Biomimetics - Biologically Inspired Technologies - Yoseph Bar Cohen Episode 2 Part 1 doc

10.6 MILESTONE FOR THE FIELD Improved collaboration among developers, users, and sponsors as well as increased resources with a growing number of investigators have led to rapid progress in the field. In the last two years several milestones have been made in this field: (a) In December 2002, the first commercial product emerged in the form of a Fish-Robot (Eamex, Japan). An example of this Fish-Robot can be seen at http://eap.jpl.nasa.gov where there is also a link to a video showing Fish-Robots swimming in a fish tank. These robots swim without batteries or motor and use EAP materials that simply bend on stimulation. For power they use inductive coils that are energized from the top and bottom of the fish tank. In 1999, in an effort to promote worldwide development towards the realization of the potential of EAP materials an arm wrestling challenge was posed to the engineers worldwide (Bar-Cohen, Figure 10.11 (See color insert following page 302) A new class of multi-limbed robots called Limbed Excursion Mobile Utility Robot (LEMUR) is under development at JPL. (Courtesy of Brett Kennedy, JPL.) Figure 10.12 Artists’ drawing of the solid state IPMC-based aircraft concept. (Courtesy of Anthony Colozza, Ohio Aerospace Institute, Cleveland, Ohio, U.S.A.) Bar-Cohen : Biomimetics: Biologically Inspired Technologies DK3163_c010 Final Proof page 282 21.9.2005 11:46am 282 Biomimetics: Biologically Inspired Technologies 2001). Success in developing such an arm will lead to the possible use of EAP to replace damaged human muscles, that is making ‘‘bionic human.’’ A remarkable contribution of the EAP field would be to see, one day, a handicapped person jogging to the grocery store using this technology. A graphic rendering of this challenge that was posed by the author is illustrated in Figure 10.13. The intent of posing this challenge was to use the human arm as a baseline for the implementation of the advances in the development of EAP materials. Success in wrestling against humans will enable biomimetic capabilities that are currently considered impossible. It would allow applying EAP materials to improve many aspects of our life where some of the possibilities include smart implants and prosthetics (also known as cyborgs), active clothing (de Rossi et al., 1997), realistic biologically inspired robots as well as fabricating products with unmatched capabilities. Recent advances in understanding the behavior of EAP materials and the improvement of their efficiency led to the historical first competition held in March 2005. In this competition, three robotic arms participated and the human opponent was a 17-year-old female student. The three arms were made by Environmental Robots Incorporated (ERI), New Mexico; Swiss Federal Laboratories for Materials Testing and Research, EMPA, Dubendorf, Switzerland; and three senior students from the Engineering Science and Mechanics Department, Virginia Tech. 1. The arm that was made by Environmental Robots Incorporated (ERI), New Mexico held for 26 sec against the 17-year-old student. This wrestling arm (see Figure 10.14) had the size of an average human arm and it was made of polypropylene and Derlin. This arm was driven by two groups of artificial muscle. One group consisted of dielectric elastomeric resilient type that was used to maintain an equilibrium force and the other was composed of ionic polymer–metal composites (IPMC) type strips that flex to increase or decrease the main resilient force. 2. The Materials Testing and Research, EMPA, Dubendorf, Switzerland, arm (see Figure 10.15) held for 4 sec before losing. This arm was driven by the dielectric elastomer type using multi-layered scrolled actuators that were organized in four groups. A photo of one of the group lifting two 5-gallon water containers (about 20-kg) is shown in Figure 10.16. Using electronic control, these actuators were operated similar to human muscles, where two of these groups acted as protagonists and the other two operated as antagonists. The arm had an outer shell made of fiberglass that was used as a shield for the electric section. The arm structure was made of composite sandwich consisting of fiberglass and carbon fibers. Figure 