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 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 Flexible Piezoelectric Composites and Concepts for Bio inspired Dynamic Bending twisting Actuation written by Algan Samur and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This work investigates the use of active structures made of flexible Macro-Fiber Composite (MFC) piezoelectric materials for bio-inspired bending-twisting actuation. The focus is placed on different piezoelectric composite architectures for potential flapping-wing flight and fish-like swimming applications. The flapping-wing concept can be more advantageous than the stationary-wing counterpart in terms of higher maneuverability and agility in thrust and lift generation. Analogous to flapping-wing flight, recent research by experimental biologists has revealed that fish caudal fin incorporates complex motion patterns to adjust thrust and lift. The MFC-based architectures studied in this work are an Asymmetric Bimorph (AB) with 0°/45°-fiber laminates, a Double Bimorph (DB) with narrow 0°-fiber laminates (for flapping-wing applications), and a Triple Bimorph (TB) with narrow 0°-fiber laminates to mimic a threedegree-of-freedom (DOF) bio-inspired caudal fin (for aquatic robotics). The AB architecture includes two wide MFC laminates with different fiber orientation while the DB architecture has four narrow MFC laminates forming two bimorphs sharing the same substrate with a chord-wise distance. Since flapping by pure bending is a symmetric motion, positive lift and thrust resultants can be produced by asymmetric bendingtwisting coupling as well as asymmetric actuation signals. For the AB and DB architectures, a 2-DOF model is employed for representing the linear vibratory response. For the nonlinear region under high actuation voltage levels, the electroelastic dynamics of these two architectures are experimentally characterized with a focus on their frequency response curves covering the fundamental bending and twisting modes. The power consumption levels are also recorded for each configuration, and solar energy harvesting using flexible films with dimensions similar to the AB and DB architectures is investigated toward the self-powered flapping-wing concept. Desktop wind tunnel tests are performed for further exploration of bending-twisting coupling in the presence of air flow. In addition to studying the actuation capabilities, both architectures are tested for energy harvesting under base excitation since power supply is important for unmanned aerial vehicles. additionally, the DB architecture is studied for active stiffness change without shape change under static actuation. The TB architecture representing a 3-DOFcaudal fin is studied specifically for underwater robotic fish applications. Various actuation patterns are applied with amplitude and phase differences to create flat, cupping, and rolling motions. Thrust production, velocity response, and power consumption levels are recorded for a range of actuation frequencies in an effort to identify the most efficient case.
Download or read book Special Topics in Structural Dynamics Experimental Techniques Volume 5 written by Matthew Allen and published by Springer Nature. This book was released on 2023-11-01 with total page 211 pages. Available in PDF, EPUB and Kindle. Book excerpt: Special Topics in Structural Dynamics & Experimental Techniques, Volume 5: Proceedings of the 41st IMAC, A Conference and Exposition on Structural Dynamics, 2023, the fifth volume of ten from the Conference brings together contributions to this important area of research and engineering. The collection presents early findings and case studies on fundamental and applied aspects of Structural Dynamics, including papers on: Active Control Additive Manufacturing Experimental Techniques Finite Element Techniques Multifunction Structures Rotating Machinery System Identification
Download or read book Fish Like Robot Encapsulated by a Plastic Film written by Mizuho Shibata and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater robots are currently utilized to evaluate water quality and the undersea landscape. Small-sized underwater robots are especially useful in improving the spatial resolution of the measurements, yielding high-quality data. This chapter describes a small-sized fish-like robot, with its surface composed of a flexible thin plastic film. Its internal components, including an actuator, could be encapsulated in the plastic film using a vacuum packaging machine. To simplify the waterproofing and pressure resistance properties of the fish-like robot, its internal components can be filled with insulating fluid. The plastic film on the surface has electromagnetic-wave-transmitting properties, allowing sensors to be arranged within the device, enabling assessment of its autonomous locomotion using infrared sensors. Robot attitude can be altered, based on geography of its internal components, floating blocks, and insulating fluid. This attitude could be especially determined by the differences in densities between the floating block and insulating fluid. Evaluation of attitude control showed that an insulating fluid heavier than water allows a large variation.
