Search result: Catalogue data in Autumn Semester 2020

Mechanical Engineering Bachelor Information
5. Semester
Focus Specialization
Biomedical Engineering
Focus Coordinator: Prof. Edoardo Mazza
NumberTitleTypeECTSHoursLecturers
151-0509-00LMicroscale Acoustofluidics Restricted registration - show details W4 credits3GJ. Dual
AbstractIn this lecture the basics as well as practical aspects (from modelling to design and fabrication ) are described from a solid and fluid mechanics perspective with applications to microsystems and lab on a chip devices.
ObjectiveUnderstanding acoustophoresis, the design of devices and potential applications
ContentLinear and nonlinear acoustics, foundations of fluid and solid mechanics and piezoelectricity, Gorkov potential, numerical modelling, acoustic streaming, applications from ultrasonic microrobotics to surface acoustic wave devices
Lecture notesYes, incl. Chapters from the Tutorial: Microscale Acoustofluidics, T. Laurell and A. Lenshof, Ed., Royal Society of Chemistry, 2015
LiteratureMicroscale Acoustofluidics, T. Laurell and A. Lenshof, Ed., Royal Society of Chemistry, 2015
Prerequisites / NoticeSolid and fluid continuum mechanics. Notice: The exercise part is a mixture of presentation, lab sessions ( both compulsary) and hand in homework.
151-0524-00LContinuum Mechanics IW4 credits2V + 1UE. Mazza
AbstractThe lecture deals with constitutive models that are relevant for design and calculation of structures. These include anisotropic linear elsticity, linear viscoelasticity, plasticity, viscoplasticity. Homogenization theories and laminate theory are presented. Theoretical models are complemented by examples of engineering applications and eperiments.
ObjectiveBasic theories for solving continuum mechanics problems of engineering applications, with particular attention to material models.
ContentAnisotrope Elastizität, Linearelastisches und linearviskoses Stoffverhalten, Viskoelastizität, mikro-makro Modellierung, Laminattheorie, Plastizität, Viscoplastizität, Beispiele aus der Ingenieuranwendung, Vergleich mit Experimenten.
Lecture notesyes
151-0604-00LMicrorobotics Information W4 credits3GB. Nelson, N. Shamsudhin
AbstractMicrorobotics is an interdisciplinary field that combines aspects of robotics, micro and nanotechnology, biomedical engineering, and materials science. The aim of this course is to expose students to the fundamentals of this emerging field. Throughout the course, the students apply these concepts in assignments. The course concludes with an end-of-semester examination.
ObjectiveThe objective of this course is to expose students to the fundamental aspects of the emerging field of microrobotics. This includes a focus on physical laws that predominate at the microscale, technologies for fabricating small devices, bio-inspired design, and applications of the field.
ContentMain topics of the course include:
- Scaling laws at micro/nano scales
- Electrostatics
- Electromagnetism
- Low Reynolds number flows
- Observation tools
- Materials and fabrication methods
- Applications of biomedical microrobots
Lecture notesThe powerpoint slides presented in the lectures will be made available as pdf files. Several readings will also be made available electronically.
Prerequisites / NoticeThe lecture will be taught in English.
151-0621-00LMicrosystems I: Process Technology and IntegrationW6 credits3V + 3UM. Haluska, C. Hierold
AbstractStudents are introduced to the fundamentals of semiconductors, the basics of micromachining and silicon process technology and will learn about the fabrication of microsystems and -devices by a sequence of defined processing steps (process flow).
ObjectiveStudents are introduced to the basics of micromachining and silicon process technology and will understand the fabrication of microsystem devices by the combination of unit process steps ( = process flow).
Content- Introduction to microsystems technology (MST) and micro electro mechanical systems (MEMS)
- Basic silicon technologies: Thermal oxidation, photolithography and etching, diffusion and ion implantation, thin film deposition.
- Specific microsystems technologies: Bulk and surface micromachining, dry and wet etching, isotropic and anisotropic etching, beam and membrane formation, wafer bonding, thin film mechanical properties.
Application of selected technologies will be demonstrated on case studies.
Lecture notesHandouts (available online)
Literature- S.M. Sze: Semiconductor Devices, Physics and Technology
- W. Menz, J. Mohr, O.Paul: Microsystem Technology
- Hong Xiao: Introduction to Semiconductor Manufacturing Technology
- M. J. Madou: Fundamentals of Microfabrication and Nanotechnology, 3rd ed.
- T. M. Adams, R. A. Layton: Introductory MEMS, Fabrication and Applications
Prerequisites / NoticePrerequisites: Physics I and II
227-0385-10LBiomedical ImagingW6 credits5GS. Kozerke, K. P. Prüssmann
AbstractIntroduction and analysis of medical imaging technology including X-ray procedures, computed tomography, nuclear imaging techniques using single photon and positron emission tomography, magnetic resonance imaging and ultrasound imaging techniques.
ObjectiveTo understand the physical and technical principles underlying X-ray imaging, computed tomography, single photon and positron emission tomography, magnetic resonance imaging, ultrasound and Doppler imaging techniques. The mathematical framework is developed to describe image encoding/decoding, point-spread function/modular transfer function, signal-to-noise ratio, contrast behavior for each of the methods. Matlab exercises are used to implement and study basic concepts.
Content- X-ray imaging
- Computed tomography
- Single photon emission tomography
- Positron emission tomography
- Magnetic resonance imaging
- Ultrasound/Doppler imaging
Lecture notesLecture notes and handouts
LiteratureWebb A, Smith N.B. Introduction to Medical Imaging: Physics, Engineering and Clinical Applications; Cambridge University Press 2011
Prerequisites / NoticeAnalysis, Linear Algebra, Physics, Basics of Signal Theory, Basic skills in Matlab programming
227-0393-10LBioelectronics and Biosensors Information W6 credits2V + 2UJ. Vörös, M. F. Yanik, T. Zambelli
AbstractThe course introduces the concepts of bioelectricity and biosensing. The sources and use of electrical fields and currents in the context of biological systems and problems are discussed. The fundamental challenges of measuring biological signals are introduced. The most important biosensing techniques and their physical concepts are introduced in a quantitative fashion.
ObjectiveDuring this course the students will:
- learn the basic concepts in biosensing and bioelectronics
- be able to solve typical problems in biosensing and bioelectronics
- learn about the remaining challenges in this field
ContentL1. Bioelectronics history, its applications and overview of the field
- Volta and Galvani dispute
- BMI, pacemaker, cochlear implant, retinal implant, limb replacement devices
- Fundamentals of biosensing
- Glucometer and ELISA

