P. Blümler ICG-III, Research Centre Jülich, Germany SI-Units of Electro-Magnetism and used Sysmbols Symbol Derived Units Name of Quantity Unit Base Units I Current Ampere A SI-base unit q Electric charge Coulomb C A·s U Potential difference Volt V J/C = kg·m2·s−3·A−1 R, Z Resistance, Impedance Ohm Ω V/A = kg·m2·s−3·A−2 L Inductance Henry H Wb/A = V·s/A = kg·m2·s−2·A−2 C Capacitance Farad F q/V = kg−1·m−2·A2·s4 ε Permittivity Farad/metre F/m kg−1·m−3·A2·s4 H magnetic field strength Ampere/ metre A/m A·m−1 Φm Magnetic flux Weber Wb V·s = kg·m2·s−2·A−1 B magnetic flux density, magnetic field Tesla T Wb/m2 = kg·s−2·A−1 µ Permeability Henry/metre H/m kg·m·s−2·A−2 χm Magnetic susceptibility (dimensionless) - - Conversion of magnetic units Quantity SI - Units Magnetic flux density, B T (Tesla) Magnetic field strength, H A/m Max. energy product , BH J/m Magnetic flux, Φ Wb 1 T = 10-4 Vs/cm2 3 Permeability of 4π 10-7 free space, µ0 Wb/A/m 1 Wb = 1Vs CGS - Units Conversion G (Gauss) 1 T = 104 G Oe (Oersted) 1 A/m = 1.2566 10-2Oe G Oe J/m3 = 1.256 102 G Oe 1 MGOe = 7.958 kJ/m3 M (Maxwell) 1 Wb = 108 M unity Topics p • • • • • • • Magnet Concepts Properties of permanent magnets Design Step 1: Dipolar Approximation Design Step 2: FEM Simulations Type of Magnets Construction of Magnets g ((some hints!)) Gradient/Shim Coils CMMR6 Educational 6.9.06 ICG-III, FZJ Magnets The word magnet originates from the Greek "magnítis líthos" (μαγνήτης λίθος), which means "magnesian stone". (same is true for magnesium magnesium, the element) …and Magnesia (Greek: Μαγνησία), deriving from g ((homeland of the Macedonian tribe name Magnetes the mythical heroes Jason, Peleus and his son Achilles) …legend says that shepherd Magnes got stuck to magnetite due to o the e iron o nails a s in his s sshoes. oes Magnetite ferrimagnetic mineral (Spinel: iron(II,III) oxide: Fe3O4). ) Magnetite is the most magnetic of all the minerals on Earth (use in as an early form of magnetic compass since 1250 AC). Crystals of magnetite have been found in some bacteria, the brains of bees, of termites, of some birds, and of humans (→ magnetoreception, navigation) CMMR6 Educational 6.9.06 ICG-III, FZJ Physics of Magnetism M Magnetism ti occurs whenever h electrically l t i ll charged h d particles ti l are iin motion. ti • movement of electrons in an electric current, resulting in "electromagnetism“ (free currents) • spin (and orbital motion) of electrons, resulting in "permanent magnets“ (bound currents) μ magnetic moment of particle I q μ= r× p = γ I mc macroscopic magnetization ω μ ∑ M= V Note: Pauli-priciple! Only partially filled e-shells give para/ferromagnetic properties CMMR6 Educational 6.9.06 ICG-III, FZJ Electromagnets dB da r CMMR6 Educational 6.9.06 I d a × dr dB = 3 4πμμ0r ICG-III, FZJ The Earth-Magnet Note: earth earth‘s s north-pole north pole is a magnetic south-pole south pole Earth magnetic field: ca. 30 – 60 μT (0.3 -0.6 G) NMR for 1H: 1.2 – 2.5 kHz EPR for f e -: 0.8 – 1.6 MHz CMMR6 Educational 6.9.06 ICG-III, FZJ Permanent Magnets Many materials have unpaired electron spins, but the majority of these materials are paramagnetic. Wh When th spins the i i t interact t with