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Philen M. SMA active fiber pumps inspired by the squid mantle. BIOINSPIRATION & BIOMIMETICS 2021; 16:026017. [PMID: 33352546 DOI: 10.1088/1748-3190/abd625] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/31/2020] [Accepted: 12/22/2020] [Indexed: 06/12/2023]
Abstract
Squid possess a mantle that is able to quickly compress an internal fluid, thus providing a jetting locomotion that enables them to be the fastest aquatic invertebrates. The mantle possesses a complex collagen fiber and muscular system, and the primary propulsion is accomplished through circumferential muscles (90°) contracting around the mantel. In addition, jetting is enhanced through elastic energy stored in the helically-wound IM-1 collagen fibers. The angles of these fibers have been measured between 28° and 32° in different species of squid. Inspired by the muscular fiber configuration found in the mantle of squid, novel pumps that use shape memory alloy (SMA) active fibers oriented at precise angles around a cylindrical shell are investigated through experiments and analytical studies. A thermomechanical model of an SMA fiber is presented and the parameters are identified through experiments. Using the thermomechanical model of the SMA fiber, an analytical model of the SMA active fiber pump is presented and is validated through experiments. Results show that maximum pumping power and efficiency is achieved for pumps when the matrix modulus is less than the fiber modulus and the optimal fiber wind angle is ±55°. When the matrix modulus is similar to the fiber modulus, maximum pumping performance is achieved with a wind angle of ±90°, similar to the angle of the circumferential muscles in the squid mantel.
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Affiliation(s)
- Michael Philen
- Virginia Polytechnic Institute and State University, Blacksburg, VA, United States of America
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2
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Bujard T, Giorgio-Serchi F, Weymouth GD. A resonant squid-inspired robot unlocks biological propulsive efficiency. Sci Robot 2021; 6:6/50/eabd2971. [PMID: 34043579 DOI: 10.1126/scirobotics.abd2971] [Citation(s) in RCA: 18] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/12/2020] [Accepted: 12/23/2020] [Indexed: 11/03/2022]
Abstract
Elasticity has been linked to the remarkable propulsive efficiency of pulse-jet animals such as the squid and jellyfish, but reports that quantify the underlying dynamics or demonstrate its application in robotic systems are rare. This work identifies the pulse-jet propulsion mode used by these animals as a coupled mass-spring-mass oscillator, enabling the design of a flexible self-propelled robot. We use this system to experimentally demonstrate that resonance greatly benefits pulse-jet swimming speed and efficiency, and the robot's optimal cost of transport is found to match that of the most efficient biological swimmers in nature, such as the jellyfish Aurelia aurita The robot also exhibits a preferred Strouhal number for efficient swimming, thereby bridging the gap between pulse-jet propulsion and established findings in efficient fish swimming. Extensions of the current robotic framework to larger amplitude oscillations could combine resonance effects with optimal vortex formation to further increase propulsive performance and potentially outperform biological swimmers altogether.
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Affiliation(s)
- Thierry Bujard
- Engineering and Physical Sciences, University of Southampton, Southampton, UK
| | - Francesco Giorgio-Serchi
- Engineering and Physical Sciences, University of Southampton, Southampton, UK.,School of Engineering, University of Edinburgh, Edinburgh, UK
| | - Gabriel D Weymouth
- Engineering and Physical Sciences, University of Southampton, Southampton, UK. .,Data-Centric Engineering Programme, Alan Turing Institute, London, UK
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3
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Sholl N, Moss A, Krieg M, Mohseni K. Controlling the deformation space of soft membranes using fiber reinforcement. Int J Rob Res 2021. [DOI: 10.1177/0278364919897134] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/27/2022]
Abstract
Recent efforts in soft-body control have been hindered by the infinite dimensionality of soft bodies. Without restricting the deformation space of soft bodies to desired degrees of freedom, it is difficult, if not impossible, to guarantee that the soft body will remain constrained within a desired operating range. In this article, we present novel modeling and fabrication techniques for leveraging the reorientation of fiber arrays in soft bodies to restrict their deformation space to a critical case. Implementing this fiber reinforcement introduces unique challenges, especially in complex configurations. To address these challenges, we present a geometric technique for modeling fiber reinforcement on smooth elastomeric surfaces and a two-stage molding process to embed the fiber patterns dictated by that technique into elastomer membranes. The variable material properties afforded by fiber reinforcement are demonstrated with the canonical case of a soft, circular membrane reinforced with an embedded, intersecting fiber pattern such that it deforms into a prescribed hemispherical geometry when inflated. It remains constrained to that configuration, even with an additional increase in internal pressure. Furthermore, we show that the fiber-reinforced membrane is capable of maintaining its hemispherical shape under a load, and we present a practical application for the membrane by using it to control the buoyancy of a bioinspired autonomous underwater robot developed in our lab. An additional experiment on a circular membrane that inflates to a conical frustum is presented to provide additional validation of the versatility of the proposed model and fabrication techniques.
