molecular mixing model: An accurate description of molecular mixing at the smallest scales is crucial for turbulent combustion simulations and poses one of the greatest modeling challenges in this field. A new mixing model for multi-scalar mixing was developed. It is based on parameterized scalar profiles (PSP) and proved to be significantly more accurate than previous models. Turbulent combustion modeling: Based on a scale separation approach, PDF methods have been developed to model non-premixed turbulent combustion with local extinction and re-ignition and premixed turbulent combustion.

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Finite-Volume Schemes for Simulations of Thermoacoustic Phenomena

In recent years, the development of numerical methods for combustion problems has been driven by an increasing industrial demand for fast and accurate computations of reacting flow. Considering the interaction of acoustics and combustion adds another level of complexity. However, the control of thermoacoustic instabilities is decisive for the safe operation of rocket motors and modern gas turbines. Contributions of the group in this area include a RankineHugoniot-Riemann (RHR) solver, which takes into account source terms, viscous terms and multidimensional effects; a convergence acceleration scheme for compressible low Mach number flow, and a solver for compressible gas mixtures; which avoids spurious oscillations.

with Chevron. The MSVF method has several advantageous properties compared with previous multi-scale approaches and it was demonstrated that large, realistic studies can be computed much faster than with conventional simulators. At the same time, the accuracy of the solution is hardly compromised. Recently, the MSFV method was extended by gravity, capillary pressure and compressibility effects. Uncertainty assessment: To assess the uncertainty of simulation results as a function of uncertain input data, a PDF method for transport in porous media was developed. Conceptually, it has a number of crucial advantages compared with established approaches and it is intended to generalize the framework for multi-phase flow. CO sequestration: Storing CO in geological sub-surface 2 2 formations seems to be one of the most promising feasible technologies to stabilize the CO concentration in the Earths 2 atmosphere. Together with the Stanford Petroleum Engineering Department an appropriate modeling framework is being developed. In order to learn more about the connection between the physics at the pore scales and the macroscopic behavior, a PDF method has been developed. A proof of concept study is completed and currently the method is being extended for non-equilibrium phenomena. Efficient simulators: In order to allow for larger time steps and therefore more efficient simulations, an unconditionally stable scheme for sub-surface transport was developed in collaboration with Chevron.

Scattering of electromagnetic waves is crucial for many research areas, including energy sciences and the graphics industry. Based on the transport theory, a PDF method to describe joint photon statistics was developed. The solutions contain a huge amount of relevant statistical information and compared with previous methods, fewer modeling assumptions are required. Recently, its value for color investigations related to halftone printing was demonstrated.

Radiation and Light Scattering

Flow and transport in porous media has many applications in energy science, e.g. for catalytic processes, oil and gas recovery, CO storage in geological sub-surface formations 2 and geothermal energy. Multi-scale modeling: One of the major challenges in macroscopic simulations is the correct treatment of complex permeability distributions with strong variations and many length scales. To deal with this issue, a new multi-scale finitevolume (MSFV) algorithm was developed in collaboration

Multi-Phase Flow in Porous Media

Modeling cerebral blood flow

In collaboration with Professors Bruno Weber and Alfred Buck from the University of Zurich, regulation mechanisms of cerebral blood flow (CBF) are being investigated. Blood flows through a complex capillary network and its flow is modeled with a multi-scale approach.

Pictures from left to right: Mixing of two scalars in homogeneous isotropic turbulence. Shown are the PDFs at different times computed with various mixing models and by DNS (reference); Transmission point spread function (PSF) computed for different incident beam angles and based on specified substrate characteristics; Injected water (blue) into an oil reservoir. Fine-scale (13020 cells) vs. MSFV (33 coarse cells) simulation; CO2 storage above Sleipner reservoir operated by Statoil; Capillary network of a rat brain. 41

Institute of Fluid Dynamics Professor Leonhard Kleiser

Even though turbulence and laminar-turbulent transition have been major research subjects in fluid dynamics for the past hundred years, these flow phenomena are still far from being fully understood, and their reliable prediction in practical applications remains a distant goal. Significant future progress can be expected through new numerical simulation methods and novel modeling approaches.

LES of Turbulent and Transitional Flows

Leonhard Kleiser has been Full Professor of Fluid Mechanics at the Institute of Fluid Dynamics of ETH Zurich since 1994. He was born 1949 in Freiburg (Germany), studied mathematics and physics at the University of Freiburg and began his carrier as a staff member at the Forschungszentrum Karlsruhe. In 1982 he received his doctorate in Mechanical Engineering from the University of Karlsruhe (TH) and moved to the German Aerospace Research Establishment (DLR) in Gttingen. There he took responsibility for the Transition and Turbulence research group until 1994. He spent research visits at UC Santa Barbara, Caltech and the University of Uppsala. The research interests of his group are focused on fundamentals of fluid dynamics and on the development of advanced simulation methods for future applications. Transitional, turbulent and particle-laden flows as well as the origin and propagation of aeroacoutic noise are being investigated. Simultaneously, new accurate and efficient simulation methods are developed to tackle these problems with the aid of modern supercomputers. Considerable progress has been achieved recently in particular in the area of Large-Eddy Simulation (LES) by establishing novel concepts for modeling of the non-resolved scales, and by transferring these models into a semi-industrial Computational Fluid Dynamics (CFD) code.

The numerical simulation of turbulent flows and of laminarturbulent transition is a central field of the groups research. Wall-bounded and free shear flows are investigated using Direct Numerical Simulations (DNS), in which all relevant space and time scales are resolved, and Large-Eddy Simulations (LES), where only the large scales are resolved while the effect of the small ones is accounted for by a subgrid-scale model. LES are typically at least two orders of magnitude less expensive than DNS, but at present still too costly for routine simulations in industrial settings. However, the continued exponential growth of affordable computing power makes LES one of the most promising concepts for mastering turbulence in numerical simulations. Two LES subgrid-scale models were developed: the high-pass filtered (HPF) eddy-viscosity model and the approximate deconvolution model (ADM). Their success was demonstrated for a number of increasingly complex flows, featuring e.g. massive separation, swirl, compressibility, shock-turbulence interaction or laminar-turbulent transition. Such flows occur in numerous applications and are notoriously hard to predict. Furthermore, the models were successfully implemented into the CFD code NSMB that is capable of handling complex industrial configurations. As an example, jet-in-crossflow configurations are studied with this code which are central to film cooling of gas turbine blades. The work on LES of transitional and turbulent flows builds a solid fundament for the quality improvement of industrial flow simulations in the

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future.

Computational Aeroacoustics

Noise emissions of aircraft at take-off is a serious problem of growing importance. One current project aims at the analysis and prediction of jet noise with a direct noise computation approach based on LES and a hybrid method used for the propagation of noise to the acoustic far-field. Such simulations need to cover a wide range of length and time scales in the noise-generating region, which requires a well-suited subgrid-scale model for the LES. A round subsonic jet at a moderately high Reynolds number is simulated with LES. This computation not only includes the transitional and turbulent structures of the jet flow, which are mainly responsible for the creation of noise, but also captures the near-field noise. The acoustic data from the LES is extrapolated to the acoustic far-field with a solver that is based on Lighthills acoustic analogy. This hybrid method will allow prediction of the noise perceived by a distant observer, e.g. the noise of an aircraft at take-off as perceived by a person on the ground.

Biomedical Fluid Dynamics: Fluid Mechanics of the Inner Ear

and biological contexts.

Simulation of Particle-laden Flows

A class of disperse particle-laden two-phase flows is studied in which the solid particles are much smaller than the smallest relevant scales of the fluid motion, and the mutual particle interaction can be neglected. Either the fluid equations are solved in an Eulerian framework while the particles are tracked individually along their trajectories, or both the clear and the particle-laden phase are computed in a purely Eulerian manner. These numerical approaches are applied to various problems: the settling and break-up of suspension drops, particle settling in homogeneous turbulence, particleladen flow in a channel and over a backward facing step, particle-driven gravity currents and particle transport, mixing and settling mechanisms in estuaries. The study of these basic problems enhances our understanding of the flow physics and supports modeling of particle-laden flows which have various important applications in industrial, environmental

The study of fluid motions in the inner ear is one of numerous applications of fluid dynamics in the fields of biology and medicine. In one project, specifically the lymphatic flow in the semicircular canals of the inner ear is studied. This creeping flow is responsible for the proper functioning of our balance organ. The presence of small particles may perturb this flow in a way that leads to vertigo. This disorder is investigated by analyzing the particle-laden flow with numerical and analytical methods. In another project the fluid flow within the cochlea which holds the sensorium of our hearing is investigated. The tight fluid-structure interaction is simulated with a high-order simulation code to learn more about the physical phenomena involved in the hearing process. These interdisciplinary projects bring together clinical medical research, fundamental fluid dynamics, applied mathematics and modern numerical simulation methods. The results of this work add to our understanding of human physiology and can be exploited jointly with the collaboration partners from the Zurich University Hospital.

Development of High-Fidelity Numerical Discretization Methods and Simulation Tools

For all numerical investigations, the availability of highfidelity discretization schemes, robust simulation methods and advanced post-processing and visualization tools is indispensable. Commercial CFD codes are usually far too inaccurate for the present demanding research tasks. Therefore, in addition to implementing well-established numerical schemes, new highly accurate and efficient schemes such as high-order compact upwind-biased finite-difference schemes or spectral-element methods are developed by the group. They are implemented in research codes that run efficiently on a variety of computers from workstations to massively parallel supercomputing architectures.

Pictures from left to right: Transition to turbulence in a channel flow; LES of a swirling jet; vortex structures of a jet in crossflow; vorticity and noise pattern of a jet; bony labyrinth of the inner ear.

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Institute of Fluid Dynamics Professor Thomas Rsgen

The experimental research work at IFD is performed in several general purpose facilities, including the large, low speed wind tunnel, a boundary layer tunnel and a water tunnel. Additional dedicated facilities (e.g. a cryogenic heavy gas tunnel or a hot gas cross flow tunnel) are available for more fundamental studies. The instrumentation is being continuously updated to provide capabilities for flow visualization, force measurements, advanced laser diagnostics (LDA, PIV, DGV) and various forms of electronic imaging, including infrared, low light level and high speed cameras. The following list provides a summary of recent and ongoing Ph. D. research projects.

Thomas Rsgen is a Full Professor of Fluid Mechanics at ETH since 1997. Before that, he worked as a senior engineer at the research centre of the European Space Agency (ESA-ESTEC) in Noordwijk (NL). He also held positions as a senior group leader at the Institute of Space Systems, Stuttgart University (D), and as Postdoc / staff engineer at ESA. He has an engineering diploma from the Technical University in Berlin (D) and a Ph. D. degree in Aeronautics from the California Institute of Technology (Pasadena, USA). Before his arrival at ETH, he worked in a number of different research areas, both fluids-related and not. They include vortex motion in superfluid helium, microgravity fluid dynamics, ferrofluids for levitation, cryo-electronics, digital image processing and restoration of satellite imagery, real-time video motion analysis, and interactive and remote-controlled satellite communications for space experiments. The current research activities of Professor Rsgen are focused on the field of modern electro-optical diagnostics and quantitative image analysis with application to fluid dynamics. Other activities in his research group include environmental fluid dynamics (fire dynamics and control, gravity driven cryogenic flows), bio-fluidics (alveolar lung flows) and aerodynamic testing and optimization.

Quantitative Flow Visualization in Large Wind Tunnels

This activity is aimed at improving the productivity in aerodynamic wind tunnel testing. The conventional approach of visualizing the flow around models (using smoke filaments, helium bubbles, etc.) is being augmented by digital image enhancement and analysis techniques. Using recent advances in imaging hardware and software, a digital representation of the measurement is being created in realtime. This allows the operator not only to store and re-analyze the original data, but also to extract invisible information such as local flow velocities or pressure distributions.

Imaging Doppler Velocimetry

The measurement of velocity distributions is relevant both for aerodynamic testing and fundamental research. Although Particle Image Velocimetry (PIV) is established as the de facto standard for this task, there are alternatives which offer specific advantages. Doppler techniques, for example, do not require the resolved imaging of individual flow tracers and may be better suited for large scale applications. The research at IFD follows two threads. Using molecular iodine filters near an absorption line, flow induced frequency shifts

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can be translated into amplitude or phase information and recorded with a conventional camera. Using interferometric imaging principles, the sensitivity and accuracy of such techniques is being expanded. On the other hand, special active pixel sensors are being used as direct optoelectronic demodulators. Here, the Doppler shift frequency is measured using a lock-in detection scheme applied to all sensing pixels in parallel.

The other technology under development relies on the optical interrogation of individual high-sensitivity MEMS pressure-sensing membranes. The objective is to maintain a high measurement accuracy (not achievable with PSPs) while still providing a wireless sensor interrogation.

Environmental Flows with Gravity Influence

Low Coherence Measurements in Fluid Flows

Laser point measurements of displacements or velocities can readily be performed from considerable distances. However, the absolute accuracy and reproducibility becomes a problem for vibrating test articles and close to surfaces. Here, low coherence laser sources are advantageous, because they provide absolute depth resolution in the micrometer range. Several activities are ongoing at IFD to utilize this capability for fluid mechanics measurements: PIV imaging in a virtual image plane, optical tip clearance measurements in a hot gas turbine stage, and improved Laser Doppler Velocimetry (LDV) in close proximity to walls were successfully demonstrated. The last application also features a self-referencing recording setup where absolute wall standoff distances are maintained even for moving surfaces.

Two custom-built facilities are available at IFD to study various types of environmental flows. In the cryogenic gas facility, the propagation and mixing of cold (and heavy) gas clouds is studied to develop models for the spreading of such fluids in industrial accidents. The hot gas facility is being used to study fire-induced flows and their control in cross-flow ventilation systems. This is a fundamental accident scenario for many road and train tunnels, and measurements are important to support and validate the numerical predictions being developed. Furthermore, the empirical correlations required in theoretical models can be provided in this way.

Flow Control in the Lung

Surface Pressure Distributions

The recording of surface pressure distributions on aerodynamic models continues to be an essential part of wind tunnel testing. Two activities at IFD aim at developing imaging techniques which would do away with the requirement for costly arrays of wired pressure taps. Self-illuminating pressure sensitive paints (PSPs) were developed, based on integrating the paint layer with a thin, flexible electroluminescent foil. Since the pressure-dependent fluorescence is excited locally in this setup, the requirements regarding illumination and model stability can be significantly relaxed.

