Table of contents

This paper presents on finite element (FE) modeling and simulation of dielectric elastomer actuators (DEAs) coupled with articulated structures. DEAs have proven to represent an effective transduction technology for the realization of large deformation, low-power consuming, and fast mechatronic actuators. However, the complex dynamic behavior of the material, characterized by nonlinearities and rate-dependent phenomena, makes it difficult to accurately model and design DEA systems. The problem is further complicated in case the DEA is used to activate articulated structures, which increase both system complexity and implementation effort of numerical simulation models. In this paper, we present a model based tool which allows to effectively implement and simulate complex articulated systems actuated by DEAs. A first prototype of a compact switch actuated by DEA membranes is chosen as reference study to introduce the methodology. The commercially available FE software COMSOL is used for implementing and coupling a physics-based dynamic model of the DEA with the external structure, i.e., the switch. The model is then experimentally calibrated and validated in both quasi-static and dynamic loading conditions. Finally, preliminary results on how to use the simulation tool to optimize the design are presented.

Nonlinear imaging techniques have recently emerged which have the potential to detect cracks at a much earlier stage than was previously possible and have sensitivity to partially closed defects. This study explores a coherent imaging technique based on the subtraction of two modes of focusing: parallel, in which the elements are fired together with a delay law and sequential, in which elements are fired independently. In the parallel focusing a high intensity ultrasonic beam is formed in the specimen at the focal point. However, in sequential focusing only low intensity signals from individual elements enter the sample and the full matrix of transmit-receive signals is recorded and post-processed to form an image. Under linear elastic assumptions, both parallel and sequential images are expected to be identical. Here we measure the difference between these images and use this to characterise the nonlinearity of small closed fatigue cracks. In particular we monitor the change in relative phase and amplitude at the fundamental frequencies for each focal point and use this nonlinear coherent imaging metric to form images of the spatial distribution of nonlinearity. The results suggest the subtracted image can suppress linear features (e.g. back wall or large scatters) effectively when instrumentation noise compensation in applied, thereby allowing damage to be detected at an early stage (c. 15% of fatigue life) and reliably quantified in later fatigue life.

This study explores the use of superelastic shape memory alloy (SMA) strands, which consist of seven individual small-diameter wires, in an epoxy matrix and characterizes the tensile and fatigue responses of the developed SMA/epoxy composites. Using a vacuum assisted hand lay-up technique, twelve SMA fiber reinforced polymer (FRP) specimens were fabricated. The developed SMA-FRP composites had a fiber volume ratio of 50%. Tensile response of SMA-FRP specimens were characterized under both monotonic loading and increasing amplitude loading and unloading cycles. The degradation in superelastic properties of the developed SMA-FRP composites during fatigue loading at different strain amplitudes was investigated. The effect of loading rate on the fatigue response of SMA-FRP composites was also explored. In addition, fractured specimens were examined using the scanning electron microscopy (SEM) technique to study the failure mechanisms of the tested specimens. A good interfacial bonding between the SMA strands and epoxy matrix was observed. The developed SMA-FRP composites exhibited good superelastic behavior at different strain amplitudes up to at least 800 cycle after which significant degradation occurred.

We report about a novel class of electroactive nanocomposites designed to perform spring-like actuation at low applied voltages. These systems are based on the impregnation of plain paper with a highly conductive ionogel, interpenetrating nanostructured conducting electrodes are printed on the paper/ionogel substrate by supersonic cluster beam deposition. Due to the structure and mechanical properties of the paper substrates, helix-shaped actuators can be obtained by coiling strips of the nanocomposites, thus enabling the production of electroactive components exhibiting motion up to two millimeters with a polarization of 5 V. Our approach constitutes a promising solution for the development of adaptive soft robotic architectures and smart flexible systems with bio-inspired motility.