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Affiliation(s)
- Nick Sholl
- Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA
- Institute for Networked Autonomous Systems, University of Florida, Gainesville, FL, USA
| | - Austin Moss
- Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA
- Institute for Networked Autonomous Systems, University of Florida, Gainesville, FL, USA
| | - Mike Krieg
- Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA
- Institute for Networked Autonomous Systems, University of Florida, Gainesville, FL, USA
| | - Kamran Mohseni
- Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA
- Institute for Networked Autonomous Systems, University of Florida, Gainesville, FL, USA
- Department of Electrical and Computer Engineering, University of Florida, Gainesville, FL, USA
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4
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Zhu W, Huan H, Bu Y, Li X, Shiuan D, Li J, Sun X. Effects of hydroxyl radical induced oxidation on water holding capacity and protein structure of jumbo squid (
Dosidicus gigas
) mantle. Int J Food Sci Technol 2019. [DOI: 10.1111/ijfs.14123] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/19/2022]
Affiliation(s)
- Wenhui Zhu
- College of Food Science and Engineering National & Local Joint Engineering Research Center of Storage, Processing and Safety Control Technology for Fresh Agricultural and Aquatic Products The Fresh Food Storage and Processing Technology Research Institute of Liaoning Provincial Universities Bohai University Jinzhou Liaoning 121013 China
| | - Haizhen Huan
- College of Food Science and Engineering National & Local Joint Engineering Research Center of Storage, Processing and Safety Control Technology for Fresh Agricultural and Aquatic Products The Fresh Food Storage and Processing Technology Research Institute of Liaoning Provincial Universities Bohai University Jinzhou Liaoning 121013 China
| | - Ying Bu
- College of Food Science and Engineering National & Local Joint Engineering Research Center of Storage, Processing and Safety Control Technology for Fresh Agricultural and Aquatic Products The Fresh Food Storage and Processing Technology Research Institute of Liaoning Provincial Universities Bohai University Jinzhou Liaoning 121013 China
| | - Xuepeng Li
- College of Food Science and Engineering National & Local Joint Engineering Research Center of Storage, Processing and Safety Control Technology for Fresh Agricultural and Aquatic Products The Fresh Food Storage and Processing Technology Research Institute of Liaoning Provincial Universities Bohai University Jinzhou Liaoning 121013 China
| | - David Shiuan
- College of Food Science and Engineering National & Local Joint Engineering Research Center of Storage, Processing and Safety Control Technology for Fresh Agricultural and Aquatic Products The Fresh Food Storage and Processing Technology Research Institute of Liaoning Provincial Universities Bohai University Jinzhou Liaoning 121013 China
| | - Jianrong Li
- College of Food Science and Engineering National & Local Joint Engineering Research Center of Storage, Processing and Safety Control Technology for Fresh Agricultural and Aquatic Products The Fresh Food Storage and Processing Technology Research Institute of Liaoning Provincial Universities Bohai University Jinzhou Liaoning 121013 China
| | - Xiaotao Sun
- Beijing Technology and Business University Beijing 100048 China
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5
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Torres‐Arreola W, Ocaño‐Higuera VM, Ezquerra‐Brauer JM, López‐Corona BE, Rodríguez‐Felix F, Castro‐Longoria R, Ramírez‐Guerra HE. Effect of cooking on physicochemical and structural properties of jumbo squid (
Dosidicus gigas
) muscle. J FOOD PROCESS PRES 2017. [DOI: 10.1111/jfpp.13528] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
Affiliation(s)
- Wilfrido Torres‐Arreola
- Departamento de Investigación y Posgrado en AlimentosUniversidad de SonoraHermosillo Sonora México
| | | | | | | | | | - Reyna Castro‐Longoria
- Departamento de Investigaciones Científicas y Tecnológicas de la Universidad de SonoraUniversidad de SonoraHermosillo Sonora México
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6
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Ramírez-Guerra HE, Mazorra-Manzano MA, Ezquerra-Brauer JM, Carvajal-Millán E, Pacheco-Aguilar R, Lugo-Sánchez ME, Ramírez-Suárez JC. Hydroxylysyl-pyridinoline occurrence and chemical characteristics of collagen present in jumbo squid (Dosidicus gigas) tissues. J Food Compost Anal 2015. [DOI: 10.1016/j.jfca.2015.06.003] [Citation(s) in RCA: 13] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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7
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Krieg M, Sledge I, Mohseni K. Design considerations for an underwater soft-robot inspired from marine invertebrates. BIOINSPIRATION & BIOMIMETICS 2015; 10:065004. [PMID: 26513603 DOI: 10.1088/1748-3190/10/6/065004] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/05/2023]
Abstract
This article serves as an overview of the unique challenges and opportunities made possible by a soft, jellyfish inspired, underwater robot. We include a description of internal pressure modeling as it relates to propulsive performance, leading to a desired energy-minimizing volume flux program. Strategies for determining optimal actuator placement derived from biological body motions are presented. In addition a feedback mechanism inspired by the epidermal line sensory system of cephalopods is presented, whereby internal pressure distribution can be used to determine pertinent deformation parameters.
