A recurrent neural network–based model for predicting bending behavior of ionic polymer–metal composite actuators

2020 ◽  
Vol 31 (17) ◽  
pp. 1973-1985
Author(s):  
Hojat Zamyad ◽  
Nadia Naghavi ◽  
Reza Godaz ◽  
Reza Monsefi
Keyword(s):  
Smart Materials ◽  
Autoregressive Models ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Practical Applications ◽  
Proposed Model ◽  
Polymer Metal ◽  
Application Potential

The high application potential of ionic polymer–metal composites has made the behavior identification of this group of smart materials an attractive area. So far, several models have been proposed to predict the bending of an ionic polymer–metal composite actuator, but these models have some weaknesses, the most important of them are the use of output data (in autoregressive models), high complexity to achieve a proper precision (in non-autoregressive models), and lack of compatibility with the behavioral nature of the material. In this article, we present a hybrid model of parallel non-autoregressive recurrent networks with internal memory cells to overcome existing weaknesses. The validation results on experimental data show that the proposed model has acceptable accuracy and flexibility. Moreover, simplicity and compatibility with the behavioral nature of the material promote using the proposed model in practical applications.

Integral multiple models online identifier applied to ionic polymer–metal composite actuator

2018 ◽  
Vol 29 (14) ◽  
pp. 2863-2873 ◽  
Author(s):  
Jakub Bernat ◽  
Jakub Kolota
Keyword(s):  
Smart Materials ◽  
Low Voltage ◽  
Feedback Gain ◽  
Multiple Models ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Metal Composites ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Polymer Metal

Ionic polymer–metal composites are classified as a smart materials group, whose properties can be designed depending on the needs that arise. Ionic polymer–metal composites belong to the class of wet electroactive polymers. They are promising candidates actuator for various potential applications mainly due to their flexible, low voltage requirements, compact design, and lack of moving parts. However, being a widely used material in industry, ionic polymer–metal composite requires complex control methods due to its strongly nonlinear nature. An important prerequisite for an intelligent controller is the ability to adapt rapidly to any unknown operating environment. This article presents a novel approach to tuning multiple models of an online identifier by integral mapping. Through the extension of the estimation law of additional mapping between parameters and measurable signals, we significantly improve transient responses without increasing feedback gain. The authors measured the moisture content of ionic polymer–metal composite and consider in the experiment relationship between drying and varying of curvature output. The effectiveness of the proposed multiple models adaptive control strategy was verified in various experiments. The results of the study illustrated in the experiments show that adding new mapping improves not only the transients of controlled plant, but also increases the performance indexes of adaptive system.

Biomimetic Applications of Ionic Polymer Metal Composites (IPMC) Actuators - A Critical Review

2014 ◽  
Vol 20 ◽  
pp. 1-10 ◽  
Author(s):  
Muhammad Farid ◽  
Zhao Gang ◽  
Tran Linh Khuong ◽  
Zhuang Zhi Sun ◽  
Naveed Ur Rehman ◽  
...  
Keyword(s):  
Critical Review ◽  
Low Voltage ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Metal Composites ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Design And Manufacturing ◽  
Polymer Metal ◽  
Biomedical Field

Biomimetic is the field of engineering in which biological creatures and their functions are investigated and are used as the basis for the design and manufacturing of machines. Ionic Polymer Metal Composite (IPMC) is a smart material which has demonstrated a meaningful bending and tip force after the application of a low voltage. It is light-weighted, flexible, easily actuated, multi-directional applicable and requires simple manufacturing. Resultantly, IPMC has attracted scientists and researchers to analyze it further and consider it for any industrial and biomimetic applications. Presently, the research on IPMC is bi-directional oriented. A few groups of researchers are busy to find out the causes for the weaknesses of the material and to find out any remedy for them. The second class of scientists is exploring new areas of applications where IPMC material can be used. Although, the application zone of IPMC is ranging from micropumps diaphragms to surgical holding devices, this paper provides an overview of the IPMC application in biomimetic and biomedical field.