This activity is concerned with control of flows deep inside the human lung. Alveolar flows are very slow and largely reversible, leading to a poor deposition of the small aerosol droplets used in medical treatment. Different forcing methods are being studied to enhance the mixing and particle residence time in the alveoli. Both numerical and experimental models are employed to identify and evaluate the forcing mechanisms.

Re-entry Measurements

IFD is involved in a hypersonic re-entry flight experiment of the European Space Agency (ESA Expert). A short wave infrared (SWIR) camera is being developed together with a detached high-temperature optical front end to image the in-flight temperature distribution on the surface of an external control flap/compression ramp of the spacecraft.

Pictures from left to right: Propagating cryogenic gas cloud; CFD simulation of a flow in the hot gas facility; Aerodynamic testing in the IFD wind tunnel; large ETH/IFD wind tunnel; PSP sensor foils on wind tunnel model; Hybrid PIV/DGV measurements 45

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Institute of Mechanical Systems

The Institute of Mechanical Systems consists of the Centres of Mechanics and Structure Technologies and is committed to a long-term sustainable development of our society by delivering cutting-edge education and research in the broad field of mechanics, structures and multifunctional materials. On many axes of activities we consider systems from the small- to the large-scale, from basic research to applications using theoretical, computational and experimental approaches. While teaching the basic mechanics and engineering design courses we introduce young students to the general concept of mathematical modeling of our environment. Aligned with the spirit of the Department of Mechanical and Process Engineering, we also provide high-level education in engineering sciences to skilled students in the later stage of their education, forging tomorrows engineers and researchers. To fulfil our mission we strive for cross-fertilization between our main fields of activity, namely research, education, services and co-operation with industry. The Institute seeks co-operation with national and international industries and research institutions while integrating competencies in challenging and highly interdisciplinary projects. Areas of Specialization: Professor Jrg Dual, Mechanics and Experimental Dynamics Professor Paolo Ermanni, Structure Technologies Professor Christoph Glocker, Mechanics, Nonsmooth Dynamics Professor Edoardo Mazza, Experimental Continuum Mechanics

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Institute of Mechanical Systems Center of Mechanics Professor Jrg Dual

The projects presented here show the central role of mechanics as a timeless discipline in a wide range of modern and fascinating challenges.

Sensors based on Structural Vibrations

Jrg Dual has been Full Professor of Mechanics and Experimental Dynamics in the Center of Mechanics of the Institute of Mechanical Systems at ETH Zurich since 1998. He was President of the Planning Commission of ETH Zurich 2000-2004 and has been President of the Hochschulversammlung since 2008. Jrg Dual was born in 1957 and studied mechanical engineering at ETH Zurich. He then spent two years on a Fulbright grant at the University of California in Berkeley, where he graduated with an MSc. and an M. Eng. degree in Mechanical Engineering. He then received his Dr. sc. techn. degree at ETH Zurich under the guidance of Professor Dr. M. Sayir at the Institute of Mechanics. For his dissertation he was awarded the Latsis Prize of ETH Zurich in 1989. After one year as Visiting Assistant Professor at Cornell University, Ithaca, NY, he returned to ETH Zurich as Assistant Professor. He is a Member of the Swiss Academy of Technical Sciences, Fellow of the ASME and Honorary Member of the German Association for Materials Research and Testing. His research focuses on wave propagation and vibrations in solids as well as micro- and nanosystem technology. In particular, he is interested in both basic research and applications in the area of sensors (viscometry), nondestructive testing, mechanical characterization of microstructures, and gravitational interaction of vibrating systems. In his research, experimentation is central, but must always be embedded in corresponding analytical and computational modeling.

In resonating sensors, the vibration characteristics (frequency, damping) are influenced by the environment. As an example, dynamic viscometers are investigated, where a surrounding fluid increases the damping of a resonating device. A gated phase-locked loop has been investigated for driving such sensors. A number of novel viscometer designs have been built, tested, and applied in various situations, e.g. for blood directly during extraction from the body, food in the production process, etc. Measurements can be made with volumes of <10 microliters. In another project, small high-frequency motion is superimposed on large deformations in a classical rheometer. Process viscometers based on our design are marketed by Brookfield Engineering, USA.

Quantitative Nondestructive Evaluation (QNDE)

Recent results in guided wave QNDE include the determination of the elastic constants for filament-wound shells including non-axisymmetric waves, fault detection in cylindrical shells using a time-reverse scheme, basic investigations on the NDT of wood, which is extremely difficult due to the inhomogeneities and anisotropy, and the application of advanced fiber composites (piezoelectric fibres) in QNDE.

Wave Propagation in Micro Systems: Nanosonics

Using an optical pump probe set-up, high frequency (~100 GHz) wave propagation experiments are performed with picosecond (ps) resolution. Such waves have been used for probing of interfaces and buried diffusion barriers, and will be further applied towards ps resolution atomic force microscopy. The feasibility of propagating and detecting 100 GHz waves for distances up to 10 micrometers has been demonstrated. Also a two-temperature model to describe the interactions

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between light and the mechanical waves has been successfully implemented and shows good agreement with experiments. Applications are in the area of NDT of semiconductor devices or sub-THz filters, where the frequency-dependent reflection behavior at continuous interfaces is used.

both theoretically and experimentally. For example, critical stress intensity factors have been measured and interpreted in the context of fracture mechanical size effects. Also, a carving ski in a curve interacting with the snow cover has been simulated and experimentally investigated.

Small particles (e.g. with a size of 10 microns, biological cells, etc.) can be manipulated by ultrasound. The interaction is modeled and used to design devices. Recently, microsystems have been investigated and built for 1D and 2D particle arrangements and interaction with micromachined silicon grippers (Professor B. Nelsons group). The feasibility of manipulating living cells has been demonstrated.

Manipulation of Particles by Ultrasound

DNA Analysis System

Starting from a sample of blood, a novel DNA analysis system has been investigated, which will revolutionize DNA testing of various samples. It allows the detection of a specific DNA sequence within less than 45 minutes starting from sample processing to the result. It is based on a cartridge that does the lysis and prepares the mastermix to be used in a micro-machined PCR Chip.

Mechanical Properties of Microstructures

Mechanical properties of materials used for microstructures in many cases cannot be deduced from corresponding macroscopic testing due to the different manufacturing processes. Therefore test rigs have been built for tensile testing, torsional testing, and fatigue testing of structures with a typical length in the range of some 100 micrometers. For tensile testing, a Least-Square Template Matching (LSM) algorithm was developed yielding a displacement resolution of 10 nm in an optical microscope (superresolution up to a factor of 100). Torsional testing allowed the measurement of torques with a resolution of 50 nNm using a differential laser interferometer. Fatigue testing using a phase-locked loop so far has reached resolutions in crack length measurement of 10 nm. Also size effects in thin copper foils and polymer microstructures (Baytron) have been investigated.

Microsystem Devices

In our clean rooms a number of devices have been built. D. Bchi developed a microchannel network with integrated microvalves to be used for sorting of cells and microparticles. M. Haueis developed an encapsulated micromachined resonant force sensor while S. Blunier works on a resonant 3D gyro on a single wafer. All make use of the gated phase locked-loop control system. With this system, only one transducer is needed, and electromagnetic crosstalk is completely eliminated. N. Quack develops a vertically actuated micromirror for Infrared Detectors, which improves the intrinsic sensitivity of the detector. Additional projects with industry included a micropipetting system (Roche Diagnostics), resonant micromotors (Creaholic), and research into the squealing noise of railway systems (SBB).

Mechanical Properties of Snow, Snow Slab Release, and Ski/Snow Interaction

Based on fracture mechanics and statistical mechanics, triggering mechanisms for snow slab release are investigated

Pictures: Impressions from the labs

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Institute of Mechanical Systems Centre of Structure Technologies Professor Paolo Ermanni

actuators, a macroscopic carbon nanotube assembly is immersed in a liquid electrolyte and operated at low voltage. Our research effort is focusing on gaining a better understanding of the interrelation between the properties of CNT assemblies and their actuation performance. Further work is aimed at improving performance by chemical functionalisation and the use of non-volatile electrolytes, respectively.

Polymeric Foams as Electromechanical Actuators/ Sensors

Paolo Ermanni, born 1959, studied mechanical engineering at ETH Zurich and received his Dr. sc. techn. degree in 1990. He gained significant professional experience in industry; working for over five years at Airbus Germany GmbH as a senior engineer in the future project office and later as a project manager. In 1997 he took on a new challenge as a manager in the consulting firm A.T. Kearney in Milan before being appointed Associate Professor at ETH Zurich in 1998. Paolo Ermanni has been Full Professor of Structure Technologies at ETH Zurich since 2003. Since 2007 he is also Director of the Centro Stefano Franscini (CSF). The CSF is the international conference centre of ETH Zurich, situated in the south of Switzerland (Canton Ticino) at Monte Verit. Professor Ermannis group promotes science and innovation in the areas of functional materials, innovative composite solutions and structural mechanics by exploring the relation between materials, manufacturing and design of composite based structural systems with better performance and novel functionalities.

Polymeric foams can be electrically poled by the application of a high electric field, resulting in a remnant charge separation within the gas filled voids as a consequence of electric breakdown. Poled foams show ferroelectric and piezoelectric behavior and can potentially be used as actuators/sensors, e.g. in acoustic noise reduction or as large area medical pressure sensors. In collaboration with the Nonmetallic Inorganic Materials research group, a novel foaming technology is applied to polymers and the resulting porous structures investigated with respect to their electromechanical properties.

Piezo Shunt Damping in Aeroelastic Applications

Carbon Nanotubes as Electromechanical Actuators

In addition to featuring unique physical properties, carbon nanotubes (CNT) have been shown to act as electromechanical actuators, converting electrical input energy into geometric deformation and thus useable mechanical output. In typical

DREAM stands for ValiDation of Radical Engine Architecture SysteMs and investigates new technologies to minimize environmental impact of commercial air traffic. Together with our project partners from EPF Lausanne, EMPA Dbendorf, Busch Composites and SNECMA we investigate novel damping mechanisms for later application to open rotor aircraft engines. We focus on integration of piezoelectric actuators, sensors and electronic circuits into the host structure. Another research aspect is the investigation of the overall aeroelastic system behavior and possible interactions between piezoelectric damping and the onset of flutter phenomena. We plan to develop numerical tools to account for aeroelastic interactions and validate them with wind tunnel experiments on damped and undamped specimens.

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Damping of Vehicle Structures

We are investigating novel damping approaches for composite applications in car structures. The project is dealing with floor panels that are mounted to the loadcarrying primary structure of the vehicle. The objective is to reach outstanding damping performance considering the stringent weight and cost requirement of the automotive industry. We have developed and validated an experimental set-up for the determination of the damping properties of structural specimens also considering interface damping effects. Various damping treatments have been investigated. The most promising damping approaches will be optimized and validated in an automotive component test case.

entities (faces, edges and vertices) may further carry information on mechanical attributes like void or material in classical topological optimal design problems or laminate attributes in an advanced laminate optimization environment with a varying number of laminate zones. This kind of arrangement should establish a base for a heterogeneous, graph-based genotype allowing for a combined optimization of topology, shape and laminate of arbitrary mechanical structures.

Corrugated Laminate Homogenization Model

Multi-Functional Composite Airframe Structure

We are working in close co-operation with Dassault Aviation and CNEM. Our contribution concerns the evaluation of innovative design solutions for multi-functional primary composite airframe structural components with integrated damping treatment. The approach includes a step-by-step feasibility and characterization program leveraging structure mechanical behavior (strength, stiffness and stability), vibration damping device integration and manufacturing technologies. The research activities will eventually lead to the fabrication of fuselage-barrel demonstrator frames with integrated damping solutions by RTM process. The latter include the development of robust RTM production routes relying on advanced monitoring techniques to detect occurrence of flaws and dry spot regions during the injection.

Corrugated sheets made from composite materials can provide candidate solutions for flexible skins needed for anisotropic compliant shell structures. The finding of design solutions for these requires automatic computer aided optimization processes. A substitute material model can greatly reduce the numerical size of the finite-element method (FEM) models and with it the computational effort of the many numerical simulations which must then be performed. The current work involves a unit cell model of the periodic corrugation pattern for obtaining the complete and exact elasticity solutions whose by-product is the substitute-plate stiffness.

Composite Hull for a new Swiss Bobsled

Innovative new bobsleds (2 man & 4 man) for the Swiss national team are developed in the Citius project. IMES-ST has to design and optimize the fiber reinforced plastic hulls of the 2-man and 4-man Citius bobsleds and to support the manufacturing of the hulls at RUAG Aerospace.

The research addresses a novel way of how to represent mechanical structures in the context of an automated design process. We aim at constructing arrangements from parameterized spline-based primitives. The resulting topological

Unified Topology and Shape Design Optimization of Composite Structures

Pictures from left to right: Test run of the Citius bobsled in St. Moritz; scanning electron micrograph of a mat of randomly oriented single walled carbon nanotubes; (upper row) polymer particles used for foaming; (bottom row) sintered polymer foams; Streamlines of an open rotor aircraft engines at stationary flight; contour plot of the maximum displacement, in a uniaxially stressed [+-30,+-1,+- 2]s laminate panel as function of 1 and 2; 3-points bending test for extracting system damping efficiency 51

Institute of Mechanical Systems Center of Mechanics Professor Christoph Glocker

Impact Theory and Experiment

Christoph Glocker has been Extraordinarius for Mechanics at the Institute of Mechanical Systems at ETH Zurich since 2001. He was promoted to Full Professor in 2006. Christoph Glocker was born in 1962 in Munich. He studied mechanical engineering at the Technical University of Munich. After receiving his diploma in 1989, he worked as a research assistant at the Institute B of Mechanics and wrote his doctoral thesis under the guidance of Professor F. Pfeiffer. In 1996 he received a Feodor Lynen Fellowship supported by the Alexander von Humboldt Foundation and spent one year at the Aristotle University of Thessaloniki working with Professor P. D. Panagiotopoulos on hemivariational inequality problems in dynamics. After this stay, he returned in 1997 to the Institute B of Mechanics as a senior engineer. In 2001, he obtained the certificate of habilitation in mechanics with a postdoctoral thesis devoted to non-smooth dynamics. A central point in his research is nonsmooth dynamics of mechanical systems with finite degrees of freedom which includes, for example, the friction and impact problem in multibody systems, and which must be regarded as a generalization of classical mechanics. He is interested in both theoretical and practical questions concerning the mechanical modeling, the mathematical formulation, and the numerical treatment of systems with discontinuities, as well as their applications to industrial problems.