L2. Fundamentals of quantum and classical noise in measuring biological signals

L3. Biomeasurement techniques with photons

L4. Acoustics sensors
- Differential equation for quartz crystal resonance
- Acoustic sensors and their applications

L5. Engineering principles of optical probes for measuring and manipulating molecular and cellular processes

L6. Optical biosensors
- Differential equation for optical waveguides
- Optical sensors and their applications
- Plasmonic sensing

L7. Basic notions of molecular adsorption and electron transfer
- Quantum mechanics: Schrödinger equation energy levels from H atom to crystals, energy bands
- Electron transfer: Marcus theory, Gerischer theory

L8. Potentiometric sensors
- Fundamentals of the electrochemical cell at equilibrium (Nernst equation)
- Principles of operation of ion-selective electrodes

L9. Amperometric sensors and bioelectric potentials
- Fundamentals of the electrochemical cell with an applied overpotential to generate a faraday current
- Principles of operation of amperometric sensors
- Ion flow through a membrane (Fick equation, Nernst equation, Donnan equilibrium, Goldman equation)

L10. Channels, amplification, signal gating, and patch clamp Y4

L11. Action potentials and impulse propagation

L12. Functional electric stimulation and recording
- MEA and CMOS based recording
- Applying potential in liquid - simulation of fields and relevance to electric stimulation