Download or read book Role of Flexibility in Robotic Fish written by Sanaz Bazaz Behbahani and published by . This book was released on 2016 with total page 170 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Mobile Microrobotics written by Metin Sitti and published by MIT Press. This book was released on 2017-06-16 with total page 305 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first textbook on micron-scale mobile robotics, introducing the fundamentals of design, analysis, fabrication, and control, and drawing on case studies of existing approaches. Progress in micro- and nano-scale science and technology has created a demand for new microsystems for high-impact applications in healthcare, biotechnology, manufacturing, and mobile sensor networks. The new robotics field of microrobotics has emerged to extend our interactions and explorations to sub-millimeter scales. This is the first textbook on micron-scale mobile robotics, introducing the fundamentals of design, analysis, fabrication, and control, and drawing on case studies of existing approaches. The book covers the scaling laws that can be used to determine the dominant forces and effects at the micron scale; models forces acting on microrobots, including surface forces, friction, and viscous drag; and describes such possible microfabrication techniques as photo-lithography, bulk micromachining, and deep reactive ion etching. It presents on-board and remote sensing methods, noting that remote sensors are currently more feasible; studies possible on-board microactuators; discusses self-propulsion methods that use self-generated local gradients and fields or biological cells in liquid environments; and describes remote microrobot actuation methods for use in limited spaces such as inside the human body. It covers possible on-board powering methods, indispensable in future medical and other applications; locomotion methods for robots on surfaces, in liquids, in air, and on fluid-air interfaces; and the challenges of microrobot localization and control, in particular multi-robot control methods for magnetic microrobots. Finally, the book addresses current and future applications, including noninvasive medical diagnosis and treatment, environmental remediation, and scientific tools.
Download or read book Biology of Behaviour written by Donald M. Broom and published by CUP Archive. This book was released on 1981-10-30 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is an introduction to studies of the behaviour of a wide variety of animals including man, farm animals and pest species.
Download or read book Electroactive Polymers for Robotic Applications written by Kwang J. Kim and published by Springer Science & Business Media. This book was released on 2007-01-17 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers the fundamental properties, modeling, and demonstration of Electroactive polymers in robotic applications. It particularly details artificial muscles and sensors. In addition, the book discusses the properties and uses in robotics applications of ionic polymer–metal composite actuators and dielectric elastomers.
Download or read book Electroactivity in Polymeric Materials written by Lenore Rasmussen and published by Springer Science & Business Media. This book was released on 2012-03-02 with total page 163 pages. Available in PDF, EPUB and Kindle. Book excerpt: Electroactivity in Polymeric Materials provides an in-depth view of the theory of electroactivity and explores exactly how and why various electroactive phenomena occur. The book explains the theory behind electroactive bending (including ion-polymer-metal-composites –IPMCs), dielectric elastomers, electroactive contraction, and electroactive contraction-expansion cycles. The book also balances theory with applications – how electroactivity can be used – drawing inspiration from the manmade mechanical world and the natural world around us.
Download or read book Bioinspired Structures and Design written by Wole Soboyejo and published by Cambridge University Press. This book was released on 2020-09-17 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Master simple to advanced biomaterials and structures with this essential text. Featuring topics ranging from bionanoengineered materials to bio-inspired structures for spacecraft and bio-inspired robots, and covering issues such as motility, sensing, control and morphology, this highly illustrated text walks the reader through key scientific and practical engineering principles, discussing properties, applications and design. Presenting case studies for the design of materials and structures at the nano, micro, meso and macro-scales, and written by some of the leading experts on the subject, this is the ideal introduction to this emerging field for students in engineering and science as well as researchers.