Design and Implementation of an Ionic-Polymer-Metal-Composite Aquatic Biomimetic Robot

2011 ◽  
Author(s):  
Yi-chu Chang ◽  
Won-jong Kim
Keyword(s):  
Input Signal ◽  
Smart Materials ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Walking Robot ◽  
Ionic Polymer ◽  
Square Wave ◽  
Polymer Metal ◽  
Biomimetic Robot ◽  
Two Degree Of Freedom

Smart materials have been used in various applications. In this paper, a walking robot with six two-degree-of-freedom (2-DOF) legs made of ionic polymer metal composite (IPMC) is designed and implemented. Each leg can work as both a supporter and a driver, closely mimicking a real insect. To support and drive the robot, thicker (around 1 mm in thickness) IPMC strips were fabricated and used, and a 0.2-rad/s square wave is given as an input signal. The IPMC strips exhibit better performance in response to the square wave (8 mm) than sawtooth (4 mm) and sinusoidal (6 mm) waves in deflection. By applying this input signal in sequence, all the IPMC strips bend and walk in the form of six legs. In addition, thin magnet wires were used to supply power to each strip to prevent from confining the motion of our robot. Six lower legs are divided into two groups that work in the opposite directions to move the robot forward by turns. Upper legs are also divided into two groups to lift up their lower legs from making the robot to move back to the same place. The sizes of the IPMC strips and our robot (102 mm × 80 mm × 43 mm) were decided to exhibit better performance (0.5 mm/s) according to our tests.

Modeling Ionic Polymer-Metal Composites with Space-Time Adaptive Multimeshhp-FEM

2012 ◽  
Vol 11 (1) ◽  
pp. 249-270 ◽  
Author(s):  
David Pugal ◽  
Pavel Solin ◽  
Kwang J. Kim ◽  
Alvo Aabloo
Keyword(s):  
Coupled System ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
The Finite Element Method ◽  
Metal Composites ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Qualitative And Quantitative ◽  
Polymer Metal ◽  
Adaptive Fem

AbstractWe are concerned with a model of ionic polymer-metal composite (IPMC) materials that consists of a coupled system of the Poisson and Nernst-Planck equations, discretized by means of the finite element method (FEM). We show that due to the transient character of the problem it is efficient to use adaptive algorithms that are capable of changing the mesh dynamically in time. We also show that due to large qualitative and quantitative differences between the two solution components, it is efficient to approximate them on different meshes using a novel adaptive multimeshhp-FEM. The study is accompanied with numerous computations and comparisons of the adaptive multimeshhp-FEM with several other adaptive FEM algorithms.

Investigation on a Linear Actuator Using an Ionic Polymer-Metal Composite

2013 ◽  
Vol 461 ◽  
pp. 358-363 ◽  
Author(s):  
Bao Lei Wang ◽  
Min Yu ◽  
Qing Song He ◽  
Jie Ru ◽  
Zhen Dong Dai
Keyword(s):  
Linear Actuator ◽  
Driving Voltage ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Test Apparatus ◽  
Ionic Polymer ◽  
Output Displacement ◽  
Practical Applications ◽  
Straight Line ◽  
Polymer Metal

Ionic polymer-metal composite (IPMC) is a new kind of electroactive polymer with the advantages of low driving voltage and large bend, which has shown great potential for practical applications. In this paper, IPMC was fabricated by casting and electroless plating. Using the as-fabricated IPMC, a linear actuator was designed to transform bending motion of a cantilever IPMC into straight line motion. The linear actuator's output displacement and blocking force were investigated on a test apparatus. The results showed that the mechanism design for the linear actuator was feasible.

