Development of underwater robot using Macro Fiber Composite

Nagata, Yoshinori; Park, Seokyong; Ming, Aiguo; Shimojo, Makoto

doi:10.1109/aim.2008.4601790

Cited by 8 publications

(7 citation statements)

References 7 publications

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“…Substituting the expression for w x t , ( ) into equations (20) and (21), multiplying by the mass normalized eigenfunction f x , s ( ) integrating over the length of the beam, and applying the orthogonality conditions, one obtains m h z w g h h w h q…”

Section: Combining the Fluid Load: Electrohydroelastic Dynamics Of A ...mentioning

confidence: 99%

“…Therefore the MFCs overcome the problem of small displacement response associated with piezoelectric actuators without substantially compromising high actuation force capability. MFC actuators have been successfully used in tethered underwater robotic fish [20][21][22] and lately being applied for active control and hydrodynamic performance enhancement of flexible fins actuated in an unsteady fluid flow [23]. Erturk and Delporte [24] investigated underwater thrust and power production using MFC bimorphs with and without a passive caudal fin extension (with a focus on the first two vibration modes).…”

Section: Introductionmentioning

confidence: 99%

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Electrohydroelastic Euler–Bernoulli–Morison model for underwater resonant actuation of macro-fiber composite piezoelectric cantilevers

Shahab

Ertürk

2016

Smart Mater. Struct.

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Bio-inspired hydrodynamic thrust generation using smart materials has received growing attention over the past few years to enable improved maneuverability and agility, small form factor, reduced power consumption, and ease of fabrication in next-generation aquatic swimmers. In order to develop a high-fidelity model to predict the electrohydroelastic dynamics of macro-fiber composite (MFC) piezoelectric structures, in this work, mixing rules-based (i.e. rule of mixtures) electroelastic mechanics formulation is coupled with the global electroelastic dynamics based on the Euler-Bernoulli kinematics and nonlinear fluid loading based on Morison's semi-empirical model. The focus is placed on the dynamic actuation problem for the first two bending vibration modes under geometrically and materially linear, hydrodynamically nonlinear behavior. The electroelastic and dielectric properties of a representative volume element (piezoelectric fiber and epoxy matrix) between two subsequent interdigitated electrodes are correlated to homogenized parameters of MFC bimorphs and validated for a set of MFCs that have the same overhang length but different widths. Following this process of electroelastic model development and validation, underwater actuation experiments are conducted for different length-to-width aspect ratios (L/b) in quiescent water, and the empirical drag and inertia coefficients are extracted from Morison's equation to establish the electrohydroelastic model. The repeatability of these empirical coefficients is demonstrated for experiments conducted using aluminum cantilevers of different aspect ratios with a focus on the first two bending modes. The convergence of the nonlinear electrohydroelastic Euler-Bernoulli-Morison model to its hydrodynamically linear counterpart for increased L/b values is also reported. The proposed model, its harmonic balance analysis, and experimental results can be used not only for underwater piezoelectric actuation, but also for sensing and energy harvesting problems.

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Section: Combining the Fluid Load: Electrohydroelastic Dynamics Of A ...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Electrohydroelastic Euler–Bernoulli–Morison model for underwater resonant actuation of macro-fiber composite piezoelectric cantilevers

Shahab

Ertürk

2016

Smart Mater. Struct.

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“…The interdisciplinary research fields of biomimetic locomotion and energy harvesting have independently received growing attention over the last decade. Some of the end applications of aquatic locomotion using biomimetic systems include various autonomous underwater vehicle missions, underwater exploration for sustainable ecology, mining, archeology, drug delivery, and disease screening in medicine [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17]. The goal in the field of vibration-based energy harvesting is to enable self-powered electronic components, such as wireless sensor networks, by converting the waste vibrational energy available in their environment into electricity so that the need for an external power source and the chemical waste of conventional batteries can be minimized [18][19][20][21][22][23][24][25][26][27][28][29][30][31][32].…”

Section: Introductionmentioning

confidence: 99%

“…MPF locomotion is generally employed at slow speeds, offering greater maneuverability and propulsive efficiency while BCF locomotion can achieve greater thrust and accelerations [33]. For its ease of realization and effectiveness in thrust generation, BCF locomotion [33][34][35] has been heavily researched in aquatic biorobotics [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17]. Due to their silent operation, ease of fabrication, ease of application, and scalability, smart materials such as ionic polymer-metal composites (IPMCs) [4][5][6][7], shape-memory alloys (SMAs) [8][9][10], and fiber-based piezoelectric composites [11,12] have attracted growing interest for biomimetic locomotion (as compared to the use of conventional actuators [13][14][15][16][17], such as hydraulic actuators or servomotors combined with gear trains, cranks, or mechanisms).…”

