Resistance Feedback of a Ni-Ti Alloy Actuator at Room Temperature in Still Air

This paper illustrates an experimental activity for the closed-loop position control of an actuator made using shape memory alloy (SMA) wire. A solution with the self-sensing effect was implemented to miniaturize the systems, i.e., without external sensors. A proportional control algorithm was initially used, demonstrating the idea's feasibility; the wire can behave simultaneously as an actuator and sensor. An experimental investigation was subsequently conducted for the optimization of the developed actuator. As for the material, a Flexinol wire, Ni-Ti alloy, with a diameter of 0.150 mm and a length of 200 mm, was used. Preliminarily, characterization of the SMA wire at constant and variable loads was carried out; the characteristics detected were elongation vs. electric current and elongation vs. electrical resistance. The control system is PC based with a data acquisition card (DAQ). A drive board was designed and built to read the wire's electrical resistance and power it by pulse width modulation (PWM). A notable result is that the actuator works with good precision and in dynamic conditions, even when it is called to support a load up to 65% different from that for which the electrical resistance-length correlation has previously been experimentally obtained, on which the control is based. This opens up the possibility of using the actuator in a counteracting configuration with a spring, which makes hardware implementation and control management simple.

NiTi-Cu Bimetallic Structure Fabrication through Wire Arc Additive Manufacturing

This study endeavors to comprehensively explore and elucidate the seamless integration of NiTi shape memory alloys (SMAs) into multifaceted applications through the utilization of novel joining techniques. The primary focus lies in the utilization of wire arc additive manufacturing (WAAM) to deposit Nitinol (NiTi) onto Copper (Cu), thereby introducing a transformative approach for their integration into electro-mechanical systems and beyond. Through a detailed examination of the NiTi/Cu bimetallic junction, using advanced analytical techniques including SEM, XRD, and DSC analyses, this research aims to unravel the intricate complexities inherent within the interface. The SEM images and X-ray patterns obtained reveal a complex and nuanced interface characterized by a broad mixed zone comprising various constituents, including Ti(Ni,Cu)2, pure Cu, Ti2(Ni,Cu)3 precipitates, and Ni-rich NiTi precipitates. The DSC results, showcasing low-intensity broad peaks during thermal cycling, underscore the inherent challenges in demonstrating functional properties within the NiTi/Cu system. Recognizing the critical importance of an enhanced martensitic transformation, this study delves into the effects of heat treatment. Calorimetric curves post-annealing at 500 °C exhibit distinct transformation peaks, shedding light on the intricate influence of NiTi layer distribution within the junction. The optimal heat treatment parameters for NiTi/Cu junction restoration are meticulously explored and determined at 500 °C for a duration of 12 h. Furthermore, the study offers valuable insights into optimizing NiTi-Cu joints, with micro-hardness values reaching 485 HV and compressive strength scaling up to 650 MPa. These significant findings not only hold promise for diverse applications across various industries but also pave the way for further research directions and explorations into the realm of SMA integration and advanced joining methodologies.

Design and Control of a Soft Knee Exoskeleton for Pediatric Patients at Early Stages of the Walking Learning Process

Pediatric patients can suffer from different motor disorders that limit their neurological and motor development and hinder their independence. If treated at the very early stages of development, those limitations can be palliated or even removed. However, manual interventions are not completely effective due to the restrictions in terms of time, force, or tracking experienced by the physiotherapists. The knee flexo-extension is crucial for walking and often affected by disorders such as spasticity or lack of force in the posterior chain. This article focuses on the development of a knee exosuit to follow angular trajectories mimicking the maximum and minimum peaks present in the knee flexo-extension profiles of healthy individuals during walking. The proposed exosuit is based on shape memory alloy actuators along with four inertial sensors that close the control loop. The whole device is controlled through a two-level controller and has an hybrid rigid-flexible design to overcome the different issues present in the literature. The device was proven to be feasible for this type of application, with replicable and consistent behavior, reducing the price and weight of existing exosuits and enhancing patient comfort.

Soft Artificial Muscle Based on Pre-Detwinned Shape Memory Alloy Spring Actuator Achieving High Passive Assistive Torque for Wearable Robot

For designing the assistive wearable rehabilitation robots, it is challenging to design the robot as energy efficient because the actuators have to be capable of overcoming human loads such as gravity of the body and spastic torque continuously during the assistance. To address these challenges, we propose a novel design of soft artificial muscle that utilizes shape memory alloy (SMA) spring actuators with pre-detwinning process. The SMA spring was fabricated through a process called pre-detwinning, which enhances the linearity of the SMA spring in martensite phase and unpowered restoring force, which is called passive force. The fabricated SMA spring can contract >60%. Finally, the soft wearable robot that can assist not only the gravitational torque exerted on the elbow by passive force, but also the elbow movements with active force was designed with a soft artificial muscle. A soft artificial muscle consists of the bundles of pre-detwinned SMA springs integrated with the stretchable coolant vessel. The stiffness of the muscle was measured as 1125 N/m in martensite phase and 1732 N/m in austenite phase. In addition, the muscle showed great actuation frequency performances, the bandwidth of which was measured as 0.5 Hz. The proposed wearable mechanism can fully compensate the gravitational torque for all the angles in passive mode. In addition, the proposed mechanism can produce high torque up to 3.5 Nm and movements in active mode.

Manufacture and Deformation Angle Control of a Two-Direction Soft Actuator Integrated with SMAs

In this contribution, the development of a 3D-printed soft actuator integrated with shape memory alloys (SMA) wires capable of bending in two directions is presented. This work discusses the design, manufacturing, modeling, simulation, and feedback control of the actuator. The SMA wires are encased in Polytetrafluoroethylene (PTFE) tubes and then integrated into the 3D-printed matrix made of thermoplastic polyurethane (TPU). To measure and control the deformation angle of the soft actuator, a computer vision system was implemented. Based on the experimental results, a mathematical model was developed using the system identification method and simulated to describe the dynamics of the actuator, contributing to the design of a controller. However, achieving precise control of the deformation angle in systems actuated by SMA wires is challenging due to their inherent nonlinearities and hysteretic behavior. A proportional-integral (PI) controller was designed to address this challenge, and its effectiveness was validated through real experiments.

Mechanical Properties, Microstructure, and Actuation Behavior of Wire Arc Additive Manufactured Nitinol: Titanium Bimetallic Structures

Nitinol (NiTi) is well known for its corrosion resistance, shape memory effect, superelasticity, and biocompatibility, whereas Titanium (Ti) is well known for its high specific strength, corrosion resistance, and biocompatibility. The bimetallic joint of NiTi and Ti is required for applications that require tailored properties at different locations within the same component, as well as to increase design flexibility while reducing material costs. However, because of the formation of brittle intermetallic phases, connecting NiTi and Ti is difficult. In the present study, a systematic experimental investigation is carried out to develop NiTi-Ti bimetallic joint using wire arc additive manufacturing (WAAM) for the first time and to evaluate its microstructure, mechanical properties, martensitic transformation, and actuation behavior in the as-built condition. The defect-free joint is obtained through WAAM and microstructural studies indicate the formation of intermetallics at the NiTi-Ti interface leading to higher microhardness values (600 HV). Shape recovery behavior and phase transformation temperature were also enhanced in comparison to NiTi. An improved actuation and bending angle recovery is observed in comparison with NiTi. The present study lays the way for the use of WAAM in the construction of NiTi and Ti bimetallic structures for engineering and medicinal applications.