The best-known example of an impact in mechanics is the collision of two rigid bodies. There is a velocity jump at the impact due to the geometric impenetrability condition, but also an impulsive force caused by the assumption of rigidity. These two properties, velocity jumps and impulsive forces, characterize impacts. Impact theory, however, is not restricted to rigid bodies. More general situations turn up in computational mechanics when considering collisions of deformable bodies after discretization. Moreover, there are even events primarily unrelated to any kind of collision leading to velocity jumps and thus, to impacts. The transversal crossing of an edge in the configuration manifold is an example of such behavior. Impacts require impact laws. They can be regarded as the constitutive equations of the impact. In classical mechanics, local formulations like Newtons impact law are used, which have recently been reformulated as inequalities and extended to multicontact configurations. Such approaches work well as long as highly dissipative collisions are investigated. For a general theoretical framework, however, geometrical concepts are needed to characterize and identify the impact parameters in an invariant and meaningful way. Impact behavior is then expressed in terms of reflection and orthogonal projection laws on the tangent cone of the configuration manifold, which leads to a better understanding and implementation of the dynamics observed by experiments. Even wave propagation phenomena may be handled in this way.

Numerical Schemes

The mathematical formulation of unilateral constraints with Coulomb friction in dynamics leads to differential inclusions. They describe the system for non-contact, sliding, and sticking friction, and contain even the impact process that takes place when a contact is closed. As one particular property of nonsmooth mechanics, the number of degrees of freedom changes during motion, controlled and influenced by the systems

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dynamics itself. The numerical treatment of such systems may in principle be split into two independent subtasks: Integration of differential equations and evaluation of inequality laws. Standard routines with event detection allow for the integration of the differential equations. These so-called event driven schemes work well as long as the number of discontinuities is moderately low. They fail, however, in the cases of accumulation points and become impractical for contact problems of high dimension. The latter are successfully treated by time-stepping algorithms, which provide a more consistent evaluation based on direct discretization of the measure differential inclusions. For both methods of numerical integration inequality problems have to be solved to find the valid system state. Most important for applications are inequalities represented by normal cone inclusions, which can be rewritten as proximal point problems and iteratively solved by Gau-Seidel methods. The resulting algorithms have to be both robust and accurate. Accuracy is generally required, but becomes quintessential for self-excited oscillations in frictional vibration problems. Numerical damping and other sources of inaccuracy may cause such highly sensitive mechanisms to consequently disappear in the computed results.

Measurements revealed that the inner front wheel of a bogie is in most cases responsible for the noise, but sometimes also the outer rear wheel. This result has been confirmed by a numerical stability analysis, in which the first 61 elastic modes of the wheel have been taken into account together with a three-dimensional Coulomb contact model. Such stability analysis acts then as the basis for improvements on the profile pairings between rail and wheels to reduce the noise.

Non-Smooth Control

Curve Squealing of Trains

Squealing of trains is a narrow-band noise of about 4000 Hertz, which occurs in curves with radii below 300 meters. In such curves, the conical profiles of the wheels can no longer compensate for the difference in arc length between the inner and the outer rail, which causes some creepage in the contact zone between the wheel and the rail. The direction of the creepage for steady-state motion of the train is influenced by the misalignment of the wheel set, which itself depends on the trains speed and the friction conditions between the rail and the wheels. Sometimes, the overall constellation is such that one of the wheels may start oscillating. This is called a friction-induced vibration, from which the noise originates.

Optimal walking patterns of humanoids and the optimal switching in automated gears are typical examples of nonsmooth-optimal control problems. In addition to the classical constraints, like bounded driving torques, contact and friction laws have to be taken into account to make the system structure variant and to allow for a mechanically consistent constraint activation and deactivation process. The trajectory optimizations of structure-variant mechanical systems belong to the class of mathematical programs with equilibrium constraints, which are optimization problems with the essential constraints being defined by parametric variational inequality systems. Direct shooting methods, based on the time-stepping scheme, provide an approximation of the optimal path, including the optimal switching pattern.

Pictures from left to right: Definition of the admissible post-impact velocities for Newtons cradle with three balls under kinematic, kinetic and energetic restrictions; Setup for collision experiments with distant effects: Newtons cradle with five balls, release units and linear encoders for displacement measurements; Numerical simulation of a multicontact problem, performed with time-stepping midpoint rule and Gau-Seidel iteration on the underlying proximal point problem; Stability plots of the front bogies four wheels for varying friction and creep direction. Blue: real states of operation. Green: stable area. Red: squeal; Two link manipulator with exchangeable conventionally and passively actuated joint. Passive actuation is performed by an electromagnetic brake.

Institute of Mechanical Systems Center of Mechanics Professor Edoardo Mazza

Research
Our research aims at linking continuum mechanics and material physics, and at bridging the gap between these scientific disciplines and their application in engineering and medicine. Examples of an increasing involvement of continuum mechanics with experimental research can be found in biomechanics (with investigations on the deformation behavior of single cells, tissues, and whole organs), in energy research (fighting the design challenges towards sustainable energy production), in the development of so called adaptive materials (analyzing coupled field problems in smart mechanical systems). We have made contributions to fundamental and applied research in these fields:

Edoardo Mazza has been Associate Professor of Mechanics at the Institute of Mechanical Systems of ETH Zurich since 2006. He was born in 1969 in Italy, studied mechanical engineering and received his Dr. sc. techn. degree at ETH Zurich. For his dissertation he was awarded the ETH medal. After his Ph.D. he worked in industry from 1997-2001. At Alstom Power he was group leader in the steam turbine R&D department. In 2001 he was appointed as Assistant Professor of Mechanics at ETH Zurich. Since 2006 he has lead a new laboratory at the Swiss Federal Laboratories for Materials Testing and Research (EMPA). His field of research at ETHZ and EMPA is experimental continuum mechanics. The activity of his group is focused on the construction, analysis and interpretation of advanced experiments for understanding the mechanical behavior of novel engineering materials and soft biological tissue. Modern continuum mechanics requires sophisticated experiments to develop mathematical models and algorithms for the simulation of materials and material systems. As opposed to conventional materials testing, these experiments investigate the response of materials to large and non-homogeneous deformations related to multi-axial and time dependent mechanical loads. Experiments are designed to reproduce service conditions of loading of mechanical devices or physiological deformation states of connective tissue and organs in the human body.

Biomechanics

Our studies on the mechanical behaviour of human tissues and organs are motivated by medical applications: (i) diagnosis (specifically: detection of liver pathologies; malfunctioning (incompetent) uterine cervix; premature rupture of fetal membranes), (ii) surgery planning (facial tissue models for plastic surgery simulations), (iii) tissue replacement/ implant development (intervertebral disc, supportive implant meshes for hernia or laxity). Biological tissues are extremely complex materials and modeling their mechanical response is obviously a very difficult task. We contribute to these challenges with novel experimental observations and their analysis. Examples are the aspiration device for quasi-static measurements, the torsional resonator device, for in-situ high frequency shear testing, the inflation device for biaxial experiments with bio-membranes, and the biaxial machine for tension-tension biaxial experiments on soft membranes. In particular we provide information on the in vivo mechanical behaviour of human organs (as opposed to observations from animal organs or specimen extracted from the human body). We have performed a large number

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of intra-operative aspiration experiments on human livers, thus building a unique set of quantitative data on the in vivo mechanical behaviour of this organ. Our measurements on the uterine cervix of pregnant women provided the first objective data on the evolution of the mechanical response of the cervix during gestation. The experimental observations are analysed using non-linear visco-elastic constitutive models. Recent efforts were towards a correlation between mechanical parameters and histological observations or biochemical indices characterizing tissue microstructure (e.g. for human liver and fetal membranes).

of materials under conditions that closely represent those experienced in service, with thermo-mechanical fatigue, isothermal creep-fatigue and creep tests on uniaxial, as well as on multiaxial component-like testpieces and fracture mechanics specimens. This approach allows quantification of the influence of stress and strain gradients and strain rate as well as stress multiaxiality on material deformation and damage formation. All experimental activities are conducted in our new high temperature laboratory at EMPA.

Adaptive Materials

Energy

The necessity of reducing greenhouse gas emissions and the limited availability of fossil fuels represent the main driving forces for energy research. The development of novel energy conversion technologies and the improvement of the efficiency of conventional power generation lead to new challenges with respect to the reliability of the mechanical components. We determine constitutive equations for the design of power generation systems with increased efficiency and higher operational flexibility. Models with improved predictive capabilities require an understanding of the mechanisms of deformation and damage, under conditions of non-isothermal multi-axial cyclic loading and creepfatigue interaction. Our results also provide methods for accelerated thermo-mechanical aging used to predict long term properties of new higher temperature materials, in order to exploit them at the earliest opportunity. Our models of deformation and damage are verified at two levels: (i) we perform comprehensive post-test inspections (optical and electron microscopy) in order to confirm consistency between physical conditions and model predictions; (ii) we verify the predictive capabilities of our models using dedicated benchmark tests. To this end, we develop novel experimental set-ups and procedures and study the response

Adaptive materials (e.g. shape memory alloys, electro active polymer systems, piezo-ceramics) are integrated in highly deformable structures in order to enable novel functionalities, to optimize the design or increase the reliability of mechanical systems. Applications are in the fields of energy conversion (e.g. shape adaptable airfoils that improve aerodynamic efficiency of turbine blades), biomedical products (e.g. surgery instruments based on distributed compliances as a substitute for conventional joints, so to reduce particle release, wear and production costs), and actuator technologies (with electro active polymer systems offering muscle-like performance). Prediction of the behaviour of highly deformable structures and functional materials represents one of the main challenges in this innovative field of engineering research. We contribute with models of the non-linear deformation behaviour of adaptive structures. These activities are carried out in the compliant systems laboratory at EMPA. We investigate the active and passive mechanical response and the mechanisms of degradation and failure of so called dielectric elastomer actuators. As for the other research projects, we have developed novel unconventional experiments reflecting the operating conditions of the actuators. Non linear visco-elastic material laws are used to rationalize these observations.

Pictures from left to right: 1- 3D numerical model of the face for simulation of cosmetic and reconstructive surgery; 2- Thermomechanical fatigue experiments (High Temperature Lab., EMPA); 3- Biaxial testing of acrylic elastomer used for EAP actuators; 4- Measurement of the mechanical behavior of human liver in vivo during open surgery; 5- Inflation experiment to investigate deformation and rupture of human fetal membranes

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Institute of Process Engineering

The Institute focuses on the teaching of process engineering fundamentals through engaging lectures and innovative research. Its activities cover the entire spectrum of macro, micro, nano and molecular processes with state-of-the-art instrumentation and facilities. Since 2004 IPE offers a Master in Process Engineering based on a newly structured curriculum and contributes to the masters programs in Mechanical Engineering, Chemical Engineering, Energy Science and Technology and Micro-nano Engineering. The following laboratories of IPE carry out cutting-edge, innovation-driven research aimed at developing and understanding new products and efficient processes in close interaction with industry: Particle Technology Laboratory Separation Processes Laboratory Transport Processes and Reactions Laboratory

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Institute of Process Engineering Separation Processes Laboratory Professor Marco Mazzotti

Separation Processes Laboratory
The vision of the Separation Processes Laboratory (SPL) is To develop efficient, safe, and sustainable processes for high quality products and environmentally responsible industrial systems. Its mission is to educate future engineers and scientists, specifically trained in the science and engineering of economically optimized and environmentally beneficial separation processes, by carrying out cuttingedge research in the areas presented below.

Marco Mazzotti, an Italian citizen born in 1960, married, with two children, has been Professor of Process Engineering at ETH Zurich since 1997 (Associate until 2001 and Full Professor thereafter). He holds a Laurea (MSc., 1984) and a Ph.D. (1993), both in Chemical Engineering and from the Politecnico di Milano, Italy. Before joining ETH, he had worked in industry (1985-1990), and had been Assistant Professor in Milan (1994-1997). He teaches classes on separation processes, mathematical methods for chemical engineers and carbon dioxide capture and storage. He has mentored eighteen Ph.D. students and is currently advising twelve. His refereed publications include more than 160 journal articles, 20 articles in books and 6 book chapters. His research activity addresses the purification and formulation of biopharmaceuticals and the development of carbon dioxide capture and storage systems. Marco Mazzotti has been coordinating lead author of the Special Report on Carbon Dioxide Capture and Storage of the IPCC, that was then awarded the 2007 Nobel Peace Prize. He is Vice-President of the International Adsorption Society, and Member of the AIChE, ACS and EFCE, on behalf of which he will chair the 18th International Symposium on Industrial Crystallization (Zurich, Sep. 13-16, 2011). He is on the editorial advisory board of Ind. Eng. Chem. Res., Adsorption, Cryst. Growth Design, and J. Supercritical Fluids.

Purification of Biopharmaceuticals by Preparative Chromatography

Preparative chromatography is a highly selective technique for the purification of organic compounds in the pharmaceutical and food industries and in biotechnology, from enantiomers of chiral compounds, to polypeptides and proteins and nucleic acids. We address the interface between chemistry and chemical engineering, where the tremendous progress made in the design of stationary phases for difficult separations has to find effective implementation in preparative chromatographic processes. In particular, we deal with the operation, design, optimization and control of multicolumn chromatography, using the Simulated Moving Bed (SMB) technology and its variants. Today such a complex family of technologies can be mastered by its many practitioners thanks to the unique design criteria and modeling tools that have been and are being developed in the SPL. We have also demonstrated how SMBs outperform traditional single-column chromatography in all cases of interest. Moreover, the SPL, in co-operation with two other departments of ETH Zurich, has developed a unique optimizing model predictive controller for SMB processes. Recently we have demonstrated theoretically, through simulations and experimentally the existence of the delta-shock, i.e. a brand new type of composition front in nonlinear chromatography.