Section: Introductionmentioning

confidence: 99%

“…For its ease of realization and effectiveness in thrust generation, BCF locomotion [33][34][35] has been heavily researched in aquatic biorobotics [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17]. Due to their silent operation, ease of fabrication, ease of application, and scalability, smart materials such as ionic polymer-metal composites (IPMCs) [4][5][6][7], shape-memory alloys (SMAs) [8][9][10], and fiber-based piezoelectric composites [11,12] have attracted growing interest for biomimetic locomotion (as compared to the use of conventional actuators [13][14][15][16][17], such as hydraulic actuators or servomotors combined with gear trains, cranks, or mechanisms). As pointed out by Lauder et al [36] in a recent article, smart materials can be used for testing the hypotheses of experimental biologists [36][37][38][39][40], such as the effect of active stiffness in undulatory self-propulsion [36] or the contribution of various fins and body parts to thrust generation [37].…”

Section: Introductionmentioning

confidence: 99%

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Underwater thrust and power generation using flexible piezoelectric composites: an experimental investigation toward self-powered swimmer-sensor platforms

Ertürk¹,

Delporte²

2011

Smart Mater. Struct.

137

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Fiber-based flexible piezoelectric composites offer several advantages to use in energy harvesting and biomimetic locomotion. These advantages include ease of application, high power density, effective bending actuation, silent operation over a range of frequencies, and light weight. Piezoelectric materials exhibit the well-known direct and converse piezoelectric effects. The direct piezoelectric effect has received growing attention for low-power generation to use in wireless electronic applications while the converse piezoelectric effect constitutes an alternative to replace the conventional actuators used in biomimetic locomotion. In this paper, underwater thrust and electricity generation are investigated experimentally by focusing on biomimetic structures with macro-fiber composite piezoelectrics. Fish-like bimorph configurations with and without a passive caudal fin (tail) are fabricated and compared. The favorable effect of having a passive caudal fin on the frequency bandwidth is reported. The presence of a passive caudal fin is observed to bring the second bending mode close to the first one, yielding a wideband behavior in thrust generation. The same smart fish configuration is tested for underwater piezoelectric power generation in response to harmonic excitation from its head. Resonant piezohydroelastic actuation is reported to generate milli-newton level hydrodynamic thrust using milli-watt level actuation power input. The average actuation power requirement for generating a mean thrust of 19 mN at 6 Hz using a 10 g piezoelastic fish with a caudal fin is measured as 120 mW. This work also discusses the feasibility of thrust generation using the harvested energy toward enabling self-powered swimmer-sensor platforms with comparisons based on the capacity levels of structural thin-film battery layers as well as harvested solar and vibrational energy.

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Developments and Challenges of Miniature Piezoelectric Robots: A Review

Li,

Deng,

Zhang

et al. 2023

Advanced Science

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Miniature robots have been widely studied and applied in the fields of search and rescue, reconnaissance, micromanipulation, and even the interior of the human body benefiting from their highlight features of small size, light weight, and agile movement. With the development of new smart materials, many functional actuating elements have been proposed to construct miniature robots. Compared with other actuating elements, piezoelectric actuating elements have the advantages of compact structure, high power density, fast response, high resolution, and no electromagnetic interference, which make them greatly suitable for actuating miniature robots, and capture the attentions and favor of numerous scholars. In this paper, a comprehensive review of recent developments in miniature piezoelectric robots (MPRs) is provided. The MPRs are classified and summarized in detail from three aspects of operating environment, structure of piezoelectric actuating element, and working principle. In addition, new manufacturing methods and piezoelectric materials in MPRs, as well as the application situations, are sorted out and outlined. Finally, the challenges and future trends of MPRs are evaluated and discussed. It is hoped that this review will be of great assistance for determining appropriate designs and guiding future developments of MPRs, and provide a destination board to the researchers interested in MPRs.

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Development of underwater robot using Macro Fiber Composite

Cited by 8 publications

References 7 publications

Electrohydroelastic Euler–Bernoulli–Morison model for underwater resonant actuation of macro-fiber composite piezoelectric cantilevers

Electrohydroelastic Euler–Bernoulli–Morison model for underwater resonant actuation of macro-fiber composite piezoelectric cantilevers

Underwater thrust and power generation using flexible piezoelectric composites: an experimental investigation toward self-powered swimmer-sensor platforms

Developments and Challenges of Miniature Piezoelectric Robots: A Review

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