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- Technische Hochschule Nürnberg Georg Simon Ohm (2)
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Numerical Simulations of Heavy Fermion Systems: From He-3 Bilayers to Topological Kondo Insulators
(2014)
Even though heavy fermion systems have been studied for a long time, a strong interest in heavy fermions persists to this day. While the basic principles of local moment formation, Kondo effect and formation of composite quasiparticles leading to a Fermi liquid, are under- stood, there remain many interesting open questions. A number of issues arise due to the interplay of heavy fermion physics with other phenomena like magnetism and superconduc- tivity.
In this regard, experimental and theoretical investigations of He-3 can provide valuable insights. He-3 represents a unique realization of a quantum liquid. The fermionic nature of He-3 atoms, in conjunction with the absence of long-range Coulomb repulsion, makes this material an ideal model system to study Fermi liquid behavior.
Bulk He-3 has been investigated for quite some time. More recently, it became possible to prepare and study layered He-3 systems, in particular single layers and bilayers. The pos- sibility of tuning various physical properties of the system by changing the density of He-3 and using different substrate materials makes layers of He-3 an ideal quantum simulator for investigating two-dimensional Fermi liquid phenomenology.
In particular, bilayers of He-3 have recently been found to exhibit heavy fermion behavior. As a function of temperature, a crossover from an incoherent state with decoupled layers to a coherent Fermi liquid of composite quasiparticles was observed. This behavior has its roots in the hybridization of the two layers. The first is almost completely filled and subject to strong correlation effects, while the second layer is only partially filled and weakly correlated. The quasiparticles are formed due to the Kondo screening of localized moments in the first layer by the second-layer delocalized fermions, which takes place at a characteristic temperature scale, the coherence scale Tcoh.
Tcoh can be tuned by changing the He-3 density. In particular, at a certain critical filling,
the coherence scale is expected to vanish, corresponding to a divergence of the quasiparticle effective mass, and a breakdown of the Kondo effect at a quantum critical point. Beyond the critical point, the layers are decoupled. The first layer is a local moment magnet, while the second layer is an itinerant overlayer.
However, already at a filling smaller than the critical value, preempting the critical point, the onset of a finite sample magnetization was observed. The character of this intervening phase remained unclear.
Motivated by these experimental observations, in this thesis the results of model calcula- tions based on an extended Periodic Anderson Model are presented. The three particle ring exchange, which is the dominant magnetic exchange process in layered He-3, is included in the model. It leads to an effective ferromagnetic interaction between spins on neighboring sites. In addition, the model incorporates the constraint of no double occupancy by taking the limit of large local Coulomb repulsion.
By means of Cellular DMFT, the model is investigated for a range of values of the chemical potential µ and inverse temperature β = 1/T . The method is a cluster extension to the Dy- namical Mean-Field Theory (DMFT), and allows to systematically include non-local correla- tions beyond the DMFT. The auxiliary cluster model is solved by a hybridization expansion CTQMC cluster solver, which provides unbiased, numerically exact results for the Green’s function and other observables of interest.
As a first step, the onset of Fermi liquid coherence is studied. At low enough temperature, the self-energy is found to exhibit a linear dependence on Matsubara frequency. Meanwhile, the spin susceptibility crossed over from a Curie-Weiss law to a Pauli law. Both observations serve as fingerprints of the Fermi liquid state.
The heavy fermion state appears at a characteristic coherence scale Tcoh. This scale depends strongly on the density. While it is rather high for small filling, for larger filling Tcoh is increas- ingly suppressed. This involves a decreasing quasiparticle residue Z ∼ Tcoh and an enhanced mass renormalization m∗/m ∼ Tcoh−1. Extrapolation leads to a critical filling, where the co-
herence scale is expected to vanish at a quantum critical point. At the same time, the effective mass diverges. This corresponds to a breakdown of the Kondo effect, which is responsible for the formation of quasiparticles, due to a vanishing of the effective hybridization between the layers.
Taking only single-site DMFT results into account, the above scenario seems plausible. However, paramagnetic DMFT neglects the ring exchange interaction completely. In or- der to improve on this, Cellular DMFT simulations are conducted for small clusters of size Nc = 2 and 3. The results paint a different physical picture. The ring exchange, by favor- ing a ferromagnetic alignment of spins, competes with the Kondo screening. As a result, strong short-range ferromagnetic fluctuations appear at larger values of µ. By lowering the temperature, these fluctuations are enhanced at first. However, for T < Tcoh they are increas- ingly suppressed, which is consistent with Fermi liquid coherence. However, beyond a certain threshold value of µ, fluctuations persist to the lowest temperatures. At the same time, while not apparent in the DMFT results, the total occupation n increases quite strongly in a very narrow range around the same value of µ. The evolution of n with µ is always continuous, but hints at a discontinuity in the limit Nc → ∞. This first-order transition breaks the Kondo effect. Beyond the transition, a ferromagnetic state in the first layer is established, and the second layer becomes a decoupled overlayer.
These observations provide a quite appealing interpretation of the experimental results. As a function of chemical potential, the Kondo breakdown quantum critical point is preempted by a first-order transition, where the layers decouple and the first layer turns into a ferromagnet. In the experimental situation, where the filling can be tuned directly, the discontinuous transition is mirrored by a phase separation, which interpolates between the Fermi liquid ground state at lower filling and the magnetic state at higher filling. This is precisely the range of the intervening phase found in the experiments, which is characterized by an onset of a finite sample magnetization.
Besides the interplay of heavy fermion physics and magnetic exchange, recently the spin- orbit coupling, which is present in many heavy fermion materials, attracted a lot of interest. In the presence of time-reversal symmetry, due to spin-orbit coupling, there is the possibility of a topological ground state.
It was recently conjectured that the energy scale of spin-orbit coupling can become dom- inant in heavy fermion materials, since the coherence scale and quasiparticle bandwidth are rather small. This can lead to a heavy fermion ground state with a nontrivial band topology; that is, a topological Kondo insulator (TKI). While being subject to strong correlation effects, this state must be adiabatically connected to a non-interacting, topological state.
The idea of the topological ground state realized in prototypical Kondo insulators, in par- ticular SmB6, promises to shed light on some of the peculiarities of these materials, like a residual conductivity at the lowest temperatures, which have remained unresolved so far.
In this work, a simple two-band model for two-dimensional topological Kondo insulators is devised, which is based on a single Kramer’s doublet coupled to a single conduction band. The model is investigated in the presence of a Hubbard interaction as a function of interaction strength U and inverse temperature β. The bulk properties of the model are obtained by DMFT, with a hybridization expansion CTQMC impurity solver. The DMFT approximation of a local self-energy leads to a very simple way of computing the topological invariant.
The results show that with increasing U the system can be driven through a topological phase transition. Interestingly, the transition is between distinct topological insulating states, namely the Γ-phase and M-phase. This appearance of different topological phases is possible due to the symmetry of the underlying square lattice. By adiabatically connecting both in- teracting states with the respective non-interacting state, it is shown that the transition indeed drives the system from the Γ-phase to the M-phase.
A different behavior can be observed by pushing the bare position of the Kramer’s doublet to higher binding energies. In this case, the non-interacting starting point has a trivial band topology. By switching on the interaction, the system can be tuned through a quantum phase transition, with a closing of the band gap. Upon reopening of the band gap, the system is in the Γ-phase, i. e. a topological insulator. By increasing the interaction strength further, the system moves into a strongly correlated regime. In fact, close to the expected transition to the M phase, the mass renormalization becomes quite substantial. While absent in the para- magnetic DMFT simulations conducted, it is conceivable that instead of a topological phase transition, the system undergoes a time-reversal symmetry breaking, magnetic transition.
The regime of strong correlations is studied in more detail as a function of temperature, both in the bulk and with open boundary conditions. A quantity which proved very useful is the bulk topological invariant Ns, which can be generalized to finite interaction strength and temperature. In particular, it can be used to define a temperature scale T ∗ for the onset of the topological state. Rescaling the results for Ns, a nice data collapse of the results for different values of U, from the local moment regime to strongly mixed valence, is obtained. This hints at T ∗ being a universal low energy scale in topological Kondo insulators. Indeed, by comparing T ∗ with the coherence scale extracted from the self-energy mass renormalization, it is found that both scales are equivalent up to a constant prefactor. Hence, the scale T ∗ obtained from the temperature dependence of topological properties, can be used as an independent measure for Fermi liquid coherence. This is particularly useful in the experimentally relevant mixed valence regime, where charge fluctuations cannot be neglected. Here, a separation of the energy scales related to spin and charge fluctuations is not possible.
The importance of charge fluctuations becomes evident in the extent of spectral weight transfer as the temperature is lowered. For mixed valence, while the hybridization gap emerges, a substantial amount of spectral weight is shifted from the vicinity of the Fermi level to the lower Hubbard band. In contrast, this effect is strongly suppressed in the local moment regime.
In addition to the bulk properties, the spectral function for open boundaries is studied as a function of temperature, both in the local moment and mixed valence regime. This allows an investigation of the emergence of topological edge states with temperature. The method used here is the site-dependent DMFT, which is a generalization of the conventional DMFT to inhomogeneous systems. The hybridization expansion CTQMC algorithm is used as impurity solver.
