Modeling And Precision Control Of Ionic Polymer Metal Composite
DOWNLOAD
Download Modeling And Precision Control Of Ionic Polymer Metal Composite PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get Modeling And Precision Control Of Ionic Polymer Metal Composite book now. This website allows unlimited access to, at the time of writing, more than 1.5 million titles, including hundreds of thousands of titles in various foreign languages. If the content not found or just blank you must refresh this page
Modeling And Precision Control Of Ionic Polymer Metal Composite
DOWNLOAD
Author : Nikhil Dilip Bhat
language : en
Publisher:
Release Date : 2003
Modeling And Precision Control Of Ionic Polymer Metal Composite written by Nikhil Dilip Bhat and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003 with categories.
This thesis describes the open-loop behavior of an ionic polymer metal composite (IPMC) strip as a novel actuator, the empirical force and position models, the control system and the improved dynamic characteristics with the feedback control implemented. Ionic polymer metal composite is a novel polymer in the class of electroactive polymers. IPMC consists of a base polymer coated with electrodes made up of highly conducting pure metals such as gold. The actuation behavior of IPMC can be attributed to the bending of an IPMC strip upon application of voltage across its thickness. The main reasons for the bending are ion migration on the application of voltage and swelling and contraction caused by water content. An experimental setup to study the open-loop force and tip displacement of an IPMC strip in a cantilever configuration was developed, and real time controllers were implemented. In open loop, the force response of the IPMC strip of dimensions 25 mm x 3.9 mm x 0.16 mm to a 1.2-V step input is studied. The open-loop rise time was 0.08 s and the percent overshoot was 131.62 %, while the settling time was about 10 s. Based on this open-loop step response using a least-square curve-fitting methodology, a fourth-order empirical transfer function from the voltage input to the force output was derived. The tip displacement response of an IPMC strip of dimensions 23 mm x 3.96 mm x 0.16 mm to a 1.2-V step input was also studied. The step response exhibited a 205.34 % overshoot with a rise time of 0.08 s, and the settling time was 27 s. A fourth-order empirical transfer function from the step input to the tip displacement as output was also derived. Based on the derived transfer functions lead-lag feedback controllers were designed for precision control of both force and displacement. The control objectives were to decrease the settling time and the percent overshoot, and achieve reference input tracking. After implementing the controllers, the percent overshoot decreased to 30% while the settling time was reduced to 1.5 s in case of force control. With position control, the settling time was reduced to 1 s while the percent overshoot decreased to 20%. Precision micro-scale force and position-control capabilities of the IPMC were also demonstrated. A 4 [mu]N force resolution was achieved, with a force noise of 0.904-[mu]N rms. The position resolution was 20 [mu]m with a position noise of 7.6-[mu]m rms.
Ionic Polymer Metal Composites
DOWNLOAD
Author : Srijan Bhattacharya
language : en
Publisher: CRC Press
Release Date : 2022-05-02
Ionic Polymer Metal Composites written by Srijan Bhattacharya and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-05-02 with Technology & Engineering categories.
This book focuses on electro active polymer material known as Ionic Polymer Metal Composite (IPMC) having unique applicability as sensor and actuator which finds extensive use in various domain of engineering and science research. Apart from fundamentals of the IPMC concept, various applications are covered extensively across the chapters including space, underwater and nanoscale, including manufacturing processes. Dedicated chapters are included for robotics and biomedical applications and possible research gaps. Future research perspectives for IPMC are also discussed. Features: Covers principle of Ionic Polymer Metal Composite (IPMC), manufacturing processes, applications, and future possibilities in a systematic manner Highlights IPMC practical applicability in biomedical engineering domain Explores Single-walled carbon nanotubes (SWNT) based IPMC soft actuators Discusses IPMC applications in underwater areas Includes IPMC application in robotics focusing on special compliant mechanism This book is aimed toward researchers, graduate students and professionals in materials and mechanical engineering, robotics, mechatronics, biomedical engineering, and physics.
Ionic Polymer Metal Composites For Sensors And Actuators
DOWNLOAD
Author : Inamuddin
language : en
Publisher: Springer
Release Date : 2019-03-16
Ionic Polymer Metal Composites For Sensors And Actuators written by Inamuddin and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-03-16 with Technology & Engineering categories.
This book discusses the fundamental of bending actuation with a focus on ionic metal composites. It describes the applications of ionic polymer metal composite (IPMC) actuators, from conventional robotic systems to compliant micro robotic systems used to handle the miniature and fragile components during robotic micro assembly. It also presents mathematical modelings of actuators for engineering, biomedical, medical and environmental systems. The fundamental relation of IPMC actuators to the biomimetic systems are also included.
Ionic Polymer Metal Composites Impcs
DOWNLOAD
Author : Mohsen Shahinpoor
language : en
Publisher: Royal Society of Chemistry
Release Date : 2016
Ionic Polymer Metal Composites Impcs written by Mohsen Shahinpoor and has been published by Royal Society of Chemistry this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with Science categories.
A comprehensive resource on ionic polymer metal composites (IPMCs) edited by the leading authority on the subject.
Ionic Polymer Metal Composites Ipmcs
DOWNLOAD
Author : Mohsen Shahinpoor
language : en
Publisher: Royal Society of Chemistry
Release Date : 2015-11-19
Ionic Polymer Metal Composites Ipmcs written by Mohsen Shahinpoor and has been published by Royal Society of Chemistry this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-11-19 with Technology & Engineering categories.