To allow robots to interact with humans via touch, new sensing concepts are needed that can detect a wide range of potential interactions and cover the body of a robot. In this paper, a skin-inspired multi-layer tactile sensing architecture is presented and characterized. The structure consists of stretchable piezoresistive strain-sensing layers over foam layers of different stiffness, allowing for both sufficient sensitivity and pressure range for human contacts. Strip-shaped sensors were used in this architecture to produce a deformation response proportional to pressure. The roles of the foam layers were elucidated by changing their stiffness and thickness, allowing the development of a geometric model to account for indenter interactions with the structure. The advantage of this architecture over other approaches is the ability to easily tune performance by adjusting the stiffness or thickness of the foams to tailor the response for different applications. Since viscoelastic materials were used, the temporal effects were also investigated.

Thermal control is an important aspect of spacecraft design, particularly in the case of crewed vehicles, which must maintain a precise internal temperature at all times in spite of significant variations in the external thermal environment and internal heat loads. Future missions beyond low Earth orbit will require radiator systems with high turndown ratios, defined as the ratio between the maximum and minimum heat rejection rates achievable by the radiator system. Current radiators are only able to achieve turndown ratios of 3:1, far less than the 12:1 turndown ratio requirement expected for future missions. An innovative morphing radiator concept uses the temperature-induced phase transformation of shape memory alloy (SMA) materials to achieve turndown ratios that are predicted to exceed 12:1 via substantial geometric reconfiguration. Developing mathematical and computational models of these morphing radiators is challenging due to the strong two-way thermomechanical coupling not present in traditional fixed-geometry radiators and not widely considered in the literature. Although existing simulation tools are capable of analyzing the behavior of some thermomechanically coupled structures, general problems involving radiation and deformation cannot be modeled using publicly available codes due to the complexity of modeling spatially evolving boundary fields. This paper provides important insight into the operational response of SMA-based morphing radiators by employing computational tools developed to overcome previous shortcomings. Several example problems are used to demonstrate the novel radiator concept. Additionally, a prototype morphing radiator was designed, fabricated, and tested in a thermal environment compatible with mission operations. An associated finite element model of the prototype was developed and executed. Model predictions of radiator performance generally agree with the experimental data, giving confidence that the tools developed are able to accurately represent the thermomechanical coupling present in morphing radiators and that such tools will be useful in future designs.

In this paper, a novel planar dielectric elastomer actuator (DEA) with magnetic modulating mechanism is proposed. This design can provide the availability of wider actuation range and larger output force, which are significant indicators to evaluate the performance of DEAs. The DEA tends to be a compact and simple design, and an analytical model is developed to characterize the mechanical behavior. The result shows that the output force induced by the DEA can be improved by 76.90% under a certain applied voltage and initial magnet distance. Moreover, experiments are carried out to reveal the performance of the proposed DEA and validate the theoretical model. It demonstrates that the DEA using magnetic modulating mechanism can enlarge the actuation range and has more remarkable effect with decreasing initial magnet distance within the stable range. It can be useful to promote the applications of DEAs to soft robots and haptic feedback.

The low-velocity impact response of sandwich panels with shear-thickening gel cores was studied. The impact tests indicated that the sandwich panels with shear-thickening gel cores showed excellent properties of energy dissipation and stress distribution. In comparison to the similar sandwich panels with chloroprene rubber cores and ethylene-propylene-diene monomer cores, the shear-thickening gel cores led to the obviously smaller contact forces and the larger energy absorptions. Numerical modelling with finite element analysis was used to investigate the stress distribution of the sandwich panels with shear-thickening gel cores and the results agreed well with the experimental results. Because of the unique mechanical property of the shear-thickening gel, the concentrated stress on the front facesheets were distributed to larger areas on the back facesheets and the peak stresses were reduced greatly.