By comparison with the bulk results for the topological quantity Ns, it is found that the
temperature scale for the appearance of the topological edge states is T ∗, both in the mixed valence and local moment regime.
Within the framework of this thesis, photolysis reactions in the liquid phase were investigated by means of ultrafast optical spectroscopy. Apart from molecular studies dealing with the highly spin-dependent reactivity of diphenylcarbene (DPC) in binary solvent
mixtures and ligand dissociation reactions of so-called CO-releasing molecules (CORMs),
special emphasis was put on the implementation and characterization of methods improving
and extending the signal detection in conventional pump–probe transient absorption setups.
The assumption of DPC being an archetypal triplet-ground-state arylcarbene was recently questioned by matrix-isolation studies at low temperatures. DPC embedded in argon matrices revealed a hitherto unknown reactivity when the carbene environment was modified by small amounts of methanol dopant molecules. To complement these findings with liquid-phase experiments at room temperature, femtosecond pump–probe transient absorption spectroscopy with probing in the visible and ultraviolet regime was employed to unravel primary reaction processes of DPC in solvent mixtures. Supported by quantum chemical simulations conducted by our collaborators, it was shown that a competition between the reaction pathways occurs that not only depends on the solvent molecule near-by but also on its interaction with other solvent molecules. In-depth analysis of the solvation dynamics and the amount of nascent intermediates corroborates the importance of a hydrogen-bonded complex with a protic solvent molecule, in striking analogy to complexes found at cryogenic temperatures.
Probing the transient absorption of molecules in the mid-infrared spectral range benefits from the high chemical specificity of molecules’ vibrational signatures. The technique of chirped-pulse upconversion (CPU) constitutes a promising alternative to standard direct multichannel MCT detection when accessing this spectral detection window. Hence, one chapter of this thesis is dedicated to a direct comparison between both detection methods. By conducting an exemplary pump–probe transient absorption experiment, it became evident, that the additional nonlinear interaction step is responsible for increased noise levels when using CPU. However, a correction procedure capable of removing these additional noise contributions—stemming from the fundamental laser radiation used for upconversion—was successfully tested. Perhaps most importantly for various spectroscopic applications, CPU scored with a significantly extended detection bandwidth owing to the high pixel numbers of modern CCD cameras.
Transition-metal complexes capable of releasing small molecular messengers upon photoactivation are promising sources of gasotransmitters such as carbon monoxide (CO) or nitric oxide (NO) in biological applications. However, only little is known about the characteristic time scales of ligand dissociation in this class of molecules. For this purpose, two complexes were investigated with femtosecond time resolution: [Mn(CO)3(tpm)]Cl with tpm=tris(2-pyrazolyl)methane, a manganese tricarbonyl complex which has proven to be selective and cytotoxic to cancer cells, and [Mo(CO)2(NO)(iPr3tacn)]PF6 with iPr3tacn=1,4,7-triisopropyl-1,4,7-triazacyclononane, a molybdenum complex containing both carbonyl and nitrosyl ligands. By conducting pump–probe transient absorption measurements in different spectral probing windows supported by quantum chemical calculations and linear absorption spectroscopy, it was shown that both complexes are able to release one CO ligand within the first few picoseconds after UV excitation. The results complement existing studies which focused on the molecules’ ligand-releasing properties upon long-term exposure. The additional information gained on an ultrafast time scale provides a comprehensive understanding of individual reaction steps connected with ligand release in this class of molecules. Hence, the studies might create new incentives to develop modified molecules for specific applications.
This work brings forward successful implementations of ultrafast chirality-sensitive spectroscopic techniques by probing circular dichroism (CD) or optical rotation dispersion (ORD). Furthermore, also first steps towards chiral quantum control, i.e., the selective variation of the chiral properties of molecules with the help of coherent light, are presented.
In the case of CD probing, a setup capable of mirroring an arbitrary polarization state of an ultrashort laser pulse was developed. Hence, by passing a left-circularly polarized laser pulse through this setup a right-circularly polarized laser pulse is generated. These two pulse enantiomers can be utilized as probe pulses in a pump--probe CD experiment. Besides CD spectroscopy, it can be utilized for anisotropy or ellipsometry spectroscopy also. Within this thesis, the approach is used to elucidate the photochemistry of hemoglobin, the oxygen transporting protein in mammalian blood. The oxygen loss can be triggered with laser pulses as well, and the results of the time-resolved CD experiment suggest a cascade-like relaxation, probably through different spin states, of the metallo-porphyrins in hemoglobin.
The ORD probing was realized via the combination of common-path optical heterodyne interferometric polarimetry and accumulative femtosecond spectroscopy. Within this setup, on the one hand the applicability of this approach for ultrafast studies was demonstrated explicitly. On the other hand, the discrimination between an achiral and a racemic solution without prior spatial separation was realized. This was achieved by inducing an enantiomeric excess via polarized femtosecond laser pulses and following its evolution with the developed polarimeter. Hence, chiral selectivity was already achieved with this method which can be turned into chiral control if the polarized laser pulses are optimized to steer an enhancement of the enantiomeric excess.
Furthermore, within this thesis, theoretical prerequisites for anisotropy-free pump--probe experiments with arbitrary polarized laser pulses were derived. Due to the small magnitude of optical chirality-sensitve signals, these results are important for any pump--probe chiral spectroscopy, like the CD probing presented in this thesis. Moreover, since for chiral quantum control the variation of the molecular structure is necessary, the knowledge about rearrangement reactions triggered by photons is necessary. Hence, within this thesis the ultrafast Wolff rearrangement of an α-diazocarbonyl was investigated via ultrafast photofragment ion spectroscopy in the gas phase. Though the compound is not chiral, the knowledge about the exact reaction mechanism is beneficial for future studies of chiral compounds.
The ecosystem of the high northern latitudes is affected by the recently changing environmental conditions. The Arctic has undergone a significant climatic change over the last decades. The land coverage is changing and a phenological response to the warming is apparent. Remotely sensed data can assist the monitoring and quantification of these changes. The remote sensing of the Arctic was predominantly carried out by the usage of optical sensors but these encounter problems in the Arctic environment, e.g. the frequent cloud cover or the solar geometry. In contrast, the imaging of Synthetic Aperture Radar is not affected by the cloud cover and the acquisition of radar imagery is independent of the solar illumination. The objective of this work was to explore how polarimetric Synthetic Aperture Radar (PolSAR) data of TerraSAR-X, TanDEM-X, Radarsat-2 and ALOS PALSAR and interferometric-derived digital elevation model data of the TanDEM-X Mission can contribute to collect meaningful information on the actual state of the Arctic Environment. The study was conducted for Canadian sites of the Mackenzie Delta Region and Banks Island and in situ reference data were available for the assessment. The up-to-date analysis of the PolSAR data made the application of the Non-Local Means filtering and of the decomposition of co-polarized data necessary.
The Non-Local Means filter showed a high capability to preserve the image values, to keep the edges and to reduce the speckle. This supported not only the suitability for the interpretation but also for the classification. The classification accuracies of Non-Local Means filtered data were in average +10% higher compared to unfiltered images. The correlation of the co- and quad-polarized decomposition features was high for classes with distinct surface or double bounce scattering and a usage of the co-polarized data is beneficial for regions of natural land coverage and for low vegetation formations with little volume scattering. The evaluation further revealed that the X- and C-Band were most sensitive to the generalized land cover classes. It was found that the X-Band data were sensitive to low vegetation formations with low shrub density, the C-Band data were sensitive to the shrub density and the shrub dominated tundra. In contrast, the L-Band data were less sensitive to the land cover. Among the different dual-polarized data the HH/VV-polarized data were identified to be most meaningful for the characterization and classification, followed by the HH/HV-polarized and the VV/VH-polarized data. The quad-polarized data showed highest sensitivity to the land cover but differences to the co-polarized data were small. The accuracy assessment showed that spectral information was required for accurate land cover classification. The best results were obtained when spectral and radar information was combined. The benefit of including radar data in the classification was up to +15% accuracy and most significant for the classes wetland and sparse vegetated tundra. The best classifications were realized with quad-polarized C-Band and multispectral data and with co-polarized X-Band and multispectral data. The overall accuracy was up to 80% for unsupervised and up to 90% for supervised classifications. The results indicated that the shortwave co-polarized data show promise for the classification of tundra land cover since the polarimetric information is sensitive to low vegetation and the wetlands. Furthermore, co-polarized data provide a higher spatial resolution than the quad-polarized data.
The analysis of the intermediate digital elevation model data of the TanDEM-X showed a high potential for the characterization of the surface morphology. The basic and relative topographic features were shown to be of high relevance for the quantification of the surface morphology and an area-wide application is feasible. In addition, these data were of value for the classification and delineation of landforms. Such classifications will assist the delineation of geomorphological units and have potential to identify locations of actual and future morphologic activity.