10.13 An artistic interpretation of the Grand Challenge for the development of EAP-actuated robotics. Bar-Cohen : Biomimetics: Biologically Inspired Technologies DK3163_c010 Final Proof page 283 21.9.2005 11:46am Artificial Muscles Using EAP 283 3. The arm that was made by the three senior students from the Engineering Science and Mechanics Department, Virginia Tech (see Figure 10.17) managed to last 3 sec. As an EAP actuator they constructed batches of polyacrylonitrile (PAN) gel fibers that were designed to operate as artificial muscles. This EAP material was shown experimentally to produce close to 200% linear strain and Figure 10.14 The ERI arm wrestling with the 17-year-old human opponent, Panna Felsen. This arm has the size of an average human arm and it managed to last for 26 sec against Panna. Figure 10.15 The arm that was made by the Swiss Company, EMPA, is shown wrestling with Panna Felsen. The rubber glove that the Panna is using provided her electrical insulation for protection. Bar-Cohen : Biomimetics: Biologically Inspired Technologies DK3163_c010 Final Proof page 284 21.9.2005 11:46am 284 Biomimetics: Biologically Inspired Technologies pulling strength that is higher than human muscles (Schreyer et al., 2000). To encase the fibers and chemicals that make up their EAP actuator, they designed an electrochemical cell. For the skeleton of the arm they used a structure that is made of composite material and, for support, this structure was connected to an aluminum base. This competition has been a very important milestone for the field and helped accomplish the goals of this challenge, namely: 1. promote advances towards making EAP actuators that are superior to the performance of human muscles; 2. increase the worldwide visibility and recognition of EAP materials; 3. attract interest among potential sponsors and users; 4. lead to general public awareness since it is hoped that they will be the end users and beneficiaries in many areas including medical, commercial, and other fields. Figure 10.16 One of the groups of EAP actuators made by EMPA lifting two 5-gallon water containers. Bar-Cohen : Biomimetics: Biologically Inspired Technologies DK3163_c010 Final Proof page 285 21.9.2005 11:46am Artificial Muscles Using EAP 285 10.7 SUMMARY AND OUTLOOK For many years, EAP received relatively little attention due to their limited actuation capability and the small number of available materials. In the last 15 years, a series of new EAP materials have emerged that exhibit large displacement in response to electrical stimulation. The capability of these new materials is making them attractive as actuators for their operational similarity to biological muscles, particularly their resilience, damage tolerance, and ability to induce large actuation strains (stretching, contracting, or bending). The application of these materials as actuators to drive various manipulation, mobility, and robotic devices involves multi-disciplines including materials, chemistry, electromechanics, computers, and electronics. Even though the force of actuation of existing EAP materials and their robustness require further improvement, there has already been a series of reported successes in the development of EAP-actuated mechanisms. Successful devices that have been reported include a fish-robot, audio speakers, catheter-steering element, miniature manipulator and gripper, active diaphragm, and dust wiper. The field of EAP has enormous potential in many application areas, and, judging from the range of inquiries that the author has received since his start in this field in 1995, it seems that almost any aspect of our lives can potentially be impacted. Some of the considered applications are still far from being practical, and it is important to tailor the requirements to the level that current materials can address. Using EAP to replace existing actuators may be a difficult challenge and therefore it is highly desirable to identify niche applications where EAP materials would not need to compete with existing technologies. Space applications are among the most demanding in terms of the harshness of the operating conditions, requiring a high level of robustness and durability. Making biomimetic capability using EAP material will potentially allow