Integrated sensing for IPMC actuators using strain gages for underwater applications

IEEE/ASME Transactions on Mechatronics

Volumn 17, Issue 2, 2012, Pages 345-355

  Leang, Kam K ^a   Shan, Yingfeng ^a   Song, Sisi ^a   Kim, Kwang J ^a  

^a Reno   (United States)

Author keywords

Ionic polymer metal composite (IPMC) actuators; repetitive control; strain gage sensors

Indexed keywords

ACTIVE CATHETER; AQUEOUS ENVIRONMENT; ARTIFICIAL MUSCLE; BIO-ROBOTICS; COUNTERIONS; DYNAMIC EFFECTS; EXTERNAL DISTURBANCES; FEED BACK INFORMATION; INTEGRATED SENSING; IONIC POLYMER-METAL COMPOSITE ACTUATORS; LOW COSTS; LOW VOLTAGES; MINIMALLY INVASIVE SURGERY; NONLINEAR BEHAVIOR; PERIODIC MOTION; PERIODIC SIGNAL; REPETITIVE CONTROL; REPETITIVE CONTROLLER; RESISTIVE STRAIN; SENSING SCHEMES; SENSOR SIGNALS; SENSORS AND ACTUATORS; STABILITY CONDITION; STRAIN GAGE SENSORS; TRACKING ERRORS; TRIANGULAR WAVE; UNDERWATER APPLICATION;

ACTUATORS; FEEDBACK CONTROL; ION EXCHANGE; LITHIUM; NONLINEAR FEEDBACK; SENSORS; STRAIN GAGES; THREE TERM CONTROL SYSTEMS;

CONTROLLERS;

EID: 84856336275     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2011.2105885     Document Type: Article

References (50)