Die vorliegende Arbeit untersucht mit Rastertunnelmikroskopie (RTM) und -spektroskopie (RTS) die Korrelation von strukturellen, elektronischen und magnetischen Eigenschaften auf metallischen Oberflächen. Zuerst wird der spin-aufgespaltene Oberflächenzustand des Ni(111) analysiert. Anschließend geht der Fokus über auf dünne Eisenfilme, die auf Rh(001) gewachsen
wurden. Zuletzt wird die CePt$_5$/Pt(111)-Oberflächenlegierung untersucht. Nickel ist ein bekannter Ferromagnet und die (111)-Oberfläche war in der Vergangenheit schon mehrfach das Objekt theoretischer und experimenteller Studien. Trotz intensiver Bemühungen wurden inkonsistente Ergebnisse veröffentlicht und ein klares, konsistentes Bild ist noch nicht vorhanden. Aus diesem Grund wird die Ni(111)-Oberfläche mittels RTM und RTS erforscht, die den Zugang sowohl zu besetzten als auch unbesetzten Zuständen ermöglicht. Mit der Methode der Quasiteilcheninterferenz wird eine detailierte Beschreibung der Banddispersion erhalten. Die Austauschaufspaltung zwischen Minoritäts- und Majoritätsoberflächenzustands wird zu ∆E$_{ex}$ = (100 ± 8) meV ermittelt. Der Ansatzpunkt des Majoritätsbandes liegt bei E − E$_F$ = −(160 ± 8)meV und die effektive Masse beträgt m^* = +(0,14 ± 0,04)me. Des Weiteren liegt der Ansatzpunkt der Oberflächenresonanz der Majoritätladungsträger energetisch bei E−E$_F$ = −(235±5)meV mit einer effektiven Masse von m^* = +(0,36±0,05)m$_e$. Um unmissverständlich den dominierenden Spin-Kanal in der RTS zu identifizieren, wurden hexagonale Quantentröge durch reaktives Ionenätzen hergestellt und mit der Hilfe eines eindimensionalen Quantentrogmodells interpretiert. Die sechs Kanten eines Hexagons erscheinen unterschiedlich. Atomar aufgelöste Messungen zeigen, dass gegenüberliegende Kanten nicht nur eine unterschiedliche Struktur haben sondern auch unterschiedliche spektroskopische Eigenschaften, die durch einen alternierend auftauchenden oder abwesenden spektroskopischen Peak charakterisiert sind. Magnetische Messungen ergeben allerdings keine endgültigen Ergebnisse bezüglich des Ursprungs des Beobachtungen.
Das zweite experimentelle Kapitel dreht sich um dünne Eisenfilme, die auf eine saubere Rh(001)-Oberfläche aufgebracht und diese dann mit RTM, RTS und spin-polarisierter (SP- )RTM untersucht werden. Eine nahezu defektfreie Rh(001)-Oberfläche ist notwendig, um ein Wachstum der Eisenfilme mit wenigen Defekten zu erhalten. Dies ist relevant, um das magnetische Signal korrekt interpretieren zu können und den möglichen Einfluss von Adsorbaten auszuschließen. Die erste atomare Lage Fe ordnet sich antiferromagnetisch in einer c(2 × 2)-Struktur an mit der leichten Magnetisierungsachse senkrecht zur Probenoberfläche. Die zweite und dritte Lage verhält sich ferromagnetisch mit immer kleiner werdenden Domänen für steigende Bedeckung. Ab 3,5 atomaren Lagen kommt es vermutlich zu einer Änderung der leichten Magnetisierungsrichtung von vertikal zu horizontal zur Probenebene. Dies wird durch kleiner werdende Domänengrößen und den gleichzeitig breiter werdenden Domänenwänden signalisiert. Temperaturabhängige spin-polarisierter RTM erlaubt es die Curietemperatur der zweiten Lage auf 80 K zu schätzen. Zusätzlich wurde bei dieser Bedeckung eine periodische Modulation der lokalen Zustandsdichte gemessen, die mit steigender Periodizität auch auf der dritten und vierten Lage erscheint. Temperatur- und spannungsabhängige Messungen unterstützen eine Interpretation der Daten auf der Grundlage einer Ladungsdichtewelle. Ich zeige, dass die beiden für gewöhnlich konkurrierende Ordnungen (Ladungs- und magnetische Ordnung) koexistieren und sich gegenseitig beeinflussen, was theoretische Rechnungen, die in Zusammenarbeit mit F. P. Toldin und F. Assaad durchgeführt wurden, bestätigen können.
Im letzten Kapitel wurde die Oberflächenlegierung CePt$_5$/Pt(111) analysiert. Diese System bildet laut einer kürzlich erschienenen Veröffentlichung ein schweres Fermionengitter. Von der sauberen Pt(111)-Oberfläche ausgehend wurde die Oberflächenlegierung CePt$_5$/Pt(111) hergestellt. Die Dicke der Legierung (t in u.c.) lässt sich durch die aufgedampfte Menge an Cer variieren und die erzeugte Oberfläche wurde mit RTM und RTS für verschiedene Dicken unter- sucht. RTM-Bilder und LEED (engl.: low energy electron diffraction)-Daten zeigen konsistente Ergebnisse, die in Zusammenarbeit mit C. Praetorius analysiert wurden. Für Bedeckungen unter einer atomaren Lage Cer konnte keine geordnete Struktur mit dem RTM beobachtet werden. Für 2 u.c. wurde eine (2 × 2)-Rekonstruktion an der Oberfläche gemessen und für 3 u.c. CePt$_5$ wurde eine (3√3×3√3)R30◦-Rekonstruktion beobachtet. Der Übergang von 3 u.c. CePt5 zu 5 u.c. CePt$_5$ wurde untersucht. Mit Hilfe eines Strukturmodells schließe ich, dass es weder zu einer Rotation des atomaren Gitters noch zu einer Rotation des Übergitters kommt. Ab einer Bedeckung von 6 u.c. CePt5 erscheint eine weitere Komponente der CePt$_5$-Oberflächenlegierung, die keine Rekonstruktion mehr besitzt. Das atomare Gitter verläuft wieder entlang der kris- tallographischen Richtungen des Pt(111)-Kristalls und ist somit nicht mehr um 30^° gedreht. Für alle Bedeckungen wurden Spektroskopiekurven aufgenommen, die keinen Hinweis auf ein kohärentes schweres Fermionensystem geben. Eine Erklärung hierfür kommt aus einer LEED-IV Studie, die besagt, dass jede gemessene Oberfläche mit einer Pt(111)-Schicht terminiert ist. Das RTM ist sensitiv für die oberste Schicht und somit wäre der Effekt eines kohärenten schweren Fermionensystems nicht unbedingt messbar.
Time-resolved spectroscopy allows for analyzing light-induced energy conversion and
chromophore–chromophore interactions in molecular systems, which is a prerequisite in
the design of new materials and for improving the efficiency of opto-electronic devices.
To elucidate photo-induced dynamics of complex molecular systems, transient absorption
(TA) and coherent two-dimensional (2D) spectroscopy were employed and combined
with additional experimental techniques, theoretical approaches, and simulation models
in this work.
A systematic series of merocyanines, synthetically varied in the number of chromophores
and subsitution pattern, attached to a benzene unit was investigated in cooperation with
the group of Prof. Dr. Frank Würthner at the University of Würzburg. The global analysis
of several TA experiments, and additional coherent 2D spectroscopy experiments, provided
the basis to elaborate a relaxation scheme which was applicable for all merocyanine
systems under investigation. This relaxation scheme is based on a double minimum on the
excited-state potential energy surface. One of these minima is assigned to an intramolecular
charge-transfer state which is stabilized in the bis- and tris-chromophoric dyes by
chromphore–chromophore interactions, resulting in an increase in excited-state lifetime.
Electro-optical absorption and density functional theory (DFT) calculations revealed a
preferential chromophore orientation which compensates most of the dipole moment of
the individual chromophores. Based on this structural assignment the conformationdependent
exciton energy splitting was calculated. The linear absorption spectra of the
multi-chromophoric merocyanines could be described by a combination of monomeric and
excitonic spectra.
Subsequently, a structurally complex polymeric squaraine dye was studied in collaboration
with the research groups of Prof. Dr. Christoph Lambert and Prof. Dr. Roland Mitric
at the University of Würzburg. This polymer consists of a superposition of zigzag and
helix structures depending on the solvent. High-level DFT calculations confirmed the previous
assignment that zigzag and helix structures can be treated as J- and H-aggregates,
respectively. TA experiments revealed that in dependence on the solvent as well as the
excitation energy, ultrafast energy transfer within the squaraine polymer proceeds from
initially excited helix segments to zigzag segments or vice versa. Additionally, 2D spectroscopy
confirmed the observed sub-picosecond dynamics. In contrast to other conjugated
polymers such as MEH-PPV, which is investigated in the last chapter, ultrafast
energy transfer in squaraine polymers is based on the matching of the density of states
between donor and acceptor segments due to the small reorganization energy in cyanine-like
chromophores.
Finally, the photo-induced dynamics of the aggregated phase of the conjugated polymer
MEH-PPV was investigated in cooperation with the group of Prof. Dr. Anna Köhler at the University of Bayreuth. Our collaborators had previously described the aggregation of MEH-PPV upon cooling by the formation of so-called HJ-aggregates based on exciton
theory. By TA measurements and by making use of an affiliated band analysis distinct
relaxation processes in the excited state and to the ground state were discriminated. By
employing 2D spectroscopy the energy transfer between different conjugated segments
within the aggregated polymer was resolved. The initial exciton relaxation within the
aggregated phase indicates a low exciton mobility, in contrast to the subsequent energy
transfer between different chromophores within several picoseconds.