For slender beam-columns loaded by axial compressive forces, active buckling control provides a possibility to increase the maximum bearable axial load above that of a purely passive structure. In this paper, an approach for gain-scheduled ${{\mathscr{H}}}_{\infty }$ buckling control of a slender beam-column with circular cross-section subject to time-varying axial loads is investigated experimentally. Piezo-elastic supports with integrated piezoelectric stack actuators at the beam-column ends allow an active stabilization in arbitrary lateral directions. The axial loads on the beam-column influence its lateral dynamic behavior and, eventually, cause the beam-column to buckle. A reduced modal model of the beam-column subject to axial loads including the dynamics of the electrical components is set up and calibrated with experimental data. Particularly, the linear parameter-varying open-loop plant is used to design a model-based gain-scheduled ${{\mathscr{H}}}_{\infty }$ buckling control that is implemented in an experimental test setup. The beam-column is loaded by ramp- and step-shaped time-varying axial compressive loads that result in a lateral deformation of the beam-column due to imperfections, such as predeformation, eccentric loading or clamping moments. The lateral deformations and the maximum bearable loads of the beam-column are analyzed and compared for the beam-column with and without gain-scheduled ${{\mathscr{H}}}_{\infty }$ buckling control or, respectively, active and passive configuration. With the proposed gain-scheduled ${{\mathscr{H}}}_{\infty }$ buckling control it is possible to increase the maximum bearable load of the active beam-column by 19% for ramp-shaped axial loads and to significantly reduce the beam-column deformations for step-shaped axial loads compared to the passive structure.

This article aims at introducing triple shape memory polymers (SMPs) by four-dimensional (4D) printing technology and shaping adaptive structures for mechanical/bio-medical devices. The main approach is based on arranging hot–cold programming of SMPs with fused decomposition modeling technology to engineer adaptive structures with triple shape memory effect (SME). Experiments are conducted to characterize elasto-plastic and hyper-elastic thermo-mechanical material properties of SMPs in low and high temperatures at large deformation regime. The feasibility of the dual and triple SMPs with self-bending features is demonstrated experimentally. It is advantageous in situations either where it is desired to perform mechanical manipulations on the 4D printed objects for specific purposes or when they experience cold programming inevitably before activation. A phenomenological 3D constitutive model is developed for quantitative understanding of dual/triple SME of SMPs fabricated by 4D printing in the large deformation range. Governing equations of equilibrium are established for adaptive structures on the basis of the nonlinear Green–Lagrange strains. They are then solved by developing a finite element approach along with an elastic-predictor plastic-corrector return map procedure accomplished by the Newton–Raphson method. The computational tool is applied to simulate dual/triple SMP structures enabled by 4D printing and explore hot–cold programming mechanisms behind material tailoring. It is shown that the 4D printed dual/triple SMPs have great potential in mechanical/bio-medical applications such as self-bending gripers/stents and self-shrinking/tightening staples.

The motorized spindle is the core component of CNC machine tools, and the vibration of it reduces the machining precision and service life of the machine tools. Owing to the fast response, large output force, and displacement of the piezoelectric stack, it is often used as the actuator in the active vibration control of the spindle. A piezoelectric self-sensing actuator (SSA) can reduce the cost of the active vibration control system and simplify the structure by eliminating the use of a sensor, because a SSA can have both actuating and sensing functions at the same time. The signal separation method of a SSA based on a bridge circuit is widely applied because of its simple principle and easy implementation. However, it is difficult to maintain dynamic balance of the circuit. Prior research has used adaptive algorithm to balance of the bridge circuit on the flexible beam dynamically, but those algorithms need no correlation between sensing and control voltage, which limit the applications of SSA in the vibration control of the rotor-bearing system. Here, the electromechanical coupling model of the piezoelectric stack is established, followed by establishment of the dynamic model of the spindle system. Next, a new adaptive signal separation method based on the bridge circuit is proposed, which can separate relative small sensing voltage from related mixed voltage adaptively. The experimental results show that when the self-sensing signal obtained from the proposed method is used as a displacement signal, the vibration of the motorized spindle can be suppressed effectively through a linear quadratic Gaussian (LQG) algorithm.