L13. Neural networks memory and learning
LiteraturePlonsey and Barr, Bioelectricity: A Quantitative Approach (Third edition)
Prerequisites / NoticeThe course requires an open attitude to the interdisciplinary approach of bioelectronics.
In addition, it requires undergraduate entry-level familiarity with electric & magnetic fields/forces, resistors, capacitors, electric circuits, differential equations, calculus, probability calculus, Fourier transformation & frequency domain, lenses / light propagation / refractive index, Michaelis-Menten equation, pressure, diffusion AND basic knowledge of biology and chemistry (e.g. understanding the concepts of concentration, valence, reactants-products, etc.).
376-0021-00LMaterials and Mechanics in MedicineW4 credits3GM. Zenobi-Wong, J. G. Snedeker
AbstractUnderstanding of physical and technical principles in biomechanics, biomaterials, and tissue engineering as well as a historical perspective. Mathematical description and problem solving. Knowledge of biomedical engineering applications in research and clinical practice.
ObjectiveUnderstanding of physical and technical principles in biomechanics, biomaterials, tissue engineering. Mathematical description and problem solving. Knowledge of biomedical engineering applications in research and clinical practice.
ContentBiomaterials, Tissue Engineering, Tissue Biomechanics, Implants.
Lecture notescourse website on Moodle
LiteratureIntroduction to Biomedical Engineering, 3rd Edition 2011,
Autor: John Enderle, Joseph Bronzino, ISBN 9780123749796
Academic Press
376-0203-00LMovement and Sport Biomechanics Information W4 credits3GW. R. Taylor, R. List
AbstractLearning to view the human body as a (bio-) mechanical system. Making the connections between everyday movements and sports activity with injury, discomfort, prevention and rehabilitation.
ObjectiveStudents are able to describe the human body as a mechanical system.
They analyse and describe human movement according to the laws of mechanics.
ContentMovement- and sports biomechanics deals with the attributes of the human body and their link to mechanics. The course includes topics such as functional anatomy, biomechanics of daily activities (gait, running, etc.) and looks at movement in sport from a mechanical point of view. Furthermore, simple reflections on the loading analysis of joints in various situations are discussed. Additionally, questions covering the statics and dynamics of rigid bodies, and inverse dynamics, relevant to biomechanics are investigated.
Prerequisites / NoticeLanguage of teaching in this course is German/English depending on the teacher
376-1504-00LPhysical Human Robot Interaction (pHRI) Restricted registration - show details W4 credits2V + 2UR. Gassert, O. Lambercy
AbstractThis course focuses on the emerging, interdisciplinary field of physical human-robot interaction, bringing together themes from robotics, real-time control, human factors, haptics, virtual environments, interaction design and other fields to enable the development of human-oriented robotic systems.
ObjectiveThe objective of this course is to give an introduction to the fundamentals of physical human robot interaction, through lectures on the underlying theoretical/mechatronics aspects and application fields, in combination with a hands-on lab tutorial. The course will guide students through the design and evaluation process of such systems.

By the end of this course, you should understand the critical elements in human-robot interactions - both in terms of engineering and human factors - and use these to evaluate and de- sign safe and efficient assistive and rehabilitative robotic systems. Specifically, you should be able to:

1) identify critical human factors in physical human-robot interaction and use these to derive design requirements;
2) compare and select mechatronic components that optimally fulfill the defined design requirements;
3) derive a model of the device dynamics to guide and optimize the selection and integration of selected components
into a functional system;
4) design control hardware and software and implement and
test human-interactive control strategies on the physical
setup;
5) characterize and optimize such systems using both engineering and psychophysical evaluation metrics;
6) investigate and optimize one aspect of the physical setup and convey and defend the gained insights in a technical presentation.
ContentThis course provides an introduction to fundamental aspects of physical human-robot interaction. After an overview of human haptic, visual and auditory sensing, neurophysiology and psychophysics, principles of human-robot interaction systems (kinematics, mechanical transmissions, robot sensors and actuators used in these systems) will be introduced. Throughout the course, students will gain knowledge of interaction control strategies including impedance/admittance and force control, haptic rendering basics and issues in device design for humans such as transparency and stability analysis, safety hardware and procedures. The course is organized into lectures that aim to bring students up to speed with the basics of these systems, readings on classical and current topics in physical human-robot interaction, laboratory sessions and lab visits.
Students will attend periodic laboratory sessions where they will implement the theoretical aspects learned during the lectures. Here the salient features of haptic device design will be identified and theoretical aspects will be implemented in a haptic system based on the haptic paddle (Link), by creating simple dynamic haptic virtual environments and understanding the performance limitations and causes of instabilities (direct/virtual coupling, friction, damping, time delays, sampling rate, sensor quantization, etc.) during rendering of different mechanical properties.
Lecture notesWill be distributed through the document repository before the lectures.
Link
LiteratureAbbott, J. and Okamura, A. (2005). Effects of position quantization and sampling rate on virtual-wall passivity. Robotics, IEEE Transactions on, 21(5):952 - 964.
Adams, R. and Hannaford, B. (1999). Stable haptic interaction with virtual environments. Robotics and Automation, IEEE Transactions on, 15(3):465 -474.
Buerger, S. and Hogan, N. (2007). Complementary stability and loop shaping for improved human ndash;robot interaction. Robotics, IEEE Transactions on, 23(2):232 -244.
Burdea, G. and Brooks, F. (1996). Force and touch feedback for virtual reality. John Wiley & Sons New York NY.
Colgate, J. and Brown, J. (1994). Factors affecting the z-width of a haptic display. In Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on, pages 3205 -3210 vol.4.
Diolaiti, N., Niemeyer, G., Barbagli, F., and Salisbury, J. (2006). Stability of haptic rendering: Discretization, quantization, time delay, and coulomb effects. Robotics, IEEE Transactions on, 22(2):256 -268.
Gillespie, R. and Cutkosky, M. (1996). Stable user-specific haptic rendering of the virtual wall. In Proceedings of the ASME International Mechanical Engineering Congress and Exhibition, volume 58, pages 397-406.
Hannaford, B. and Ryu, J.-H. (2002). Time-domain passivity control of haptic interfaces. Robotics and Automation, IEEE Transactions on, 18(1):1 -10.
Hashtrudi-Zaad, K. and Salcudean, S. (2001). Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators. The International Journal of Robotics Research, 20(6):419.
Hayward, V. and Astley, O. (1996). Performance measures for haptic interfaces. In ROBOTICS RESEARCH-INTERNATIONAL SYMPOSIUM-, volume 7, pages 195-206. Citeseer.
Hayward, V. and Maclean, K. (2007). Do it yourself haptics: part i. Robotics Automation Magazine, IEEE, 14(4):88 -104.
Leskovsky, P., Harders, M., and Szeekely, G. (2006). Assessing the fidelity of haptically rendered deformable objects. In Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2006 14th Symposium on, pages 19 - 25.
MacLean, K. and Hayward, V. (2008). Do it yourself haptics: Part ii [tutorial]. Robotics Automation Magazine, IEEE, 15(1):104 -119.
Mahvash, M. and Hayward, V. (2003). Passivity-based high-fidelity haptic rendering of contact. In Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, volume 3, pages 3722 - 3728 vol.3.
Mehling, J., Colgate, J., and Peshkin, M. (2005). Increasing the impedance range of a haptic display by adding electrical damping. In Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint, pages 257 - 262.
Okamura, A., Richard, C., and Cutkosky, M. (2002). Feeling is believing: Using a force-feedback joystick to teach dynamic systems. JOURNAL OF ENGINEERING EDUCATION-WASHINGTON-, 91(3):345-350.
O'Malley, M. and Goldfarb, M. (2004). The effect of virtual surface stiffness on the haptic perception of detail. Mechatronics, IEEE/ASME Transactions on, 9(2):448 -454.
Richard, C. and Cutkosky, M. (2000). The effects of real and computer generated friction on human performance in a targeting task. In Proceedings of the ASME Dynamic Systems and Control Division, volume 69, page 2.
Salisbury, K., Conti, F., and Barbagli, F. (2004). Haptic rendering: Introductory concepts. Computer Graphics and Applications, IEEE, 24(2):24-32.
Weir, D., Colgate, J., and Peshkin, M. (2008). Measuring and increasing z-width with active electrical damping. In Haptic interfaces for virtual environment and teleoperator systems, 2008. haptics 2008. symposium on, pages 169 -175.
Yasrebi, N. and Constantinescu, D. (2008). Extending the z-width of a haptic device using acceleration feedback. Haptics: Perception, Devices and Scenarios, pages 157-162.
Prerequisites / NoticeNotice:
The registration is limited to 26 students
There are 4 credit points for this lecture.
The lecture will be held in English.
The students are expected to have basic control knowledge from previous classes.
Link
376-1714-00LBiocompatible MaterialsW4 credits3VK. Maniura, M. Rottmar, M. Zenobi-Wong
AbstractIntroduction to molecules used for biomaterials, molecular interactions between different materials and biological systems (molecules, cells, tissues). The concept of biocompatibility is discussed and important techniques from biomaterials research and development are introduced.
ObjectiveThe course covers the follwing topics:
1. Introdcution into molecular characteristics of molecules involved in the materials-to-biology interface. Molecular design of biomaterials.
2. The concept of biocompatibility.
3. Introduction into methodology used in biomaterials research and application.
4. Introduction to different material classes in use for medical applications.
ContentIntroduction into natural and polymeric biomaterials used for medical applications. The concepts of biocompatibility, biodegradation and the consequences of degradation products are discussed on the molecular level. Different classes of materials with respect to potential applications in tissue engineering, drug delivery and for medical devices are introduced. Strong focus lies on the molecular interactions between materials having very different bulk and/or surface chemistry with living cells, tissues and organs. In particular the interface between the materials surfaces and the eukaryotic cell surface and possible reactions of the cells with an implant material are elucidated. Techniques to design, produce and characterize materials in vitro as well as in vivo analysis of implanted and explanted materials are discussed.
A link between academic research and industrial entrepreneurship is demonstrated by external guest speakers, who present their current research topics.
Lecture notesHandouts are deposited online (moodle).
LiteratureLiterature:
- Biomaterials Science: An Introduction to Materials in Medicine, Ratner B.D. et al, 3rd Edition, 2013
- Comprehensive Biomaterials, Ducheyne P. et al., 1st Edition, 2011

(available online via ETH library)

Handouts and references therin.
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