1. M. Shahinpoor and K. J. Kim, "Ionic polymer-metal composites: IV. Industrial and medical applications," Smart Mater. Struct., vol. 14, no. 1, pp. 197-214, 2005. (Pubitemid 40253484)
2. E. Biddiss and T. Chau, "Electroactive polymeric sensors in hand prostheses: Bending response of an ionic polymer metal composite," Med. Eng. Phys., vol. 28, no. 6, pp. 568-578, 2006. (Pubitemid 43668719)
3. W. J. Yoon, P. G. Reinhall, and E. J. Seibel, "Analysis of electro-active polymer bending: A component in a low cost ultrathin scanning endoscope," Sens. Actuators A, Phys., vol. 133, no. 2, pp. 506-517, 2007. (Pubitemid 46162152)
4. B.-K. Fang, M.-S. Ju, and C.-C. K. Lin, "A new approach to develop ionic polymer-metal composites (IPMC) actuator: Fabrication and control for active catheter systems," Sens. Actuators A, Phys., vol. 137, no. 2, pp. 321-329, 2007. (Pubitemid 46907534)
5. M. Aureli, V. Kopman, and M. Porfiri, "Free-locomotion of underwater vehicles actuated by ionic polymer metal composites," IEEE/ASME Trans. Mechatronics, vol. 15, no. 4, pp. 603-614, Aug. 2010.
6. K. J. Kim, W. Yim, J. W. Paquette, and D. Kim, "Ionic polymer-metal composites for underwater operation," J. Intell. Mater. Syst. Struct., vol. 18, no. 2, pp. 123-131, 2007. (Pubitemid 46166681)
7. N. Kamamichi, M. Yamakita, K. Asaka, and Z.-W. Luo, "A snake-like swimming robot using IPMC actuator/sensor," in Proc. IEEE Int. Conf. Robot. Autom., Orlando, FL, 2006, pp. 1812-1817. (Pubitemid 44940332)
8. S. Guo, Y. Ge, L. Li, and S. Liu, "Underwater swimming micro robot using IPMC actuator," in Proc. IEEE Int. Conf. Mechatronics Autom., Luoyang, China, Jun. 25-28, 2006, pp. 249-254. (Pubitemid 46604318)
9. H. Nakadoi, D. Sobey, M. Yamakita, and T. Mukai, "Liquid environmentadaptive IPMC fish-like robot using extremum seeking feedback," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS), Nice, France, 2008, pp. 3089-3094.
10. S. Guo, L. Shi, X. Ye, and L. Li, "A new jellyfish type of underwater microrobot," in Proc. IEEE Int. Conf. Mechatronics Autom., Harbin, China, 2007, pp. 509-514. (Pubitemid 350244681)
11. Z. Chen, S. Shatara, and X. Tan, "Modeling of biomimetic robotic fish propelled by an ionic polymer-metal composite caudal fin," IEEE/ASME Trans. Mechatronics, vol. 15, no. 3, pp. 448-459, Jun. 2010.
12. A. Menozzi, H. A. Leinhos, D. N. Beal, and P. R. Bandyopadhyay, "Openloop control of a multifin biorobotic rigid underwater vehicle," IEEE J. Ocean. Eng., vol. 33, no. 2, pp. 59-68, Apr. 2008.
13. Z. Chen and X. Tan, "A control-oriented and physics-based model for ionic polymer-metal composite actuators," IEEE/ASME Trans. Mechatronics, vol. 13, no. 5, pp. 519-529, Oct. 2008.
14. Z. Chen, D. Hedgepeth, and X. Tan, "A nonlinear control-oriented model for ionic polymer-metal composite actuators," Smart Mater. Struct., vol. 18, no. 5, pp. 1-9, 2009.
15. Y. Fang, X. Tan, and G. Alici, "Robust adaptive control of conjugated polymer actuators," IEEE Trans. Control Syst. Technol., vol. 16, no. 4, pp. 600-612, Jul. 2008.
16. S. Kang, J. Shin, S. J. Kim, H. J. Kim, and Y. H. Kim, "Robust control of ionic polymer-metal composites," Smart Mater. Struct., vol. 16, no. 6, pp. 2457-2463, 2007. (Pubitemid 350175574)
17. Y. Shan and K. K. Leang, "Frequency-weighted feedforward control for dynamic compensation in ionic polymer-metal composite actuators," Smart Mater. Struct., vol. 18, no. 12, pp. 125016-1-125016-11, 2009.
18. D. Pugal, K. Jung, A. Aabloo, and K. J. Kim, "Ionic polymermetal composite mechanoelectrical transduction: Review andperspectives," Polym. Int., vol. 59, no. 3, pp. 279-289, 2010.
19. G. Alici, G. M. Spinks, J. D. Madden, Y. Wu, and G. G. Wallace, "Response characterization of electroactive polymers as mechanical sensors," IEEE/ASME Trans. Mechatronics, vol. 13, no. 2, pp. 187-196, Apr. 2008. (Pubitemid 351649904)
20. K. Kruusamae, P. Brunetto, S. Graziani, A. Punning, G. Di Pasquale, and A. Aabloo, "Self-sensing ionic polymer-metal composite actuating device with patterned surface electrodes," Polym. Int., vol. 59, no. 3, pp. 300-304, 2009.
21. A. Punning, M. Kruusmaa, and A. Aabloo, "A self-sensing ion conducting polymer metal composite (IPMC) actuator," Sens. Actuators A, Phys., vol. 136, pp. 656-664, 2007. (Pubitemid 46678733)
22. Z. Chen, K. Ki-Yong, and X. Tan, "Integrated IPMC/PVDF sensory actuator and its validation in feedback control," Sens. Actuators A, Phys., vol. 144, no. 2, pp. 231-241, 2008. (Pubitemid 351680133)
23. H.-H. Lin, B.-K. Fang, M.-S. Ju, and C.-C. K. Lin, "Control of ionic polymer-metal composites for active catheter systems via linear parameter-varying approach," J. Intell. Mater. Syst. Struct., vol. 20, no. 3, pp. 273-282, 2009.