ith each h other th in i such h a way that th t the th spins i align li spontaneously, the materials are called either ferromagnetic or ferrimagnetic. Historically, the term "ferromagnet" was used for any material that could exhibit spontaneous magnetization: a net magnetic moment in the absence of an external magnetic field. Ferromagnetic elements: Fe, Co, Ni, Gd*, Dy* CMMR6 Educational 6.9.06 * @ low T ICG-III, FZJ anti/ferro/i - magnets A material is "ferromagnetic" only if all of its elementary magnetic moments (spins) add a positive contribution to the net magnetization (e.g. magnetization. (e g Fe, Fe Co, Co Ni, Ni Gd, Gd Dy, Dy MnBi MnBi, MnSb MnSb, MnAs MnAs, CrO2, EuO) If some spins subtract from the net magnetization (partially antianti aligned), then the material is "ferrimagnetic". (e.g. FeOFe2O3, NiOFe2O3, CuOFe2O3, MgOFe2O3, MnOFe2O3, Y3Fe5O12) If the spins anti-align completely (resulting in zero net magnetization), despite the magnetic ordering, then it is an antiferromagnet. (e.g. Cr, simple oxids of ferromagnetic elements) All of these alignment effects only occur at temperatures below a certain critical temperature, called the Curie temperature (for ferromagnets and ferrimagnets) or the Néel temperature (for antiferromagnets). This is a second-order phase transition. CMMR6 Educational 6.9.06 ICG-III, FZJ Ferromagnets Heuristics: H i ti T Two nearby b magnetic ti dipoles di l will ill tend t d to t align li i opposite in it directions di ti ( in (as i antiferro-magnets). Many will be different! g theyy tend to align g in the same direction because of the Pauli p principle: p In a ferromagnet, two electrons with the same spin state cannot lie at the same position, and thus feel an effective additional repulsion that lowers their electrostatic energy. This difference in energy is called the exchange energy (only between Fermions with overlapping wave wavefunctions) and induces nearby electrons to align. At long distances (after many thousands atoms), the exchange energy advantage is overtaken t k b the by th classical l i l tendency t d off dipoles di l t anti-align. to ti li →equilibriated ilib i t d (non( magnetized) ferromagnetic material, the net-magnetization is small. g into magnetic g domains ((aka Weiss domains,, 0.01 -1 mm)) that are aligned g Theyy organize (magnetized) at short range, but at long range adjacent domains are anti-aligned. The transition between two domains, where the magnetization flips, is called a Domain wall (e.g., (e g a Bloch/Néel wall, wall depending upon whether the magnetization rotates parallel/perpendicular to the domain interface) and is a gradual transition on the atomic scale (covering a distance of about 300 atoms for iron). CMMR6 Educational 6.9.06 ICG-III, FZJ Ferromagnetic Material in External M-Field B, M Hext CMMR6 Educational 6.9.06 ICG-III, FZJ Hysteresis Loop Behavior of material in an external AC AC-field field „magnetic memory“ Hc Hc Hard H d magnetic ti material: t i l (e.g. permanent magnet) large hysteresis large remaining Remanence Remanence, Br Br, hard to demagnetize CMMR6 Educational 6.9.06 Hext e t Hextt Soft S ft magnetic ti material: t i l (e.g. soft