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Crystallization and precipitation from solution of organic substances, e.g. drugs and proteins, are key techniques in the pharmaceutical industry and in biotechnology to determine the properties of the final solid product. Product quality is usually defined in terms of purity, polymorphism, crystal habit, shape or morphology, average particle size and particle size distribution (PSD). These have a decisive effect not only on the formulation process, but also on the drug bioavailability. The field of crystallization has experienced tremendous progress in the last ten years, mainly thanks to the availability and widespread use of new process analytic techniques, e.g. Infrared Spectroscopy, Raman Spectroscopy, or Focused Beam Reflectance Method, that allow for an unprecedented quantitative insight into the complex fundamental mechanisms involved in crystallization, i.e. nucleation, growth, agglomeration, breakage, dissolution, mixing, and their interrelation. Our strategy is based on the experimental characterization of such mechanisms, on their description through first-principle models and on the use of detailed models for product and process design, process optimization and scale-up. Our ultimate goal is to devise strategies that allow to design and control the final crystal form, size and shape. This approach is currently successfully applied to the crystallization of different organic species as well as to dense-gas-assisted antisolvent precipitation. Precipitation of organic substances from solution triggered by pressurization with supercritical carbon dioxide makes possible the formation of micro- and nano-particles of products of pharmaceutical relevance. In this area, we have deepened the understanding of the science and technology through unique experimental and theoretical work. Recently, we have been successful in producing nano-particles of a highloaded drug-polymer solid solution with enhanced dissolution characteristics.

Production of Micro-Particles of Organic Species by Crystallization and Precipitation

Carbon dioxide capture and storage (CCS) is a set of technologies for the capture of CO2 from its anthropogenic point sources, its transport to a storage location or treatment plant, and its isolation from the atmosphere. This is only one, though very important, option in a portfolio of actions to contrast the increase of atmospheric CO2 concentration and to mitigate greenhouse effect and climate change, while at the same time allowing for the continued use of fossil fuels. In this context, a three-year project involving different Swiss scientific institutions and coordinated by Professor Mazzotti started in January 2009, with the purpose of exploring the potential and the feasibility of CCS deployment in Switzerland (www.carma.ethz.ch). The SPL aims to create a knowledge base in two specific areas belonging to the CCS chain, namely the capture of CO2 using adsorption based processes and the storage of CO2 by injecting it into deep unmineable coal seams or by fixing it in mineral carbonates. Advanced pre-combustion capture techniques are needed to substantially reduce CO2 emissions from fossil fuel power plants. In this context, the SPL takes part of the European Union Framework Program 7 project DECARBit and aims to develop and design an appropriate pressure swing adsorption (PSA) process to effectively separate the CO2/H2 gas mixture produced by the gasification of coal. From the storage point of view, coal seams are attractive geological formations, since CO2 can be taken up by the coal in large amounts. An attractive process, i.e. enhanced coal bed methane recovery (ECBM), is investigated, which would allow the recovery of the methane present in the reservoir, while at the same time storing the CO2. In mineral carbonation, the captured CO2 reacts with metal-oxide-bearing materials, e.g. natural silicates or alkaline industrial wastes, and subsequently precipitates as carbonates. The aim of the SPL is to investigate the fundamental mechanisms which control the kinetics of both the dissolution of silicates and the precipitation of carbonates, since, though mineral carbonation represents the safest and most stable storage option, its large scale application is hindered by the slowness of the reaction.

Carbon Dioxide Capture and Storage

Pictures: Hardware, software and human factor at the Separation Processes Laboratory

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Institute of Process Engineering Particle Technology Laboratory Professor Sotiris E. Pratsinis

Particle Technology Laboratory
Particles are everywhere. From the air we inhale, to the bread, salt and pepper on the dinner table, in our dental fillings, in every pill we take, in the tires we drive on, the cement we build our houses with, in the paint that covers its walls and so on... The mission of our laboratory is to educate the fundamentals of particle science and engineering through basic research. We focus now on the smallest particles, nanoparticles, because their basic properties are quite different from those of bulk materials. We specialize on gas-phase (aerosol) processes for their unique capacity to form high purity products (Figure 1) with closely controlled size, morphology and composition accompanied by few, if any, liquid byproducts. Our focus is on product discovery and quantitative understanding for process scale-up through systematic experiments and simulations for synthesis of new materials for catalysis, sensors and even life sciences (dental, orthopedic) to name a few, in collaboration with ETH colleagues and top universities and industry in U.S., Europe, Asia and Australia. Historic highlights of our research include the measurement of the basic oxidation rate of TiCl4 vapor for synthesis of titania which had been called a landmark contribution in the pigment industry. We had developed the first simulator for manufacture of optical fiber preforms by modified chemical vapor deposition that has been routinely used by Lucent-Furakawa (former AT&T Bell Labs) in manufacture of lightguide preforms in Norcross, GA. We had discovered and patented an aerosol route for synthesis of finer AlN than commercially available powders in collaboration with Dow. That program was recognized at Dow as a prototype for industry-university programs. We had developed also, for the first time, algorithms for agglomerate formation and growth relating product particle characteristics to material properties and process conditions by population balances in particle mass and surface area accounting for gas phase reaction and sintering. These algorithms have been incorporated in reactor process design and are routinely used for manufacture of fine particles in industry.

Professor Pratsinis was born in 1955 in Chanea, Krete, Greece. He holds a diploma in Chemical Engineering from the Aristotle Univ. of Thessaloniki, Greece (1977) and a Ph.D. from the Univ. of California, Los Angeles (1985). He was in the faculty of Chemical Engineering at the Univ. of Cincinnati, Ohio till 1998 when he was elected Professor at ETH Zurich. He teaches Mass Transfer, Particle Technology, Nanoscale Engineering and Combustion Synthesis of Materials. His research focuses on the fundamentals of aerosol synthesis of materials with applications in catalysis, sensors and nanocomposites. He has graduated 17 Ph.D. students and is advising currently nine. He has published over 200 refereed journal articles and has been awarded five U.S. and European patents licensed to Dow, Degussa and Hosokawa. He has received the Presidential Young Investigator Award in 1989 from the U.S. NSF, the 1995 Marian Smoluchowski Award of the European Association for Aerosol Research and the 2003 Thomas Baron Award of AIChE. In 2005-06 he was appointed Springer Professor of Mechanical Engineering at Univ. of California, Berkeley. He serves in the Editorial Board of various journals including Powder Techno- logy, J. of Aerosol Science and J. of Nanoparticle Research as well as on the Advisory Board of the Australian Research Council Centre on Functional Nanomaterials and on the Science Advisory Board of the Harvard School of Public Health - International Initiative for the Environment.

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Major recent advances in the knowledge base of this technology at ETH Zurich include our systematic in situ measurement of flame temperature and particle diameter along with the extent of agglomeration that were coupled into detailed population balance simulations. That way, characteristics of simple, flamemade oxide particles can be predicted now from first principles without any adjustable parameters. We have identified quantitatively, for the first time, hard and soft agglomerates through rigorous theory and non-intrusive diagnostics. This has been achieved by monitoring the end of particle sintering through the attainment of an asymptotic primary particle diameter, making possible to distinguish the transition from hard (chemically-bonded) to soft (physically-bonded) agglomerates. As a result, it has become possible to make highly pure, mixed ceramic and noble metal composite nanoparticles leading to materials that seemed impossible to make in the gas phase just a few years ago. For example, excellent DeNOx catalysts, thin oligomeric V2O5 films over TiO2 particles, are made by this technology in one step. Likewise titania-doped silica catalysts of high selectivity for olefin epoxidation are made as they solely contain the active 4-atom coordinated Ti site. Noble-metal clusters (Pt, Pd, Ru, Au, Ag etc.) on ceramic supports can be made in one step with closely and independently controlled cluster and support characteristics. For example, the open structure of Pt/Al2O3 reduces mass transfer limitations resulting in more active than wet-made catalysts for synthesis of chiral molecules for pharmaceuticals from ethyl pyruvate. That way one-step synthesis of Pd/CeO2/ZrO2 doped with Pt increases their reversible oxygen exchange capacity compared to undoped CeO2/ZrO2. The structural identification at such small concentrations turns out to be important since even small amounts of Pt have a strong influence on the reduction and oxygen storage capacity of that support. A stereoscopic arrangement of twin flame reactors results in Pt/Ba/Al2O3 catalysts for unprecedented NOx storage-reduction by containing a large fraction of low-temperature active BaCO3. This is achieved by promoting mixing at

the nano scale and synthesis of the above catalyst rather than mixing at the atomic scale that results in catalytically inactive BaAl2O4. The gained basic understanding of particle formation and growth has guided further our development of smart materials beyond catalysts with scalable flame technology such as phosphors, food additives, sensors, biomaterials, nanocomposites and electroceramics. In particular, we have focused on controlling the structure of flame-made particles from perfectly spherical ones to highly ramified agglomerates. Thus, we have made non-agglomerated fumed silica for dental nanocomposites in collaboration with EMPA and Ivoclar-Vivadent. A major breakthrough was our development of liquid-fed flame aerosol reactors (flame spray pyrolysis, FSP) that can provide a virtually unlimited spectrum of new products from enantioselective catalysts to quantum dots at high production rates (up to 1 kg/h) which is probably the worlds largest unit (Figure 3) for nanoparticle synthesis for an academic laboratory coupled to classic baghouse filters (Figure 4). Capitalizing on our earlier success on synthesis of nonagglomerated, pure silica nanoparticles, we discovered a process for synthesis of radioopaque but highly translucenttransparent tantalum-ytterbium-silica-based mixed oxides. Focusing on the control of refractive index and radiopacity of the filler (nano structured, mixed ceramic powders) and the final polymer-ceramic nanocomposite, optimal FSP conditions have been identified for dental prosthetics. The crystallinity and dispersion within the host silica matrix determines filler and resulting composite transparencies. Very recently we have discovered a totally new process for the synthesis of gas sensors that bypasses difficulties associated with conventional multi-step wet synthesis, slurry or paste deposition and drying, of sensor layers. More specifically by directly depositing flame-made semiconducting SnO2 nanoparticles on Pt electrodes enabled synthesis of highly porous but macroscopically smooth sensing films that could detect gas concentrations off CO and ethanol down to 1 ppm.

Pictures from left to right: 1. Nanoparticles made in flames: yellow Bi2O3, brown LiFe5O8, LiCoPO4 (light blue as prepared) and annealed for four hours at 600 (purple) or 400 C (dark blue); 2. A stereoscopic twin-flame unit: The left flame produces Al2O3 nanoparticles while the right one Pt-clusters on BaO or BaCO3 support nanoparticles. The two plumes mix forming the highly desirable Pt/Ba/Al2O3 catalysts for NOx storage-reduction. 3. A flame spray pyrolysis pilot and flow control unit for synthesis of up to 1 kg/h of metal/ceramic nanoparticles. 4. The associated baghouse unit with 12 filter fingers for nanoparticle collection 61

Institute of Process Engineering Transport Processes and Reactions Laboratory Professor Philipp Rudolf von Rohr
with national and international industries and scientific groups. In 2007 he became Doctor Honoris Causa at the Technical University in Bratislava.

Technologies for Plasma Enhanced Chemical Vapor Deposition (PECVD) for Particles

Philipp Rudolf von Rohr has been a Professor at ETH Zurich since 1992. In 1998, the Laboratory for Transport Processes and Reactions was founded. He studied mechanical engineering, specializing in process engineering at ETH Zurich, and completed his studies in 1978. After one year as a scientific associate at the Institute of Process Engineering, he started his thesis at the same Institute at ETH Zurich. In 1983, he received his doctorate and a stipend from the National Science Foundation to study at MIT in Cambridge Mass.. Two years later he returned to ETH and started as a lecturer in multi phase flow. In 1986, he became a research associate and Project Manager in a middle sized company which developed, sold, and erected processes and plants in the area of environmental technologies. He became technical director before he returned to ETH in 1992 to fully commit to research and teaching. Since his return, he has been head of the Institute of Process Engineering several times. From 1997 until 2000, he headed the Department of Mechanical and Process Engineering. In 1999, he was a Guest Professor at UC Santa Barbara in California and in 2006 he spent 8 months at MIT in Cambridge USA. In his research he focuses on three main areas, namely the transport processes, the plasma assisted processes, and high pressure processes at different scales. His major achievements are in the area of plasma-assisted processes for particles. He is strongly engaged

Our laboratory has developed novel processes to modify surfaces of particles with the support of a plasma, generated either by radio frequency or by microwaves.We created a process in a vertical plug flow reactor to modify the surface of temperature sensitive polymer particles like polypropylene into a wettable surface with a contact angle less than 70 degrees. Furthermore, we patented a process which improves the flowability of particle aggregates into flowable aggregates by means of an in situ creation of nanoparticles, which are adhered at the surface of the particles and thereby decrease the van der Waals forces. Details of this novelty are still under investigation. We have also done fundamental research on a circulating fluidized bed system for particle coatings. Different models of layer building could be experimentally confirmed.

Technologies for Plasma Assisted Chemical Processes for Flat Substrates

With plasma assisted reactions, glasslike surfaces were being produced on polymer films like PET and PP. The diffusion barrier for water vapor and oxygen is improved up to a factor of 1000. This allows the films to be used for food packaging. The plasma source and the position (in situ or ex situ) influence the result. Surface roughness and diffusion barrier values are correlated when using a combination of microwave ex situ plasma and in situ RF plasma. Surface species composition indicates the strong influence of the stoichiometric ratio between the reacting species hexamethyldisiloxane and oxygen.The process is now being used to coat biomedical devices (Stents). This treatment inhibits coating with cells after surgery.

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Transport Phenomena over Complex Surfaces

For 13 years we have investigated transport phenomena when one phase liquid flows over mainly wavy surfaces in a specially designed flow channel. We developed a measurement toolbox to simultaneously determine the flow and temperature fields. We are thereby using the PIV method for the flow field and a method based on liquid crystals for the temperature field. Large-scale structures play an important role in the transport outside of the boundary layer over complex surfaces.We worked with defined surfaces like wavy walls. The structures could be detected for the temperature and the flow field. Additionally, we investigated the mass transport in the area of the large-scale structures.Theoretically, we compute the flow and temperature fields with LES and hybrid methods. The accurate prediction of the flow and temperature fields allows optimization of, for example, heat exchanger surfaces.