Snapping for 4D-Printed Insect-Scale Metal-Jumper

The replication of jumping motions observed in small organisms poses a significant challenge due to size-related effects. Shape memory alloys (SMAs) exhibit a superior work-to-weight ratio, making them suitable for jumping actuators. However, the SMAs advantages are hindered by the limitations imposed by their single actuator configuration and slow response speed. This study proposes a novel design approach for an insect-scale shape memory alloy jumper (net-shell) using 4D printing technology and the bistable power amplification mechanism. The energy variations of the SMA net-shell under different states and loads are qualitatively elucidated through a spring-mass model. To optimize the performance of the SMA net-shell, a non-contact photo-driven technique is employed to induce its shape transition. Experimental investigations explore the deformation response, energy release of the net-shell, and the relationship between the light power density. The results demonstrate that the SMA net-shell exhibits remarkable jumping capabilities, achieving a jump height of 60 body lengths and takeoff speeds of up to 300 body lengths per second. Furthermore, two illustrative cases highlight the potential of net-shells for applications in unstructured terrains. This research contributes to miniaturized jumping mechanisms by providing a new design approach integrating smart materials and advanced structures.

Hingeless arm for space robotics actuated through shape memory alloys

Operating outside the spacecraft via remotely controlled structures is an important opportunity in different space applications. The research in this area is focused on designing robots that are sufficiently flexible to allow inspection in locations where access is difficult or impossible for astronauts, while minimizing weight and bulk. The purpose of the research is to design a borescope for space applications with no hinges or other mechanisms, exploiting biomimetic design concepts. This is pursued by giving to the borescope a backbone exoskeleton provided by a continuous structure made of fibre reinforced composite material and using NiTi wires as tendons, taking advantage of their low weight and dimensions, which allow them to be embedded between the composite layers during the lamination process. After a study of the state of the art of flexible structures, concentrated in the medical and robotic fields, the research work unfolded in two phases. In the first design phase, several composite layup solutions were considered and analysed using finite element models, leading to the definition of the borescope geometrical parameters and to an initial estimate of the displacements that can be achieved. In the second experimental phase, seven prototypes were produced and tested, with one or more wires, to validate the design and to search for a configuration that can be actuated in different directions. The borescope prototypes resulted flexible enough to achieve an extended degree of bending and at the same time sufficiently rigid to allow complete rearm of the NiTi wires. The numerical and experimental study led to the definition of the design parameters, the number of wires, and the manufacturing technique to integrate NiTi actuators.

Additive Manufacturing of Fe-Mn-Si-Based Shape Memory Alloys: State of the Art, Challenges and Opportunities

Additive manufacturing (AM) constitutes the new paradigm in materials processing and its use on metals and alloys opens new unforeseen possibilities, but is facing several challenges regarding the design of the microstructure, which is particularly awkward in the case of functional materials, like shape memory alloys (SMA), as they require a robust microstructure to withstand the constraints appearing during their shape change. In the present work, the attention is focused on the AM of the important Fe-Mn-Si-based SMA family, which is attracting a great technological interest in many industrial sectors. Initially, an overview on the design concepts of this SMA family is offered, with special emphasis to the problems arising during AM. Then, such concepts are considered in order to experimentally develop the AM production of the Fe-20Mn-6Si-9Cr-5Ni (wt%) SMA through laser powder bed fusion (LPBF). The complete methodology is approached, from the gas atomization of powders to the LPBF production and the final thermal treatments to functionalize the SMA. The microstructure is characterized by scanning and transmission electron microscopy after each step of the processing route. The reversibility of the ε martensitic transformation and its evolution on cycling are studied by internal friction and electron microscopy. An outstanding 14% of fully reversible thermal transformation of ε martensite is obtained. The present results show that, in spite of the still remaining challenges, AM by LPBF offers a good approach to produce this family of Fe-Mn-Si-based SMA, opening new opportunities for its applications.

Microstructural mechanisms of hysteresis and transformation width in NiTi alloy from molecular dynamics simulations

Martensitic transformations in shape memory alloys are often accompanied by thermal hysteresis, and engineering this property is of prime scientific interest. The martensitic transformation can be characterized as thermoelastic, where the extent of the transformation is determined by a balance between thermodynamic driving force and stored elastic energy. Here we used molecular dynamics simulations of the NiTi alloy to explore hysteresis-inducing mechanisms and thermoelastic behavior by progressively increasing microstructural constraints from single crystals to bi-crystals to polycrystals. In defect-free single crystals, the austenite-martensite interface moves unimpeded with a high velocity. In bi-crystals, grain boundaries act as significant obstacles to the transformation and produce hysteresis by requiring additional nucleation events. In polycrystals, the transformation is further limited by the thermoelastic balance. The stored elastic energy can be converted to mechanisms of non-elastic strain accommodation, which also produce hysteresis. We further demonstrated that the thermoelastic behavior can be controlled by adjusting microstructural constraints.

Disorder enhanced dynamical heterogeneity in strain glass alloys

An open question related to strain-glass (STG) alloys is whether they process similar dynamical behaviors to other glass systems. In the present work, we investigate the reorientation process of martensite domains in both STG and martensitic alloys. Our results show the presence of highly doped point defects can greatly intensify the dynamical heterogeneity and spatiotemporal correlation in ferroelastic or shape memory alloy systems, which are also two main hallmarks of structural glasses. What's more, we find that such dynamic heterogeneity exists in a different range spanning microscopic to mesoscopic scales, indicated by our molecular dynamic simulations and time-dependent Ginzburg-Landau modeling. Dopant atoms induced transient strain networks, i.e. spatial correlated local lattice distortion, is a response for such heterogeneous dynamics. The present study thus solidifies STG as a new state of matter and may provide guidelines for developing new STG alloys.

Shape Memory Alloy (SMA) Actuators: The Role of Material, Form, and Scaling Effects

Shape memory alloys (SMAs) are smart materials that are widely used to create intelligent devices because of their high energy density, actuation strain, and biocompatibility characteristics. Given their unique properties, SMAs are found to have significant potential for implementation in many emerging applications in mobile robots, robotic hands, wearable devices, aerospace/automotive components, and biomedical devices. Here, the state-of-the-art of thermal and magnetic SMA actuators in terms of their constituent materials, form, and scaling effects are summarized, including their surface treatments and functionalities. The motion performance of various SMA architectures (wires, springs, smart soft composites, and knitted/woven actuators) is also analyzed. Based on the assessment, current challenges of SMAs that need to be addressed for their practical application are emphasized. Finally, how to advance SMAs by synergistically considering the effects of material, form, and scale is suggested.