iron, transformers) small hysteresis i i R Remanence, B Br, smallll remaining easy to demagnetize ICG-III, FZJ Characterization of permanet magnets Remanenz, Br: remaining magnetization/flux density after switch the magnetization field off Coercivity, BHc: reverse field needed to demagnetize magnet E-product BHmax: the maximum energy-product is a quality factor, the higher the more energy is stored (in a smaller volume) T-drift, ΔT: reversibe drift of Br per K (usually in % relative to RT) Curie-Temp TC: loss of magnetization Curie-Temp, Isotropic magnets: produced without add. field, can be magnetized in any direction ine direction, inexpensive pensi e b butt weak eak Anisotropic magnets: produced in presence of external M-field, ca. 3 fold BHmax CMMR6 Educational 6.9.06 ICG-III, FZJ Maximum Energy Product Energy-Product BHmax CMMR6 Educational 6.9.06 ICG-III, FZJ Composite permanent magnets Ceramic, (hard) ferrite: sintered composite of powdered iron oxide and barium/strontium carbonate ceramic. (inexpensive magnets: for cores in electronics component) non-corroding, but brittle Alnico magnets are made by casting or sintering a combination of aluminium, nickel and cobalt with iron and small amounts of other elements (sintered or casted) resist corrosion and better physical properties than ferrite, low Hc at high Br, low ΔT I j ti molded Injection ld d magnets t are a composite it off various i types t off resin i and d magnetic ti powders complex shapes, but are generally lower in magnetic strength, flexible CMMR6 Educational 6.9.06 ICG-III, FZJ Rare Earth Magnets 'Rare earth' (lanthanoid) elements have a partially occupied f electron shell. The spin of these electrons can be aligned, g , resulting g in very y strong g magnetic g fields,, but expensive Samarium cobalt (SmCo5 and Sm2Co7) magnets are highly resistant to oxidation, with higher magnetic strength and temperature resistance than alnico or ceramic materials. brittle and may fracture when subjected to thermal shock. Sm2Co7 has very low T-drift. Neodymium magnets (Nd2Fe14B) magnets, have the highest magnetic field strength. inferior to SmCo in resistance to oxidation (coating) and temperature drift, low Curie-T Typical: Limited machinable •Limited •Brittle (avoid hits, depends on coating) •Corrosive (no H2O or H2-atmosphere) •No radioactivityy CMMR6 Educational 6.9.06 ICG-III, FZJ Properties of Permanent Magnets Material (BH)max [MGOe] Br [T] Hc [kOe] max. op. T [°C] ΔT [%/K] TC [°C] Density [g/cm3] Relative Costs Ceramic Ferrite 0.8 – 4 0.2 – 0.41 1.6 – 3.3 250 – 300 0.19 850 4.7 – 5 very low Alnico 12–9 1.2 0 6 – 1.35 0.6 1 35 0 4 – 1.75 0.4 1 75 450 – 850 6 9 – 7.3 6.9 73 moderate Bonded NdFeB 5 – 12 0.5 – 0.76 3.8 – 6.0 110 – 150 312 5.8 – 6.4 high 0.7 – 1.1 8 – 15 250 – 300 0.042 720 8.1 – 8.3 very high 0.98 – 1.1 5 – 15 250 – 350 0.032 827 8.1 – 8.3 very high 0.9 – 0.45 11 – 30 80 – 220 0.08 – 0.12 312 7.3 – 7.6 high SmCo5 Sm2Co17 Nd2Fe14B 14 – 28 (32.5)* 20 – 28 22 – 53 ((64)* ) * theoretical limit CMMR6 Educational 6.9.06 ICG-III, FZJ CMMR6 Educational 6.9.06 ICG-III, FZJ „Moore Moore‘s s Law“ Law for permanent magnets 1 carbon steel 2 tungsten steel 3 cobalt steel 4 Fe-Ni-Al