The magnetoelectric (ME) effect is increasingly being considered an attractive alternative for magnetic field and smart current sensing, being able to sense static and dynamic magnetic fields. This work reports on a contactless DC current sensor device based on a ME PVDF/Metglas composite, a solenoid and the corresponding electronic instrumentation. The ME sample shows a maximum resonant ME coefficient (α₃₃) of 34.48 V cm⁻¹ Oe⁻¹, a linear response (R² = 0.998) and a sensitivity of 6.7 mV A⁻¹. With the incorporation of a charge amplifier, an AC-RMS converter and a microcontroller the linearity is maintained (R² = 0.997), the ME output voltage increases to a maximum of 2320 mV and the sensitivity rises to 476.5 mV A⁻¹. Such features allied to the highest sensitivity reported in the literature on polymer-based ME composites provide to the reported ME sensing device suitable characteristics to be used in non-contact electric current measurement, motor operational status checking, and condition monitoring of rechargeable batteries, among others.

The present study addresses the performance of a skid landing gear (SLG) system of a rotorcraft impacting the ground at a vertical sink rate of up to 4.5 ms⁻¹. The impact attitude is assumed to be level as per chapter 527 of the Airworthiness Manual of Transport Canada Civil Aviation and part 27 of the Federal Aviation Regulations of the US Federal Aviation Administration. A single degree of freedom helicopter model is investigated under different values of rotor lift factor, L. In this study, three SLG versions are evaluated: (a) standalone conventional SLG; (b) SLG equipped with a passive viscous damper; and (c) SLG incorporated a magnetorheological energy absorber (MREA). The non-dimensional solutions of the helicopter models show that the two former SLG systems suffer adaptability issues with variations in the impact velocity and the rotor lift factor. Therefore, the alternative successful choice is to employ the MREA. Two different optimum Bingham numbers for compression and rebound strokes are defined. A new chart, called the optimum Bingham number versus rotor lift factor '$B{i}^{o}-L$', is introduced in this study to correlate the optimum Bingham numbers to the variation in the rotor lift factor and to provide more accessibility from the perspective of control design. The chart shows that the optimum Bingham number for the compression stroke is inversely linearly proportional to the increase in the rotor lift factor. This alleviates the impact force on the system and reduces the amount of magnetorheological yield force that would be generated. On the contrary, the optimum Bingham number for the rebound stroke is found to be directly linearly proportional to the rotor lift factor. This ensures controllable attenuation of the restoring force of the linear spring element. This idea can be exploited to generate charts for different landing attitudes and sink rates. In this article, the response of the helicopter equipped with the conventional undamped, damped, and MREA based SLG are numerically simulated using three sets of Bingham numbers. Namely, an underestimated, optimum, and overestimated Bingham number for every stroke. The simulation results depict that the only feasible solution is when the MREA generates the optimum damping force corresponding to the optimum Bingham numbers. Under this circumstance, the MREA utilizes the available energy absorption stroke to attain a soft landing. Furthermore, in the rebound stroke, the optimum damping force resettles the helicopter to its equilibrium position and prevents oscillations after the end of the rebound stroke.

The semi-active suspension systems for variable mass systems require long work stroke and variable damping, while the currently piston structure limits the work stroke for the magnetorheological (MR) dampers. The main work of this paper is to design a semi-active non-piston MR (NPMR) suspension rod for the reduction of the vibration of an automatic impeller washing machine, which is a typical variable mass system. The designed suspension rod locates in the suspension system that links the internal tub to the washing machine cabinet. The NPMR suspension rod includes a MR part and a air part. The MR part can provide low initial damping force and the unlimited work stroke compared with the piston MR damper. The hysteretic response tests and vibration performance evaluation with different loadings are conducted to verify the dynamic performance for the designed rod. The measured damping force of the MR part varies from 5 to 20 N. Studies of dehydration mode experiments of the washing machine indicate that its vibration acceleration with the NPMR suspension rods can reduce to half of the original passive ones in certain conditions.