Processes with Supercritical Fluids

The advantages of using supercritical fluids include the improvement of the mass transport due to the lack of phase boundaries. We developed a process with supercritical water and a flame. It allows fast reactions of undesired waste. The flame itself is being investigated with optical methods at temperatures of up to 1500 degree Celsius and at around 300 bar. In parallel, we simulate the reactive flow with CFD.

Hydrothermal Flames for Geothermal Application

Our know-how relating to hydrothermal flames is being used in the drilling industry for mining deep heat sources in boreholes below 2.3 km. One main cost driver for these applications is the cost of the drilling. Therefore, alternative drilling methods are necessary to make the enhanced geothermal mining economically feasible.

Multiphase Flow and Reactions in Mini-and Microreactors

Gas liquid two phase systems were investigated with optical measurements and with a tomographic method with very strong X rays for the annular flow type. With micro PIV the flow field in the liquid slugs has been visualized. General new correlations to predict the flow field in microreactors are being developed. Catalytic reactions under high pressure up to supercritical pressure allow the enhancement of the reaction rate. Nanoparticles with narrow size distributions have been synthesized successfully. The gap between the micro and the macrosized systems may be closed by a structured foam-like plug flow reactor. Our investigation focuses on transport phenomena accessed with optical measuring systems to get locally and temporally resolved results which are compared with CFD models (RANS and LES).

Our flames burn reliably under extreme conditions. Size reduction of the material has been reached by creating a steep temperature gradient in the rock. This leads to local disintegration of the hard rock medium due to local deficiencies in the non uniform material and due to different elongation given temperature differences. Fundamental data are collected on heat transfer and on mass transport of spalls from the flame front with theoretical and experimental approaches. Particles are being transported with the help of non-Newtonian fluids to the top of the borehole. The new drilling concept is being exploited in two steps: first, in a lab facility and second, in an accessible pilot facility. Here all the different processing steps and the scale up concepts are being confirmed experimentally and evaluated theoretically.

Pictures from left to right: Micro reactor made from PDMS under investigation with Micro PIV; Micro PIV system; View in an active Plasma Reactor, optical emission comes from Argon; Supercritical Water Reactor with its burning flame; LIF in a stirred tank (twice); Plasma reaction system 63

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Institute of Robotics and Intelligent Systems

The Institute of Robotics and Intelligent Systems consists of the Multi-Scale Robotics Lab directed by Professor B. Nelson, the Autonomous Systems Lab directed by Professor R. Siegwart, the Sensory-Motors Systems Lab directed by Professor R. Riener, the Rehabilitation Engineering Lab directed by Professor R. Gassert and the Bio-Inspired Robotics Lab directed by Professor F. Iida. (vision, sound, haptics etc.) to the human. The technical system interacts with the human in a user-cooperative way, taking into account the subjects effort and intention rather than imposing any rigid and inflexible strategy. The main applications are in the fields of rehabilitation, sports, and medical education.

Multi-Scale Robotics Lab

Rehabilitation Engineering Lab

The Multi-Scale Robotics Lab pursues a dynamic research program that maintains a strong robotics research focus on several emerging areas of science and technology. A major component of the MSRL research leverages advanced robotics for creating intelligent machines that operate at micron and nanometer scales. MSRL research develops the tools and processes required to fabricate and assemble micron sized robots and nanometer scale robotic components. Many of these systems are used for robotic exploration within biological domains, such as in the investigation of molecular structures, cellular systems, and complex organism behavior.

Research at the Rehabilitation Engineering Lab focuses on the development and clinical evaluation of diagnostic, therapeutic and assistive robotic tools in order to promote recovery, independence and social integration of the physically disabled. A special interest lies in hand function, and how haptic feedback can benefit motor learning, rehabilitation therapy, and human-machine interaction. A second focus is on the emerging field of neuroscience robotics, with the aim of developing and applying novel robotic tools allowing us to gain a better understanding of the neural mechanisms that underly human sensorimotor control and their reorganization with age or after focal brain injury in combination with functional neuroimaging.

Autonomous Systems Lab

In the Autonomous System Lab research interests focus on autonomous mobile systems, namely in the design and control of robots operating in uncertain and highly dynamic environments. The major goal is to find new ways to deal with uncertainties and to enable the design of highly interactive and adaptive systems. This is driven by the vision that machines of the future will interact more and more closely with human beings, as can be seen in todays trends in autonomous robots, and in some cases machines will even merge with humans. Our concepts and technologies find their applications in personal and service robots, unmanned aerial vehicles, advanced cars, space rovers, inspection robots and walking machines.

Bio-Inspired Robotics Lab

The research interests of the Bio-Inspired Robotics Lab lie at the intersection of robotics and biology. Through abstraction of the design principles of biological systems, we develop core competences which are the design and control of dynamic mechatronics systems, bionic sensor technologies, and computational optimization techniques. Our main goals are to contribute to a deeper understanding of the adaptivity and autonomy of animals through the investigation of dynamic robots, and to engineer novel robotic applications which are more adaptive, resilient, and energy efficient.

Sensory-Motor Systems Lab

The SMS Lab focuses on the investigation of sensory-motor interactions between humans and machines. This multidisciplinary research includes the study of human motor control, the design of novel mechatronic machines, and the investigation and optimisation of human-machine interaction. A key idea is that human movement and psycho-physiological state can be controlled by recording multi-sensory physiological signals and then displaying processed information by means of multi-modal stimuli

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Institute of Robotics and Intelligent Systems Rehabilitation Engineering Lab Professor Roger Gassert
Our research focuses on the development and clinical evaluation of diagnostic, therapeutic and assistive tools in order to promote recovery, independence and social integration of the physically disabled. We are especially interested in hand function, and how haptic feedback can benefit motor learning, rehabilitation therapy, and humanmachine interaction. To achieve these goals, we are using a combined approach of robotics, psychophysics and cognitive neuroscience and strongly collaborating with international teams in these disciplines. Roger Gassert has been Assistant Professor of Rehabilitation Engineering at ETH Zurich since December 2008. He received his MSc. degree in microengineering and a Ph.D. degree in robotics and neuroscience from the Ecole Polytechnique Fdrale de Lausanne (EPFL), Switzerland, in 2002 and 2006, respectively. During his Ph.D., which he partially carried out at ATR International in Kyoto, Japan, he systematically investigated actuation methods for applications in MR environments, and developed an MR-compatible robotic technology that lead to the first fMRI-compatible haptic interfaces allowing safe and gentle interaction with human motion during functional MRI. These systems are now being used to investigate sensorimotor control and related dysfunctions with partners in Japan, the UK and Switzerland. He subsequently worked on the development and evaluation of robotic systems to train hand function after stroke as Postdoctoral Fellow at Imperial College London and Simon Fraser University in Vancouver, Canada, supported by the Swiss National Science Foundation. From December 2007 to November 2008 he headed the joint robotics lab between EPFL and the University of Tokyo at the Robotic Systems Lab at EPFL. His research interests are in rehabilitation and medical robotics, haptics, assistive devices and neuroscience.

Robot-Assisted Rehabilitation of Hand Function After Stroke

After a stroke, most survivors lose some ability to use the arm and/or hand, which severely affects activities of daily living, such as eating, manipulating objects, writing, etc. Our goal is to induce long lasting improvement in typical activities of daily living involving the hand, by letting stroke patients perform systematic exercises adapted to their disability, using dedicated robotic interfaces. In collaboration with the National University of Singapore (NUS), Imperial College London and McGill University we are developing and clinically evaluating robotic interfaces to train hand function after stroke. Research in this area involves (i) design and evaluation of dedicated sensors, actuators and control schemes for safe and gentle human-machine interaction, (ii) development and clinical evaluation of therapy protocols and interactive VR games to enhance engagement and motivation of subjects, (iii) investigation of the influence of various feedback modalities on therapy outcome, (iv) evaluation of the efficiency of robot-assisted therapy of hand function with the Haptic Knob and HandCARE robots.

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Robotic interfaces can dynamically interact with humans performing movements and can be used to study neuromuscular adaptation. In conjunction with a functional brain imaging modality such as functional magnetic resonance imaging (fMRI), these devices could allow neuroscientists to investigate the brain mechanisms of manipulation and motor learning, give therapists a tool for adaptive and patient-specific rehabilitation therapies, and assist medical doctors in functional diagnostics of motor dysfunctions. However, the MR environment imposes severe safety and electromagnetic compatibility constraints on mechatronic components, and the accessible workspace around the subject is limited. We are developing robotic systems compatible with fMRI and electroencephalography (EEG). These devices can generate virtual dynamic environments and allow the investigation of human motor control and related dysfunctions in a well-controlled manner with repeatable conditions. Research focuses on the development of safe and compatible mechatronic components, compatibility testing, performance evaluation and application of these devices in neuroscience studies in collaboration with our partners.

Neuroscience Robotics

Assistive Technology

Technology can help people with disabilities overcome barriers, but it can also create new barriers. We investigate how technology can assist the disabled in their daily activities, such as, e.g., navigation tools for the blind, and how the information gathered by the tool can be conveyed to the user in the most effective and least disturbing manner. Research in this area involves the design and evaluation of assistive devices with intuitive, multi-modal human-machine interfaces to assist people with disabilities in everyday life. We closely work with the Access for all foundation located in Zurich to establish a list of requirements for such devices and evaluate them with the end users.

Haptics

Sensorimotor Interactions

Proprioceptive feedback is crucial for movement generation in humans, especially during motor (re)learning. We are applying our fMRI-compatible haptic technology to systematically investigate sensorimotor interactions during finger motion, as well as the effect of aging and stroke on these interactions, in collaboration with the University College London. A similar robotic device designed for interaction with wrist movements is being used to gain a better understanding of the role of proprioception in motor learning in healthy subjects.

Robotic systems interacting with human motion require the development of adapted actuators, sensors, mechanisms and control schemes. We are developing robotic tools to objectively determine human factors and are letting this knowledge flow into the design and evaluation of mechatronic components for human-machine interaction, such as multi-degree-of-freedom force/torque sensors for applications in rehabilitation robotics and clinical diagnostics, in collaboration with the thick-film technology group at the Laboratoire de Production Microtechnique at EPFL.

Pictures from left to right: fMRI-compatible robotic finger interface used in behavioral study (Copyright Schaffner & Conzelmann, Basel); idem in fMRI study to investigate sensorimotor interactions; Haptic Knob therapeutic interface to train hand function; assistive navigation tool for the blind; instrumented objects for home-based rehabilitation; PHANTOM haptic device used in research and teaching 67

Institute of Robotics and Intelligent Systems Bio-Inspired Robotics Lab Professor Fumiya Iida
Vision
While a number of successful applications have been developed based on conventional robotics technologies, the capabilities of current robotic systems are still far behind those of biological systems in terms of autonomy, efficiency, and adaptability in particular, which considerably restricts their application niche. In nature, animals motor controls often utilize highly maneuverable and efficient passive dynamics, while flexibly switching to precise and high power actuation if necessary. In nervous systems, information is processed in massive parallel networks, and optimized through both rapid learning and relatively long-term developmental processes. Based on these sensory-motor capabilities, a number of intelligent behaviors emerge through making use of tools, structuring environments, and social interactions and cooperation. These are the challenging problems ahead of robotics engineers and scientists, which we tackle with from an interdisciplinary viewpoint bridging over robotics, computer science and biological sciences. More specifically, the vision of the Bio-Inspired Robotics Lab is to create life-like robots, and through the systematic investigations toward this goal, we rapidly and incrementally identify what are the fundamental problems and how they can be solved. The research program consists of two large subsets of investigations: first, we explore novel technologies such as sensory, motor and computational components, which enable us to develop more biologically plausible physical robotic systems. And second, based on our core technological competences, we make inroads into the fundamental questions about what discriminates between animals and machines by applying an understanding-by-building approach.

Fumiya Iida is a SNF Professor for Bio-inspired Robotics at ETH Zurich in 2009. He received his bachelor and master degrees in mechanical engineering at Tokyo University of Science (Japan, 1999), and Dr. sc. nat. in Informatics at University of Zurich (2006). In 2004 and 2005, he was also engaged in biomechanics research of human locomotion at Locomotion Laboratory, University of Jena, Germany. From 2006 to 2009, he worked as a postdoctoral associate at the Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology in USA. In 2006, he was awarded the Fellowship for Prospective Researchers from the Swiss National Science Foundation, and in 2009, the Swiss National Science Foundation Professorship. His research interests include biologically inspired robotics, embodied artificial intelligence, and biomechanics, where he has been involved in a number of research projects related to dynamic-legged locomotion, navigation of autonomous robots, and human-machine interactions. He has so far published over forty publications in major robotics journals and conferences, and edited two books. Currently he serves on the editorial board of Journal of Intelligent & Robotic Systems and Frontiers in Neuroscience (Neurorobotics), the program committee member of international conferences and workshops.

Projects

Design Optimization of Underactuated Robotic Systems Passive dynamics play important roles in the daily life of animals, as exemplified by passive knee swings during walking,

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passive finger-object interactions through soft skin surfaces for object grasping, and dynamic interactions with fluidic environments for swimming and flying, for example. In contrast, the use of passive dynamics is still one of the most significant challenges for robotic systems in the world today. While the exploitation of passive dynamics in our robotic systems is expected to significantly improve energy efficiency, maneuverability, and overall robustness in generating motions, it is a technologically difficult problem because it requires nonlinear system-environment interactions, high-bandwidth control, and complex mechanical design processes. Aiming towards a significant breakthrough in robotics research, in the Bio-Inspired Robotics Lab our research projects in this direction focus on the following three challenges. First, collaborating with a number of researchers in biomechanics and neuroscience, we model and analyze musculoskeletal designs of biological systems, and extract the basic principles of mechanical designs in nature. Second, in order to overcome the discrepancy in natural and artificial design processes, we explore basic sensory-motor components and novel manufacturing processes by investigating rapid prototyping and computational optimization methods. And third, from theoretical and practical viewpoints, we integrate the acquired knowledge and technologies into the demonstrations of animal-like robotic-legged locomotion and manipulation. Nonlinear Control Optimization for Dynamics Programmability Nonlinear dynamics is a predominant property of underactuated robotic systems, which appears to be a fundamental problem preventing conventional robots from generating natural behaviors. In particular, control of nonlinear dynamics plays an important role in generating non-periodic behaviors such as high jump and kicking a ball; a high jump requires a preparation phase of several preceding steps, and ball-kicking requires a swing back of the leg in a specific way

to gain the maximum momentum at impact. Theoretically, generating such non-periodic resilient behaviors involves nonlinear control that requires a certain form of planning because every control action has long-term consequences. In other words, a walking robot can realize it was a bad step only after falling over. Our strategic methodology in this research domain is to take advantage of rapidly growing computer technologies. By applying computational techniques such as numerical simulation and machine learning algorithms to control optimization, we develop a systematic design framework of nonlinear control such that mechanical dynamics can be programmable for sensible non-periodic behaviors. The application domain of this research direction is surprisingly broad and we investigate this exciting research topic through legged locomotion in rough terrains, manipulation of unknown objects, and swimming and flying in dynamic flows. Dynamic Embodied Cognition The capabilities of dynamic system-environment interactions are essential not only for generating motions but also for dynamic adaptive behaviors of nervous systems in nature; animals actively interact with the environment for the purpose of perception, learning and development. This research direction explores the questions typically investigated in the fields of artificial intelligence, cognitive science, and brain science from the viewpoint of robotics, and through the investigations of physical robots, we systematically explore what the roles of embodiment in the context of intelligent adaptive behaviors in animals and machines are. More specific problems include how perception of the world can be simplified by actively interacting with the environment, how sensory information and symbolic representations can be grounded onto physically meaningful characteristics and properties, and how learning processes can be simplified by embodied interactions.