NASA to conduct missions in other planets using robots that emulate human operation ahead of a landing of human. For an emerging technology, the require- ments and challenges associated with making hardware for space flight are very difficult to overcome. However, since such applications usually involve producing only small batches, they can provide an important avenue for introducing and experimenting with new actuators and Figure 10.17 (See color insert following page 302) The Virginia Tech students’ arm being prepared for the match against Panna Felsen, the 17-year-old student from San Diego. Bar-Cohen : Biomimetics: Biologically Inspired Technologies DK3163_c010 Final Proof page 286 21.9.2005 11:46am 286 Biomimetics: Biologically Inspired Technologies devices. This is in contrast to commercial applications, for which issues of mass production, consumer demand, and cost per unit can be critical to the transfer of technology to practical use. Some of the challenges that are facing the users of EAP materials in expanding their potential applications to space include their capability to respond at low or high temperatures. Space applications are of great need for materials that can operate at single digit degrees of Kelvin or at temperatures as high as hundreds of Celsius as on Venus. Another challenge to EAP is the development of large scale EAP in the form of films, fibers, and others. The required dimensions can be as large as several meters or kilometers and in such dimensions they can be used to produce large gossamer structures such as antennas, solar sails, and various large optical components. In order to exploit the highest benefits from EAP, multidisciplinary international cooperative efforts need to grow further among scientists, engineers, and other experts (e.g., medical doctors, etc.). Experts in chemistry, materials science, electromechanics or robotics, computer science, electronics, etc., need to advance the understanding of the material behavior, as well as develop EAP materials with enhanced performance, processing techniques, and applications. Effective feedback sensors and control algorithms are needed to address the unique and challenging aspects of EAP actuators. If EAP-driven artificial muscles can be implanted into a human body, this technology can make a tremendously positive impact on many human lives. This field of EAP is far from mature and progress is expected to change the field in future years. Recent technology advances led to the development of three EAP-actuated robotic arms that wrestled with a 17-year-old female student who was the human opponent in the competition held on March 7, 2005. Even though the 17-year-old student won against the three arms the competition helped increase the visibility of the field worldwide and the recognition of its potential. While more work is needed to reach the level of winning against humans it is inevitable that this would happen just like the chess game between the champion and the Big Blue IBM computer (http://www.geocities.com/siliconValley/lab/7378/comphis.htm). 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Kilian, Direct observation of abrupt shape transition in ferrogels induced by nonuniform magnetic field, Journal of Chemical Physics, Vol. 106, No. 13 (1997), 5685– 5692. Bar-Cohen : Biomimetics: Biologically Inspired Technologies DK3163_c010 Final Proof page 290 21.9.2005 11:46am 290 Biomimetics: Biologically Inspired Technologies 11 Biologically Inspired Optical Systems Robert Szema and Luke P. Lee CONTENTS 11.1 Introduction 291 11.2 Camera Eyes 292 11.2.1 A Fluidic Adaptive Lens 292 11.2.2 An Artificial Cephalopod Eye 293 11.2.3 A Foveated Imaging System 294 11.3 Compound Eyes 296 11.3.1 Appositional Compound Eyes 297 11.3.2 Superpositional Compound Eyes 298 11.3.3 Hybrid Appositional or Superpositional Compound Eyes 303 11.4 Other Biomimetic Approaches 304 11.4.1 Brittlestar Eyes 304 11.4.2 Melanophila Acuminate Beetle 305 11.5 Conclusion 305 References 307 Website 308 11.1 INTRODUCTION Of the five senses, the mechanism of sight is perhaps the most diverse in the animal kingdom. There exist at least eight generalized types of optical systems with numerous variations within each classification. This is to be expected, as each animal-eye is