Download or read book Development and Modeling of Biomimetric Robotic Fish with Ionic Polymer metal Composite and Servo Actuators written by Piqi Hou and published by . This book was released on 2016 with total page 49 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last few decades, biomimetic systems have been receiving growing interest relative to bio-inspired design, physics-based modeling, high maneuvering capability, and high energy efficiency. In this research, first a compact-sized biomimetic robotic fish propelled by an ionic polymer-metal composite (IPMC) actuator was developed. This robotic fish contains two pectoral fins to steer and one caudal fin to generate its essential propulsion. Then a new robotic fish propelled by a hybrid tail was developed. In the hybrid tail, an IPMC was used as a soft actuator to change the shape of the caudal fin and provide a responsive turning moment. A traditional servo motor was used as an active joint in the hybrid tail to generate oscillation on the tail, which leads to the main thrust for forward swimming. The robotic fish with the hybrid tail can achieve two-dimensional (2D) maneuvering capability. A 2D dynamic model that incorporates IPMC active beam dynamics, rigid body motion dynamics, and hydrodynamic force acting on the hybrid tail was developed to capture the motion dynamics of the robotic fish. Experiments and simulation data are illustrated to verify the 2D maneuvering capability of the robotic fish.

Download or read book Biomimetic Robotic Artificial Muscles written by Kwang Jin Kim and published by World Scientific. This book was released on 2013 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biomimetic Robotic Artificial Muscles presents a comprehensive up-to-date overview of several types of electroactive materials with a view of using them as biomimetic artificial muscles. The purpose of the book is to provide a focused, in-depth, yet self-contained treatment of recent advances made in several promising EAP materials. In particular, ionic polymer-metal composites, conjugated polymers, and dielectric elastomers are considered. Manufacturing, physical characterization, modeling, and control of the materials are presented. Namely, the book adopts a systems perspective to integrate recent developments in material processing, actuator design, control-oriented modeling, and device and robotic applications. While the main focus is on the new developments in these subjects, an effort has been made throughout the book to provide the reader with general, basic information about the materials before going into more advanced topics. As a result, the book is very much self-contained and expected to be accessible for a reader who does not have background in EAPs.Based on the good fundamental knowledge and the versatility of the materials, several promising biomimetic and robotic applications such robotic fish propelled by an IPMC tail, an IPMC energy harvester, an IPMC-based valveless pump, a conjugated polymer petal-driven micropump, and a synthetic elastomer actuator-enabled robotic finger are demonstrated.

Download or read book Robot Fish written by Ruxu Du and published by Springer. This book was released on 2015-05-06 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive coverage on robot fish including design, modeling and optimization, control, autonomous control and applications. It gathers contributions by the leading researchers in the area. Readers will find the book very useful for designing and building robot fish, not only in theory but also in practice. Moreover, the book discusses various important issues for future research and development, including design methodology, control methodology, and autonomous control strategy. This book is intended for researchers and graduate students in the fields of robotics, ocean engineering and related areas.

