In this paper we present a comprehensive review of ionic polymer metal composite (IPMC) covering fundamentals of IPMC; from fabrication processes to control and applications. IPMC is becoming an increasingly popular material among scholars, engineers and scientists due to its inherent property of low activation voltage, large bending strain, i.e., transformation electrical energy to mechanical energy, and properties to be used as bidirectional material, i.e., it can be used as actuators and sensors. Among the diversity of electro active polymers (EAPs), recently developed IPMCs are good candidates for use in bio-related application because of their biocompatibility. Yet, the challenge remains in controlling a somewhat complicated material as mechanical, electrical and chemical properties interact with each other in the ionic polymer. Several IPMC fabrication processes, their mechanical characteristics and performance, a number of recent IPMC applications and pertaining mathematical modeling have been reported in this paper. Also we have attempted to present concisely the control of IPMC and effects of various factors in the performance of IPMC. The applications of IPMC have been growing, and recently more sophisticated IPMC actuator applications have been performed. This indicates that the IPMC actuators hold potential for more sophisticated control application. Extensive references are provided for more indepth explanation.

The characteristics of power produced from photovoltaic (PV) and Wind systems are based on the weather condition. Both the system are very unreliable in itself without sufficient capacity storage devices like batteries or back-up system like conventional engine generators. The reliability of the system significantly increases when two systems are hybridized with the provision of storage device. Even in such case, sufficient battery bank capacity is required to provide power to the load in extended cloudy days and non-windy days. Therefore the optimal sizing of system component represents the important part of hybrid power system. This paper summarizes recent trends of energy usage from renewable sources. It discusses physical modeling of renewable energy systems, several methodologies and criteria for optimization of the Hybrid Renewable Energy System (HRES). HRES is getting popular in the present scenario of energy and environmental crises. In this paper, we present a comprehensive review on the current state of optimization techniques specifically suited for the small and isolated power system based on the published literatures. The recent trend in optimization in the field of hybrid renewable energy system shows that artificial intelligence may provide good optimization of system without extensive long term weather data.

Harnessing energy from alternative energy source has been recorded since early history. Renewable energy is abundantly found anywhere, free of cost and has non-polluting characteristics. However, these energy sources are based on the weather condition and possess inherited intermittent nature, which hinders stable power supply. Combining multiple renewable energy resources can be a possible solution to overcome defects, which not only provides reliable power but also leads to reduction in required storage capacity. Although an oversized hybrid system satisfies the load demand, it can be unnecessarily expensive. An undersized hybrid system is economical, but may not be able to meet the load demand. The optimal sizing of the renewable energy power system depends on the mathematical model of system components. This paper summarizes the mathematical modeling of various renewable energy system particularly PV, wind, hydro and storage devices. Because of the nonlinear power characteristics, wind and PV system require special techniques to extract maximum power. Hybrid system has complex control system due to integration of two (or more) different power sources. The complexity of system increases with maximum power point tracking (MPPT) techniques employed in their subsystems. This paper also summarizes mathematical modeling of various MPPT techniques for hybrid renewable energy systems.

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A new manufacturing method for smart soft composite (SSC) actuators that consists of double casting a SSC actuator to produce an actuator with non-linear shape memory alloy (SMA) wire positioning is proposed. This method is used to manufacture a tube-shaped SSC actuator in which the SMA wires follow the curvature of the tube and is capable of pure-twisting deformations while sustaining a cantilever load. The concept is tested by measuring the maximum twisting angle and a simple control method is proposed to control the twisting angle of the actuator. Then, a soft robotic wrist with a length of 18 cm is built, its load-carrying capability is tested by measuring the cantilever force required for deforming the actuator, and its loadcarrying capability during actuation is tested by loading one end with different objects and actuating the actuator. This wrist actuator shows good repeatability, is capable of twisting deformations up to 25°while holding objects weighing 100 g, and can sustain loads above 2 N without undergoing buckling.

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