This paper proposes a new tactile device to realize the force of human-like organs using the viscoelastic property by combing a smart magneto-rheological (MR) fluid with a sponge (MR sponge in short). The effectiveness of the sensor is validated through the comparison of the force obtained through measurement and the proposed prediction model. As the first step, a conventional standard linear solid model is adopted to independently investigate the force characteristics of MR fluid and sponge. Force is measured using a 3-axis robot with a force sensor to obtain certain properties of MR fluid and sponge. In addition, to show that the proposed MR sponge can realize the force of human-like tissues, experiments are performed using three specimens, i.e., porcine heart, lung, and liver. Subsequently, a quasi-static model for predicting the field-dependent force of the MR sponge is formulated using empirical values. It is demonstrated through comparison that the proposed force model can accurately predict the force of the specimens without significant error. In addition, a psychophysical test is carried out by ordinary subjects to validate the effectiveness of the proposed tactile device. Results show that the MR sponge tactile device can easily produce various levels of the force of human-like tissues, such as the liver and lung of the porcine, by controlling input current.

Ambient mechanical energy is one of the most abundant energy sources around us. It is a promising approach to solve the problem of energy and environment by harvesting such energy due to its cost-effectiveness, environmental friendliness and sustainability. Recently, triboelectric nanogenerator (TENG) has been proposed as an effective and promising technology for harvesting ambient mechanical energy. Herein, a coaxial rotatory-freestanding TENG (CRF-TENG) was developed and its theoretical model was constructed. An approximate V–Q–α relationship was derived and the explicit analytical solutions of the transferred charge, output current, voltage and average power are obtained from numerically calculation. Finally, to verify the theoretical results, the real output performances of as-fabricated CRF-TENG were measured. The experimental results are consistent with the theoretical ones. The newly developed TENG mode greatly expands the applicability of TENGs for harvesting energy from ambient rotating mechanical motion.

As constitutive models are too complicated and existing mechanical models lack universality, these models are beyond satisfaction for magnetorheological elastomer (MRE) devices. In this article, a novel universal method is proposed to build concise mechanical models. Constitutive model and electromagnetic analysis were applied in this method to ensure universality, while a series of derivations and simplifications were carried out to obtain a concise formulation. To illustrate the proposed modeling method, a conical MRE isolator was introduced. Its basic mechanical equations were built based on equilibrium, deformation compatibility, constitutive equations and electromagnetic analysis. An iteration model and a highly efficient differential equation editor based model were then derived to solve the basic mechanical equations. The final simplified mechanical equations were obtained by re-fitting the simulations with a novel optimal algorithm. In the end, verification test of the isolator has proved the accuracy of the derived mechanical model and the modeling method.

High performance scanning of nano-manipulators is widely deployed in various precision engineering applications such as SPM (scanning probe microscope), where trajectory tracking of sophisticated reference signals is an challenging control problem. The situation is further complicated when rate dependent hysteresis of the piezoelectric actuators and the stress-stiffening induced nonlinear stiffness of the flexure mechanism are considered. In this paper, a novel control framework is proposed to achieve high precision tracking of a piezoelectric nano-manipulator subjected to hysteresis and stiffness nonlinearities. An adaptive parameterized rate-dependent Prandtl-Ishlinskii model is constructed and the corresponding adaptive inverse model based online compensation is derived. Meanwhile a robust adaptive control architecture is further introduced to improve the tracking accuracy and robustness of the compensated system, where the parametric uncertainties of the nonlinear dynamics can be well eliminated by on-line estimations. Comparative experimental studies of the proposed control algorithm are conducted on a PZT actuated nano-manipulating stage, where hysteresis modeling accuracy and excellent tracking performance are demonstrated in real-time implementations, with significant improvement over existing results.

A patch antenna, consisting of a radiation patch, a dielectric substrate, and a ground plane, resonates at distinct fundamental frequencies that depend on the substrate dielectric constant and the dimensions of the radiation patch. Since these parameters change with the applied strain and temperature, this study investigates simultaneous strain and temperature sensing using a single antenna that has two fundamental resonant frequencies. The theoretical relationship between the antenna resonant frequency shifts, the temperature, and the applied strain was first established to guide the selection of the dielectric substrate, based on which an antenna sensor with a rectangular radiation patch was designed and fabricated. A tensile test specimen instrumented with the antenna sensor was subjected to thermo-mechanical tests. Experiment results validated the theoretical predictions that the normalized antenna resonant frequency shifts are linearly proportional to the applied strain and temperature changes. An inverse method was developed to determine the strain and temperature changes from the normalized antenna resonant frequency shifts, yielding measurement uncertainty of 0.4 °C and 17.22 μ$\varepsilon$ for temperature and strain measurement, respectively.