Design and Experimental Study of Shape Memory Alloy and Piezoelectric Composite Power Generation Device

In order to solve the problem of ineffective utilization of waste heat generated by energy consumption in industrial production and life, a low-frequency thermal energy conversion type piezoelectric energy trap is proposed, and relevant theoretical analysis and experimental research are conducted. The device utilizes a piezoelectric film (polyvinylidene fluoride) combined with a shape memory alloy and features a simple green structure that can supply energy to microelectronic devices. First, the structural design and working principle of the device are analyzed and the dynamics model is built. Second, COMSOL Multiphysics simulation software (Version 5.6) is used to analyze and calculate the output voltage of shape memory alloy shrinkage, piezoelectric film shape and parameters. Finally, the experimental prototype is machined and fabricated by the fine engraving machine, and the experimental platform is built for relevant performance tests. The experimental results show that when the temperature is 100 °C, the maximum strain of shape memory alloy with 1 mm diameter is 0.148 mm. When the shape of the piezoelectric film is triangular, the length of the bottom edge is equal to the height of the triangle and the thickness ratio is 0.5, the maximum output voltage is 2.12 V. The experimental results verify the feasibility of the designed device and provide new ideas for subsequent research on piezoelectric energy capture.

Shape Memory Alloys Applied to Automotive Adaptive Aerodynamics

Shape memory alloys (SMAs) are gaining popularity in the fields of automotive and aerospace engineering due to their unique thermomechanical properties. This paper proposes a numerical implementation of a comprehensive constitutive model for simulating the thermomechanical behavior of shape memory alloys, with temperature and strain as control variables to adjust the shape memory effect and super elasticity effect of the material. By implementing this model as a user subroutine in the FE code Abaqus/Standard, it becomes possible to account for variations in material properties in complex components made of shape memory alloys. To demonstrate the potential of the proposed model, a skid plate system design is presented. The system uses bistable actuators with shape memory alloy springs to trigger plate movement. The kinematics and dynamics of the system are simulated, and effective loads are generated by the shape memory alloy state change due to the real temperature distribution in the material, which depends on the springs' geometrical parameters. Finally, the performance of the actuator in switching between different configurations and maintaining stability in a specific configuration is assessed. The study highlights the promising potential of shape memory alloys in engineering applications and demonstrates the ability to use them in complex systems with accurate simulations.

Superelastic Nickel-Titanium (NiTi)-Based Smart Alloys for Enhancing the Performance of Concrete Structures

Recent advances in materials science have led to the development of smart materials that can continuously adapt to different loading conditions and changing environment to meet the growing demand for smart structural systems. The unique characteristics of superelastic NiTi shape memory alloys (SMAs) have attracted the attention of structural engineers worldwide. SMAs are metallic materials that can retrieve their original shape upon exposure to various temperatures or loading/unloading conditions with minimal residual deformation. SMAs have found increasing applications in the building industry because of their high strength, high actuation and damping capacities, good durability, and superior fatigue resistance. Despite the research conducted on the structural applications of SMAs during the previous decades, the existing literature lacks reviews on their recent uses in building industry such as prestressing concrete beams, seismic strengthening of footing-column connections, and fiber-reinforced concrete. Furthermore, scarce research exists on their performance under corrosive environments, elevated temperatures, and intensive fires. Moreover, the high manufacturing cost of SMA and the lack of knowledge transfer from research to practice are the main obstacles behind their limited use in concrete structures. This paper sheds light on the latest progress made in the applications of SMA in reinforced concrete structures during the last two decades. In addition, the paper concludes with the recommendations and future opportunities associated with expanding the use of SMA in civil infrastructures.

Potential of Fe-Mn-Al-Ni Shape Memory Alloys for Internal Prestressing of Ultra-High Performance Concrete

Prestressing of concrete is a commonly used technique in civil engineering to achieve long spans, reduced structural thicknesses, and resource savings. However, in terms of application, complex tensioning devices are necessary, and prestress losses due to shrinkage and creep of the concrete are unfavourable in terms of sustainability. In this work, a prestressing method using novel Fe-Mn-Al-Ni shape memory alloy rebars as a tensioning system in UHPC is investigated. A generated stress of about 130 MPa was measured for the shape memory alloy rebars. For the application in UHPC, the rebars are prestrained prior to the manufacturing process of the concrete samples. After sufficient hardening of the concrete, the specimens are heated inside an oven to activate the shape memory effect and, thus, to introduce the prestress into the surrounding UHPC. It is clearly shown that an improvement in maximum flexural strength and rigidity is achieved due to the thermal activation of the shape memory alloy rebars compared to non-activated rebars. Future research will have to focus on the design of the shape memory alloy rebars in relation to construction applications and the investigation of the long-term performance of the prestressing system.

Sound Quality Performance of Orthogonal Antisymmetric Composite Laminates Embedded with SMA Wires

Orthogonal antisymmetric composite laminates embedded with shape memory alloys (SMAs) wires have the potential to improve the sound quality of vibro-acoustics by taking advantage of the special superelasticity, temperature phase transition, and pre-strain characteristics of SMAs. In this research, space discretion and mode decoupling were employed to establish a vibro-acoustic sound quality model of SMA composite laminates. The association between the structural material parameters of SMA composite laminates and the sound quality index is then approached through methodologies. Numerical analysis was implemented to discuss the effects of SMA tensile pre-strain, SMA volume fraction, and the ratio of resin-to-graphite in the matrix on the vibro-acoustic sound quality of SMA composite laminates within a temperature environment. Subsequently, the sound quality test for SMA composite laminates is thus completed. The theoretically predicted value appears to agree well with the experimental outcomes, which validates the accuracy and applicability of the dynamic modeling theory and method for the sound quality of SMA composite laminates. The results indicate that attempting to alter the SMA tensile pre-strain, SMA volume fraction, and matrix material ratio can be used to modify loudness, sharpness, and roughness, which provides new ideas and a theoretical foundation for the design of composite laminates with decent sound quality.

Computational Modeling and Parametric Analysis of SMA Hybrid Composite Plates under Thermal Environment

This paper presents a coupled thermoelastic finite element formulation for static and dynamic analysis of composite laminated plates with embedded active shape memory alloy (SMA) wires, which accounts for both the phase transformation and the nonlinearity effects of SMA wires. The equations of motion are obtained by using Hamilton's principle and first-order shear deformation theory (FSDT). Furthermore, based on Brinson's one-dimensional phase transformation constitutive law, a novel coupled thermoelastic finite element model that enables analysis of the SMA hybrid composite (SMAHC) plate is developed. The accuracy and efficiency of the developed computational model for analysis of SMAHC plates are reinforced by comparing theoretical predictions with data available from the literature. The results of the numerical examples also show the ability of the proposed model to predict the thermal-mechanical behavior of SMAHC plates in accordance with SMA's hysteresis behavior. In addition, based on the proposed model, the influence of temperature as well as SMA volume fraction, pre-strain value, boundary condition and layup sequence on the static bending and free vibration behavior of the SMAHC plates is investigated in detail. The results of parametric analysis show that the variations of both static deflection and natural frequency of the SMAHC plate over temperature exhibit a nonmonotonic behavior.