Download or read book Design and Implementation of an Ionic Polymer Metal Composite Biomimetic Robot written by Yi-Chu Chang and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Ionic polymer metal composite (IPMC) is used in various bio-inspired systems, such as fish and tadpole-like robots swimming in water. The deflection of this smart material results from several internal and external factors, such as water distribution and surface conductivity. IPMC strips with a variety of water concentration on the surfaces and surface conductivity show various deflection patterns. Even without any external excitation, the strips can bend due to non-uniform water distribution. On the other hand, in order to understand the effects of surface conductivity in an aquatic environment, an IPMC strip with two wires connected to two distinct spots was used to demonstrate the power loss due to the surface resistance. Three types of input signals, sawtooth, sinusoidal, and square waves, were used to compare the difference between the input and output signals measured at the two spots. Thick (1-mm) IPMC strips were fabricated and employed in this research to sustain and drive the robot with sufficient forces. Furthermore, in order to predict and control the deflection, researchers developed the appropriate mathematical models. The special working principle, related to internal mobile cations with water molecules, however, makes the system complicated to be modeled and simulated. An IPMC strip can be modeled as a cantilever beam with loading distribution on the surface. Nevertheless, the loading distribution is non-uniform due to the non-perfect surface metallic plating, and four different kinds of imaginary loading distribution are employed in this model. On the other hand, a reverse-predicted method is used to find out the transfer function of the IPMC system according to the measured deflection and the corresponding input voltage. Several system-identification structures, such as autoregressive moving average with exogenous (ARX/ARMAX), output-error (OE), Box-Jenkins (BJ), and prediction-error minimization (PEM) models, are used to model the system with their specific mathematic principles. Finally, a novel linear time-variant (LTV) concept and method is introduced and applied to simulate an IPMC system. This kind of model is different from the previous linear time-invariant (LTI) models because the IPMC internal environment may be unsteady, such as free cations with water molecules. This phenomenon causes the variation of each internal part. In addition, the relationship between the thickness of IPMC strips and the deflection can be obtained by this concept. Finally, based on the experimental results above, an aquatic walking robot (102 mm x 80 mm x 43 mm, 39 g) with six 2-degree-of-freedom (2-DOF) legs has been designed and implemented. It walked in water at the speed of 0.5 mm/s. The average power consumption is 8 W per leg. Each leg has a thigh and a shank to generate 2-DOF motions. Each set of three legs walked together as a tripod to maintain the stability in operation. The electronic version of this dissertation is accessible from http://hdl.handle.net/1969.1/149538

Download or read book Design and Implementation of Biomimetic Robotic Fish written by Hongan Wang and published by . This book was released on 2009 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: The study of biomimetic robotic fish has received a growing amount of research interest in the past several years. This thesis describes the development and testing of a novel mechanical design of a biomimetic robotic fish. The robotic fish has a structure which uses oscillating caudal fins and a pair of pectoral fins to generate fish-like swimming motion. This unique design enables the robotic fish to swim in two swimming modes, namely Body/Caudal Fin (BCF) and Median/Paired Fin (MPF). In order to combine BCF mode with MPF mode, the robotic fish utilizes a flexible posterior body, an oscillating foil actuated by three servomotors, and one pair of pectoral fins individually driven by four servomotors. Effective servo motions and swimming gaits are then proposed to control its swimming behaviour. Based on these results, fish-like swimming can be achieved including forward, backward, and turning motions. An experimental setup for the robotic fish was implemented using machine vision position and velocity measurement. The experimental results show that the robotic fish performed well in terms of manoeuvrability and cruise speed. Based on the experimental data, a low order dynamic model is proposed and identified. Together, these results provide an experimental framework for development of new modelling and control techniques for biomimetic robotic fish.

Download or read book Development of Small Biomimetic Robotic Fish with Onboard Fine grained Localization written by Stephan W. Shatara and published by ProQuest. This book was released on 2008 with total page 332 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Fish like Locomotion Using Flexible Piezoelectric Composites for Untethered Aquatic Robotics written by Lejun Cen and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The capacity of humankind to mimic fish-like locomotion for engineering applications depends mainly on the availability of suitable actuators. Researchers have recently focused on developing robotic fish using smart materials, particularly Ionic Polymer-Metal Composites (IPMCs), as a compliant, noise-free, and scalable alternative to conventional motor-based propulsion systems. In this thesis, we investigate fish-like self propulsion using flexible bimorphs made of Macro-Fiber Composite (MFC) piezoelectric laminates. Similar to IPMCs, MFCs also exhibit high efficiency in size, energy consumption, and noise reduction. In addition, MFCs offer large dynamic forces in bending actuation, strong electromechanical coupling as well as both low-frequency and high-frequency performance capabilities. The experimental component of the presented work focuses on the characterization of an MFC bimorph propulsor for thrust generation in a quiescent fluid as well as the development of a preliminary robotic fish prototype incorporating a microcontroller and a printed-circuit-board (PCB) amplifier to generate high actuation voltage for battery-powered free locomotion. From the theoretical standpoint, a reliable modeling framework that couples the actuator dynamics, hydroelasticity, and fish locomotion theory is essential to both design and control of robotic fish. Therefore, a distributed-parameter electroelastic model with fluid effects and actuator dynamics is coupled with the elongated body theory. Both in-air and underwater experiments are performed to verify the incorporation of hydrodynamic effects in the linear actuation regime. For electroelastically nonlinear actuation levels, experimentally obtained underwater vibration response is coupled with the elongated body theory to predict the thrust output. Experiments are conducted to validate the electrohydroelastic modeling approach employed in this work and to characterize the performance of an MFC bimorph propulsor. Finally, a wireless battery-powered preliminary robotic fish prototype is developed and tested in free locomotion at different frequency and voltage levels.