The problem of a penny-shaped crack embedded in an infinite space of transversely isotropic multi-ferroic composite medium is investigated. The crack is assumed to be subjected to uniformly distributed mechanical, electric and magnetic loads applied symmetrically on the upper and lower crack surfaces. The semi-permeable (limited-permeable) electro-magnetic boundary condition is adopted. By virtue of the generalized method of potential theory and the general solutions, the boundary integro-differential equations governing the mode I crack problem, which are of nonlinear nature, are established and solved analytically. Exact and complete coupling magneto-electro-elastic field is obtained in terms of elementary functions. Important parameters in fracture mechanics on the crack plane, e.g., the generalized crack surface displacements, the distributions of generalized stresses at the crack tip, the generalized stress intensity factors and the energy release rate, are explicitly presented. To validate the present solutions, a numerical code by virtue of finite element method is established for 3D crack problems in the framework of magneto-electro-elasticity. To evaluate conveniently the effect of the medium inside the crack, several empirical formulae are developed, based on the numerical results.

Magnetorheological (MR) damper is an ideal semi-active control device for vibration suppression. The mechanical properties of this type of devices show strong nonlinear characteristics, especially the performance of the small-scale dampers. Therefore, developing an ideal model that can accurately describe the nonlinearity of such device is crucial to control design. In this paper, the dynamic characteristics of a small-scale MR damper developed by our research group is tested, and the Stribeck effect is observed in the low velocity region. Then, an improved model based on sigmoid model is proposed to describe this Stribeck effect observed in the experiment. After that, the parameters of this model are identified by genetic algorithms, and the mathematical relationship between these parameters and the input current, excitation frequency and amplitude is regressed. Finally, the predicted forces of the proposed model are validated with the experimental data. The results show that this model can well predict the mechanical properties of the small-scale damper, especially the Stribeck effect in the low velocity region.

This work presents a new nonlinear model to describe MR fluid behavior in the squeeze flow mode. The basis for deriving the model were the principles of continuum mechanics and the theory of tensor transformation. The analyzed case concerned quasi-static squeeze with a constant area, between two parallel plates with non-slip boundary conditions. The developed model takes into account the rheological properties or MR fluids as a viscoplastic material for which yield stress increases due to compression. The model also takes into account the formation of normal force in the MR fluid as a result of the magnetic field impact. Moreover, a new parameter has been introduced which characterizes the behavior of MR fluid subjected to compression. The proposed model has been experimentally validated and the obtained results suggest that the assumptions made in the model development are reasonable, as good model compatibility with the experiments was obtained.

Phenomenological models based on frozen volume parameters could well predict shape recovery behavior of shape memory polymers (SMPs), but the physical meaning of using the frozen volume parameters to describe thermomechanical properties has not been well-established. In this study, the fundamental working mechanisms of the shape memory effect (SME) in amorphous SMPs, whose temperature-dependent viscoelastic behavior follows the Eyring equation, have been established with the considerations of both internal stress and its resulted frozen volume. The stress-strain constitutive relation was initially modeled to quantitatively describe effects of internal stresses at the macromolecular scale based on the transient network theory. A phenomenological 'frozen volume' model was then established to characterize the macromolecule structure and SME of amorphous SMPs based on a two-site stress-relaxation model. Effects of the internal stress, frozen volume and strain rate on shape memory behavior and thermomechanical properties of the SMP were investigated. Finally, the simulation results were compared with the experimental results reported in the literature, and good agreements between the theoretical and experimental results were achieved. The novelty and key differences of our newly proposed model with respect to the previous reports are (1). The 'frozen volume' in our study is caused by the internal stress and governed by the two-site model theory, thus has a good physical meaning. (2). The model can be applied to characterize and predict both the thermal and thermomechanical behaviors of SMPs based on the constitutive relationship with internal stress parameters. It is expected to provide a power tool to investigate the thermomechanical behavior of the SMPs, of which both the macromolecular structure characteristics and SME could be predicted using this 'frozen volume' model.