Characterization of Filigree Additively Manufactured NiTi Structures Using Micro Tomography and Micromechanical Testing for Metamaterial Material Models

This study focuses on the influence of additive manufacturing process strategies on the specimen geometry, porosity, microstructure and mechanical properties as well as their impacts on the design of metamaterials. Filigree additively manufactured NiTi specimens with diameters between 180 and 350 µm and a nominal composition of Ni_50.9Ti_49.1 (at %) were processed by laser powder bed fusion in a first step. Secondly, they structures were characterized by optical and electron microscopy as well as micro tomography to investigate the interrelations between the process parameters, specimen diameters and microstructure. Each specimen was finally tested in a micro tensile machine to acquire the mechanical performance. The process strategy had, besides the resulting specimen diameter, an impact on the microstructure (grain size) without negatively influencing its quality (porosity). All specimens revealed a superelastic response while the critical martensitic phase transition stress decreased with the applied vector length. As a conclusion, and since the design of programmable metamaterials relies on the accuracy of FEM simulations, precise and resource-efficient testing of filigree and complex structures remains an important part of creating a new type of metamaterials with locally adjusted material behavior.

Production, Mechanical and Functional Properties of Long-Length TiNiHf Rods with High-Temperature Shape Memory Effect

In the present work, the possibility of manufacturing long-length TiNiHf rods with a lowered Hf content and a high-temperature shape memory effect in the range of 120-160 °C was studied. Initial ingots with 1.5, 3.0 and 5.0 at.% Hf were obtained by electron beam melting in a copper water-cooled stream-type mold. The obtained ingots were rotary forged at the temperature of 950 °C, with the relative strain from 5 to 10% per one pass. The obtained results revealed that the ingots with 3.0 and 5.0 at.% Hf demonstrated insufficient technological plasticity, presumably because of the excess precipitation of (Ti,Hf)₂Ni-type particles. The premature destruction of ingots during the deformation process does not allow obtaining high-quality long-length rods. A long-length rod with a diameter of 3.5 mm and a length of 870 mm was produced by rotary forging from the ingot with 1.5 at.% Hf. The obtained TiNiHf rod had relatively high values of mechanical properties (a dislocation yield stress σ_y of 800 MPa, ultimate tensile strength σ_B of 1000 MPa, and elongation to fracture δ of 24%), functional properties (a completely recoverable strain of 5%), and a required finishing temperature of shape recovery of 125 °C in the as-forged state and of 155 °C after post-deformation annealing at 550 °C for 2 h.

Evolution of Structure and Properties of Nickel-Enriched NiTi Shape Memory Alloy Subjected to Bi-Axial Deformation

The effect of a promising method of performing a thermomechanical treatment which provides the nanocrystalline structure formation in bulk NiTi shape memory alloy samples and a corresponding improvement to their properties was studied in the present work. The bi-axial severe plastic deformation of Ti-50.7at.%Ni alloy was carried out on the MaxStrain module of the Gleeble system at 350 and 330 °C with accumulated true strains of e = 6.6-9.5. The obtained structure and its mechanical and functional properties and martensitic transformations were studied using DSC, X-ray diffractometry, and TEM. A nanocrystalline structure with a grain/subgrain size of below 80 nm was formed in bulk nickel-enriched NiTi alloy after the MaxStrain deformation at 330 °C with e = 9.5. The application of MaxStrain leads to the formation of a nanocrystalline structure that is characterized by the appearance of a nano-sized grains and subgrains with equiaxed and elongated shapes and a high free dislocation density. After the MaxStrain deformation at 330 °C with e = 9.5 was performed, the completely nanocrystalline structure with the grain/subgrain size of below 80 nm was formed in bulk nickel-enriched NiTi alloy for the first time. The resulting structure provides a total recoverable strain of 12%, which exceeds the highest values that have been reported for bulk nickel-enriched NiTi samples.

Molecular Dynamics Simulation of NiTi Shape Memory Alloys Produced by Laser Powder Bed Fusion: Laser Parameters on Phase Transformation Behavior

In this study, the deposition, powder spreading, and laser fusion processes during the laser powder bed fusion (L-PBF) process were studied using molecular dynamics (MD) simulation. The effect of Ni content on the characteristic phase transformation temperatures was also investigated. Shape memory effect and superelasticity of NiTi alloys with Ni content ranged from 48.0% to 51.0% were analyzed. By employing MEAM potentials, the effects of the laser power, spot diameter, and scanning speed on the molten pool size and element evaporation were studied. Simulation results showed that a larger spot diameter renders a higher Ni content in the molten pool, also a larger molten pool. A faster scanning speed leads to a higher Ni content in the molten pool, and a smaller molten pool. The element is difficult to evaporate using small laser power and a large spot diameter. The element in the molten pool expresses a great evaporation effect when the Es is larger than 0.4 eV/ų. According to Ni content within the molten pool during laser fusion, characteristic phase transition temperatures in single crystalline NiTi alloys with variant Ni content were investigated by employing a 2NN-MEAM potential. Characteristic phase transition temperature changes as the Ni content increases from 48.0% to 51.0%. Austenite boundaries and Ni content in the boundary were found to be the keys for controlling the characteristic phase transformation temperature.

Thermodynamic Analysis of Anomalous Shape of Stress-Strain Curves for Shape Memory Alloys

In some shape-memory single crystals the stress-strain (σ~ε) curves, belonging to stress induced martensitic transformations from austenite to martensite at fixed temperature, instead of being the usual slightly increasing function or horizontal, have an overall negative slope with sudden stress drops in it. We discuss this phenomenon by using a local equilibrium thermodynamic approach and analysing the sign of the second derivative of the difference of the Gibbs free energy. We show that, considering also the possible nucleation and growth of two martensite structural modifications/variants, the stress-strain loops can be unstable. This means that the overall slope of the uploading branch of the stress-strain curve can be negative for smooth transformation if the second martensite, which is more stable with larger transformation strain, is the final product. We also show that local stress-drops on the stress-strain curve can appear if the nucleation of the second martensite is difficult, and the presence of such local stress-drops alone can also result in an overall negative slope of the stress-strain curves. It is illustrated that the increase of the temperature of the thermal recovery during burst-like transition is a measure of the change of the nucleation energy: the more stable martensite has larger nucleation energy.

Soft dorsal/anal fins pairs for roll and yaw motion in robotic fish

Fish has primarily served as a model for many bio-inspired underwater robots. However, most of the work on fish-inspired robots is focused on propulsion and turning in the horizontal plane. In this paper, we present our work on the 3D motion of bio-inspired underwater robots. A pair of actuated soft fins, mimicking the soft dorsal and anal fins of a live fish, have been designed and tested to generate lateral thrusts that aim to produce both roll and yaw motions. Furthermore, they can be used to provide vertical stabilization of the forward motion in the robot. These fins comprise shape memory alloy wires embedded in silicone. We demonstrate that these fins can provide a means for 3D maneuvering. In this work, we focus on roll and yaw motions. A key feature of the proposed design is that it is lightweight, compact, and waterproof.

Imperfections Formation in Thin Layers of NiTi Triply Periodic Minimal Surface Lattices Fabricated Using Laser Powder Bed Fusion

In this paper, thin layers of NiTi shape memory alloy (SMA) triply periodic minimal surface lattices (TPMS) are fabricated using laser powder bed fusion (LPBF), considering different laser scanning strategies and relative densities. The obtained architected samples are studied using experimental methods to characterize their microstructural features, including the formation of cracks and balling imperfections. It is observed that balling is not only affected by the parameters of the fabrication process but also by structural characteristics, including the effective densities of the fabricated samples. In particular, it is reported here that higher densities of the TPMS geometries considered are generally associated with increased dimensions of balling imperfections. Moreover, scanning strategies at 45° angle with respect to the principal axes of the samples resulted in increased balling.