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Affiliation(s)
- Michael Krieg
- Department of Mechanical and Aerospace Engineering, University of Florida, USA. Institute for Networked Autonomous Systems, University of Florida, USA
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Sledge I, Krieg M, Lipinski D, Mohseni K. Identifying and modeling motion primitives for the hydromedusae Sarsia tubulosa and Aequorea victoria. BIOINSPIRATION & BIOMIMETICS 2015; 10:066001. [PMID: 26495992 DOI: 10.1088/1748-3190/10/6/066001] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/05/2023]
Abstract
The movements of organisms can be thought of as aggregations of motion primitives: motion segments containing one or more significant actions. Here, we present a means to identify and characterize motion primitives from recorded movement data. We address these problems by assuming that the motion sequences can be characterized as a series of dynamical-system-based pattern generators. By adopting a nonparametric, Bayesian formalism for learning and simplifying these pattern generators, we arrive at a purely data-driven model to automatically identify breakpoints in the movement sequences. We apply this model to swimming sequences from two hydromedusa. The first hydromedusa is the prolate Sarsia tubulosa, for which we obtain five motion primitives that correspond to bell cavity pressurization, jet formation, jetting, cavity fluid refill, and coasting. The second hydromedusa is the oblate Aequorea victoria, for which we obtain five motion primitives that correspond to bell compression, vortex separation, cavity fluid refill, vortex formation, and coasting. Our experimental results indicate that the breakpoints between primitives are correlated with transitions in the bell geometry, vortex formation and shedding, and changes in derived dynamical quantities. These dynamics quantities include terms like pressure, power, drag, and thrust. Such findings suggest that dynamics information is inherently present in the observed motions.
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Affiliation(s)
- Isaac Sledge
- Department of Electrical and Computer Engineering, University of Florida, USA. Institute for Networked Autonomous Systems, University of Florida, USA
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9
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Renda F, Serchi FG, Boyer F, Laschi C. Structural Dynamics of a Pulsed-Jet Propulsion System for Underwater Soft Robots. INT J ADV ROBOT SYST 2015. [DOI: 10.5772/60143] [Citation(s) in RCA: 16] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
This paper entails the study of the pulsed-jet propulsion inspired by cephalopods in the frame of underwater bioinspired robotics. This propulsion routine involves a sequence of consecutive cycles of inflation and collapse of an elastic bladder, which, in the robotics artefact developed by the authors, is enabled by a cable-driven actuation of a deformable shell composed of rubber-like materials. In the present work an all-comprehensive formulation is derived by resorting to a coupled approach that comprises of a model of the structural dynamics of the cephalopod-like elastic bladder and a model of the pulsed-jet thrust production. The bladder, or mantle, is modelled by means of geometrically exact, axisymmetric, nonlinear shell theory, which yields an accurate estimation of the forces involved in driving the deformation of the structure in water. By coupling these results with those from a standard thrust model, the behaviour of the vehicle propelling itself in water is derived. The constitutive laws of the shell are also exploited as control laws with the scope of replicating the muscle activation routine observed in cephalopods. The model is employed to test various shapes, material properties and actuation routines of the mantle. The results are compared in terms of speed performance in order to identify suitable design guidelines. Altogether, the model is tested in more than 50 configurations, eventually providing useful insight for the development of more advanced vehicles and bringing evidence of its reliability in studying the dynamics of both man-made cephalopod-inspired robots and live specimens.
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Affiliation(s)
- Federico Renda
- Khalifa University Robotics Institute, Khalifa University of Science Technology and Research (KUSTAR), Abu Dhabi, United Arab Emirates
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | | | - Frederic Boyer
- Research Institute of Communication and Cybernetics of Nantes, Ecole des Mines de Nantes, France
| | - Cecilia Laschi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
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