The ferroelectric and ferroelastic properties of lead-zirconate-titanate (PZT) based stack actuators have been characterized at temperatures down to 25 K and under various levels of constant compressive stress. Experiments indicate that the coercive field and magnitude of strain at the coercive field display an inverse relationship with temperature. A factor of 5.5 increase in coercive field, and a factor of 4.3 increase in strain is observed at 25 K in comparison to the room-temperature conditions. This information was used to induce non-180° domain wall motion in the material through the application of electric fields at or near the coercive field. The change in remanent strain accompanying these effects was shown to increase in magnitude as temperature decreased, reaching values of 2000 ppm at 25 K. This behavior was also shown to be temporally stable even under compressive loads. Additionally, it was demonstrated that the material can be returned to its original strain state through a repolarizing electric field. This switchable behavior could be exploited for future set-and-hold type actuators operating at cryogenic temperatures.

This paper examines the feasibility of mechanical splicing using a steel coupler to connect headed ends of superelastic Cu–Al–Mn alloy (Camalloy) bars and steel reinforcing bars to be used in concrete structures. Although threading of Camalloy is as easy as that of steel, mechanical splicing using threaded ends requires machining of Camalloy bars into dog-bone shape to avoid brittle fracture at the threaded ends. The machining process requires significant time and cost and wastes substantial amount of the material. This paper attempts to resolve this issue by applying mechanical splicing using steel couplers to connect headed ends of Camalloy and steel reinforcing bars. To study its feasibility, we prepare 3 specimens wherein both ends of each Camalloy bar (13 mm diameter and 300 mm length) are connected to steel reinforcing bars. The specimens are tested under monotonic, single-cycle, and full-cycle tension loading conditions. From these tests, we observed (1) excellent superelasticity with recoverable strain of around 6% and (2) large ductility with fracture strain of over 19%. It should be emphasized here that, in all the specimens, ductile fracture occurred at the locations apart from the headed ends. This is in sharp contrast with brittle fracture of headed superelastic Ni–Ti SMA bars, most of which took place around the headed ends. From the results of the microstructural analysis, we identified the following reasons for avoiding brittle fracture at the headed ends: (1) Precipitation hardening increases the strength around the boundary between the straight and headed (tapered) portions, where stress concentration takes place. (2) The strength of the straight portion does not increase significantly up to the ductile fracture if its grain orientation is close to 〈0 0 1〉.

This paper presents an iterative numerical method that accurately models an energy harvesting system charging a capacitor with piezoelectric patches. The constitutive relations of piezoelectric materials connected with an external charging circuit with a diode bridge and capacitors lead to the electromechanical coupling effect and the difficulty of deriving accurate transient mechanical response, as well as the charging progress. The proposed model is built upon the Euler-Bernoulli beam theory and takes into account the electromechanical coupling effects as well as the dynamic process of charging an external storage capacitor. The model is validated through experimental tests on a cantilever beam coated with piezoelectric patches. Several parametric studies are performed and the functionality of the model is verified. The efficiency of power harvesting system can be predicted and tuned considering variations in different design parameters. Such a model can be utilized to design robust and optimal energy harvesting system.

