Modeling and control of artificial bladder enabled by Ionic Polymer-Metal Composite

2012 ◽  
Author(s):  
Zheng Chen ◽  
T. I. Um ◽  
H. Bart-Smith
Keyword(s):  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Modeling And Control ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
And Control

Fractional-order modeling and control of ionic polymer-metal composite actuator

2019 ◽  
Vol 28 (8) ◽  
pp. 084008 ◽  
Author(s):  
Aleksei Tepljakov ◽  
Veiko Vunder ◽  
Eduard Petlenkov ◽  
S Sunjai Nakshatharan ◽  
Andres Punning ◽  
...  
Keyword(s):  
Fractional Order ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Modeling And Control ◽  
Ionic Polymer ◽  
Composite Actuator ◽  
Polymer Metal ◽  
And Control

scholarly journals Modeling and Control of IPMC Actuators Based on LSSVM-NARX Paradigm

Mathematics ◽  
2019 ◽  
Vol 7 (8) ◽  
pp. 741 ◽  
Author(s):  
Liangsong Huang ◽  
Yu Hu ◽  
Yun Zhao ◽  
Yuxia Li
Keyword(s):  
Support Vector ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Metal Composites ◽  
Ionic Polymer Metal Composites ◽  
Modeling And Control ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
And Control ◽  
Hysteresis Characteristics

Ionic polymer-metal composites are electrically driven intelligent composites that are readily exposed to bending deformations in the presence of external electric fields. Owing to their advantages, ionicpolymer-metal composites are promising candidates for actuators. However, ionicpolymer-metal composites exhibit strong nonlinear properties, especially hysteresis characteristics, resulting in severely reduced control accuracy. This study proposes an ionic polymer-metal composite platform and investigates its modeling and control. First, the hysteresis characteristics of the proposed Pt-electrode ionic polymer-metal composite are tested. Based on the hysteresis characteristics, ionic polymer-metal composites are modeled using the Prandtl-Ishlinskii model and the least squares support vector machine-nonlinear autoregressive model, respectively. Then, the ionic polymer-metal composite is driven by a random sinusoidal voltage, and the LSSVM-NARX model is established on the basis of the displacement data obtained. In addition, an artificial bee colony algorithm is proposed for accuracy optimization of the model parameters. Finally, an inverse controller based on the least squares support vector machine-nonlinear autoregressive model is proposed to compensate the hysteresis characteristics of the ionic polymer-metal composite. A hybrid PID feedback controller is developed by combining the inverse controller with PID feedback control, followed by simulation and testing of its actual position control on the ionic polymer-metal composite platform. The results show that the hybrid PID feedback control system can effectively eliminate the effects of the hysteresis characteristics on ionic polymer-metal composite control.

A cylindrical ionic polymer-metal composite-based robotic catheter platform: modeling, design and control

2014 ◽  
Vol 24 (1) ◽  
pp. 015007 ◽  
Author(s):  
Siul Ruiz ◽  
Benjamin Mead ◽  
Viljar Palmre ◽  
Kwang J Kim ◽  
Woosoon Yim
Keyword(s):  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
And Control

scholarly journals 3D-Printing and Machine Learning Control of Soft Ionic Polymer-Metal Composite Actuators

2019 ◽  
Vol 9 (1) ◽  
Author(s):  
James D. Carrico ◽  
Tucker Hermans ◽  
Kwang J. Kim ◽  
Kam K. Leang
Keyword(s):  
Machine Learning ◽  
3D Printing ◽  
Bayesian Optimization ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Printing Process ◽  
Ionic Polymer ◽  
Control Paradigm ◽  
Polymer Metal ◽  
And Control

AbstractThis paper presents a new manufacturing and control paradigm for developing soft ionic polymer-metal composite (IPMC) actuators for soft robotics applications. First, an additive manufacturing method that exploits the fused-filament (3D printing) process is described to overcome challenges with existing methods of creating custom-shaped IPMC actuators. By working with ionomeric precursor material, the 3D-printing process enables the creation of 3D monolithic IPMC devices where ultimately integrated sensors and actuators can be achieved. Second, Bayesian optimization is used as a learning-based control approach to help mitigate complex time-varying dynamic effects in 3D-printed actuators. This approach overcomes the challenges with existing methods where complex models or continuous sensor feedback are needed. The manufacturing and control paradigm is applied to create and control the behavior of example actuators, and subsequently the actuator components are combined to create an example modular reconfigurable IPMC soft crawling robot to demonstrate feasibility. Two hypotheses related to the effectiveness of the machine-learning process are tested. Results show enhancement of actuator performance through machine learning, and the proof-of-concepts can be leveraged for continued advancement of more complex IPMC devices. Emerging challenges are also highlighted.

A Comprehensive Review of the Biomimetic Applications of Ionic Polymer Metal Composite

2015 ◽  
Vol 23 ◽  
pp. 47-58 ◽  
Author(s):  
Mazhar Ul Haq ◽  
Zhao Gang ◽  
Hafiz Muhammad Waqas
Keyword(s):  
Artificial Muscle ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Comprehensive Review ◽  
Ionic Polymer ◽  
Polymer Metal ◽  
Manufacturing Techniques ◽  
Strong Candidate ◽  
And Performance ◽  
And Control

Bio-inspiration focuses on translating the evolutionary successes of natural species into engineering systems that mimic the geometry, function, and performance of the natural system. In this paper we present a latest comprehensive review of ionic polymer metal composite (IPMC) biomedical and biomimetic applications. IPMC is becoming an increasingly popular material among scholars, engineers and scientists due to its inherent properties of low activation voltage, large bending strain, flexibility, softness, suitable response time which make them a strong candidate to be applied as artificial muscle in biomimetic land and underwater applications. Among the diversity of electro active polymers (EAPs), recently developed IPMCs are good candidates for use in bio-related application because of their biocompatibility. Several recently reported IPMC biomimetic applications have been reported in this paper. The applications of IPMC have been growing due to progression in its manufacturing techniques, development of more accurate response models and control techniques, and recently more sophisticated IPMC actuator applications have been performed. This indicates that the IPMC actuators hold potential for more sophisticated and controlled applications in fields of biomedical and biomimetic. Extensive references are provided for more indepth explanation.

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