alloy 5 Ticonal II 6 Ticonal G 7 Ticonal GG 8 Ticonal XX 9 SmCo5 10 (S (SmPr)Co P )C 5 11 Sm2(Co0.85F0.11Mn0.04)17 12 Nd2Fe14B CMMR6 Educational 6.9.06 ICG-III, FZJ Design Step 1: Dipolar Approximation B(r ) = ∑ 3 ( ri ⋅ mi ) ri − mi i r 3 r Typically the sample is far enough away to allow such an simplified analytical approach CMMR6 Educational 6.9.06 m ICG-III, FZJ Dipole Approximation: when valid? dipo ole ap pproxim mation mechanically resonable, easy to handle size of magnet magne etic flux, Bz [T] 1 0,1 0,01 1E-3 1 10 100 distance, z [mm] CMMR6 Educational 6.9.06 ICG-III, FZJ Dipole approximation 1 d deviation from dipole 0,1 production tolerance (1 - 10%) 0,01 1E-3 1E-4 1E-5 0 20 40 60 80 100 120 140 160 distance, z [mm] CMMR6 Educational 6.9.06 ICG-III, FZJ Dipolar Approximation 1 dipole CMMR6 Educational 6.9.06 ICG-III, FZJ Dipolar Approximation 2 dipoles CMMR6 Educational 6.9.06 ICG-III, FZJ Dipolar Approximation 3 dipoles CMMR6 Educational 6.9.06 ICG-III, FZJ Dipolar Approximation 4 dipoles CMMR6 Educational 6.9.06 ICG-III, FZJ FEM-Finite Element Methods Software: 1) Define Problem (dimensionality, geometry, materials) 2) Mesh the problem (different algorithms, adaptive) 3)) Solve p problem ((typically yp y Maxwell‘s or Ampere‘s p laws)) 4) Display Packages: (for an overview see: http://www.emclab.umr.edu/csoft.html) 1) FEMM (only 2D, but freeware from David Meeker, http://femm.berlios.de) 2) FEMLAB (Comsol, http://www.comsol.com) 3) OPERA-3D (Vector-Fields, http://www.vectorfields.com) 4) Amperes (Integrated Engineering Software) CMMR6 Educational 6.9.06 ICG-III, FZJ Example: Mandhala-4 with FEMM Define geometry: • structure • boundaries • properties ti off domains d i and boundaries CMMR6 Educational 6.9.06 ICG-III, FZJ Example: Mandhala-4 with FEMM Mesh it! CMMR6 Educational 6.9.06 ICG-III, FZJ Example: Mandhala-4 with FEMM Solve it and analyze it! CMMR6 Educational 6.9.06 ICG-III, FZJ Magnet Types CMMR6 Educational 6.9.06 ICG-III, FZJ Block Magnet B Bx ( x) = r π ⎡ −1 ac tan ⎢ 2 2 2 2 x 4 x + a + c ⎣ − tan −1 ⎤ ⎥ 2 4 ( b + x ) + a 2 + c 2 ⎥⎦ ac 2 (b + x ) 0.7 0.6 0.5 B 0.4 0.3 0.2 0.1 0 0 1 2 3 4 5 6 7 8 9 10 x CMMR6 Educational 6.9.06 ICG-III, FZJ ⎡ ⎤ B l+x x c r ⎢ Bx ( x) = − ⎥ 2 2 2 ⎢ r 2 + ( l + x )2 r +x ⎦ ⎣ Cylinder Magnet 07 0.7 0.6 0.5 0.4 B 0.3 0.2 0.1 0 CMMR6 Educational 6.9.06 0 1 2 3 4 5 x 6 7 8 9 10 ICG-III, FZJ Linear combination: Barrel magnet Bx ( x) = Bxc ( x, ro ) − Bxc ( x, ri ) 0.15 0.1 Careful when using yokes: For soft iron without saturation: A rule of thumb: Double the length of the magnet if applied in magnetization direction B 0.05 0 -0.05 -0.1 0 1 2 3 4 5 6 7 8 9 x CMMR6 Educational 6.9.06 ICG-III, FZJ 10 Single Magnet: ca. dipole favoured by the RWTH-Aachen group CMMR6 Educational 6.9.06 ICG-III, FZJ z one magnet versus two magnets CMMR6 Educational 6.9.06 r ICG-III, FZJ NMR-MOUSE Nimbus Field Designs: Two Magnets Jackson Kleinberg CMMR6 Educational 6.9.06 ICG-III, FZJ NMR-MOUSE Nimbus Field Designs: Two Magnets Jackson Kleinberg CMMR6 Educational 6.9.06 ICG-III, FZJ U-, C- and Θ- Shapes 7 MHz core analyzer CMMR6 Educational 6.9.06 ICG-III, FZJ STRAFI (Stray Field Imaging) A.A. Samoilenko et al. Jept Lett 47 (1988) 417 Review: P.J. McDonald, Prog. NMR Spec. 30 (1997) 69 spatial resol resolution tion ca ca. 10 µm, m b butt CMMR6 Educational 6.9.06 ∇×B = 0 ICG-III, FZJ GARField (Gradient At Right-angles to the Field) P.M. Glover, P.J. McDonald, et al.J. Magn. Reson. 