Despite great progress in four-dimensional (4D) printing, i.e. three-dimensional (3D) printing of active (stimuli-responsive) materials, the relatively low actuation force of the 4D printed structures often impedes their engineering applications. In this study, we use multimaterial inkjet 3D printing technology to fabricate shape memory structures, including a morphing wing flap and a deployable structure, which consist of active and flexible hinges joining rigid (non-active) parts. The active hinges, printed from a shape memory polymer (SMP), lock the structure into a second temporary shape during a thermomechanical programming process, while the flexible hinges, printed from an elastomer, effectively increase the actuation force and the load-bearing capacity of the printed structure as reflected in the recovery ratio. A broad range of mechanical properties such as modulus and failure strain can be achieved for both active and flexible hinges by varying the composition of the two base materials, i.e. the SMP and the elastomer, to accommodate large deformation induced during programming step, and enhance the recovery in the actuating step. To find the important design parameters, including local deformation, shape fixity and recovery ratio, we conduct high fidelity finite element simulations, which are able to accurately predict the nonlinear deformation of the printed structures. In addition, a coupled thermal-electrical finite element analysis was performed to model the heat transfer within the active hinges during the localized Joule heating process. The model predictions showed good agreement with the measured temperature data and were used to find the major parameters affecting temperature distribution including the applied voltage and the convection rate.

Sensor fabrication for microrobots is challenging due to their small size and low mass. As a potential solution, we present a technique for estimating the velocity of piezoelectric bending bimorph actuators, a popular choice for driving such microscale devices, that requires simple electronics and no additional mechanical components. Our approach relies on the insight that motion of the actuators causes varying strains on the surface on the piezoelectric material, which via the direct piezoelectric effect, results in a current proportional to the actuator velocity. We propose that the actuator be electrically approximated as a parallel combination of a frequency and voltage dependent resistor and capacitor, and a velocity proportional current source. We develop an experimental procedure to measure these quantities, and are able to experimentally determine the actuator tip velocity to within 10% accuracy over a range of voltages (25–200 V) and frequencies (1–2000 Hz, well beyond actuator resonance). We successfully apply this sensing methodology to two microrobots, the RoboBee and the Harvard Ambulatory MicroRobot (HAMR), to estimate the wing and limb motion respectively. We further use sensor feedback to close the loop on HAMR's leg phase and obtain desired leg trajectories near transmission resonance. The proposed sensor methodology is generic and can be applied to piezoelectric actuators of different geometries and configurations for uses in microrobotic applications.

Conventional membrane resonators are bulky, and once the geometries and materials are fixed in the fabricated device, the resonators' characteristics are fixed. In this work, we introduce the active membrane, dielectric elastomer (DE), into the resonator design. Attaching a stiffer passive membrane onto the active DE membrane forms a two-layer system, which generates an out-of-plane deformation when the DE is actuated through a DC voltage applied across the thickness of the DE membrane. When an AC voltage is applied, the two-layer system can generate an out-of-plane oscillation which enables its use as membrane resonators. Both experiments and simulations are carried out to study the dynamic characteristics of the system. The resonant frequencies and mode shapes of the resonator can be tuned through the passive layer properties such as the modulus, thickness, density, and size. The effective stiffness of the DE film changes as the magnitude of the voltage applied on the film changes, which provides an active way to tune the dynamic characteristics of the two-layer resonator even after the device is set. The system is also light weight, low cost, and easy to fabricate, and has great potential in many engineering applications.

The proposed work gives a response, based on the experimental evidence, to the issue of long-term magnetorheological (MR) dampers' behavior, when they are applied for structural control of earthquake induced vibrations. MR control devices, designed for infrequent dynamic loads as earthquakes, might be dormant for most of their life until a seismic event hits the hosting controlled structure. Two prototype MR devices have been tested three times, first in 2008, then in 2013 after five years of absolute inactivity, and finally in 2017 after further four years of rest. The comparison between the results of the three experimental testing activities is made in terms of force-displacement loops, dissipated energy and maximum reacting force. It is shown that only the first stroke of the damper is characterized by an unexpected mechanical response. However, after this first movement, the damper comes back to behave similarly to what was before the rest, with only a slight not reversible decrease of the damping force. This reduction results to be more significant (about 5%) for larger currents, while less significant in the case of zero feeding current. From a civil engineering perspective, this performance decay is definitely acceptable, even if it is referred to a possible cause, deeply studied in literature, that could continue endangering the mechanical response of the devices over time. The paper shows the experimental results, but the possible causes of mechanical deterioration of the dampers will be discussed also.