Smart Materials: Considerations on Earth and in Space

Description

This book provides in-depth coverage of smart materials, including electroactive polymers (EAPs), synthetic muscle, pneumatic artificial muscle, soft pneumatics, hydro-muscle, and other cutting-edge transformational smart material technologies. It looks at ways smart materials respond to stimuli, such as electricity, pressure, temperature, magnetism, or light. State-of-the-art developments in EAP based actuation and pneumatics are covered, including nanotechnology, soft robotics, EAP considerations for NASA applications and thermal control of satellites, control of mirrors using dielectric elastomeric actuators, and biomimetic design and function in robotics and prosthetics.  A detailed analysis of the challenges of smart materials on Earth and in space is included, with an interview about considerations and training for Missions to Moon and Mars. This book is a must-read within the smart material and space communities, from tech savvy students to industry professionals. Preface Acknowledgments Contents Chapter 1: Synthetic Muscle™ for Deep Space Travel and Other Applications on Earth and in Space 1.1 Excerpts from the Princeton Plasma Physics Lab Ronald E. Hatcher Science on Saturdays Series, Princeton University: https://www.pppl.gov/events/science-satur day-synthetic-muscle-deep-space-travel Plus Additional Material 1.1.1 Ras Labs-CASIS-ISS NL Synthetic Muscle™ Experiment: Resistance to Radiation UA-2014-119 1.2 Synthetic Muscle™ EAP Shape-Morphing and Pressure Sensing: Considerations for Robotic and Prosthetic Applications References Chapter 2: Q&A with NASA Astronaut Yvonne Cagle, MD Moon and Mars Missions RBE 533 “Smart Materials, Actuation, and Biomimicry,” Worcester Polytechnic Institute on October 8, 2019 Chapter 3: Shape Control of Large Lightweight Mirrors with Dielectric Elastomer Actuation 3.1 Introduction 3.2 Integration of Dielectric Elastomers with Lightweight Space Mirrors 3.3 Material Selection and Survivability 3.4 Experimental Evaluation of Designs 3.4.1 Laminated Membrane Mirror 3.4.2 Inflatable Membrane Mirror 3.4.3 Positioning of Rigid Mirror 3.4.4 Laminated Thin Mirror 3.5 Conclusions and Discussion of Future Research References Chapter 4: The Hydro Muscle and CRFC Valve: An Efficient and Compact Fluidic Robotic System 4.1 Introduction 4.2 Hydro Muscle 4.3 The Liquid Actuated Hydro Muscle at Low Temperatures 4.4 Compact Robotic Flow Control Valve 4.4.1 Design 4.4.2 Proportional Flow Control 4.4.3 Specifications 4.5 Proof-of-Concept Leg Model in the Context of a Hydraulic System 4.5.1 Hydraulic System 4.5.2 Control System 4.5.3 Work Cycle 4.6 Discussion 4.7 Conclusion References Chapter 5: Contractile Pneumatic Artificial Muscle Generates Extension by Actuating an Integrated Pushrod 5.1 Introduction 5.2 Design and Fabrication 5.3 Experimental Characterization 5.3.1 Experimental Procedure 5.3.2 Discussion of Experimental Results 5.4 Modeling 5.4.1 Gaylord Force Model 5.4.2 Force Balance Model 5.4.3 Friction Force Model 5.5 Pressure Dead-Band 5.5.1 Discussion of Modeling Results 5.5.2 Impact of Length Correction Term on Modeling Efforts 5.6 Conclusions References Chapter 6: Soft Pneumatic Actuators: Modeling, Control, and Application 6.1 Introduction and Background 6.1.1 Soft Pneumatic Actuators 6.1.2 Bending Actuator Control 6.1.3 2-Degree-of-Freedom Soft-Actuated Modules 6.1.4 Wrist Device 6.1.5 Soft Bending Static Modeling 6.1.6 Contributions 6.2 Soft Actuator Modeling and Control 6.2.1 Reverse Pneumatic Artificial Muscle Fabrication, Analytical Modeling, and Verification 6.2.1.1 Actuator Fabrication Process 6.2.1.2 Analytical Model 6.2.1.3 Numerical Model 6.2.1.4 Actuator Static Deformation Response Experimental Setup 6.2.1.5 Actuator Deformation Results 6.2.2 rPAM-Driven Revolute Joint 6.2.2.1 Analytical Model 6.2.3 Control Strategy 6.2.3.1 Sliding Mode Controller Design Based on Lumped System Dynamics 6.2.3.2 Feedforward Controller Design 6.2.3.3 Joint Control Results 6.2.4 Conclusion 6.3 Soft Actuator Bending Control 6.3.1 Actuator Design and Experimental Setup 6.3.2 System Identification 6.3.3 Model Reference Adaptive Controller 6.3.4 Inverse Dynamic Control 6.3.5 Experimental Results 6.3.5.1 Model Reference Adaptive Control System Results 6.3.5.2 Inverse Dynamic Controller Results 6.3.5.3 Unstructured Signal Tracking 6.4 Degree-of-Freedom Soft-Actuated Skeleton Module 6.4.1 Design and Fabrication 6.4.1.1 Fabrication of the Soft Actuator 6.4.1.2 Module Design 6.4.2 Soft-Actuated 2-DoF Module 6.4.2.1 Kinematic Model and Control 6.4.2.2 Experimental Results 6.4.3 4-DoF Modular Manipulator 6.4.3.1 Control 6.4.3.2 Experimental Results 6.5 2-Degree-of-Freedom Actuator Application 6.5.1 Fabrication 6.5.1.1 Physical Capabilities 6.5.2 Path-Following Test 6.5.2.1 Virtual Agent Control 6.5.2.2 Feedback Control 6.5.3 Experimental Results 6.6 Soft Bending Actuator Static Modeling 6.6.1 Constant Curvature Static Bending Model 6.6.2 Constant Curvature Verification 6.6.3 Discretized Soft Actuator Bending Model 6.6.3.1 Normal Force Calculation 6.6.3.2 Tangential Force Calculation 6.6.3.3 Global Forces 6.6.3.4 Inverse Kinematics 6.6.4 Discretized Model Verification 6.6.4.1 Model Force Verification 6.6.4.2 Pressure Verification 6.6.4.3 IK Verification 6.6.5 Scale Factor Analysis 6.6.5.1 Cross Section Analysis 6.6.5.2 Friction Analysis 6.6.5.3 Internal Variation 6.6.5.4 Constant Offset 6.6.5.5 Frictionless Analysis 6.7 Conclusions References Chapter 7: Active Thermal Control of Satellites with Electroactive Materials 7.1 Introduction 7.2 Concepts Related to the Emissivity of a Body 7.2.1 Emissivity Concept 7.2.2 Applications to the Thermal Regulation 7.3 Electroemissive Devices: From Principle to State of the Art 7.3.1 Common Design of Electroemissive Devices 7.3.2 Performance Indicators and Characteristic Parameters 7.3.3 Overview of State-of-the-Art Electroemissive Devices 7.3.3.1 Active Layers as Dual Material Including EAS and Reflective Surfaces 7.3.3.2 Opaque Materials with Variable Emissivity in the IR 7.3.4 Most Advanced EEDs for Space Application 7.4 Overview of State-of-the-Art EEDs Designed at CY Cergy Paris Université 7.4.1 EEDs Designed at CY Cergy Paris Université 7.4.2 Control of Thermal Performances in Simulated Environmental Conditions 7.5 Conclusion References Index