This work contributes by its systematic study of structure-dependent relaxation dynamics
to the basic understanding of the structure-function relationship within complex
molecular systems. The investigated molecular classes display a high potential to increase
efficiencies of opto-electronic devices, e.g., organic solar cells, by the selective choice of
the molecular morphology.
Die vorliegende Arbeit umfasst die Synthese, die Untersuchung von Struktur-Eigenschafts-Beziehungen und Eigenschaftsmodifikationen von Komplexen und Koordinationspolymeren basierend auf den 3d-Übergangsmetallchloriden von Mn, Fe, Co sowie Zn und N-heterozyklischen Liganden.
Durch die Kombination von mechanochemische Umsetzungen, mikrowellenassistierten Synthesen, solvensassistierten, solvothermalen und solvensfreien Reaktionen zu verschiedenen Synthesestrategien wurden 23 neue Koordinationsverbindungen synthetisiert und charakterisiert.
Ausgehend von den auf mechanochemischem Weg synthetisierten, monomeren Precursor-Komplexen [MCl2(TzH)4] (M = Mn und Fe) konnten die höhervernetzten Koordinationspolymere 1∞[FeCl(TzH)2]Cl und 1∞[MCl2(TzH)] (M = Fe und Mn) durch thermische und mikrowelleninduzierte Konversionsreaktionen als phasenreine Bulkprodukte erhalten werden. Die sukzessive Abgabe organischer Liganden und die damit verbundene Umwandlung in die höhervernetzten Spezies wurden dabei mittels temperaturabhängiger Pulverdiffraktometrie und simultanem DTA/TG-Verfahren analysiert.
Durch gezielte Variation der Lösungsmittel beim Liquid-assisted grinding, der mechanochemischen Synthese unter Zugabe einer flüssigen Phase, konnten die beiden polymorphen Koordinationspolymere α-1∞[MnCl2(BtzH)2] und β-1∞[MnCl2(BtzH)2] erhalten werden, die im monoklinen bzw. orthorhombischen Kristallsystem kristallisieren.
Solvensassistierte Umsetzungen von MnCl2 mit 1,2,4-1H-Triazol (TzH) unter Zugabe von Hilfsbasen resultierten unter anderem in der Bildung der dreidimensionalen Koordinationspolymere 3∞[MnCl(Tz)(TzH)] und 3∞{[Mn5Cl3(Tz)7(TzH)2]}2·NEt3HCl.
Die Untersuchung von Struktur-Eigenschafts-Korrelationen erfolgte systematisch an ausgewählten Verbindungen hinsichtlich ihrer dielektrischen Eigenschaften. Dabei wurden die Einflüsse intra- und intermolekularer Wechselwirkungen auf die strukturelle Rigidität und die daraus folgenden Polarisierbarkeitseigenschaften analysiert und miteinander verglichen. Die gemessenen dielektrischen Konstanten erstrecken sich von Werten im high-k-Bereich für monomere Komplexe bis hin zu den nahezu frequenzunabhängigen low-k-Werten der eindimensionalen Koordinationspolymere 1∞[MnCl2(TzH)] und 1∞[MnCl2(BtzH)2] sowie der Komplexe [ZnCl2(TzH)2] und [ZnCl2(BtzH)2]·BtzH.
Eigenschaftsmodifikationen und -optimierungen der synthetisierten Verbindungen er-folgten zum einen durch Erzeugung flexibler Kunststofffilme, in welche die eindimensionalen Koordinationspolymere 1∞[MCl2(TzH)] (M = Fe und Mn) eingebettet wurden. Zum anderen konnten in mechanochemischen Umsetzungen superparamagnetische Kompositpartikel bestehend aus einem Fe3O4/SiO2-Kern und einer kristallinen [ZnCl2(TzH)2]-Hülle erhalten werden, die in situ aus den Edukten ZnCl2 und TzH synthetisiert wurde.
In der heutigen Strahlentherapie kann durch eine am Linearbeschleuniger integrierte
Röntgenröhre eine 3D-Bildgebung vor der Bestrahlung durchgeführt werden. Die
sogenannte Kegel-Strahl-CT (Cone-Beam-CT, CBCT) erlaubt eine präzise Verifikation
der Patientenlagerung sowie ein Ausgleich von Lagerungsungenauigkeiten. Dem
Nutzen der verbesserten Patientenlagerung steht jedoch bei täglicher Anwendung eine
erhöhte, nicht zu vernachlässigbare Strahlenexposition des Patienten gegenüber. Eine
Verringerung des Dosisbeitrages bei der CBCT-Bildgebung lässt sich durch
Reduzierung des Stroms zur Erzeugung der Röntgenstrahlung sowie durch
Verringerung der Anzahl an Projektionen erreichen. Die so aufgenommen Projektionen
lassen sich dann aber nur durch aufwendige Rekonstruktionsverfahren zu qualitativ
hochwertigen Bilddatensätzen rekonstruieren. Ein Verfahren, dass für die
Rekonstruktion vorab vorhandene Vorwissensbilder verwendet, ist der Prior-Image-
Constrained-Compressed-Sensing-Rekonstruktionsalgorithmus (PICCS). Die Rekonstruktionsergebnisse
des PICCS-Verfahrens übertreffen die Ergebnisse des auf den
konventionellen Feldkamp-Davis-Kress-Algorithmus (FDK) basierenden Verfahrens,
wenn nur eine geringe Anzahl an Projektionen zur Verfügung steht. Allerdings können
bei dem PICCS-Verfahren derzeit keine großen Variationen in den Vorwissensbildern
berücksichtigt werden und führen zu einer geringeren Bildqualität. Diese Variationen
treten insbesondere durch anatomische Veränderungen wie Tumorverkleinerung oder
Gewichtsveränderungen auf. Das Ziel der vorliegenden Arbeit bestand folglich darin,
einen neuen vorwissensbasierten Rekonstruktionsalgorithmus zu entwickeln, der auf
Basis des PICCS-Verfahrens zusätzlich die Verwendung von lokalen
Verlässlichkeitsinformationen über das Vorwissensbild ermöglicht, um damit die
Variationen in den Vorwissensbildern bei der Rekonstruktion entsprechend
berücksichtigen zu können.
Die grundlegende Idee des neu entwickelten Rekonstruktionsverfahrens ist die
Annahme, dass die Vorwissensbilder aus Bereichen mit kleinen und großen Variationen
bestehen. Darauf aufbauend wird eine Gewichtungsmatrix erzeugt, die die Stärke der
Variationen des Vorwissens im Rekonstruktionsalgorithmus berücksichtigt. In
Machbarkeitsstudien wurde das neue Verfahren hinsichtlich der Verbesserung der Bildqualität unter Berücksichtigung gängiger Dosisreduzierungsstrategien untersucht.
Dazu zählten die Reduktion der Anzahl der Projektionen, die Akquisition von
Projektionen mit kleinerer Fluenz sowie die Verkleinerung des Akquisitionsbereiches.
Die Studien erfolgten an einem Computerphantom sowie insbesondere an
experimentellen Daten, die mit dem klinischen CBCT aufgenommen worden sind. Zum
Vergleich erfolgte die Rekonstruktion mit dem Standardverfahren basierend auf der
gefilterten Rückprojektion, dem Compressed Sensing- sowie dem konventionellen
PICCS-Verfahren.
Das neue Verfahren konnte in den untersuchten Fällen Bilddatensätze mit verbesserter
bis ausgezeichneter Qualität rekonstruieren, sogar dann, wenn nur eine sehr geringe
Anzahl an Projektionen oder nur Projektionen mit starkem Rauschen zur Verfügung
standen. Demgegenüber wiesen die Rekonstruktionsergebnisse der anderen
Algorithmen starke Artefakte auf. Damit eröffnet das neu entwickelte Verfahren die
Möglichkeit durch die Integration von Zuverlässigkeitsinformationen über die
vorhandenen Vorwissensbildern in den Rekonstruktionsalgorithmus, den Dosisbeitrag
bei der täglichen CBCT-Bildgebung zu minimieren und eine ausgezeichnete
Bildqualität erzielen zu können.
The focus of the work concerned the development of a series of MRI techniques that were specifically designed and optimized to obtain quantitative and spatially resolved information about characteristic parameters of the lung. Three image acquisition techniques were developed. Each of them allows to quantify a different parameter of relevant diagnostic interest for the lung, as further described below:
1) The blood volume fraction, which represents the amount of lung water in the intravascular compartment expressed as a fraction of the total lung water. This parameter is related to lung perfusion.
2) The magnetization relaxation time T\(_2\) und T*\(_2\)
, which represents the component of T\(_2\) associated with the diffusion of water molecules through the internal magnetic field gradients of the lung. Because the amplitude of these internal gradients is related to the alveolar size, T\(_2\) und T*\(_2\) can be used to obtain information about the microstructure of the lung.
3) The broadening of the NMR spectral line of the lung. This parameter depends on lung inflation and on the concentration of oxygen in the alveoli. For this reason, the spectral line broadening can be regarded as a fingerprint for lung inflation; furthermore, in combination with oxygen enhancement, it provides a measure for lung ventilation.