Pictures from left to right: Compass gait biped robot on rough terrain; Four-legged running robot Puppy equipped with stereo vision; Walking and running biped robot with compliant legs; One-legged hopping robot with a compliant leg, and experimental results of hopping over rough terrain 69

Institute of Robotics and Intelligent Systems Multi-Scale Robotics Lab Professor Bradley J. Nelson

Research Overview

Professor Nelsons Multi-Scale Robotics Lab (MSRL) of the Institute of Robotics and Intelligent Systems pursues a dynamic research program that maintains a strong robotics research focus on several emerging areas of science and technology. A major component of MSRL research leverages advanced robotics to create intelligent machines that operate at micron and nanometer scales.

Current Research Projects

Brad Nelson received a B.S.M.E. from the University of Illinois at Urbana-Champaign, an M.S.M.E. from the University of Minnesota and a Ph.D. degree in Robotics from the School of Computer Science, Carnegie Mellon University. He has been an engineer at Honeywell and Motorola and served as a United States Peace Corps Volunteer in Botswana, Africa. He became an Assistant Professor at the University of Illinois at Chicago in 1995 and an Associate Professor at the University of Minnesota in 1998. In 2002, he became the Professor of Robotics and Intelligent Systems at ETH Zurich in Switzerland. He has been awarded a McKnight Land-Grant Professorship and is a recipient of the Office of Naval Research Young Investigator Award, the National Science Foundation Faculty Early Career Development (CAREER) Award, the McKnight Presidential Fellows Award, and the Bronze Tablet. He was elected as a Robotics and Automation Society Distinguished Lecturer in 2003 and 2008 and has been a finalist for and/or won best paper awards at major robotics conferences and for journals in 2004, 2005, 2006, 2007, 2008, and 2009. He was named in the 2005 Scientific American 50, Scientific American magazines annual list recognizing fifty outstanding acts of leadership in science and technology from the past year. His lab won the 2007 RoboCup Nanogram Competition, the first year the event was held.

Microrobotics and Nanomedicine The introduction of minimally invasive surgery in the 1980s created a paradigm shift in surgical procedures. Health care now is in a position to make an even more dramatic leap by integrating newly developed wireless microrobotic technologies with nanomedicine to perform precisely targeted, localized endoluminal techniques. In order to realize this capability, many new technologies must be developed and synergistically integrated, and medical therapies for which the technology will prove successful must be aggressively pursued. We are developing carbon nanotube (CNT) base drug delivery systems. The nanorobots incorpate ferromagnetic material so that they can be guided using external magnetic fields and have biomolecules attached at the surface. Issues in fabrication and magnetic-based guidance are being pursued. Microrobotics for Ophthalmic Surgery A major effort of the group is on the development of untethered wireless biomedical microrobots for in-vivo medical applications with emphasis on intraocular procedures. To functionalize the microrobot we pursue a broad range of topics including surface coatings for biocompatibility, drug delivery, and tissue adhesion. The microrobot is magnetically steered and visually controlled through indirect ophthalmoscopy methods. The steering methods we are developing will increase the accuracy of intraocular procedures and allow more precise operations on the highly sensitive human retina.

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Magnetic Microactuators Magnetic actuators are capable of generating large bidirectional forces over long working distances. They are widely used in the macro world and are of growing interest to the micro world. They have the advantages that they can be actuated with external fields, operate in a variety of contaminated or dirty environments, generate large forces over large distances and provide a latching action. We have developed various processes for the integration of hard magnetic materials into microsystems for actuation and sensing, including micromagnet assembly for microactuators, wafer level processes using screen printing, and novel electroplating processes. Artificial Bacterial Flagella Inspired by natures bacterial flagella, artificial bacterial flagella (ABFs) have comparable geometries and dimensions to their organic counterparts and swim using the same low Reynolds number non-reciprocating helical strategy. ABFs swim in a controllable fashion using weak applied magnetic fields (1-2 mT) and are fabricated from helical nanobelts by a top down approach of pre-stressed multi-layers. This unique technological breakthrough has many potential applications, in particular for biomedical research. They provide a 6-DOF micro- and nanomanipulation tool for manipulating cellular and sub-cellular objects, for sensing and transmitting inter- and intracellular information, and for targeted drug delivery. Key issues being addressed are the swimming performance of these micro-/nanorobots under different environmental conditions, the fabrication of ABF with materials other than semiconductors, surface functionalization of ABF, and localization and tracking in vivo. Self-Assembly and Directed Self-Assembly Dielectrophoretic (DEP) assembly has been widely used for precise assembly of micro to nanosized components and is well suited for integration with micro and nano-electronic devices.

The optimization of multiple process parameters for DEP assembly is a major challenge, and a theoretical approach has been combined with experiments to investigate the effect of electrode geometry on precision placement and percent yield. Self-assembly research is also being pursued at larger scales and is currently focused on increasing the functionality of capsule endoscopy. Devices with active locomotion are being developed, whose dimensions are constrained by the size a person can swallow without difficulty. One approach to increasing functionality while still working within this cm-scale size constraint, is to build a modular robotic system in which capsule-modules are swallowed one at a time, and the final assembly is performed within the gastrointestinal (GI) tract. Micro Force Sensing and Microhandling Biological systems such as tissue, cells and protein fibers are highly deformable materials with mechanical properties that are often not well known. Quantitative measurements of the forces in these miniature systems are the basis for the emerging field of mechanobiology, investigating force-structure relationships of biological systems at the organism, tissue, cellular, and molecular levels. MEMS technology provides the opportunity to develop much smaller and inexpensive micro force sensors with a high sensitivity and bandwidth. Single-axis and multi-axis micro force sensing systems as well as MEMS force sensing grippers are designed and fabricated in the clean rooms of ETH. Due to their small size, these devices can be readily integrated into existing experimental setups providing a significantly enhanced data acquisition technology for biomechanical research.

Pictures from left to right: 1.Our microrobot docked in a vein. (Copyright: IRIS) ; 2. (Copyright: Antoine Ferreira); 3.Magmite dwarfed by Drosophila (Copyright: IRIS); 4a. Escherichia coli bacteria using a bundle of helical flagella to propel themselves in liquid, 4b. A scanning electron micrograph of an as-fabricated artificial bacteria flagellum. (Copyright: IRIS); 5. The final position of DEP assembled CNTS for different electrode shapes. (a) a pair of round electrodes. (b) a hybrid electrode pair. (Copyright: IRIS); 6. Snake-type robot, fabricated out of abstract modules, that has been self-assembled in an artificial stomach (Copyright: IRIS); 7. Force controlled microassembly using a force sensing MEMS gripper (Copyright: IRIS); 8. 6-axis MEMS force sensor with micronewton resolution (Copyright: IRIS); 9. SEM image of a micro force sensing probe and an electrostatic microgripper with integrated force sensor (Copyright: IRIS)

Institute of Robotics and Intelligent Systems Sensory-Motor Systems Lab Professor Robert Riener
The general goal is the investigation of human and technical sensory-motor systems and the interaction between them. Multi-modal and user-cooperative techniques are applied to humans with movement disorders (rehabilitation) and healthy subjects (basic motor research) in order to study the neurological and biomechanical principles of human motion learning and motor control. Multi-modal means that multi-sensory information is recorded from the human, processed and displayed via a multi-channel interface, thus exploiting visual, acoustical, and haptic sensor and actor modalities. Cooperative means that the technical system takes into account the humans effort and intention rather than imposing an inflexible strategy. Multi-modality and cooperativity have the potential to improve the motor learning effects in motor therapies as well as movement training applications. The fundament for these scientific tasks is formed by basic methods such as neurophysiological and biomechanical modeling, functional MRI, multi-sensory data acquisition, 3D audiovisual motion representation, motion analysis, and robotic motion synthesis. The approaches are being technically and clinically evaluated in cooperation with partners from the medical faculty (University Hospital Balgrist and University Hospital Zurich) and the movement science field. Promising technologies developed in the laboratory are being transferred to the market in order to become successful products.

Robert Riener received a Dipl.-Ing. degree in Mechanical Engineering and a Dr. -Ing. in Electrical Engineering from the TU Mnchen in 1993 and 1997, respectively. In 1993 he joined the Institute of Automatic Control Engineering, where he conducted research on modeling and control of neuroprostheses. After postdoctoral work at the Centro di Bioingegneria, Politecnico di Milano from 1998-1999, he returned to the TU Mnchen, where he finished his habilitation in the field of Biomechatronics in 2003. From 2003-2006 he was Assistant Professor for Rehabilitation Engineering at the Automatic Control Laboratory of the ETH Zurich and Spinal Cord Injury Center of the University Hospital Balgrist (double-professorship). Since June 2006, he has been Associate Professor for Sensory-Motor Systems at the D-MAVT, still holding the double professorship with the University of Zurich. His research interests involve human motion analysis and synthesis, virtual reality, biomechanics, haptic display technologies, and rehabilitation robotics. He authored and co-authored more than 250 peer-reviewed journal and conference articles, and holds 18 patents. He is an associate editor of the IEEE TNSRE and an editorial member of two international journals. He has been awarded several prizes including the ISPO Academic Challenge Award 2003, the HumanTech Innovation Prize 2005, and the Swiss Technology Award 2006.

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Patient-Cooperative Robot-Aided Rehabilitation

Task-oriented repetitive movements can improve muscular strength and movement coordination in patients with neurological or orthopedic lesions. We want to investigate natural principles of human motor control and motion learning. We develop novel technologies and strategies for robot-aided gait and arm therapy, evaluate these methods, and integrate them into clinical practice together with our medical partners. Specific research areas include: Development of new cooperative man-machine interaction methods Study of the principles of motivation and movement learn- ing via visual and auditory feedback Prove new technical evaluation methods Prove clinical efficiency with arm therapy robot ARMin and gait robot Lokomat

Motor Learning with Multimodal Interfaces

The Motion Synthesis Laboratory M3 was set up to study how learning of human movement can be influenced and optimized by a multimodal (haptic, acoustic, visual) display of the movement. A high speed robotic rope interface guides the movement of a subject, while additional 3D sound and 3D images can give audiovisual advice on how to perform a movement. The Motion Synthesis Lab will also allow an investigation of the human interaction with any kind of rehabilitation or sport device. Use of the M3 Motion Synthesis Laboratory for different applications: haptic display (high speed rope robot), 3D sound (acoustic wave field synthesis sound system), 3D graphics (stereo projections on 3 screens). The Lab is modular and flexible so that any kind of movement in sport and rehabilitation can be studied. Study the influence of 3D haptics, 3D vision and 3D sound on motor learning. Special focus is directed towards sonification and visual feedback in particular movements such as rowing.

Investigation of Neurological Representation of Human Movement

Making the above-mentioned rehabilitation robots compatible to the MRI scanner will allow tracking of the neural correlates of specific rehabilitative treatments and investigation of reparative plasticity in the sensorimotor cortex: Functional MRI studies of motion planning, motor learning, neuropathologies, and neural restoration Development and evaluation of new MR-compatible devices, robots, and strategies that should support the functional MRI studies Support findings by neurophysiological and biomechanical modeling & simulation Transfer to other MRI applications in the areas of orthopedics, interventional surgery, MR-compatible implants

Pictures from left to right: Therapy robot ARMin including audiovisual display for the treatment of stroke patients; BrainTrain touch-sensitive training system for medical education; MR-compatible linear actuator for fMRI brain studies; M3 rowing simulator; High-precision MR-compatible force sensor; Treadmill training robot Lokomat 73

Institute of Robotics and Intelligent Systems Autonomous Systems Lab Professor Roland Siegwart
research interests are in the design and control of systems operating in complex and highly dynamic environments. In the last two decades, engineering has undergone an unprecedented revolution. With the introduction and rapid development of microelectronics, most of todays products and systems make extended use of embedded microprocessors as controller mechanisms. This change heralded the formation of a new engineering discipline mechatronics, which is the synergistic integration of precision mechanical engineering, electronics, intelligent control and system design towards the creation of smart products and processes. Our research interest is in mechatronics and intelligent robots, specifically in the design and control of systems operating, in highly dynamic environments. Our vision is to create machines that know what they do and to find new and improved ways of designing human-centered, highly interactive and adaptive systems. This is driven by the forethought that machines are rapidly getting more complex and closer to human beings, as suggested by the recent progress in autonomous mobile robotics. In some instances, they will soon even merge with humans. Prominent examples of existing systems include robot surgeons, hearing aids, cleaning and toy robots, and intelligent cars. Nevertheless, the state-of-the-art products are still very limited in interactivity and adaptability to changing environments. Computers that can understand and reason about complex situations are not yet available, and autonomous robots assisting us in our everyday life are still far from reality. The main reasons that make the development of reliable artificial systems particularly challenging are the incompleteness of available information (limited by sensing capability), the uncertainty of this information, and finally the environments complexity and dynamics. Our research is thus devoted to improving the state-of-the-art in mechatronics and robotics in an endeavor to realize our vision. It can be categorized along three closely linked scientific directions:

Roland Siegwart has been a Full Professor for autonomous systems at ETH Zurich since July 2006. He has a diploma in Mechanical Engineering (1983) and a Ph.D. in Mechatronics (1989) from ETH Zurich. In 1989/90 he spent one year as a Postdoctoral Fellow at Stanford University. After that he worked part time as the R&D director of MECOS Traxler AG and as a lecturer and Deputy Head at the Institute of Robotics, ETH Zurich. In 1996 he was appointed as an Associate and later as a Full Professor for Autonomous Microsystems and Robots at the Ecole Polytechnique Fdrale de Lausanne (EPFL). During his period at EPFL he was the Deputy Head of the National Competence Center for Reseach (NCCR) on Multimodal Information Management (IM2), co-initiator and founding Chairman of Space Center EPFL and Vice Dean of the School of Engineering. In 2005 he held a visiting position at NASA Ames and at Stanford University. Roland Siegwart is Member of the Swiss Academy of Engineering Sciences, the Research Council of the Swiss National Science Foundation, IEEE Fellow and an Officer of the International Federation of Robotics Research (IFRR). He served as Vice President for Technical Activities (2004/05) and as Distinguished Lecturer (2006/07) and is currently AdCom Member (2007-2009) of the IEEE Robotics and Automation Society. He is the coordinator of two European Projects and the co-founder of several spin-off companies. Roland Siegwarts

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Design of Robotic and Mechatronic Systems that best Adapt to their Environment

This direction includes research for integrated mechatronic design of intelligent systems, environment perception, and embedded control. The main focus is on integrated systems design, in order to realize intelligent autonomous systems and robots that are able to cope with highly complex tasks and environments. Recent testimonials to the progress made in this direction include: wheeled locomotion systems that passively adapt to rough terrain and perceive their environment with tactile sensors, laser and stereo vision; 11 interactive tour-guide robots that were deployed at the Swiss national exhibition expo.02 for 5 months; an autonomous sailing boat ready to cross the Atlantic; an autonomous car; an intelligent quadruped walker; an autonomous solar powered micro-glider, and various micro-helicopters. This research area is supported by the European Commission (EU), the European Space Agency (ESA), the Swiss Innovation Promotion Agency (CTI) and other industrial partners. It involves around a dozen Ph.D. students and Postdocs.

implemented and verified on real robot platforms with embedded control, operating in real-world environments and thus producing tangible results. The most recent results in this area are highly efficient localization and map-building algorithms that allow reliable navigation in various 2D and 3D environments, and path planning algorithms that allow autonomous motion in highly dynamic settings, such as in exhibition areas or on urban roads. To do so, we exploit multiple sensor inputs and fuse them for motion estimation and mapping as well as global and local navigation. Special focus is placed on visual sensors that are very rich in information and getting more and more affordable in recent years. Our main applications are in visual navigation with micro unmanned vehicles (MAV), multi-modal perception and tracking of dynamic objects in urban environments, service robots for home environments and industrial inspection. This research area is supported through various EU and Swiss National Science Foundation (SNF) projects and involves around a dozen Ph.D. students and Postdocs.

Navigation and Mapping in Highly Dynamic Environments

Creativity and Product Innovation

This research direction mainly addresses the scientific questions related to mobile robot localization and map-building, obstacle avoidance in human cluttered environments and human- robot interaction. Real environments are typically only partially perceivable and the perceived information is intrinsically imprecise. Thus, the actual state of the system operating in the real world must also be considered as error prone and inaccurate. With this basis, we are developing and adapting tools that allow for the consideration and modeling of uncertainties for autonomous mobile robot navigation and interaction. Our approach is mainly based on Bayesian mathematics and inspired by recent advances in artificial intelligence, robot learning and neuroscience. All our theoretical models are

We investigate the fundamentals of creativity and innovation to develop methods and tools for effective and efficient product innovation. We believe that the innovativeness of industry can and should be enhanced through the implementation of new processes, methods, and tools. We are convinced that an open and sustainable collaboration between industry and acedemia is the key to mutual success both for the university that produces results and for the industry that uses them in practical, day-to-day complex situations. Current research and educational activities focus on project based learning, creativity training, tools and methodologies. These support the frontend for the innovation process and new means for innovation assessment in small and medium-sized companies. This area is supported by various EU and CTI projects and involves around half a dozen Ph.D. students and Postdocs.

Pictures from the left to the right: Crab, the Mars exploration rover; Smartter, a robotized car for autonomous driving; CoaX, an autonomous helicopter with high stability margin; Naro, the artificial Tuna; Igor, the butler and theater actor; Alf, the quadruped starts running; Skysailor, a solar micro-airplane capable of staying airborne indefinetly; Avalon, the autonomous sailing boat 75

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The following pages provide an overview of institutes consisting of single professorships and professorships that are not associated with an institute.

Institute of Machine Tools and Manufacturing Professor Konrad Wegener Institute of Virtual Manufacturing Professor Pavel Hora Professorship of Micro- and Nanosystems Professor Christofer Hierold Professorship of Nanotechnology Professor Andreas Stemmer

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Institute of Machine Tools and Manufacturing Professor Konrad Wegener

Main Research Areas
The research is grouped into three main areas: Machines: The main research topic for machines is the predictability of the machine tools behavior and their enhancement. As a longterm goal, the institute explores solutions of the inverse design problem, i.e. the derivation of machine tools from predefined properties. Today, the institute deals with conception, drives, control, path planning, dynamics, calibration/error compensation, special strategic machine components, heat influences, and materials for the construction of machine tools. Future plans include the topic of reliability/availability. The productivity of all machine tools could be significantly increased if the machine is able to change the behavior of the control system depending on the position of the TCP. Model based control concepts for path planning as well as for closed loop control are developed and tested. Prediction and evaluation of a machine concepts behavior on a very basic database and subsequent optimization. Application of polymer concrete and the subsequent optimi- zation of the machines functionality since the manufacturing of components in cold casting offers new possibilities. Error compensation methods under kinematic, dynamic, and thermal aspects. Development of model based concepts for the compensation. Reconfigurable machines to increase the flexibility at low costs and to reduce the setup times, thus to develop agile manufacturing concepts. Manufacturing processes: The main research topic concerning processes is the prediction and increase in performance (accuracy and transformation rate) of manufacturing processes and the automatic planning of process chains. Currently, the institute focuses on cutting with geometrically undefined edges (grinding, hard broaching, honing), machining/chip formation, electrical discharge machining, laser machining and process combinations, diagnosis and process control, process chains, and materials to be treated.

Konrad Wegener has been Full Professor of Production Technology and Machine Tools at ETH Zurich since October 2003; He is head of the IWF (Institut fr Werkzeugmaschinen und Fertigung) and inspire AG, an industry initiated transfer center at ETH Zurich. Born in 1958, he studied mechanical engineering at the Technical University of Braunschweig and wrote his Ph.D. thesis on constitutive equations for plastic material behavior of metals. He began his industrial career at Schuler Presses GmbH & Co. KG. He prepared and planned the engagement of the Schuler group in laser technology. After the acquisition of a small company, he was appointed as its general manager, and built it up from 12 employees to over 50. Under his leadership, large welding machines for shipbuilding and construction of aeroplanes, welding and cutting machines for the job shop, automotive industry, and fabrics cutter were developed and built. Parallel to his industrial work, he gave lectures on tensor calculus and continuum mechanics at the Technical University of Braunschweig and on forming technology and forming machines at the Technical University of Darmstadt.

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 Development and layout of engineered grinding tools on the basis of brazed or plated metallic bonds. Monte Carlo simulation of such grinding wheels to take into account the stochastic nature of position, orientation, shape of grains and to find stable states. The surface properties are predicted. For hard broaching, broaching with geometrically undefined edges, a process model is derived, verified and used for the process layout on newly developed machines. Unterstanding of the grinding process: With the help of geo- metrically measured single grains being specifically oriented with respect to the cutting velocity, the material removal process is studied. A grinding model is built up as a stochastic synthesis of a large number of grains. Engineered grinding tools offer the possibility to influence the flow direction. The flow is simulated and will be verified by Particle Image Velocimetry in close cooperation with the Institute of Fluid Dynamics. Cutting with geometrically defined edges: A test rig was developed and verified to investigate the cutting properties of steel based materials in turning. Forces, speed and temperature of the chip, as well as the acoustic emissions are measured. With the help of a theoretical model, the direction of the shear plane, the compression factor, the length of the chip, and the friction force are derived. For the prediction of cutting conditions such as BUE (built up edges) and wear, the test rig and model will be exploited. Numerical simulation of metal cutting: The goal is the predic tion of local loads and the derivation of the cutting tools wear behavior. Another goal is to find cutting conditions, for instance, with the help of externally applied energies for which wear and load on the part, as well as accuracy are optimized. Process chains: Development of models for the process chain, which are able to predict the attained accuracy and to opti- mize costs or robustness. The final result will be a generic planning tool. Metal printing: Development of a matrix printer with molten metal and magnetofluiddynamic actuation.

Methods: The goal is to develop methods and associated devices for the analysis of machines and manufacturing processes. This includes modeling and simulation techniques, as well as measurement methods and devices. The topics are: multi-body and combined simulation for kinematics and dynamics, including drives and control properties, process simulation, simulation of thermal behavior, and geometrical and physical metrology. An additional research area is virtual reality, where tools and methods for the collaborative and net-based development process are researched. Calibration of machine tools with the help of an error model, a specially developed probe and a measuring strategy. Thus, the calibration can be done by identifying the error param- eters automatically, with or without minimal rearrangement of the measuring probe. This means that the error identifi- cation is based on a reduced coverage of the work space. Development of an assembly kit for simulation in the time domain and for fast prediction of some machine concepts behaviors. The model will be enhanced by finite element rep- resentation as the design of the concept proceeds and can be reduced again for the model used in real time on the machine control. Thus, a closed process chain for mechatronic design is built up. Thermal simulation kit: Development of a method for rapid prediction of the thermal behavior of machine tools based on thermo-balancing methods with large and simple elements. This is used for concept evaluation and as a real time model for the compensation of the machines thermal errors. Virtual reality: Virtual reality is the promising keystone for the convergence of modeling on different scales, namely from micro scale to process scale, to machine scale, to factory scale. Virtual reality is the key to communication for distributed development groups or production planners and the key to the human interaction with various digital products. Of parti- cular importance are the production planning and the deve- lopment of environments for creative and intuitive interaction with digital products.

Pictures from left to right: Model based concept for the control system of machine tools and its realization on the Hexaglide system. Concept of a reconfigurable machine system, in which the behavior is enhanced by model based concepts for thermal and dynamic behaviors. Brazed engineered grinding tool and its simulation with the Monte Carlo method to take into account the stochastic nature of the manufacturing process, and the different grain geometries, sizes and orientations. Patent description of a multi-nozzle head for metal printing with magneto-fluiddynamic actuation. Probe, calibrated ball plate, and three-dimensional measurement results. Highly immersive communication and collaboration.

Institute of Virtual Manufacturing Professor Pavel Hora

Virtual ETG Planning Facility and Adaptive Process Control for a Robust Production of High Valued Cold Drawn Steels

Pavel Hora has been an Associate Professor for Virtual Manufacturing and Forming Technology since October 1, 2004. Born in 1955 in Prague, Professor Hora studied at the Department of Mechanical Engineering at ETH Zurich, focusing on thermal turbo-machines and fluid dynamics. In 1990 he received his Ph.D. under Professor J. Reissner in the field of numerical failure modeling. In 1996 he was nominated as a Titular Professor of ETH Zurich. In 2005, he also became an Associate Member of the D-MTEC at ETH. Following graduation, he worked as an assistant scientist at the Institute for Forming Technology with Professor Reissner. In 1985 he joined BBC in the department for technical and scientific computational applications, where he was responsible for the further development and application of boundary element methods. In 1986 he was employed at the MARC Res. Corp. in Palo Alto working on software projects. Since 1986, he has headed the group for numerical simulations in forming processes at the Institute of Forming Technology. The program AutoForm, developed during these positions, became one of the leading soft- ware products in the field of virtual forming. His research activities focus on virtual process modeling, including mathematical constitutive modeling, failure prediction, numerical optimization of manufacturing processes, and stochastical methods for robustness control. He lectures on computational sciences and the specialization of forming technology.

The ETG-material is high quality cold drawn steel, which will be produced in a complex thermo-mechanical process. The goal of the project is to develop a virtual planning system to support the process layout for new products, as well as an adaptive process control to achieve zero-failure-production quality. Scientific emphasis is on the development of problem-specific computation algorithms with enhanced material models (chaboche, theodosiu), as well as a code with high computational efficiency, and the implementation of an adaptive control on the straightening unit, which compensates for the parameter fluctuations and makes the process robust.

Intelligent Adaptive Process Control in Sheet Metal Forming, using an Eddy-Current System to Monitor the Significant Material Properties

The fluctuation of material properties has a significant impact on the robustness of very accurate forming processes. The goal of the project is to develop an eddy current measuring system with a specific software module for the analysis of the ductility parameters. This non-destructive testing technique of material is the precondition for an in-line process control and an on-line adaptive process regulation. With this system, a zero-failure-production shall be achieved. The system will be applied to thin sheet forming parts (high speed forming), as well as to thick sheet applications (fine blanking).

Advanced Constitutive Models for the Virtual Process

Modeling of sheet deep- and stretch- forming processes with TRIP, TWIP, and Stainless Steels (KTI 8649.1). Virtual modeling of forming processes with TRIP, TWIP, or stainless steels is difficult because currently the FE-codes implemented material models simplify the real material behavior.

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The goal of the project is to develop improved material laws for the description of the metastable and temperature sensitive material behavior for steels in the TRIP and TWIP family. The advanced material laws and the advanced failure criteria are required for a reliable virtual control of the forming behavior. The advanced material model is based on the Ph.D. thesis of M. Hnsel (IVP, Diss. ETH 12672), which currently represents the standard constitutive model for stainless materials. Meanwhile, the Hnsel material model is implemented in commercial FEM codes like LS-Dyna.

obtained showing yield strengths of more than 1500 MPa. One of the main tasks of this project is to develop virtual models for optimization of those complex thermo-mechanical processes to allow a robust fabrication process.