139 (1999) 90. Review: J. Mitchell, P. Blümler, and P. J. McDonald, Prog. NMR Spec. 48 (2006) 161 CMMR6 Educational 6.9.06 ICG-III, FZJ GARField (Gradient At Right-angles to the Field) P.M. Glover, P.J. McDonald, et al.J. Magn. Reson. 139 (1999) 90. Review: J. Mitchell, P. Blümler, and P. J. McDonald, Prog. NMR Spec. 48 (2006) 161 CMMR6 Educational 6.9.06 ICG-III, FZJ GARField (Gradient At Right-angles to the Field) P.M. Glover, P.J. McDonald, et al.J. Magn. Reson. 139 (1999) 90. Review: J. Mitchell, P. Blümler, and P. J. McDonald, Prog. NMR Spec. 48 (2006) 161 CMMR6 Educational 6.9.06 ICG-III, FZJ NMR-MOUSE® (NMR- Mobile Universal Surface Explorer) G. Eidmann, R. Savelsberg, P. Blümler, B. Blümich, J. Magn. Reson. Ser. A 122 (1996) 104 Review: J. Mitchell, P. Blümler, and P. J. McDonald, Prog. NMR Spec. 48 (2006) 161 CMMR6 Educational 6.9.06 ICG-III, FZJ NMR-MOUSE® (NMR- Mobile Universal Surface Explorer) G. Eidmann, R. Savelsberg, P. Blümler, B. Blümich, J. Magn. Reson. Ser. A 122 (1996) 104 Review: J. Mitchell, P. Blümler, and P. J. McDonald, Prog. NMR Spec. 48 (2006) 161 CMMR6 Educational 6.9.06 ICG-III, FZJ High-resolution profiling with i h a NMR-MOUSE NMR MOUSE slice flatness? precision = 10 µm Casanova, Blümich RWTH-Aachen CMMR6 Educational 6.9.06 ICG-III, FZJ High-resolution profiling with i h a NMR-MOUSE NMR MOUSE depth profiles 0.5 1.0 Inte ensity [a.u u.] profiler 1.0 0.0 -10 0.5 -5 0 5 depth [mm] 10 slice flatness? precision = 10 µm 0.0 Casanova, Blümich RWTH-Aachen CMMR6 Educational 6.9.06 0 1 2 depth [mm] 3 4 normal NMR MOUSE NMR-MOUSE ICG-III, FZJ Klaus Halbach 1925 - 2000 K. Halbach: “Design of Permanent Multipole M Magnets t with ith O Oriented i t d Rare R E Earth th C Cobalt b lt Materials” Nucl. Instr. Meth. 169 (1980) 1-10. CMMR6 Educational 6.9.06 ICG-III, FZJ Why is the field only on one side? linear combination CMMR6 Educational 6.9.06 ICG-III, FZJ Extension to 2D,, 3D CMMR6 Educational 6.9.06 ICG-III, FZJ ⎛M ⎞ ⎛ sin θ ⎞ M := ⎜ t ⎟ = M 0 ⎜ ⎟ M cos θ ⎝ ⎠ ⎝ n⎠ with θ = 0K 2π magnetization angle, γ, in the ith of n magnets Generalized Idea of Halbach for Cylinders/Spheres number and direction of poles γ i := (1 + k k ) βi 2π n and i = 0, 1, K, n − 1 with k ∈ N, βi = i CMMR6 Educational 6.9.06 ICG-III, FZJ Different forms CMMR6 Educational 6.9.06 ICG-III, FZJ Different forms CMMR6 Educational 6.9.06 ICG-III, FZJ Different forms CMMR6 Educational 6.9.06 ICG-III, FZJ Different forms CMMR6 Educational 6.9.06 ICG-III, FZJ Construction (some hints) • Permanent magnets are brittle and may break into sharp edged pieces pieces, might cause damage on impact → safety glasses, gloves, non-magnetic tools • They may have enormous attracting or repulsing forces (storage!) ( g ) • Caution with recording media (tape, floppy, credit cards), d ) metallic t lli or active ti iimplants l t ((pacemakers) k ) • No use in presence of explosive atmosphere (sparks!) CMMR6 