Asymmetric Airfoil Morphing via Deep Reinforcement Learning

Morphing aircraft are capable of modifying their geometry configurations according to different flight conditions to improve their performance, such as by increasing the lift-to-drag ratio or reducing their fuel consumption. In this article, we focus on the airfoil morphing of wings and propose a novel morphing control method for an asymmetric deformable airfoil based on deep reinforcement learning approaches. Firstly, we develop an asymmetric airfoil shaped using piece-wise Bézier curves and modeled by shape memory alloys. Resistive heating is adopted to actuate the shape memory alloys and realize the airfoil morphing. With regard to the hysteresis characteristics exhibited in the phase transformation of shape memory alloys, we construct a second-order Markov decision process for the morphing procedure to formulate a reinforcement learning environment with hysteresis properties explicitly considered. Subsequently, we learn the morphing policy based on deep reinforcement learning techniques where the accurate information of the system model is unavailable. Lastly, we conduct simulations to demonstrate the benefits brought by our learning implementations and validate the morphing performance of the proposed method. The simulation results show that the proposed method provides an average 29.8% performance improvement over traditional methods.

Investigations on the Phase Transformations, Equilibria and Athermal ω in Ni-Ga-Cr Ternary System

In the present work, the phase equilibria of the Ni-Ga-Cr ternary system at 850, 1000 and 1150 °C were experimentally investigated to provide the essential data for developing the high-entropy shape memory alloys (HESMAs) containing Ni, Ga and Cr. At 850 °C, in the Ni-rich portion, the B2 phase shows equilibrium with the L12 phase when the Cr content is less than 10.49 at. %, while displaying the equilibrium with L12 and BCC phases when the Cr content increases. The B2 + L12 + BCC changes into B2 + FCC + BCC three-phase equilibria from 850 to 1150 °C, as the L12 phase region becomes narrow with rising temperature. The two-phase equilibrium, B2 + BCC, was found at all the isothermal sections investigated. Other three-phase equilibria were also discovered: B2 + α-Cr3Ga + BCC and Ni2Ga3 + α-Cr3Ga + L at 850 °C, and B2 + α-Cr3Ga + L at 1000 °C. Significantly, an athermal ω intermetallic compound with the space group of P3¯m1 was observed distributing at the B2 phase in the quenched Ni45.98-Ga25.50-Cr28.52, Ni42.23-Ga15.70-Cr42.07 and Ni16.54-Ga13.63-Cr69.83 (at. %) alloys after being annealed at 1150 °C for 10 days. The high-resolution transmission electron microscopy (HRTEM) results reveal that the ω shows a crystallographic orientation of [11¯0]B2//[112¯0]ω; (111)B2//(0001)ω with the B2 parent phase.

NiTi SMA Superelastic Micro Cables: Thermomechanical Behavior and Fatigue Life under Dynamic Loadings

Shape memory alloy (SMA) micro cables have a wide potential for attenuation of vibrations and structural health monitoring due to energy dissipation. This work evaluates the effect of SMA thermomechanical coupling during dynamic cycling and the fatigue life of NiTi SMA micro cables submitted to tensile loadings at frequencies from 0.25 Hz to 10 Hz. The thermomechanical coupling was characterized using a previously developed methodology that identifies the self-heating frequency. When dynamically loaded above this frequency, the micro cable response is dominated by the self-heating, stiffening significantly during cycling. Once above the self-heating frequency, structural and functional fatigues of the micro cable were evaluated as a function of the loading frequency for the failure of each individual wire. All tests were performed on a single wire with equal cross-section area for comparison purposes. We observed that the micro cable's functional properties regarding energy dissipation capacity decreased throughout the cycles with increasing frequency. Due to the additional friction between the filaments of the micro cable, this dissipation capacity is superior to that of the single wire. Although its fatigue life is shorter, its delayed failure compared to a single wire makes it a more reliable sensor for structural health monitoring.

What is the speed limit of martensitic transformations?

Structural martensitic transformations enable various applications, which range from high stroke actuation and sensing to energy efficient magnetocaloric refrigeration and thermomagnetic energy harvesting. All these emerging applications benefit from a fast transformation, but up to now their speed limit has not been explored. Here, we demonstrate that a thermoelastic martensite to austenite transformation can be completed within 10 ns. We heat epitaxial Ni-Mn-Ga films with a nanosecond laser pulse and use synchrotron diffraction to probe the influence of initial temperature and overheating on transformation rate and ratio. We demonstrate that an increase in thermal energy drives this transformation faster. Though the observed speed limit of 2.5 × 10²⁷ (Js)¹ per unit cell leaves plenty of room for further acceleration of applications, our analysis reveals that the practical limit will be the energy required for switching. Thus, martensitic transformations obey similar speed limits as in microelectronics, as expressed by the Margolus - Levitin theorem.

Designing for Shape Memory in Additive Manufacturing of Cu-Al-Ni Shape Memory Alloy Processed by Laser Powder Bed Fusion

Shape memory alloys (SMAs) are functional materials that are being applied in practically all industries, from aerospace to biomedical sectors, and at present the scientific and technologic communities are looking to gain the advantages offered by the new processing technologies of additive manufacturing (AM). However, the use of AM to produce functional materials, like SMAs, constitutes a real challenge due to the particularly well controlled microstructure required to exhibit the functional property of shape memory. In the present work, the design of the complete AM processing route, from powder atomization to laser powder bed fusion for AM and hot isostatic pressing (HIP), is approached for Cu-Al-Ni SMAs. The microstructure of the different processing states is characterized in relationship with the processing parameters. The thermal martensitic transformation, responsible for the functional properties, is analyzed in a comparative way for each one of the different processed samples. The present results demonstrate that a final post-processing thermal treatment to control the microstructure is crucial to obtain the expected functional properties. Finally, it is demonstrated that using the designed processing route of laser powder bed fusion followed by a post-processing HIP and a final specific thermal treatment, a satisfactory shape memory behavior can be obtained in Cu-Al-Ni SMAs, paving the road for further applications.

Shape Memory Alloy-Based Wearables: A Review, and Conceptual Frameworks on HCI and HRI in Industry 4.0

Ever since its discovery, the applications of Shape Memory Alloys (SMA) can be found across a range of application domains, from structural design to medical technology. This is based upon the unique and inherent characteristics such as thermal Shape Memory Effect (SME) and Superelasticity (or Pseudoelasticity). While thermal SME is used for shape morphing applications wherein temperature change can govern the shape and dimension of the SMA, Superelasticity allows the alloy to withstand a comparatively very high magnitude of loads without undergoing plastic deformation at higher temperatures. These unique properties in wearables have revolutionized the field, and from fabrics to exoskeletons, SMA has found its place in robotics and cobotics. This review article focuses on the most recent research work in the field of SMA-based smart wearables paired with robotic applications for human-robot interaction. The literature is categorized based on SMA property incorporated and on actuator or sensor-based concept. Further, use-cases or conceptual frameworks for SMA fiber in fabric for 'Smart Jacket' and SMA springs in the shoe soles for 'Smart Shoes' are proposed. The conceptual frameworks are built upon existing technologies; however, their utility in a smart factory concept is emphasized, and algorithms to achieve the same are proposed. The integration of the two concepts with the Industrial Internet of Things (IIoT) is discussed, specifically regarding minimizing hazards for the worker/user in Industry 5.0. The article aims to propel a discussion regarding the multi-faceted applications of SMAs in human-robot interaction and Industry 5.0. Furthermore, the challenges and the limitations of the smart alloy and the technological barriers restricting the growth of SMA applications in the field of smart wearables are observed and elaborated.