It was the scope of this work to gain a deeper understanding of the correlation between Interface energetics of molecular semiconductors in planar organic solar cells and the corresponding optoelectronic characteristics. For this aim, different approaches were followed. At first, a direct variation of donor/acceptor (D/A) interface energetics of bilayer cells was achieved by utilizing systematically modified donor compounds. This change could be correlated to the macroscopic device performance. At second, the impact of interface energetics was illustrated, employing a more extended device architecture. By introducing a thin interlayer between a planar D/A heterojunction, an energetic staircase was established. Exciton dissociation in such devices could be linked to the cascade energy level alignment of the photo-active materials. Finally, two different fullerene molecules C60 and C70 were employed in co-evaporated acceptor phases. The expected discrepancy in their electronic structure was related to the transport properties of the corresponding organic photovoltaic cells (OPVCs). The fullerenes are created simultaneously in common synthesis procedures. Next to the photo-physical relevance, the study was carried-out to judge on the necessity of separating the components from each other by purification which constitutes the cost-determining step in the total production costs.
Mini Unmanned Aerial Vehicles (MUAVs) are becoming popular research platform and
drawing considerable attention, particularly during the last decade due to their afford- ability and multi-dimensional applications in almost every walk of life. MUAVs have obvious advantages over manned platforms including their much lower manufacturing and operational costs, risk avoidance for human pilots, flying safely low and slow, and realization of operations that are beyond inherent human limitations. The advancement in Micro Electro-Mechanical System (MEMS) technology, Avionics and miniaturization of sensors also played a significant role in the evolution of MUAVs. These vehicles range from simple toys found at electronic supermarkets for entertainment purpose to highly sophisticated commercial platforms performing novel assignments like offshore wind power station inspection and 3D modelling of buildings etc. MUAVs are also more environment friendly as they cause less air pollution and noise. Unmanned is therefore unmatched. Recent research focuses on use of multiple inexpensive vehicles flying together, while maintaining required relative separations, to carry out the tasks efficiently compared to a single exorbitant vehicle. Redundancy also does away the risk of loss of a single whole-mission dependent vehicle. Some of the valuable applications in the domain of cooperative control include joint load transportation, search and rescue, mobile communication relays, pesticide spraying and weather monitoring etc. Though realization of multi-UAV coupled flight is complex, however obvious advantages justify
the laborious work involved...
Dementia is a complex neurodegenerative syndrome that by 2050 could affect about 135 Million people worldwide. People with dementia experience a progressive decline in their cognitive abilities and have serious problems coping with activities of daily living, including
orientation and wayfinding tasks. They even experience difficulties in finding their way in a familiar environment. Being lost or fear of getting lost may consequently develop into other psychological deficits such as anxiety, suspicions, illusions, and aggression. Frequent results are social isolation and a reduced quality of life. Moreover, the lives of relatives and
caregivers of people with dementia are also negatively affected.
Regarding navigation and orientation, most existing approaches focus on outdoor environment and people with mild dementia, who have the capability to use mobile devices. However, Rasquin (2007) observe that even a device with three buttons may be too complicated for
people with moderate to severe dementia. In addition, people who are living in care homes mainly perform indoor activities. Given this background, we decided to focus on designing a system for indoor environments for people with moderate to severe dementia, who are unable
or reluctant to use smartphone technology.
Adopting user-centered design approach, context and requirements of people with dementia were gathered as a first step to understand needs and difficulties (especially in spatial disorientation and wayfinding problems) experienced in dementia care facilities. Then, an "Implicit Interactive Intelligent (III) Environment" for people with dementia was proposed emphasizing implicit interaction and natural interface. The backbone of this III Environment is based on supporting orientation and navigation tasks with three systems: a Monitoring system, an intelligent system, and a guiding system. The monitoring system and intelligent system automatically detect and interpret the locations and activities performed by the users i.e. people with dementia. This approach (implicit input) reduces cognitive workload as well as physical workload on the user to provide input. The intelligent system is also aware of context, predicts next situations (location, activity), and decides when to provide an appropriate service to the users. The guiding system with intuitive and dynamic environmental cues (lighting with color) has the responsibility for guiding the users to the places they need to be.
Overall, three types of a monitoring system with Ultra-Wideband and iBeacon technologies, different techniques and algorithms were implemented for different contexts of use.
They showed a high user acceptance with a reasonable price as well as decent accuracy and precision. In the intelligent system, models were built to recognize the users’ current activity, detect the erroneous activity, predict the next location and activity, and analyze the
history data, detect issues, notify them and suggest solutions to caregivers via visualized web interfaces. About the guiding systems, five studies were conducted to test and evaluate the effect of lighting with color on people with dementia. The results were promising. Although
several components of III Environment in general and three systems, in particular, are in place (implemented and tested separately), integrating them all together and employing this in the dementia context as a fully properly evaluation with formal stakeholders (people with
dementia and caregivers) are needed for the future step.
Magnetic Particle Imaging (MPI) ist ein neuartiges tomographisches Bildgebungsverfahren,
welches in der Lage ist, dreidimensional die Verteilung von superparamagnetischen
Nanopartikeln zu detektieren. Aufgrund des direkten Nachweises
des Tracers ist MPI ein sehr schnelles und sensitives Verfahren [12] und benötigt für
eine Einordnung des Tracers (z.B. im Gewebe) eine weitere bildgebende Modalität
wie die Magnetresonanztomographie (MRI) oder die Computertomographie. Die
strukturelle Einordnung wird häufig mit dem Fusion-Imaging-Verfahren durchgeführt,
bei dem die Proben separat in den Geräten vermessen und die Datensätze
retrospektiv korreliert werden [75][76]. In einem ersten Experiment wurde bereits
ein Traveling-Wave-MPI-Scanner (TWMPI) [17] mit einem Niederfeld-MRI-Scanner
kombiniert und die ersten Hybridmessung durchgeführt [15]. Der technische Aufwand,
zwei separate Geräte aufzubauen sowie die Tatsache, dass ein MRI-Gerät
bei 30mT sehr lange benötigt, diente als Motivation für ein integriertes TWMPIMRI-
Hybridsystem, bei dem das dynamische lineare Gradientenarray (dLGA) eines
TWMPI-Scanners intrinsisch das B0-Feld für ein MRI-Gerät erzeugen sollte.
Das Ziel dieser Arbeit war es, die Grundlagen für einen integrierten TWMPI-MRIHybridscanner
zu schaffen. Die Geometrie des dLGAs sollte dabei nicht verändert
werden, damit TWMPI-Messungen weiterhin ohne Einschränkungen möglich sind.
Zusammenfassend werden hier noch mal die wichtigsten Schritte und Ergebnisse
dieser Arbeit aufgezeigt.
Zu Beginn dieser Arbeit wurde mittels Magnetfeldsimulationen nach einer geeigneten
Stromverteilung gesucht, um allein mit dem dLGA ein ausreichend homogenes
Magnetfeld erzeugen zu können. Die Ergebnisse der Simulationen zeigten,
dass bereits zwei unterschiedliche Ströme in 14 der 20 Einzelspulen des dLGAs
genügten, um ein Field of View (FOV) mit der Größe 36mm x 12mm mit ausreichender
Homogenität zu erreichen. Die Homogenität innerhalb des FOVs betrug
dabei 3000 ppm. Für die angestrebte Feldstärke von 235mT waren Stromstärken
von 129A und 124A nötig.
Die hohen Ströme des dLGAs erforderten die Entwicklung eines dafür angepassten
Verstärkers. Das ursprüngliche Konzept, welches auf einem linear angesteuerten
Leistungstransistors aufbaute, wurde in zahlreichen Schritten so weit verbessert,
dass die nötigen Stromstärken stabil an- und ausgeschaltet werden konnten.
Mithilfe eines Ganzkörper-MRIs konnte erstmals das B0-Feld des dLGAs, welches
durch den selbstgebauten Verstärker erzeugt wurde, gemessen und mit der Simulation
verglichen werden. Zwischen den beiden Verläufen zeigte sich eine qualitativ
gute Übereinstimmung.
Das Finden des NMR-Signals stellte wegen des selbstgebauten Verstärkers eine
Herausforderung dar, da zu diesem Zeitpunkt die nötige Präzision noch nicht erreicht
wurde und der wichtigste Parameter, die Magnetfeldstärke im dLGA, nicht
gemessen werden konnte. Dagegen konnte die Länge der Pulse für die Spin-Echo-
Sequenz sehr gut gemessen werden, jedoch war der optimale Wert noch nicht bekannt.
Durch iterative Messungen wurden die richtigen Einstellungen gefunden,
die nach Änderungen an der Hardware jeweils angepasst wurden.
Die Performanz des Verstärkers konnte anhand wiederholter Messungen des NMRSignals
genauer untersucht werden. Es zeigte sich, dass die Präzision weiter verbessert
werden musste, um reproduzierbare Ergebnisse zu erhalten. Mithilfe des
NMR-Signals konnten auch das B0-Feld ausgemessen werden. Es zeigte eine gute
Übereinstimmung zur Simulation. Mithilfe von vier Segmentspulen des dLGAs
war es möglich einen linearen Gradienten entlang der z-Achse zu erzeugen. Ein
Gradient wurde zusätzlich zum B0-Feld geschaltet und ebenfalls ausgemessen.
Auch dieser Verlauf zeigte eine gute Übereinstimmung zur Simulation.