Download or read book Ionic Polymer metal Composite Artificial Muscles and Sensors written by Zheng Chen (Graduate of Michigan State University) and published by . This book was released on 2009 with total page 462 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A Prototype of a Centimeter scale Biomimetic Fish Using Buckypaper Composite Actuators written by Spencer Porter and published by . This book was released on 2010 with total page 50 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presently, robotic fish are being used to demonstrate the functional range of various types of actuators. Since buckypaper composite actuators (BCAs) are lightweight, easy to manufacture and require low voltage and power to drive, they are ideal to power small biomimetic fish. This study was aimed to design, fabricate and test a prototype of a biomimetic fish using BCAs to establish functionality. The mechanism used for propelling the robotic fish involved actuation from a force enhanced BCA. A centimeter-scale biomimetic fish that utilizes this new actuation material was developed and tested. Different tail shapes, actuator sizes and actuation frequencies were studied to determine the optimal power and speed created by each actuator and fin design. The 14 cm long fish was designed to be controlled with a microcontroller and contains two lithium ion batteries which provide a total of 7.4 volts. Preliminary tests were conducted to identify technical issues and discuss possible engineering solutions. From these tests it was determined that in order to produce a fish using BCAs, more force is required from the actuators. Also, the battery's capacity will need to be increased.

Download or read book Motion Control of Biomimetic Swimming Robots written by Junzhi Yu and published by Springer. This book was released on 2019-07-01 with total page 203 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on the latest advances in the study of motion control in biomimetic swimming robots with high speed and high manoeuvrability. It presents state-of-the-art studies on various swimming robots including robotic fish, dolphins and jellyfish in a unified framework, and discusses the potential benefits of applying biomimetic underwater propulsion to autonomous underwater vehicle design, such as: speed, energy economy, enhanced manoeuvrability, and reduced detectability. Given its scope, the book will be of interest to researchers, engineers and graduate students in robotics and ocean engineering who wish to learn about the core principles, methods, algorithms, and applications of biomimetic underwater robots.

Download or read book Biologically Inspired Robotics written by Yunhui Liu and published by CRC Press. This book was released on 2011-12-21 with total page 343 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers in the fields of control engineering, robotics, and biomedical engineering, this text helps readers understand the technology and principles in this emerging field.

Download or read book Differential Models of Hysteresis written by Augusto Visintin and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hysteresis effects occur in science and engineering: plasticity, ferromagnetism, ferroelectricity are well-known examples. This volume provides a self-contained and comprehensive introduction to the analysis of hysteresis models, and illustrates several new results in this field.

Download or read book Experimental Robotics written by M. Ani Hsieh and published by Springer. This book was released on 2015-11-21 with total page 913 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 14th ISER held on June 15-18, 2014 in Marrakech and Essaouira, Morocco. This present fourteenth edition of Experimental Robotics edited by M. Ani Hsieh, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-ce ntered robotics.