A State-of-the-Art Self-Cleaning System Using Thermomechanical Effect in Shape Memory Alloy for Smart Photovoltaic Applications

This research aims to present a state-of-the-art cleaning technology solution that effectively overcomes the dust accumulation issue for conventional photovoltaic systems. Although continuous innovations and advanced developments within renewable energy technologies have shown steady improvements over the past years, the dust accumulation issue remains one of the main factors hindering their efficiency and degradation rate. By harvesting abundant solar thermal energy, the presented self-cleaning system uses a unique thermomechanical property of Shape Memory Alloys to operate a solar-based thermomechanical actuator. Therefore, this study carries out different numerical and experimental validation tests to highlight the promising practicability of the developed self-cleaning system from thermal and mechanical perspectives. The results showed that the system has a life expectancy of over 20 years, which is closely equivalent to the life expectancy of conventional photovoltaic modules while operating under actual weather conditions in Dammam city. Additionally, the thermal to mechanical energy conversion efficiency reached 19.15% while providing average cleaning effectiveness of about 95%. The presented outcomes of this study add to the body of knowledge an innovative methodology for a unique solar-based self-cleaning system aimed toward smart and modern photovoltaic applications.

Microwave versus Conventional Sintering of NiTi Alloys Processed by Mechanical Alloying

The present study shows a comparison between two sintering processes, microwave and conventional sintering, for the manufacture of NiTi porous specimens starting from powder mixtures of nickel and titanium hydrogenation-dehydrogenation (HDH) milled by mechanical alloying for a short time (25 min). The samples were sintered at 850 °C for 15 min and 120 min, respectively. Both samples exhibited porosity, and the pore size results are within the range of the human bone. The NiTi intermetallic compound (B2, R-phase, and B19') was detected in both sintered samples through X-ray diffraction (XRD) and electron backscattering diffraction (EBSD) on scanning electron microscopic (SEM). Two-step phase transformation occurred in both sintering processes with cooling and heating, the latter occurring with an overlap of the peaks, according to the differential scanning calorimetry (DSC) results. From scanning electron microscopy/electron backscatter diffraction, the R-phase and B2/B19' were detected in microwave and conventional sintering, respectively. The instrumented ultramicrohardness results show the highest elastic work values for the conventionally sintered sample. It was observed throughout this investigation that using mechanical alloying (MA) powders enabled, in both sintering processes, good results, such as intermetallic formation and densification in the range for biomedical applications.

Shape Memory Alloy-Polymer Composites: Static and Fatigue Pullout Strength under Thermo-Mechanical Loading

This work was carried out within the context of an R&D project on morphable polymer matrix composites (PMC), actuated by shape memory alloys (SMA), to be used for active aerodynamic systems in automotives. Critical issues for SMA–polymer integration are analyzed that are mostly related to the limited strength of metal–polymer interfaces. To this aim, materials with suitable thermo-mechanical properties were first selected to avoid premature activation of SMA elements during polymer setting as well as to avoid polymer damage during thermal activation of SMAs. Nonstandard samples were manufactured for both static and fatigue pullout tests under thermo-mechanical loading, which are made of SMA wires embedded in cylindrical resin blocks. Fully coupled thermo-mechanical simulations, including a special constitutive model for SMAs, were also carried out to analyze the stress and temperature distribution in the SMA–polymer samples as obtained from the application of both mechanical loads and thermal activation of the SMA wires. The results highlighted the severe effects of SMA thermal activation on adhesion strength due to the large recovery forces and to the temperature increase at the metal–polymer interface. Samples exhibit a nominal pullout stress of around 940 MPa under static mechanical load, and a marked reduction to 280 MPa was captured under simultaneous application of thermal and mechanical loads. Furthermore, fatigue run-out of 5000 cycles was achieved, under the combination of thermal activation and mechanical loads, at a nominal stress of around 200 MPa. These results represent the main design limitations of SMA/PMC systems in terms of maximum allowable stresses during both static and cyclic actuation.

Passive Attenuation of Mechanical Vibrations with a Superelastic SMA Bending Springs: An Experimental Investigation

This work presents an experimental study related to the mechanical performance of a special design spring fabricated with a superelastic shape memory alloy (SMA-SE). For the experimental testing, the spring was coupled in a rotor machine, aiming to attenuate the mechanical vibration when the system went through a natural frequency without any external power source. It was verified that the reduction in instabilities stemmed from the better distribution of vibration force in the proposed device, as well as the damping capacity of the spring material. These findings showed that the application of the M-Shape device of SMA-SE for three different cases could reduce vibration up to 23 dB when compared to the situations without, and with, 1.5 mm of preload. The M-Shape device was shown to be efficient in reducing the mechanical vibration in a rotor system. This was due to the damping capacity of the SMA-SE material, and because the application did not require any external source of energy to generate phase transformation.

The Effect of Heat Treatment on Damping Capacity and Mechanical Properties of CuAlNi Shape Memory Alloy

This paper discusses the effect of different heat treatment procedures on the microstructural characteristics, damping capacities, and mechanical properties of CuAlNi shape memory alloys (SMA). The investigation was performed on samples in the as-cast state and heat treated states (solution annealing at 885 °C/60′/H₂O and after tempering at 300 °C/60′/H₂O). The microstructure of the samples was examined by light microscopy (LM) and scanning electron microscopy (SEM) equipped with a device for energy dispersive spectrometry (EDS) analysis. Light and scanning electron microscopy showed martensitic microstructure in all investigated samples. However, the changes in microstructure due to heat treatment by the presence of two types of martensite phases (β_1′ and γ_1′) influenced alloy damping and mechanical properties by enhancing alloy damping characteristics. Heat treatment procedure reduced the alloys’ mechanical properties and increased hardness of the alloy. Fractographic analysis of the alloy showed a transgranular type of fracture in samples after casting. After solution annealing, two types of fracture mechanisms can be noticed, transgranular and intergranular, while in tempered samples, mostly an intergranular type of fracture exists.

Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control

Soft actuators are a promising option for the advancing fields of human-machine interaction and dexterous robots in complex environments. Shape memory alloy wire actuators can be integrated into fiber rubber composites for highly deformable structures. For autonomous, closed-loop control of such systems, additional integrated sensors are necessary. In this work, a soft actuator is presented that incorporates fiber-based actuators and sensors to monitor both deformation and temperature. The soft actuator showed considerable deformation around two solid body joints, which was then compared to the sensor signals, and their correlation was analyzed. Both, the actuator as well as the sensor materials were processed by braiding and tailored fiber placement before molding with silicone rubber. Finally, the novel fiber-rubber composite material was used to implement closed-loop control of the actuator with a maximum error of 0.5°.