24. B. C. Lavu, M. P. Schoen, and A. Mahajan, "Adaptive intelligent control of ionic polymermetal composites," Smart Mater. Struct., vol. 14, no. 4, pp. 466-474, 2005. (Pubitemid 41107877)
25. N. D. Bhat and W.-J. Kim, "Precision force and position control of ionic polymer-metal composite," J. Syst. Control Eng., vol. 218, no. 6, pp. 421-432, 2004.
26. C. Bonomo, L. Fortuna, P. Giannone, and S. Graziani, "A method to characterize the deformation of an ipmc sensing membrane," Sens. Actuators A, Phys., vol. 123/124, pp. 146-154, 2005. (Pubitemid 41315845)
27. R. O. Riddle, Y. Jung, S.-M. Kim, S. Song, B. Stolpman, K. J. Kim, and K. K. Leang, "Sectored-electrode IPMC actuator for bending and twisting motion," presented at the SPIE Smart Structures and Materials Nondestructive Evaluation and Health Monitoring, San Diego, CA, 2010, vol. 7642.
28. Z. Chen and X. Tan, "Monolithic fabrication of ionic polymer-metal composite actuators capable of complex deformation," Sens. Actuators A, vol. 157, pp. 246-257, 2010.
29. X. Tan, D. Kim, N. Usher, D. Laboy, J. Jackson, A. Kapetanovic, J. Rapai, B. Sabadus, and X. Zhou, "An autonomous robotic fish for mobile sensing," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Beijing, China, 2006, pp. 5424-5429. (Pubitemid 46928798)
30. K. J. Kim and M. Shahinpoor, "Ionic polymer-metal composites: II. Manufacturing techniques," Smart Mater. Struct., vol. 12, no. 1, pp. 65-79, 2003.
31. P. Horowitz and W. Hill, The Art of Electronics, 2nd ed. New York: Cambridge Univ. Press, 1989.
32. A. J. Fleming and K. K. Leang, "Integrated strain and force feedback for high performance control of piezoelectric actuators," Sens. Actuators A, Phys., vol. 161, no. 1/2, pp. 256-265, 2010.
33. W. J. Manning, A. R. Plummer, and M. C. Levesley, "Vibration control of a flexible beam with integrated actuators and sensors," Smart Mater. Struct., vol. 9, no. 6, pp. 932-939, 2000. (Pubitemid 32086170)
34. W. M. Murray and W. R. Miller, The Bonded Electrical Resistance Strain Gage. New York: Oxford Univ. Press, 1992.
35. C. T. Wu, "Transverse sensitivity of bonded strain gages," Exp. Mech., vol. 2, no. 11, pp. 338-344, 1962.
36. A. Chernov, "Determination of transverse sensitivity of resistor strain gages," Meas. Tech., vol. 34, no. 3, pp. 249-253, 1991.
37. S. Nemat-Nasser, "Micromechanics of actuation of ionic polymer-metal composites," J. Appl. Phys., vol. 92, no. 5, pp. 2899-2915, 2002.
38. W. A. Lughmani, J. Y. Jho, J. Y. Lee, and K. Rhee, "Modeling of bending behavior of IPMC beams using concentrated ion boundary layer," Int. J. Precis. Eng. Manuf., vol. 10, no. 5, pp. 131-139, 2009.
39. M. E. Tuttle and H. Brinson, "Resistance-foil strain-gage technology as applied to composite materials," Exp. Mech., vol. 24, no. 1, pp. 54-65, 1984. (Pubitemid 14568288)
40. A. C. Pisoni, C. Santolini, D. E. Hauf, and S. Dubowsky, "Displacements in a vibrating body by strain gauge measurements," in Proc. 13th Int. Conf. Modal Anal., 1995, pp. 119-125.
41. C.-J. Li and A. G. Ulsoy, "High-precision measurement of tool-tip displacement using strain gauges in precision flexible line boring," Mech. Syst. Signal Process., vol. 13, no. 4, pp. 531-546, 1999.
42. D. Inman, Engineering Vibration, 2nd ed. Upper Saddle River, NJ: Prentice-Hall, 2001.
43. T. Inoue, M. Nakano, and S. Iwai, "High accuracy control of a proton synchrotron magnet power supply," in Proc. 8th IFAC World Congr., 1981, vol. 20, pp. 216-221.
44. S. Hara, Y. Yamamoto, T. Omata, and M. Nakano, "Repetitive control system: A new type servo system for periodic exogenous signals," IEEE Trans. Autom. Control, vol. 33, no. 7, pp. 659-668, Jul. 1988. (Pubitemid 18665428)
45. E. J. Solcz and R. W. Longman, "Disturbance rejection in repetitive controllers," Adv. Astronaut. Sci., vol. 76, no. 3, pp. 2111-2130, 1992.
46. G.-L. Chen and G. T.-C. Chiu, "Spatially periodic disturbance rejection with spatially sampled robust repetitive control," Trans. ASME, J. Dyn. Syst. Meas. Control, vol. 130, no. 2, pp. 021002-1-021002-11, 2008.
47. K. K. Chew and M. Tomizuka, "Digital control of repetitive errors in disk drive systems," IEEE Control Syst. Mag., vol. 10, no. 1, pp. 16-20, Jan. 1990. (Pubitemid 20666417)
48. M. Tomizuka, "Zero-phase tracking algorithm for digital control," Trans. ASME, J. Dyn. Syst. Meas. Control, vol. 109, pp. 65-68, 1987. (Pubitemid 17554850)
49. K. Zhou and J. C. Doyle, Essentials of Robust Control. Englewood Cliffs, NJ: Prentice-Hall, 1998.
50. H. L. Broberg and R. G. Molyet, "A new approach to phase cancellation in repetitive control," in Proc. IEEE Ind. Appl. Soc. Annu. Meeting, Oct. 1994, vol. 3, pp. 1766-1770.