Download or read book Bioinspired Sensing Actuation and Control in Underwater Soft Robotic Systems written by Derek A. Paley and published by Springer Nature. This book was released on 2020-11-06 with total page 301 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes representative research from the state‐of‐the‐art in the emerging field of soft robotics, with a special focus on bioinspired soft robotics for underwater applications. Topics include novel materials, sensors, actuators, and system design for distributed estimation and control of soft robotic appendages inspired by the octopus and seastar. It summarizes the latest findings in an emerging field of bioinspired soft robotics for the underwater domain, primarily drawing from (but not limited to) an ongoing research program in bioinspired autonomous systems sponsored by the Office of Naval Research. The program has stimulated cross‐disciplinary research in biology, material science, computational mechanics, and systems and control for the purpose of creating novel robotic appendages for maritime applications. The book collects recent results in this area.
Download or read book Mechatronic Futures written by Peter Hehenberger and published by Springer. This book was released on 2016-06-10 with total page 273 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offering a comprehensive overview of the challenges, risks and options facing the future of mechatronics, this book provides insights into how these issues are currently assessed and managed. Building on the previously published book ‘Mechatronics in Action,’ it identifies and discusses the key issues likely to impact on future mechatronic systems. It supports mechatronics practitioners in identifying key areas in design, modeling and technology and places these in the wider context of concepts such as cyber-physical systems and the Internet of Things. For educators it considers the potential effects of developments in these areas on mechatronic course design, and ways of integrating these. Written by experts in the field, it explores topics including systems integration, design, modeling, privacy, ethics and future application domains. Highlighting novel innovation directions, it is intended for academics, engineers and students working in the field of mechatronics, particularly those developing new concepts, methods and ideas.
Download or read book Bioinspired Actuators and Sensors written by Minoru Taya and published by Cambridge University Press. This book was released on 2016-10-13 with total page 539 pages. Available in PDF, EPUB and Kindle. Book excerpt: From experts in engineering and biology, this is the first book to integrate sensor and actuator technology with bioinspired design.
Download or read book Living Machines written by Tony J. Prescott and published by Oxford University Press. This book was released on 2018 with total page 655 pages. Available in PDF, EPUB and Kindle. Book excerpt: Contemporary research in the field of robotics attempts to harness the versatility and sustainability of living organisms with the hope of rendering a renewable, adaptable, and robust class of technology that can facilitate self-repairing, social, and moral--even conscious--machines. This landmark volume surveys this flourishing area of research.
Download or read book Swimming and Flying in Nature written by Theodore Wu and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 582 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Symposium on Swimming and Flying in Nature which was held at the California Institute of Technology, Pasadena, California from July 8-12, 1974 was conceived with the objective of providing an interdisciplinary forum for the discussion of funda mental biological and fluid mechanical aspects of these forms of natura110comotion. It was the earnest hope of all concerned in the organization of the Symposium that the exchange of knowledge and interaction of ideas from the disciplines involved would stimu late new research in this developing field. If the liveliness of the discussion generated among the 250 or so participants is any measure, then this objective was fulfilled to a significant degree. These two companion volumes contain the manuscripts of the papers presented during the Symposium. It is hoped that this permanent record will serve to perpetuate the enthusiasm and active thought generated during those days in Pasadena. The first volume contains the proceedings of the first two days of the confer ence (Sessions I to IV) which concentrated on the locomotion of micro-organisms. The second volume (Sessions V to VIII) deals with the propulsion of larger fish, insects and birds. Professor Sir James Lighthill's Special Invited Lecture which opened the Symposium is contained in the second volume, rather than the first, since it deals with natural flight.
Download or read book 2019 2nd IEEE International Conference on Soft Robotics RoboSoft written by IEEE Staff and published by . This book was released on 2019-04-14 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft robotics is a recent exciting trend of robotics, taking the challenge of using soft materials and deformable structures for building robots, with high potential for impact in science and in applications Given the young and fast growing area and the lively interdisciplinary community that grew around soft robotics, the RoboSoft international conference aims at presenting recent progresses in this field, for discussing new science, new technologies and new opportunities for applications