Educational 6.9.06 ICG-III, FZJ Carefully plan the assembly Storage: e.g. wall-mounted iron plate covered with wood + rubber, cork Separators: e.g. styrofoam, wood Tools: non-magnetic (Al, Ti, stainless, Bronze): screw drivers, wedges, knives, hammer CMMR6 Educational 6.9.06 ICG-III, FZJ always y careful! • Create a non-magnetic working area! • Always Al mark k th the poles l off your magnets t and dh have a procedure! d ! • When you feel the force better let go! • Be decisive, calm and slow! CMMR6 Educational 6.9.06 ICG-III, FZJ Example of bad practice / planning CMMR6 Educational 6.9.06 ICG-III, FZJ Example: NMR-Mandhala-16 CMMR6 Educational 6.9.06 ICG-III, FZJ Constructing a Mandhala B CMMR6 Educational 6.9.06 ICG-III, FZJ Constructing a Mandhala CMMR6 Educational 6.9.06 ICG-III, FZJ Constructing a Mandhala CMMR6 Educational 6.9.06 ICG-III, FZJ Gradient Coils CMMR6 Educational 6.9.06 ICG-III, FZJ The B0 field B0 z CMMR6 Educational 6.9.06 ICG-III, FZJ Bz B0 g gradients B0 Bz ∂B z z = const. = Gz ∂z CMMR6 Educational 6.9.06 ICG-III, FZJ gradients = spatial encoding Spectroscopy MRI CMMR6 Educational 6.9.06 ICG-III, FZJ Helmholtz Coil Bz radius = distance z 3 2 ⎛ 4 ⎞ μ 0 nI B=⎜ ⎟ r ⎝5⎠ z current = homogeneous flux / field CMMR6 Educational 6.9.06 ICG-III, FZJ Anti-Helmholtz Coil Bz radius = distance z 0 z current = linear g inhomogeneous flux / field = constant gradient CMMR6 Educational 6.9.06 ICG-III, FZJ …not quite that simple every current source produces a spatially (x (x,y,z) y z) varying magnetic field which also has three components (Bx, By, Bz), so one has to work with ⎡ ∂Bx ⎢ ∂x ⎢ ∂B G =⎢ x ⎢ ∂y ⎢ ∂Bx ⎢ ∂z ⎣ ∂By ∂x ∂By ∂y ∂By ∂z ∂Bz ⎤ ∂x ⎥ ⎥ ∂Bz ⎥ ∂y ⎥ gradient tensor g ∂Bz ⎥ ∂z ⎦⎥ but when added to a stronger field, the maths is simpler B( r ) = B 0 + G r → only the three components in field direction, z, have to be observed… but the others are there ∂Bz ( x, y , z ) = Gx = const. …and Gi (i = x,y,z) have to be constant over space = ∂x CMMR6 Educational 6.9.06 ICG-III, FZJ Standard MRI axis and field CMMR6 Educational 6.9.06 ICG-III, FZJ field axis CMMR6 Educational 6.9.06 ICG-III, FZJ ….hmmm electrical current + CMMR6 Educational 6.9.06 ICG-III, FZJ ….hmmm + + CMMR6 Educational 6.9.06 ICG-III, FZJ Gradient coils for Halbach Magnets Current distributions Gz : Iz (θ, x ) = r0 sin(4πθ) D( x ) Gy : I y (θ, x ) = r0 cos(4πθ) D( x ) with damping function D(x) ⎛ πx ⎞ Gx : I x (θ, x ) = r0 cos(2πθ) sin ⎜ ⎟ D( x ) ⎝ h ⎠ CMMR6 Educational 6.9.06 ICG-III, FZJ Coil templates Gy,z Gx CMMR6 Educational 6.9.06 ICG-III, FZJ Gradients: Calculated fields Bz ( z ) = Gz z Bz ( x ) = Gx x Bz ( y ) = Gz y CMMR6 Educational 6.9.06 ICG-III, FZJ Gradients: Calculated gradient fields ∂Bz = Gz = const. const ∂z ∂Bz = Gx = const. const ∂x ∂Bz = Gy = const. const ∂y CMMR6 Educational 6.9.06 ICG-III, FZJ Measured Gradient Quality 2.60 2.55 measured with Hall probe average over sphere with radius r gradiient streng gth [mT/m m/A] 2.50 2.45 2.40 Gy 2.35 Gz 2.30 2.25 2.20 Coil diameter = 170 mm C Coil height = 200 mm measured with I = 10 A resistivity = 0.3 03Ω 2.15 2.10 2 05 2.05 2.00 0 10 20 30 40 50 60 radius [mm] CMMR6 Educational 6.9.06 ICG-III, FZJ