Mithilfe des Gradienten wurde erfolgreich die Frequenzkodierung und die Phasenkodierung
implementiert, durch die bei beiden Messungen zwei Proben anhand
des Ortes unterschieden werden konnten. Damit war die Entwicklung des MRIScanners
abgeschlossen.
Der Aufbau des TWMPI-Scanners benötigte neben dem Bau des dLGAs die Anfertigung
von Sattelspulen. Für die MPI-Messungen konnte der fehlende Teil der
Sendekette sowie die gesamte Empfangskette von einer früheren Version benutzt
werden. Auch für das MPI wurde die Funktionalität mithilfe einer Punktprobe und
eines Phantoms überprüft, allerdings hier in zwei Dimensionen.
Die Erweiterung zu einem Hybridscanner erforderte weitere Modifikationen gegenüber
einem reinen TWMPI- bzw. MRI-Scanner. Es musste ein Weg gefunden
werden, die Beschaltung des dLGAs für die jeweilige Modalität zügig anzupassen.
Dafür wurde ein Steckbrett gebaut, das es erlaubt, die Verkabelung des dLGAs in
kurzer Zeit zu ändern. Außerdem mussten innerhalb des dLGAs die Sattelspulen
und die Empfangsspule des TWMPIs sowie die Empfangsspule des MRIs untergebracht
werden. Ein modulares System erlaubte die gleichzeitige Anordnung aller
Komponenten innerhalb des dLGAs. Das messbare FOV des MRIs ist der Homogenität
des B0-Feldes angepasst, das FOV des TWMPI ist ausgedehnter.
Zum Ende dieser Arbeit wurde erfolgreich eine Hybridmessung durchgeführt. Das
Phantom bestand aus je zwei Kugeln gefüllt mit Öl und mit einem MPI-Tracer
(Resovist). Mit TWMPI war die räumliche Abbildung der Resovistkugeln möglich,
während mit MRI die der Ölkugeln möglich war. Diese in situ Messung zeigte die
erfolgreiche Umsetzung des Konzeptes für den TWMPI-MRI-Hybridscanner.
Zusammenfassend wurden in dieser Arbeit die Grundlagen für einen TWMPIMRI-
Hybridscanner gelegt. Die größte Schwierigkeit bestand darin, ein ausreichend
homogenes B0-Feld für das MRI zu erzeugen, mit dem man ein gutes NMRSignal
aufnehmen konnte. Mit einer einfachen Stromverteilung, bestehend aus zwei
unterschiedlichen Strömen, konnte ein ausreichend homogenes B0-Feld erzeugt
werden. Durch komplexere Stromverteilungen lässt sich die Homogenität noch verbessern
und somit das FOV vergrößern.
Die MRI-Bildgebung wurde in dieser Arbeit für eine Dimension implementiert und
soll in fortführenden Arbeiten auf 2D und 3D ausgedehnt werden. Letztendlich
soll anhand eines MRI-Bildes die Partikelverteilung des MPI-Tracers in Lebewesen
deren Anatomie zugeordnet werden. In [76][77][78] sind die ersten präklinischen
Anwendungen mit dem TWMPI-Scanner durchgeführt worden. Diese Anwendungen
erlangen eine höhere Aussagekraft durch die zusätzlichen Informationen eines
TWMPI-MRI-Hybridscanners.
In weiteren Arbeiten sollte zusätzlich die Größe des FOVs für das MRI erweitert
werden. Außerdem macht es Sinn, einen elektronischen Schalter zum Umschalten
des dLGAs zwischen MRI und MPI zu realisieren.
Die nächste Version des Hybridscanners könnte beispielsweise ein komplett neu
gestaltetes dLGA enthalten, in dem jede Segmentspule in radialer Richtung einmal
geteilt wird und dadurch in eine innere und eine äußere Spule zerlegt wird. Für
das MRI werden die beiden Spulenteile gegen geschaltet, um ein homogenes Feld
in radialer Richtung zu erhalten. Für das TWMPI werden die Spulenteile gleichgeschaltet,
um einen möglichst starken Feldgradienten zu erreichen.
In dieser Arbeit wurde für die nächste Version eines TWMPI-MRI-Hybridscanners
viel Wissen generiert, das äußerst hilfreich für das neue Design sein wird. Anhand
der Vermessung des B0-Feldes hat sich gezeigt, dass die simulierten Magnetfelder
gut mit den gemessenen Magnetfeldern übereinstimmen. Außerdem wurde viel
gelernt über die Kombination von TWMPI mit MRI.
Almost once a week broadcasts about earthquakes, hurricanes, tsunamis, or forest fires are filling the news. While oneself feels it is hard to watch such news, it is even harder for rescue troops to enter such areas. They need some skills to get a quick overview of the devastated area and find victims. Time is ticking, since the chance for survival shrinks the longer it takes till help is available. To coordinate the teams efficiently, all information needs to be collected at the command center. Therefore, teams investigate the destroyed houses and hollow spaces for victims. Doing so, they never can be sure that the building will not fully collapse while they
are inside. Here, rescue robots are welcome helpers, as they are replaceable and make work more secure. Unfortunately, rescue robots are not usable off-the-shelf, yet.
There is no doubt, that such a robot has to fulfil essential requirements to successfully accomplish a rescue mission. Apart from the mechanical requirements it has to be able to build
a 3D map of the environment. This is essential to navigate through rough terrain and fulfil manipulation tasks (e.g. open doors). To build a map and gather environmental information, robots are equipped with multiple sensors. Since laser scanners produce precise measurements and support a wide scanning range, they are common visual sensors utilized for mapping.
Unfortunately, they produce erroneous measurements when scanning transparent (e.g. glass, transparent plastic) or specular reflective objects (e.g. mirror, shiny metal). It is understood that such objects can be everywhere and a pre-manipulation to prevent their influences is impossible. Using additional sensors also bear risks.
The problem is that these objects are occasionally visible, based on the incident angle of the laser beam, the surface, and the type of object. Hence, for transparent objects, measurements might result from the object surface or objects behind it. For specular reflective objects, measurements might result from the object surface or a mirrored object. These mirrored objects are illustrated behind the surface which is wrong. To obtain a precise map, the surfaces need to
be recognised and mapped reliably. Otherwise, the robot navigates into it and crashes. Further, points behind the surface should be identified and treated based on the object type. Points behind a transparent surface should remain as they represent real objects. In contrast, Points behind a specular reflective surface should be erased. To do so, the object type needs to be classified. Unfortunately, none of the current approaches is capable to fulfil these requirements.
Therefore, the following thesis addresses this problem to detect transparent and specular reflective objects and to identify their influences. To give the reader a start up, the first chapters
describe: the theoretical background concerning propagation of light; sensor systems applied for range measurements; mapping approaches used in this work; and the state-of-the-art concerning detection and identification of transparent and specular reflective objects. Afterwards, the Reflection-Identification-Approach, which is the core of subject thesis is presented. It describes 2D and a 3D implementation to detect and classify such objects. Both are available as ROS-nodes. In the next chapter, various experiments demonstrate the applicability and reliability of these nodes. It proves that transparent and specular reflective objects can be detected and classified. Therefore, a Pre- and Post-Filter module is required in 2D. In 3D, classification is possible solely with the Pre-Filter. This is due to the higher amount of measurements. An
example shows that an updatable mapping module allows the robot navigation to rely on refined maps. Otherwise, two individual maps are build which require a fusion afterwards. Finally, the
last chapter summarizes the results and proposes suggestions for future work.
A complete simulation system is proposed that can be used as an educational tool by physicians in training basic skills of Minimally Invasive Vascular Interventions. In the first part, a surface model is developed to assemble arteries having a planar segmentation. It is based on Sweep Surfaces and can be extended to T- and Y-like bifurcations. A continuous force vector field is described, representing the interaction between the catheter and the surface. The computation time of the force field is almost unaffected when the resolution of the artery is increased.
The mechanical properties of arteries play an essential role in the study of the circulatory system dynamics, which has been becoming increasingly important in the treatment of cardiovascular diseases. In Virtual Reality Simulators, it is crucial to have a tissue model that responds in real time. In this work, the arteries are discretized by a two dimensional mesh and the nodes are connected by three kinds of linear springs. Three tissue layers (Intima, Media, Adventitia) are considered and, starting from the stretch-energy density, some of the elasticity tensor components are calculated. The physical model linearizes and homogenizes the material response, but it still contemplates the geometric nonlinearity. In general, if the arterial stretch varies by 1% or less, then the agreement between the linear and nonlinear models is trustworthy.
In the last part, the physical model of the wire proposed by Konings is improved. As a result, a simpler and more stable method is obtained to calculate the equilibrium configuration of the wire. In addition, a geometrical method is developed to perform relaxations. It is particularly useful when the wire is hindered in the physical method because of the boundary conditions. The physical and the geometrical methods are merged, resulting in efficient relaxations. Tests show that the shape of the virtual wire agrees with the experiment. The proposed algorithm allows real-time executions and the hardware to assemble the simulator has a low cost.