Machine Learning Enhanced Dynamic Response Modelling of Superelastic Shape Memory Alloy Wires

Superelastic shape memory alloy (SMA) wires exhibit superb hysteretic energy dissipation and deformation capabilities. Therefore, they are increasingly used for the vibration control of civil engineering structures. The efficient design of SMA-based control devices requires accurate material models. However, the thermodynamically coupled SMA behavior is highly sensitive to strain rate. For an accurate modelling of the material behavior, a wide range of parameters needs to be determined by experiments, where the identification of thermodynamic parameters is particularly challenging due to required technical instruments and expert knowledge. For an efficient identification of thermodynamic parameters, this study proposes a machine-learning-based approach, which was specifically designed considering the dynamic SMA behavior. For this purpose, a feedforward artificial neural network (ANN) architecture was developed. For the generation of training data, a macroscopic constitutive SMA model was adapted considering strain rate effects. After training, the ANN can identify the searched model parameters from cyclic tensile stress–strain tests. The proposed approach is applied on superelastic SMA wires and validated by experiments.

Experimental Investigation on Bending Behavior of Existing RC Beam Retrofitted with SMA-ECC Composites Materials

In order to realize the self-centering, high energy consumption, and high ductility of the existing building structure through strengthening and retrofit of structure, a method of reinforced concrete (RC) beam strengthened by using Shape Memory Alloy (SMA) and Engineered Cementitious Composites (ECC) was proposed. Four kinds of specimens were designed, including one beam strengthened with enlarging section area of steel reinforced concrete, one beam strengthened with enlarging section area of SMA reinforced concrete, beam strengthened with enlarging section area of SMA reinforced ECC, and beam strengthened with enlarging section area of steel reinforced ECC; these specimens were manufactured for the monotonic cycle loading tests study on its bending behavior. The influence on the bearing capacity, energy dissipation performance, and self-recovery capacity for each test specimens with different strengthening materials were investigated, especially the bending behavior of the beams strengthened by SMA reinforced ECC. The results show that, compared with the ordinary reinforced concrete beams, strengthening existing RC beam with enlarging section area of SMA reinforced ECC can improve the self-recovery capacity, ductility, and deformability of the specimens. Finally, a revised design formula for the bending capacity of RC beams, strengthened with enlarging sections of ECC, was proposed by considering the tensile capacity provided by ECC, and the calculated values are in good agreement with the experimental value, indicating that the revised formula can be well applied to the beam strengthening with enlarging section of SMA-ECC Materials.

Investigation of the Thermomechanical Response of Cyclically Loaded NiTi Alloys by Means of Temperature Frequency Domain Analyses

Nickel–Titanium (NiTi) shape memory alloys subjected to cyclic loading exhibit reversible temperature changes whose modulation is correlated with the applied load. This reveals the presence of reversible thermomechanical heat sources activated by the applied stresses. One such source is the elastocaloric effect, accounting for the latent heat of Austenite–Martensite phase transformation. It is, however, observed that when the amplitude of cyclic loads is not sufficient to activate or further propagate this phase transformation, the material still exhibits a strong cyclic temperature modulation. The present work investigates the thermomechanical behaviour of NiTi under such low-amplitude cyclic loading. This is carried out by analysing the frequency domain content of temperature sampled over a time window. The amplitude and phase of the most significant harmonics are obtained and compared with the theoretical predictions from the first and second-order theories of the Thermoelastic Effect, this being the typical reversible thermomechanical coupling prevailing under elastic straining. A thin strip of NiTi, exhibiting a fully superelastic behaviour at room temperature, was investigated under low-stress amplitude tensile fatigue cycling. Full-field strain and temperature distributions were obtained by means of Digital Image Correlation and IR Thermography. The work shows that the full field maps of amplitude and phase of the first three significant temperature harmonics carry out many qualitative information about the stress and structural state of the material. It is, though, found that the second-order theory of the Thermoelastic Effect is not fully capable of justifying some of the features of the harmonic response, and further work on the specific nature of thermomechanical heat sources is required for a more quantitative interpretation.

Phase transformation-driven artificial muscle mimics the multifunctionality of avian wing muscle

Skeletal muscle provides a compact solution for performing multiple tasks under diverse operational conditions, a capability lacking in many current engineered systems. Here, we evaluate if shape memory alloy (SMA) components can serve as artificial muscles with tunable mechanical performance. We experimentally impose cyclic stimuli, electric and mechanical, to an SMA wire and demonstrate that this material can mimic the response of the avian humerotriceps, a skeletal muscle that acts in the dynamic control of wing shapes. We next numerically evaluate the feasibility of using SMA springs as artificial leg muscles for a bipedal walking robot. Altering the phase offset between mechanical and electrical stimuli was sufficient for both synthetic and natural muscle to shift between actuation, braking and spring-like behaviour.

Critical Frequency of Self-Heating in a Superelastic Ni-Ti Belleville Spring: Experimental Characterization and Numerical Simulation

The mechanical loading frequency affects the functional properties of shape memory alloys (SMA). Thus, it is crucial to study its effect for the successful use of these materials in dynamic applications. Based on the superelastic cyclic behavior, this work presents an experimental methodology for the determination of the critical frequency of the self-heating of a NiTi Belleville conical spring. For this, cyclic compressive tests were carried out using a universal testing machine with loading frequencies ranging from 0.5 Hz to 10 Hz. The temperature variation during the cyclic tests was monitored using a micro thermocouple glued to the NiTi Belleville spring. Numerical simulations of the spring under quasi-static loadings were performed to assist the analysis. From the experimental methodology applied to the Belleville spring, a self-heating frequency of 1.7 Hz was identified. The self-heating is caused by the latent heat accumulation generated by successive cycles of stress-induced phase transformation in the material. At 2.0 Hz, an increase of 1.2 °C in the average temperature of the SMA device was verified between 1st and 128th superelastic cycles. At 10 Hz, the average temperature increase reached 7.9 °C and caused a 10% increase in the stiffness and 25% decrease in the viscous damping factor. Finally, predicted results of the force as a function of the loading frequency were obtained.

Plasma Electrolytic Polishing of Nitinol: Investigation of Functional Properties

A novel, environmentally friendly, fast, and flexible polishing process for Nitinol parts is presented in this study. Nitinol samples with both superelastic and shape memory properties at room temperature were investigated. The chemical contamination and surface roughness of superelastic Nitinol plates were examined before and after plasma electrolytic polishing. The shift in phase transformation temperature and tensile strength before and after the polishing process were analysed using Nitinol wire with shape memory properties. The obtained experimental results were compared to the data obtained on reference samples examined in the as-received condition. It was found that plasma electrolytic polishing, when the right process parameters are applied, is capable of delivering Nitinol parts with extremely high surface quality. Moreover, it was experimentally proven that plasma electrolytic polishing does not have a negative impact on functionality or mechanical properties of polished parts.

Modelling of SMA Vibration Systems in an AVA Example

Vibration suppression, as well as its generation, is a common subject of scientific investigations. More and more often, but still rarely, shape memory alloys (SMAs) are used in vibrating systems, despite the fact that SMA springs have many advantages. This is due to the difficulty of the mathematical description and the considerable effortfulness of analysing and synthesising vibrating systems. The article shows the analysis of vibrating systems in which spring elements made of SMAs are used. The modelling and analysis method of vibrating systems is shown in the example of a vibrating system with a dynamic vibration absorber (DVA), which uses springs made of a shape memory alloy. The formulated mathematical model of a 2-DOF system with a controlled spring, mounted in DVA suspension, uses the viscoelastic model of the SMA spring. For the object, a control system was synthesised. Finally, model tests with and without a controller were carried out. The characteristics of the vibrations' transmissibility functions for both systems were determined. It was shown that the developed DVA can tune to frequency excitation changes of up to ±10%.