Ionic Polymer-Metal Composites as Smart Materials under Subzero Temperature Conditions

2003 ◽  
Vol 785 ◽  
Author(s):  
Jason W. Paquette ◽  
Kwang J. Kim
Keyword(s):  
Smart Materials ◽  
Phase Changes ◽  
Subzero Temperature ◽  
Metal Composites ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Practical Applications ◽  
Surface Electrodes ◽  
Experimental Apparatus ◽  
Polymer Metal

ABSTRACTThis paper presents a description of Ionic Polymer-Metal Composites (IPMCs) as an attractive solution for cold operation actuators. This is because of their capability for actuation with relatively low voltages (1 to 5 V), durability and capability of operating within the subzero regime T < 0 °C. The building block material of IPMCs experiences phase changes within the base polymeric material that results in an alteration of the performance of the material in terms of actuator performance. An experimental apparatus is constructed in order to have a controlled temperature environment in which to analyze the material. The overall temperature within the reservoir, the temperature on the IPMC surface electrodes, the conductivity of the membrane and the blocking force were all measured. The phase changes inherent at these low temperatures are investigated further by means of Differential Scanning Calorimeter to obtain the phase change temperatures and characteristics. The results are presented and interpreted to show that there is definite promise for these low temperature polymeric actuators to operate in practical applications.

scholarly journals Artificial Intelligence-Assisted Throat Sensor Using Ionic Polymer–Metal Composite (IPMC) Material

Polymers ◽  
2021 ◽  
Vol 13 (18) ◽  
pp. 3041
Author(s):  
Jai-Hua Lee ◽  
Pei-Song Chee ◽  
Eng-Hock Lim ◽  
Chun-Hui Tan
Keyword(s):  
Support Vector ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Practical Applications ◽  
Non Invasive ◽  
Smart Healthcare ◽  
Sophisticated Equipment ◽  
Polymer Metal ◽  
Promising Solution

Throat sensing has received increasing demands in recent years, especially for oropharyngeal treatment applications. The conventional videofluoroscopy (VFS) approach is limited by either exposing the patient to radiation or incurring expensive costs on sophisticated equipment as well as well-trained speech-language pathologists. Here, we propose a smart and non-invasive throat sensor that can be fabricated using an ionic polymer–metal composite (IPMC) material. Through the cation’s movement inside the IPMC material, the sensor can detect muscle movement at the throat using a self-generated signal. We have further improved the output responses of the sensor by coating it with a corrosive-resistant gold material. A support vector machine algorithm is used to train the sensor in recognizing the pattern of the throat movements, with a high accuracy of 95%. Our proposed throat sensor has revealed its potential to be used as a promising solution for smart healthcare devices, which can benefit many practical applications such as human–machine interactions, sports training, and rehabilitation.

From modeling to implementation of a method for restraining back relaxation in ionic polymer–metal composite soft actuators

2018 ◽  
Vol 29 (15) ◽  
pp. 3124-3135 ◽  
Author(s):  
Mohsen Annabestani ◽  
Nadia Naghavi ◽  
Mohammad Maymandi-Nejad
Keyword(s):  
Relaxation Effect ◽  
Practical Method ◽  
Specific Pattern ◽  
Driving Voltage ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Metal Composites ◽  
Ionic Polymer Metal Composites ◽  
Ionic Polymer ◽  
Polymer Metal

Ionic polymer–metal composites are an emerging kind of electroactive polymer actuators, which can bend in response to a relatively low driving voltage. However, to enhance the actuation performance of ionic polymer–metal composites, some of their drawbacks should be considered. One of the most important drawbacks is “back relaxation.” The so-called back relaxation effect means, when a step input voltage is applied to the ionic polymer–metal composite, the conventional bending displacement toward the anode is followed by an unwanted and slow back relaxation toward the cathode. Control-based methods for restraining the ionic polymer–metal composite back relaxation effect are feedback-based schemes which apply significant constraints to dominant applications of ionic polymer–metal composite actuators especially in biomedical applications. In this article, we present an entirely scientific-based mathematical modeling to achieve a practical method for restraining the back relaxation effect in Nafion-based ionic polymer–metal composites, relying on creating a specific pattern on Pt layers of the ionic polymer–metal composites and applying a local Gaussian disturbance to this patterned ionic polymer–metal composites.

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.

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