This work is concerned with the numerical approximation of solutions to models that are used to describe atmospheric or oceanographic flows. In particular, this work concen- trates on the approximation of the Shallow Water equations with bottom topography and the compressible Euler equations with a gravitational potential. Numerous methods have been developed to approximate solutions of these models. Of specific interest here are the approximations of near equilibrium solutions and, in the case of the Euler equations, the low Mach number flow regime. It is inherent in most of the numerical methods that the quality of the approximation increases with the number of degrees of freedom that are used. Therefore, these schemes are often run in parallel on big computers to achieve the best pos- sible approximation. However, even on those big machines, the desired accuracy can not be achieved by the given maximal number of degrees of freedom that these machines allow. The main focus in this work therefore lies in the development of numerical schemes that give better resolution of the resulting dynamics on the same number of degrees of freedom, compared to classical schemes.
This work is the result of a cooperation of Prof. Klingenberg of the Institute of Mathe- matics in Wu¨rzburg and Prof. R¨opke of the Astrophysical Institute in Wu¨rzburg. The aim of this collaboration is the development of methods to compute stellar atmospheres. Two main challenges are tackled in this work. First, the accurate treatment of source terms in the numerical scheme. This leads to the so called well-balanced schemes. They allow for an accurate approximation of near equilibrium dynamics. The second challenge is the approx- imation of flows in the low Mach number regime. It is known that the compressible Euler equations tend towards the incompressible Euler equations when the Mach number tends to zero. Classical schemes often show excessive diffusion in that flow regime. The here devel- oped scheme falls into the category of an asymptotic preserving scheme, i.e. the numerical scheme reflects the behavior that is computed on the continuous equations. Moreover, it is shown that the diffusion of the numerical scheme is independent of the Mach number.
In chapter 3, an HLL-type approximate Riemann solver is adapted for simulations of the Shallow Water equations with bottom topography to develop a well-balanced scheme. In the literature, most schemes only tackle the equilibria when the fluid is at rest, the so called Lake at rest solutions. Here a scheme is developed to accurately capture all the equilibria of the Shallow Water equations. Moreover, in contrast to other works, a second order extension is proposed, that does not rely on an iterative scheme inside the reconstruction procedure, leading to a more efficient scheme.
In chapter 4, a Suliciu relaxation scheme is adapted for the resolution of hydrostatic equilibria of the Euler equations with a gravitational potential. The hydrostatic relations are underdetermined and therefore the solutions to that equations are not unique. However, the scheme is shown to be well-balanced for a wide class of hydrostatic equilibria. For specific classes, some quadrature rules are computed to ensure the exact well-balanced property. Moreover, the scheme is shown to be robust, i.e. it preserves the positivity of mass and energy, and stable with respect to the entropy. Numerical results are presented in order to investigate the impact of the different quadrature rules on the well-balanced property.
In chapter 5, a Suliciu relaxation scheme is adapted for the simulations of low Mach number flows. The scheme is shown to be asymptotic preserving and not suffering from excessive diffusion in the low Mach number regime. Moreover, it is shown to be robust under certain parameter combinations and to be stable from an Chapman-Enskog analysis.
Numerical results are presented in order to show the advantages of the new approach.
In chapter 6, the schemes developed in the chapters 4 and 5 are combined in order to investigate the performance of the numerical scheme in the low Mach number regime in a gravitational stratified atmosphere. The scheme is shown the be well-balanced, robust and stable with respect to a Chapman-Enskog analysis. Numerical tests are presented to show the advantage of the newly proposed method over the classical scheme.
In chapter 7, some remarks on an alternative way to tackle multidimensional simulations are presented. However no numerical simulations are performed and it is shown why further research on the suggested approach is necessary.
In order to shrink the size of semiconductor devices and improve their
efficiency at the same time, silicon-based semiconductor devices have
been engineered, until the material almost reaches its performance
limits. As the candidate to be used next in semiconducting devices,
single-wall carbon nanotubes show a great potential due to their
promise of increased device efficiency and their high charge carrier
mobilities in the nanometer size active areas. However, there are
material based problems to overcome in order to imply SWNTs in the
semiconductor devices. SWNTs tend to aggregate in bundles and it is
not trivial to obtain an electronically or chirally homogeneous SWNT
dispersion and when it is done, a homogeneous thin film needs to be
produced with a technique that is practical, easy and scalable. This
work was aimed to solve both of these problems.
In the first part of this study, six different polymers, containing
fluorene or carbazole as the rigid part and bipyridine, bithiophene or
biphenyl as the accompanying copolymer unit, were used to selectively
disperse semiconducting SWNTs. With the data obtained from
absorption and photoluminescence spectroscopy of the corresponding
dispersions, it was found out that the rigid part of the copolymer plays a
primary role in determining its dispersion efficiency and electronic
sorting ability. Within the two tested units, carbazole has a higher π
electron density. Due to increased π−π interactions, carbazole
containing copolymers have higher dispersion efficiency. However, the
electronic sorting ability of fluorene containing polymers is superior.
Chiral selection of the polymers in the dispersion is not directly
foreseeable from the selection of backbone units. At the end, obtaining a monochiral dispersion is found to be highly dependent on the used raw
material in combination to the preferred polymer.
Next, one of the best performing polymers due to high chirality
enrichment and electronic sorting ability was chosen in order to
disperse SWNTs. Thin films of varying thickness between 18 ± 5 to
755o±o5 nm were prepared using vacuum filtration wet transfer method
in order to analyze them optically and electronically.
The scalability and efficiency of the integrated thin film production
method were shown using optical, topographical and electronic
measurements. The relative photoluminescence quantum yield of the
radiative decay from the SWNT thin films was found to be constant for
the thickness scale. Constant roughness on the film surface and linearly
increasing concentration of SWNTs were also supporting the scalability
of this thin film production method. Electronic measurements on bottom
gate top contact transistors have shown an increasing charge carrier
mobility for linear and saturation regimes. This was caused by the
missing normalization of the mobility for the thickness of the active
layer. This emphasizes the importance of considering this dimension for
comparison of different field effect transistor mobilities.
This thesis will outline studies performed on the fluorescence dynamics of phenyl-benzo-
[c]-tetrazolo-cinnolium chloride (PTC) in alcoholic solutions with varying viscosity using
time-resolved fluoro-spectroscopic methods. Furthermore, the properties of femtosecond
Laguerre-Gaussian (LG) laser pulses will be investigated with respect to their temporal
and spatial features and an approach will be developed to measure and control the spatial
intensity distribution on the time scale of the pulse.
Tetrazolium salts are widely used in biological assays for their low oxidation and reduction
thresholds and spectroscopic properties. However, a neglected feature in these applications
is the advantage that detection of emitted light has over the determination of the
absorbance. To corroborate this, PTC as one of the few known fluorescent tetrazolium
salts was investigated with regard to its luminescent features. Steady-state spectroscopy
revealed how PTC can be formed by a photoreaction from 2,3,5-triphenyl-tetrazolium
chloride (TTC) and how the fluorescence quantum yield behaved in alcoholic solvents
with different viscosity. In the same array of solvents time correlated single photon counting
(TCSPC) measurements were performed and the fluorescence decay was investigated.
Global analysis of the results revealed different dynamics in the different solvents, but
although the main emission constant did change with the solvent, taking the fluorescence
quantum yield into consideration resulted in an independence of the radiative rate from
the solvent. The non-radiative rate, however, was highly solvent dependent and responsible
for the observed solvent-related changes in the fluorescence dynamics. Further studies
with the increased time resolution of femtosecond fluorescence upconversion revealed an
independence of the main emission constant from the excitation energy, however the dynamics
of the cooling processes prior to emission were prolonged for higher excitation
energy. This led to a conceivable photoreaction scheme with one emissive state with a
competing non-radiative relaxation channel, that may involve an intermediate state.
LG laser beams and their properties have seen a lot of scientific attention over the past two
decades. Also in the context of new techniques pushing the limit of technology further to
explore new phenomena, it is essential to understand the features of this beam class and
check the consistency of the findings with theoretical knowledge. The mode conversion
of a Hermite-Gaussian (HG) mode into a LG mode with the help of a spiral phase plate
(SPP) was investigated with respect to its space-time characteristics. It was found that
femtosecond LG and HG pulses of a given temporal duration share the same spectrum
and can be characterized using the same well-established methods. The mode conversion
proved to only produce the desired LG mode with its characteristic orbital angular momentum
(OAM), that is conserved after frequency doubling the pulse. Furthermore, it
was demonstrated that temporal shaping of the HG pulse does not alter the result of its
mode-conversion, as three completely different temporal pulse shapes produced the same
LG mode. Further attention was given to the sum frequency generation of fs LG beams
and dynamics of the interference of a HG and a LG pulse. It was found that if both are
chirped with inverse signs the spatial intensity distribution does rotate around the beam
axis on the time scale of the pulse. A strategy was found that would enable a measurement
of these dynamics by upconversion of the interference with a third gate pulse. The results
of which are discussed theoretically and an approach of an experimental realization had
been made. The simulated findings had only been reproduced to a limited extend due to
experimental limitations, especially the interferometric stability of the setup.