Investigations of Effects of Intermetallic Compound on the Mechanical Properties and Shape Memory Effect of Ti-Au-Ta Biomaterials

Owing to the world population aging, biomedical materials, such as shape memory alloys (SMAs) have attracted much attention. The biocompatible Ti-Au-Ta SMAs, which also possess high X-ray contrast for the applications like guidewire utilized in surgery, were studied in this work. The alloys were successfully prepared by physical metallurgy techniques and the phase constituents, microstructures, chemical compositions, shape memory effect (SME), and superelasticity (SE) of the Ti-Au-Ta SMAs were also examined. The functionalities, such as SME, were revealed by the introduction of the third element Ta; in addition, obvious improvements of the alloy performances of the ternary Ti-Au-Ta alloys were confirmed while compared with that of the binary Ti-Au alloy. The Ti₃Au intermetallic compound was both found crystallographically and metallographically in the Ti-4 at.% Au-30 at.% Ta alloy. The strength of the alloy was promoted by the precipitates of the Ti₃Au intermetallic compound. The effects of the Ti₃Au precipitates on the mechanical properties, SME, and SE were also investigated in this work. Slight shape recovery was found in the Ti-4 at.% Au-20 at.% Ta alloy during unloading of an externally applied stress.

Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors

Minimally invasive surgery is increasingly used in many medical operations because of the benefits for the patients. However, for the surgeons, accessing the situs through a small incision or natural orifice comes with a reduction of the degrees of freedom of the instrument. Due to friction of the mechanical coupling, the haptic feedback lacks sensitivity that could lead to damage of the tissue. The approach of this work to overcome these problems is to develop a control concept for position control and force estimation with shape memory alloys (SMA) which could offer haptic feedback in a novel handheld instrument. The concept aims to bridge the gap between manually actuated laparoscopic instruments and surgical robots. Nickel-titanium shape memory alloys are used for actuation because of their high specific energy density. The work includes the manufacturing of a functional model as a proof of concept comprising the development of a suitable forceps mechanism and electronic circuit for position control and gripping force measurement, as well as designing an ergonomic user interface with haptic force feedback.

Sustainability of Civil Structures through the Application of Smart Materials: A Review

Every year, structural flaws or breakdowns cause thousands of people to be harmed and cost billions of dollars owing to the limitations of design methods and materials to withstand extreme earthquakes. Since earthquakes have a significant effect on sustainability factors, there is a contradiction between these constraints and the growing need for more sustainable structures. There has been a significant attempt to circumvent these constraints by developing various techniques and materials. One of these viable possibilities is the application of smart structures and materials such as shape memory and piezoelectric materials. Many scholars have examined the use of these materials and their structural characteristics up to this point, but the relationship between sustainability considerations and the deployment of smart materials has received little attention. Therefore, through a review of previous experimental, numerical, and conceptual studies, this paper attempts to draw a more significant relationship between smart materials and structural sustainability. First, the significant impact of seismic events on structural sustainability and its major aspects are described. It is then followed by an overview of the fundamentals of smart material’s behaviour and properties. Finally, after a comprehensive review of the most recent applications of smart materials in structures, the influence of their deployment on sustainability issues is discussed. The findings of this study are intended to assist researchers in properly addressing sustainability considerations in any research and implementation of smart materials by establishing a more explicit relationship between these two concepts.

Strain Rate Effect upon Mechanical Behaviour of Hydrogen-Charged Cycled NiTi Shape Memory Alloy

The rate dependence of thermo-mechanical responses of superelastic NiTi with different imposed strain rates after cycling from 1 to 50 cycles under applied 10^-5s^-1, 10^-4s^-1 and 10^-3s^-1 strain rates, immersion for 3 h and ageing has been investigated. The loaded and unloaded as-received NiTi alloy under an imposed strain of 7.1% have shown an increase in the residual deformation at zero stress with an increase in strain rates. It has been found that after 13 cycles and hydrogen charging, the amount of absorbed hydrogen (291 mass ppm) was sufficient to cause the embrittlement of the tensile loaded NiTi alloy with 10^-5s^-1. However, no premature fracture has been detected for the imposed strain rates of 10^-4s^-1 and 10^-3s^-1. Nevertheless, after 18 cycles and immersion for 3 h, the fracture has occurred in the plateau of the austenite martensite transformation during loading with 10^-4s^-1. Despite the higher quantity of absorbed hydrogen, the loaded specimen with a higher imposed strain rate of 10^-3s^-1 has kept its superelasticity behaviour, even after 20 cycles. We attribute such a behaviour to the interaction between the travelling distance during the growth of the martensitic domains while introducing the martensite phase and the amount of diffused hydrogen.

Application of Shape Memory Alloys in Retrofitting of Masonry and Heritage Structures Based on Their Vulnerability Revealed in the Bam 2003 Earthquake

For decades, one of the most critical considerations of civil engineers has been the construction of structures that can sufficiently resist earthquakes. However, in many parts of the globe, ancient and contemporary buildings were constructed without regard for engineering; thus, there is a rising necessity to adapt existing structures to avoid accidents and preserve historical artefacts. There are various techniques for retrofitting a masonry structure, including foundation isolations, the use of Fibre-Reinforced Plastics (FRPs), shotcrete, etc. One innovative technique is the use of Shape Memory Alloys (SMAs), which improve structures by exhibiting high strength, good re-centring capabilities, self-repair, etc. One recent disastrous earthquake that happened in the city of Bam, Iran, (with a large proportion of masonry buildings) in 2003, with over 45,000 casualties, is analysed to discover the primary causes of the structural failure of buildings and its ancient citadel. It is followed by introducing the basic properties of SMAs and their applications in retrofitting masonry buildings. The outcomes of preceding implementations of SMAs in retrofitting of masonry buildings are then employed to present two comprehensive schemes as well as an implementation algorithm for strengthening masonry structures using SMA-based devices.

On the Decrease in Transformation Stress in a Bicrystal Cu-Al-Mn Shape-Memory Alloy during Cyclic Compressive Deformation

The evolution of the inhomogeneous distribution of the transformation stress (σs) and strain fields with an increasing number of cycles in two differently orientated grains is investigated for the first time using a combined technique of digital image correlation and data-driven identification. The theoretical transformation strains (εT) of these two grains with crystal orientations [5 3 26]β and [6 5 11]β along the loading direction are 10.1% and 7.1%, respectively. The grain with lower εT has a higher σs initially and a faster decrease in σs compared with the grain with higher εT. The results show that the grains with higher σs might trigger more dislocations during the martensite transformation, and thus result in greater residual strain and a larger decrease in σs during subsequent cycles. Grain boundary kinking in bicrystal induces an additional decrease in transformation stress. We conclude that a grain with crystal orientation that has high transformation strain and low transformation stress (with respect to loading direction) will exhibit stable transformation stress, and thus lead to higher functional performance in Cu-based shape memory alloys.