Download or read book Soft Actuators written by Kinji Asaka and published by Springer Nature. This book was released on 2019-08-28 with total page 740 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the second edition of Soft Actuators, originally published in 2014, with 12 chapters added to the first edition. The subject of this new edition is current comprehensive research and development of soft actuators, covering interdisciplinary study of materials science, mechanics, electronics, robotics, and bioscience. The book includes contemporary research of actuators based on biomaterials for their potential in future artificial muscle technology. Readers will find detailed and useful information about materials, methods of synthesis, fabrication, and measurements to study soft actuators. Additionally, the topics of materials, modeling, and applications not only promote the further research and development of soft actuators, but bring benefits for utilization and industrialization. This volume makes generous use of color figures, diagrams, and photographs that provide easy-to-understand descriptions of the mechanisms, apparatus, and motions of soft actuators. Also, in this second edition the chapters on modeling, materials design, and device design have been given a wider scope and made easier to comprehend, which will be helpful in practical applications of soft actuators. Readers of this work can acquire the newest technology and information about basic science and practical applications of flexible, lightweight, and noiseless soft actuators, which differ from conventional mechanical engines and electric motors. This new edition of Soft Actuators will inspire readers with fresh ideas and encourage their research and development, thus opening up a new field of applications for the utilization and industrialization of soft actuators.

Download or read book Advanced Sensors for Real Time Monitoring Applications written by Olga Korostynska and published by MDPI. This book was released on 2021-03-09 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is impossible to imagine the modern world without sensors, or without real-time information about almost everything—from local temperature to material composition and health parameters. We sense, measure, and process data and act accordingly all the time. In fact, real-time monitoring and information is key to a successful business, an assistant in life-saving decisions that healthcare professionals make, and a tool in research that could revolutionize the future. To ensure that sensors address the rapidly developing needs of various areas of our lives and activities, scientists, researchers, manufacturers, and end-users have established an efficient dialogue so that the newest technological achievements in all aspects of real-time sensing can be implemented for the benefit of the wider community. This book documents some of the results of such a dialogue and reports on advances in sensors and sensor systems for existing and emerging real-time monitoring applications.

Download or read book The DelFly written by G.C.H.E. de Croon and published by Springer. This book was released on 2015-11-26 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the topics most relevant to autonomously flying flapping wing robots: flapping-wing design, aerodynamics, and artificial intelligence. Readers can explore these topics in the context of the "Delfly", a flapping wing robot designed at Delft University in The Netherlands. How are tiny fruit flies able to lift their weight, avoid obstacles and predators, and find food or shelter? The first step in emulating this is the creation of a micro flapping wing robot that flies by itself. The challenges are considerable: the design and aerodynamics of flapping wings are still active areas of scientific research, whilst artificial intelligence is subject to extreme limitations deriving from the few sensors and minimal processing onboard. This book conveys the essential insights that lie behind success such as the DelFly Micro and the DelFly Explorer. The DelFly Micro, with its 3.07 grams and 10 cm wing span, is still the smallest flapping wing MAV in the world carrying a camera, whilst the DelFly Explorer is the world's first flapping wing MAV that is able to fly completely autonomously in unknown environments. The DelFly project started in 2005 and ever since has served as inspiration, not only to many scientific flapping wing studies, but also the design of flapping wing toys. The combination of introductions to relevant fields, practical insights and scientific experiments from the DelFly project make this book a must-read for all flapping wing enthusiasts, be they students, researchers, or engineers.

Download or read book Hot Embossing written by Matthias Worgull and published by William Andrew. This book was released on 2009-09-28 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is an overview of replication technology for micro- and nanostructures, focusing on the techniques and technology of hot embossing, a scaleable and multi-purpose technology for the manufacture of devices such as BioMEMS and microfluidic devices which are expected to revolutionize a wide range of medical and industrial processes over the coming decade.The hot embossing process for replicating microstructures was developed by the Forschungszentrum Karlsruhe (Karlsruhe Institute of Technology) where the author is head of the Nanoreplication Group. Worgull fills a gap in existing information by fully detailing the technology and techniques of hot embossing. He also covers nanoimprinting, a process related to hot embossing, with examples of actual research topics and new applications in nanoreplication. A practical and theoretical guide to selecting the materials, machinery and processes involved in microreplication using hot embossing techniques Compares different replication processes such as: micro injection molding, micro thermoforming, micro hot embossing, and nanoimprinting Details commercially available hot embossing machinery and components like tools and mold inserts