Coherent Multidimensional Spectroscopy in Molecular Beams and Liquids Using Incoherent Observables
(2018)
The aim of the present work was to implement an experimental approach that enables coherent two-dimensional (2D) electronic spectroscopy of samples in various states of matter. For samples in the liquid phase, a setup was realized that utilizes the sample fluorescence for the acquisition of 2D spectra. Whereas the liquid-phase approach has been established before, coherent 2D spectroscopy on gaseous samples in a molecular beam as developed in this work is in fact a new method. It employs for the first time cations in a time-of-flight mass spectrometer for signal detection and was used to obtain the first ion-selective 2D spectra of a molecular-beam sample. Additionally, a new acquisition concept was developed in this thesis that significantly decreases measurement times in 2D spectroscopy using optimized sparse sampling and a compressed-sensing reconstruction algorithm.
Characteristic for the variant of 2D spectroscopy presented in this work is the usage of a phase-coherent sequence of four laser pulses in a fully collinear geometry for sample excitation. The pulse sequence was generated by a custom-designed pulse shaper that is capable of rapid scanning by changing the pulse parameters such as time delays and phases with the repetition rate of the laser. The sample's response was detected by monitoring incoherent observables that arise from the final-state population, for instance fluorescence or cations. Phase cycling, i.e., signal acquisition with different combinations of the relative phases of the excitation pulses, was applied to extract nonlinear signal contributions from the full signal during data analysis.
Liquid-phase 2D fluorescence spectroscopy was established with the laser dye cresyl violet as a sample molecule, confirming coherent oscillations previously observed in literature that are originating from vibronic coherences in specific regions of the 2D spectrum.
The data set of this experiment was used subsequently to introduce optimized sparse sampling in 2D spectroscopy. An optimization algorithm was implemented in order to find the best sampling pattern while taking only one quarter of the regular time-domain sampling points, thereby reducing the acquisition time by a factor of four. Signal recovery was based on a new and compact representation of 2D spectra using the von Neumann basis, which required about six times less coefficients than the Fourier basis to retain the relevant information. Successful reconstruction was shown by recovering the coherent oscillations in cresyl violet from a reduced data set.
Finally, molecular-beam coherent 2D spectroscopy was introduced with an investigation of ionization pathways in highly-excited nitrogen dioxide, revealing transitions to discrete auto-ionizing states as the dominant contribution to the ion signal. Furthermore, the advantage of the time-of-flight approach to obtain reactant and product 2D spectra simultaneously enabled the observation of distinct differences in the multiphoton-ionization response functions of the nitrogen dioxide cation and the nitrogen oxide ionic fragment.
The developed experimental techniques of this work will facilitate fast acquisition of 2D spectra for samples in various states of matter and permit reliable direct comparison of results. Therefore, they pave the way to study the properties of quantum coherences during photophysical processes or photochemical reactions in different environments.
In der vorliegenden Arbeit werden die strukturellen und magnetischen Eigenschaften verschiedener 3d-Übergangsmetalloxidketten (TMO-Ketten) auf Ir(001) und Pt(001) untersucht. Diese weisen eine (3 × 1) Struktur mit periodisch angeordneten Ketten auf, die nur über die Sauerstoffbindung an das Substrat gekoppelt sind. Während die Struktur durch experimentelle und theoretische Untersuchungen bestätigt ist, liegen für die magnetischen Eigenschaften ausschließlich Rechnungen vor. Zur Überprüfung dieser theoretischen Vorhersagen wird die Methode der spinpolarisierten Rastertunnelmikroskopie (SP-STM) verwendet, die die Abbildung der magnetischen Ordnung mit atomarer Auflösung erlaubt.
Die Untersuchungen beginnen mit der Vorstellung der Ir(001) Oberfläche, die eine (5 × 1) Rekonstruktion aufweist. Eine Aufhebung dieser Rekonstruktion erreicht man durch das Heizen des Ir-Substrats in Sauerstoffatmosphäre unter Bildung einer (2 × 1) Sauerstoffrekonstruktion. Die Qualität der Oberfläche hängt dabei von der Wachstumstemperatur T und dem verwendeten Sauerstoffdruck pOx ab. Die bei T = 550°C und pOx = 1 × 10^−8 mbar hergestellte Sauerstoffrektonstruktion dient als Ausgangspunkt für die folgenden Präparationen von CoO2, FeO2 und MnO2-Ketten. Dazu wird jeweils eine drittel Monolage (ML) des Übergangsmetalls auf die Oberfläche des Substrates gedampft und die Probe unter Sauerstoffatmosphäre ein weiteres Mal geheizt. Auf diese Weise kann die (3 × 1) Struktur der bekannten Ketten bestätigt und die Gruppe der TMO-Ketten um die CrO2-Ketten erweitert werden.
In der einschlägigen Fachliteratur wurden Vorhersagen bezüglich der magnetischen Struktur der TMO-Ketten publiziert, wonach entlang und zwischen CoO2-Ketten eine ferromagnetische (FM) und für FeO2 und MnO2-Ketten eine antiferromagnetische (AFM-) Kopplung vorliegt.Während die Überprüfung dieser Vorhersagen mit SP-STM für CoO2 und CrO2-Ketten keine Hinweise auf magnetische Strukturen liefert, liegen bei FeO2 und MnO2-Ketten unterschiedliche magnetische Phasen vor. In der Tat kann
mit den experimentell gefundenen Einheitszellen die AFM-Kopplung entlang beider Ketten bestätigt werden. Im Gegensatz widersprechen die Kopplungen zwischen den Ketten den Berechnungen. Bei FeO2-Ketten liegt eine stabile FM Ordnung vor, die zu einer magnetischen (3 × 2) Einheitszelle mit einer leichten Magnetisierung in Richtung der Oberflächennormalen führt (out-of-plane). Die MnO2-Ketten weichen ebenfalls von der berechneten magnetischen kollinearen Ordnung zwischen benachbarten Ketten ab und zeigen eine chirale Struktur. Durch die Rotation der Mn-Spins um 120° in der Probenebenen (in-plane) entsteht eine magnetische (9 × 2) Einheitszelle, deren Periode durch neue DFT-Rechnungen bestätigt wird. Nach diesen Berechnungen handelt es sich um eine Spinspirale, die durch die Dzyaloshinskii-Moriya (DM-) Wechselwirkung bei einem Energiegewinn von 0,3 meV pro Mn-Atom gegenüber den kollinearen FM Zustand stabilisiert wird. Diese wird ähnlich wie bei bereits publizierten Clustern und Adatomen auf Pt(111) durch die Rudermann-Kittel-Kasuya-Yosida (RKKY-) Wechselwirkung vermittelt und erklärt den experimentell gefundenen einheitlichen Drehsinn der Spiralen.
Die RKKY-Wechselwirkung zeigt eine starke Abhängigkeit von der Fermi-Oberfläche des Substrats. Im folgenden Kapitel werden deshalb mit TMO-Ketten auf Pt(001) die strukturellen und magnetischen Eigenschaften auf einem weiteren Substrat analysiert, wobei zum Zeitpunkt der Arbeit nur die Existenz der CoO2-Ketten aus der Literatur bekannt war. Vergleichbar mit Ir(001) besitzt auch Pt(001) eine rekonstruierte Oberfläche, die sich aber stabil gegenüber Oxidation zeigt. Dadurch muss die drittel ML des Übergangsmetalls direkt auf die Rekonstruktion aufgedampft werden. Das Wachstum des Übergangsmetalls ist dabei von der Temperatur des Substrats abhängig und beeinflusst
das Ergebnis der nachfolgenden Oxidation. Diese erfolgt analog zum Wachstum der Ketten auf Ir(001) durch das Heizen der Probe in Sauerstoffatmosphäre und resultiert nur für das Aufdampfen des Übergangsmetalls auf kalte Pt(001) Oberflächen in Ketten mit der Periode von 3aPt. Auf diese Weise kann nicht nur die (3 × 1) Struktur der CoO2-Ketten bestätigt werden, sondern auch durch atomare Auflösung die Gruppe der TMO-Ketten um MnO2-Ketten auf Pt(001) erweitert werden. Im Gegensatz dazu sind die nicht magnetischen Messungen im Fall von Fe nicht eindeutig. Zwar liegen
auch hier Ketten im Abstand des dreifachen Pt Gittervektors vor, trotzdem ist die (3 × 1) Struktur nicht nachweisbar. Dies liegt an einer Korrugation mit einer Periode von 2aPt entlang der Ketten, was ein Hinweis auf eine Peierls Instabilität sein kann.
Entsprechend dem Vorgehen für Ir(001) werden für die TMO-Ketten auf Pt(001) SP-STM Messungen durchgeführt und die Vorhersage einer AFM-Kopplung für CoO2-Ketten überprüft. Auch hier können, wie im Fall von CoO2-Ketten und im Widerspruch zur Vorhersage, für beide Polarisationsrichtungen der Spitze keine magnetischen Strukturen gefunden werden. Darüber hinaus verhalten sich die MnO2-Ketten auf Pt(001) mit ihrer chiralen magnetischen Struktur ähnlich zu denen auf Ir(001). Dies bestätigt die Annahme einer indirekten DM-Wechselwirkung, wobei durch die 72° Rotation der Mn-Spins eine längere Periode der zykloidalen Spinspirale festgestellt wird. Die Erklärung dafür liegt in der Abhängigkeit der RKKY-Wechselwirkung vom Fermi-Wellenvektor des Substrats, während sich die DM-Wechselwirkung beim Übergang von Ir zu Pt nur wenig ändert.