Dieless Drawing

Virtual Optimization of Fine Blanking Systems

During the fine blanking process a material separation occurs. Given the strongly localized deformation state, its simulation presents serious difficulties if a general purpose FE code is used. A multiscale modeling technique was thus implemented to overcome the computational challenges. The new code allows the virtual optimization of process specific parameters such as die clearance and cutting edge geometry. An intelligent metamodeling software was furthermore developed to support the early stages of production planning.

In conventional wire drawing, the location and size of the deformation is predetermined by a drawing die. Dieless Drawing (DLD) is a new technique to achieve a reduction of the wire or bar diameter without the use of drawing dies. In this process, the dies are replaced by an induction coil as heat source and a cooling section. A true strain between 0 and 0.8 can be achieved this way. Additionally, the microstructure properties of the material can be adjusted through an appropriate choice of the heating and cooling parameters. Virtual modeling of the forming process and optimization of the cooling section is done for rapid prototyping and the production of close-grained steel (KTI proposal in preparation).

Virtual Modeling of the Hot Forming Process

One of the most challenging tasks in the automotive industry today is the reduction of fuel consumption and consequently of the various emissions of a car. One way to attain this objective is the decrease of the weight of the body-inwhite. At the same time the demands regarding the passive safety of vehicles are steadily increasing. In order to accomplish both partly conflicting goals, there is an increasing use of new high strength and ultra high strength materials. Currently the highest potential is shown by boron alloyed steels that are produced by the so called press hardening process. In this process the sheet metal is heated up before it is inserted and quenched within the forming tools. Like that a mostly martensitic microstructure within the steel can be

The yield strength value Rp0,2 indicates the stress up to which a plastic flow arises. In this sense, Rp0,2 is one of the basic material parameters. The value will be experimentally measured in tensile or compression tests, which need special specimens and as a result are expensive. An alternative, experimentally less complex method, is the hardness measurement. However, with this method only the tensile strength value (Rm) can be evaluated - but not the yield strength Rp0,2 value itself. This patent proposes a new technique, which is close to the hardness measurement method but in contrast makes the evaluation of the yield strength possible too. Without a need for a special specimen, the benefit of the new method is a significant reduction of the experimental time. This is also why significant reduction of the quality control expenses can be achieved.

New Measurement Technique for the Experimental Evaluation of Ductile Material Parameters

Pictures from left to right: IvP Fine blanking press HLT 1250 (Donation Feintool). Virtual modeling of a fine blanking tool; FEM modeling of the fine blanking process; X-ray diffraction goniometer, an instrument for measuring the textures of metals; Dieless drawing machine (DLD) New fabrication methods for high strength steels research project with Steeltec; Students exercises in ViProLab 81

Professorship of Micro- and Nanosystems Professor Christofer Hierold

Turning Properties into Functions
The Micro and Nanosystems group pursues fundamental engineering research regarding novel materials, new processes, and device concepts in order to understand and utilize the unique functional properties of micro and nano-scaled materials and to develop them for system integration and future innovations. The research projects coordinate directly with the teaching programs and student projects. We offer courses that range from the basics of process technology to a practical course for hands-on MEMS experience. Among others, a masters Program in Micro and Nanosystems is jointly offered by D-MAVT and D-ITET. The research activities of our group are centered on three focus areas: nanotransducers and nanosystems, evaluation of new naterials for MEMS, and advanced microsystems.

Christofer Hierold has been a Professor of Micro and Nanosystems at ETH Zurich since April 2002. His research is focused on the evaluation of new materials for MEMS, on advanced microsystems, and on nanotransducers. Christofer Hierold is Founding Chairman of one of ETH Zurichs interdepartmental competence centers, the Micro and Nano Science Platform, and he initiated the trans-disciplinary masters program in Micro and Nanosystems, which is jointly offered by two departments, namely the Department of Mechanical and Process Engineering and the Department of Information Technology and Electrical Engineering. He is also Chairman of the Management Team of ETH Zurichs clean room facility, the FIRST lab. In addition, he is a member of the international steering committees of major conferences in the field (MEMS, TRANSDUCERS, EUROSENSORS), Co-Chair of MEMS2009, and he is a member of the editorial boards of IEEE/ASME Journal of Microelectromechanical Systems and of IoP Journal of Micromechanics and Microengineering, and he is joint editor of the book series Advanced Micro and Nanosystems (Wiley-VCH). Christofer Hierold is a Member of the Swiss Academy of Engineering Sciences (SATW).

The consistent development of micro electro mechanical systems (MEMS) into the nano regime is challenging due to unfavorable scaling laws and the lack of reproducible fabrication processes for the integration of nanostructures into systems. Single-walled carbon nanotubes (SWNT) are promising molecular nanostructures for nano electro mechanical systems (NEMS) with excellent electrical and mechanical properties. Before such systems will emerge, however, fundamental challenges need to be solved, which include the exploration and characterization of unit processes for a reproducible integration of carbon nanotubes (CNTs) by local catalytic growth or selfassembly. Therefore our projects are aimed at the control of the location and size of catalytic particles for the direct integration of SWNTs, the development and evaluation of an integrated process flow, and the demonstration and characterization of SWNTs as active elements in electro mechanical transducers. Our methods and tools include chemical vapor deposition (CVD) for CNT growth and assembly, dispersion of CNTs from aqueous solution for assembly, metal sputtering or evaporation

Nanotransducers and Nanosystems

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and e-beam lithography for interconnects, AFM imaging and actuation, SEM, TEM, Raman spectroscopy, and electrical measurements for characterization. Scientific results have been reported on the integration of SWNTs in polysilicon MEMS, on a novel heater structure for CMOS-compatible and local CVD of CNTs, and on a thorough thermal investigation of such structures by Raman spectroscopy, verifying Thomson heat as a significant heat source in thermal micro structures. Dispersion of SWNTs, deposition of metal contacts and sacrificial layer etching have been applied to fabricate NEMS test structures for the electro mechanical evaluation of SWNTs. Gauge factors up to 2900 for prestrained SWNTs are demonstrated. A similar process has been used to prove the feasibility of a pressure sensor utilizing a SWNT as electromechanical transducer and to prove excellent gas sensing capabilities of SWNTs. For a list of publications, please refer to the projects at www.micro.mavt.ethz.ch/publications.

Materials under investigation are thermosetting polymers such as photosensitive SU-8 and PI, thermoplastics such as PMMA and PE and biodegradable polymers such as PLL and PLLA. Scientific results have been reported on the fabrication of SU-8 thin films for bulge testing and on the measurement of bi-axial Youngs modulus, stress and viscoelasticity of such layers, and on a process flow for suspended polymer cantilevers and bridges, including a thorough investigation on the loss/damping mechanisms in resonant polymer structures. For a list of publications, please refer to the projects at www.micro.mavt.ethz.ch/publications .

Advanced Microsystems

The research area of new materials for MEMS is focused on the evaluation of polymers as structural and functional materials for MEMS. Polymers have significant potential in microsystems technology since they provide a broad variety of material properties and are cost-effective. Experiments have been conducted to determine the mechanical properties of polymer microstructures at the micro scale, like Youngs modulus, stress, viscoelasticity, and high-cycle fatigue. These comprise bulge testing of thin polymer layers on wafer level and electrical actuation (Kelvin polarization force) of cantilever and bridge test structures for load-cycling. In addition, our projects are focused on the methodology and systematic evaluation of model-based material characterization. Our methods and tools are spin coating and micro-structuring by photolithography and hot-embossing; a white light interferometer and a vibrometer allow for high resolution optical measurements on membranes and cantilevers.

Evaluation of New Materials for MEMS

In advanced microsystems, research topics include the development of a new low-cost polymer-based biocompatible and optional biodegradable implantable wireless passive strain sensor (WIPSS), the development of micromechanical electrostatic bearings for use in MEMS gyroscopes, and the development of a micro thermoelectric generator. The projects are focused on the development and exploration of process flows for these systems and their properties and functions. Our methods and tools are hot embossing, molding, and bonding of polymer materials. Furthermore, we use silicon process technology together with polymer processes to create test structures for electrostatic bearings and we apply electroplating for the large scale integration of thermo couples (Bi2 Te3) in flexible polymer molds for efficient thermo-electric generators. Scientific results have been reported on the WIPSS concept and the integrated process flow of a thermo-electric generator in SU-8 molds and its power factor. Test structures for electro-static bearings are fabricated to evaluate adhesion forces between surfaces, and these are prepared close to the target process flow. For a list of publications, please refer to the projects at www.micro.mavt.ethz.ch/publications.

Pictures from left to right: Single walled carbon nanotube as grown in a MEMS; bulge testing of polymer membranes; clean room for photolithographic processes; AFM scanning of nanostructures; surface micromachined MEMS chips; hot embossed spiral micro channel in PMMA. 83

Professorship of Nanotechnology Professor Andreas Stemmer

Professor Stemmers Nanotechnology Group carries out comprehensive experimental and theoretical studies in the following fields of nanoscale science and technology: (i) imaging tools and techniques to expand the limits of scanning probe and light microscopes, (ii) directed assembly of nanoscale objects and molecular building blocks to be included in molecular electronics devices, and (iii) energy conversion in bionanotechnology aimed at the direct conversion of metabolic energy of enzymes and living cells into electrical energy in the micro Watt regime. Highlights of our research include the development of electronic material contrast in atomic force microscopy (AFM). Kelvin probe force microscopy maps the local surface potential and provides qualitative and quantitative electronic material contrast on a broad range of specimens. Current challenges include the detection of molecular species on technical surfaces and the analysis of electronic properties on the nm-scale. We have developed novel AFM setups that allow for precise and simultaneous height and potential measurements on active semiconductor devices, dopant profiling, as well as mapping of composition or contact potential differences on hard and soft materials. Collaborating with Professor Frank Allgwer, University of Stuttgart, we have introduced model-based control to atomic force microscopy. Taking into account the dynamics of the piezo scanner, our current H-infinity controllers allow for substantially higher scanning speeds at reduced control errors, i.e. smaller force deviations. These developments have led to an R&D-contract with a scanning probe manufacturer. Our current research focuses on very fundamental issues in dynamic atomic force microscopy, namely the extraction of surface properties such as elasticity, wettability, adhesion from the interaction force encoded in the cantilever signal. We expect that applying modern methods of control engineering will prove fundamental in reaching this challenging goal.

Andreas Stemmer, a native of Basel, studied at the University of Basel where he took his degree in Physics. He continued his studies in Molecular Biology at the M.E. Mller Institute of the Biocenter at the University of Basel and received certification from the Swiss Commission for Molecular Biology (SKMB). In 1990 he earned his doctorate in Biophysics. After conducting research as Visiting Scientist (1990-92) at the Medical Research Council Laboratory of Molecular Biology in Cambridge, UK, he was Assistant Scientist (1992-95) at the Marine Biological Laboratory in Woods Hole, MA, USA. In 1995 he was elected Assistant Professor of Nanotechnology at ETH Zurich, Associate Professor in 2001 and Professor of Nanotechnology in 2004. He teaches courses in nanoscale science and engineering, measuring techniques for the nanoscale, and advanced light microscopy. With his research program he seeks to identify, translate and integrate into new technologies basic principles and properties acting on or emerging from nanoscale dimensions.

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Since many processes on the nanometer scale are best controlled in liquids where only light microscopes offer imaging access and, not least, because light microscopy is an indispensable research tool in cell biology, we develop techniques that increase the information transfer beyond the classical limit. We have succeeded in doubling optical resolution to 100 nm laterally (green emission) in wide-field fluorescence microscopy using structured illumination. We have combined this technique with deconvolution methods to enable optical sectioning of three-dimensional objects and also extended structured illumination to total internal reflection microscopy. Our studies in light microscopy have led to several easy-to-implement strategies that improve established imaging techniques. In our research on the directed assembly of nanoscale building blocks we study the controlled assembly of functional nanoscale objects into predefined structures and their precise positioning on solid substrates, key issues in nanoengineering. We have developed an electric field based method, nanoxerography, to guide carbon nanotubes, C60, and colloidal particles suspended in solution onto charge patterns written into the substrate. Carbon nanotubes, semicondutor nanowires, and metallic nanorods are promising building blocks for future nanoelectronic circuits. Colloidal gold particles, for example, serve as catalyst for the growth of nanowires. In our research on biological micro power generators we investigate the generation of electrical energy directly from human cells. Living cells host complex functional nanosystems, i.e. enzymes, which use metabolic energy to separate charge carriers across membranes. Cells also possess complex feedback mechanisms to regulate production and function of these enzymes. We investigate how such nanosystems can be coupled to macroscopic electrodes to

harvest electrical power in the micro-Watt regime while keeping the cells alive. Ultimately, one may envision medical implants, such as sensors, pace makers or hearing aids, to be powered with electricity extracted directly from the surrounding tissue rather than batteries.

Pictures: Impressions of the laboratory

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Contact ETH Zurich Department of Mechanical and Process Engineering Sonneggstrasse 3 8092 Zurich Switzerland www.mavt.ethz.ch

Links to Web-sites of Professors or Institutes Institute of Biomechanics www.biomech.ethz.ch Institute for Dynamic Systems and Control www.idsc.ethz.ch Institute of Energy Technology www.iet.ethz.ch Institute of Fluid Dynamics www.ifd.mavt.ethz.ch Institute of Mechanical Systems www.imes.ethz.ch Institute of Robotics and Intelligent Systems www.iris.ethz.ch Institute of Process Engineering www.ipe.ethz.ch Institute of Machine Tools and Manufacturing www.iwf.ethz.ch Institute of Virtual Manufacturing www.ivp.ethz.ch Professorship of Micro- and Nanosystems www.micro.mavt.ethz.ch Professorship of Nanotechnology www.nano.ethz.ch

Concept and Organization Ulrike Schlachter-Habermann, Margot Fox-Ziekau Realization digitworks Photos Maurice Haas, Ruth Erdt, Masha Roskosny and others Printing Abcherli Druck AG, Sarnen

Department of Mechanical and Process Engineering 2009, ETH Zurich, Switzerland

ETH Zurich Department of Mechanical and Process Engineering Sonneggstrasse 3 8092 Zurich Switzerland www.mavt.ethz.ch

DMAVT

Departement Maschinenbau & Verfahrenstechnik Department of Mechanical & Process Engineering