Ionic polymer metal composites (IPMCs) can generate a voltage when physically deformed. Conversely, an applied small voltage or electrical field can induce an array of spectacular large deformation or actuation behaviours in IPMCs, such as bending, twisting, rolling, twirling, steering and undulating. An important smart material, IPMCs have applications in energy harvesting and as self-powered strain or deformation sensors, they are especially suitable for monitoring the shape of dynamic structures. Other uses include soft actuation applications and as a material for biomimetic robotic soft artificial muscles in industrial and medical contexts. This comprehensive volume on ionic polymer metal composites provides a broad coverage of the state of the art and recent advances in the field written by some of the world’s leading experts on various characterizations and modeling of IPMCs. Topics covered in this two volume set include uses in electrochemically active electrodes, electric energy storage devices, soft biomimetic robotics artificial muscles, multiphysics modeling of IPMCs, biomedical applications, IPMCs as dexterous manipulators and tactile sensors for minimally invasive robotic surgery, self-sensing, miniature pumps for drug delivery, IPMC snake-like robots, IPMC microgrippers for microorganisms manipulations, Graphene-based IPMCs and cellulose-based IPMCs or electroactive paper actuators (EAPap). Edited by the leading authority on IMPCs, the broad coverage will appeal to researchers from chemistry, materials, engineering, physics and medical communities interested in both the material and its applications.
Ionic Polymer Metallic Composite Transducers For Biomedical Robotics Applications
DOWNLOAD
Author : Andrew J. McDaid
language : en
Publisher: Lulu.com
Release Date : 2014-02-18
Ionic Polymer Metallic Composite Transducers For Biomedical Robotics Applications written by Andrew J. McDaid and has been published by Lulu.com this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-02-18 with Technology & Engineering categories.
This book is written for leading edge engineers and researchers, working with non-traditional or smart material based actuators, to help them develop such real world biomedical applications. Electrical, mechanical, mechatronics and control systems engineers will all benefit from the different techniques described in this book. The book may also serve as a reference for advanced research focused undergraduate and postgraduate students.
Ionic Polymer Metal Composites Impcs
DOWNLOAD
Author : Mohsen Shahinpoor
language : en
Publisher: Royal Society of Chemistry
Release Date : 2016
Ionic Polymer Metal Composites Impcs written by Mohsen Shahinpoor and has been published by Royal Society of Chemistry this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with Science categories.
A comprehensive resource on ionic polymer metal composites (IPMCs) edited by the leading authority on the subject.
Intelligent Robotics And Applications
DOWNLOAD
Author : Honghai Liu
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-10-27
Intelligent Robotics And Applications written by Honghai Liu and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-10-27 with Computers categories.
The market demand for skills, knowledge and adaptability have positioned robotics to be an important field in both engineering and science. One of the most highly visible applications of robotics has been the robotic automation of many industrial tasks in factories. In the future, a new era will come in which we will see a greater success for robotics in non-industrial environments. In order to anticipate a wider deployment of intelligent and autonomous robots for tasks such as manufacturing, healthcare, ent- tainment, search and rescue, surveillance, exploration, and security missions, it is essential to push the frontier of robotics into a new dimension, one in which motion and intelligence play equally important roles. The 2010 International Conference on Intelligent Robotics and Applications (ICIRA 2010) was held in Shanghai, China, November 10–12, 2010. The theme of the c- ference was “Robotics Harmonizing Life,” a theme that reflects the ever-growing interest in research, development and applications in the dynamic and exciting areas of intelligent robotics. These volumes of Springer’s Lecture Notes in Artificial Intel- gence and Lecture Notes in Computer Science contain 140 high-quality papers, which were selected at least for the papers in general sessions, with a 62% acceptance rate Traditionally, ICIRA 2010 holds a series of plenary talks, and we were fortunate to have two such keynote speakers who shared their expertise with us in diverse topic areas spanning the rang of intelligent robotics and application activities.
Biomimetic Robotic Artificial Muscles
DOWNLOAD
Author : Kwang Jin Kim
language : en
Publisher: World Scientific
Release Date : 2013-03-26
Biomimetic Robotic Artificial Muscles written by Kwang Jin Kim and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-26 with Technology & Engineering categories.
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.
Operator Based Nonlinear Control Systems
DOWNLOAD
Author : Mingcong Deng
language : en
Publisher: John Wiley & Sons
Release Date : 2014-01-15
Operator Based Nonlinear Control Systems written by Mingcong Deng and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-01-15 with Science categories.
Enables readers to master and apply the operator-theoretic approach Control of nonlinear systems is a multidisciplinary field involving electrical engineering, computer science, and control engineering. Specifically, this book addresses uncertain nonlinearity. Beginning with how real plants are modeled as operator-based plants, the author develops a systematic methodology that enables readers to understand a quantitative stability result, a critical factor in any nonlinear control system's stability and performance. Operator-Based Nonlinear Control Systems: Design and Applications focuses on the operator-theoretic approach, offering detailed examples on how to apply it to network controlled systems. In addition to current research results, the author explores future research directions and applications of the operator-theoretic approach. The book begins with an introduction that defines nonlinear systems. Next, it covers: Robust right coprime factorization for nonlinear plants with uncertainties Robust stability of operator-based nonlinear control systems Tracking issues and fault detection issues in nonlinear control systems Operator-based nonlinear control systems with smart actuators Nonlinear feedback control for large-scale systems using a distributed control system device Throughout the book, discussions of actual applications help readers understand how the operator-theoretic approach works in practice. Operator-Based Nonlinear Control Systems is recommended for students and professionals in control theory engineering and applied mathematics. Working with this expertly written and organized book, they will learn how to obtain robust right coprime factorization for modeled plants. Moreover, they will discover state-of-the-technology research results on robust stability conditions as well as the latest system output tracking and fault detection issues that are challenging today's researchers.