tailored to the specific needs of its owner. From the defense-oriented pinhole clam eye to the night-adapted owl eye, nature has provided a plethora of examples to study and emulate. The ability to reproduce biological optical systems using man-made materials has applications in navigation systems, specialized detectors, and in surveillance cameras. Of late, there has been particular interest within the military which has provided much of the funding towards research in this field. Advancements in materials science and manufacturing technologies have shown to be invaluable in the construction of biomimetic optics. Biomimetic optics is a relatively new and expanding field, although it can be argued that older technologies such as photographic cameras already mimic biology by having analogous structures (i.e., glass lens to biological lens, film to retina, etc.). However, this chapter is devoted to those optical devices, which, by their design, seek to imitate living organisms. The examples that follow Bar-Cohen : Biomimetics: Biologically Inspired Technologies DK3163_c011 Final Proof page 291 22.9.2005 1:00am 291 [...]... 314 12 . 2 .1. 3 Braided Composite Manufacturing 318 12 . 2 .1. 4 Controlling the Effective Magnetic Permeability 3 21 12 . 2 .1. 5 Negative Refractive Index Composites 323 12 . 2 .2 Heating Functionality 324 12 . 2 .2. 1 Simulation and Testing 324 12 . 2.3 Healing Functionality 328 12 . 2.3 .1 Polymer Healing 329 12 . 2.3 .2 Thermo-Reversibly Cross-Linked... Nemat-Nasser, Syrus Nemat-Nasser, Thomas Plaisted, Anthony Starr, and Alireza Vakil Amirkhizi CONTENTS 12 . 1 Introduction 309 12 . 1. 1 Multifunctional Concepts 310 12 . 2 Multifunctional Composites 311 12 . 2 .1 Electromagnetic Functionality 3 12 12 . 2 .1. 1 Thin-Wire Plasmonic Composites 3 12 12 . 2 .1 .2 Coiled Wire Plasmon Media Composites 314 12 . 2 .1. 3... Optics Express 20 03: 11 (18 ), 21 09 17 Zhang, D., Lien, V., Berdichevsky, Y., Choi, J., and Lo, Y Fluidic adaptive lens with high focal length tenability Applied Physics Letters 20 03: 82( 19 ), 317 1 2 WEBSITE http://news.nationalgeographic.com/news /20 03/03/0 314 _030 314 _secretweapons3.html Bar- Cohen : Biomimetics: Biologically Inspired Technologies DK 316 3_c0 12 Final Proof page 309 21 .9 .20 05 11 :54pm 12 Multifunctional... Polymer 329 12 . 2.3.3 Healing Experiments 330 12 . 2.3.4 Healing Summary 3 32 12 . 2.4 Sensing Functionality 3 32 12 . 2.4 .1 Integrating Sensing into Composites 333 12 . 2.4 .2 Sensor Communications and Power 333 12 . 2.4.3 Mechanical Integration 333 12 . 2.4.4 Data Management 335 12 . 2.4.5 Preliminary Results 335 12 . 2.4.6 Sensors... Szema, R., Rastegar, J., and Lee, L Journal of Medical Engineering and Technology 20 04: 28 (3), 11 7 24 0 With permission.) Bar- Cohen : Biomimetics: Biologically Inspired Technologies DK 316 3_c 011 Final Proof page 304 22 .9 .20 05 1: 00am 304 Biomimetics: Biologically Inspired Technologies (x Ј ,y Ј ) 1 1 (x Ј ,y Ј ) 2 2 d Figure 11 .17 Depth perception through different visual fields As humans can triangulate depth... D., Grazul, J., and Hamann, D Science 20 03: 29 9, 12 0 5– 12 0 8 With permission.) Bar- Cohen : Biomimetics: Biologically Inspired Technologies DK 316 3_c 011 Final Proof page 307 22 .9 .20 05 1: 00am Biologically Inspired Optical Systems Figure 11 .20 307 (a) A Melanophila acuminate beetle and (b) a close up of its pit organ (a) (b) Figure 11 . 21 (See color insert following page 3 02) an electronically controlled insect... Astrophysical Journal 19 79: 23 3 (1) , 364–73 Bar- Cohen : Biomimetics: Biologically Inspired Technologies DK 316 3_c 011 Final Proof page 308 22 .9 .20 05 1: 00am 308 Biomimetics: Biologically Inspired Technologies Chown, M I spy with my lobster eye, New Scientist 19 96a: 15 0 (20 25), 20 Chown, M X-ray lens brings finer chips into focus, New Scientist 19 96b: 15 1 (20 37), 18 Duparre, J., Schreiber, P., Dannberg, P.,... close-up of S-flexural joints (From Hung, P.J., Jeong, K., Liu, G.L., and Lee, L.P Applied Physical Letters 20 04: 85 (24 ), 60 51 6053 With permission.) Bar- Cohen : Biomimetics: Biologically Inspired Technologies DK 316 3_c 011 Final Proof page 29 6 22 .9 .20 05 1: 00am 29 6 Biomimetics: Biologically Inspired Technologies Incident light Liquid crystal SLM Unfocused areas Focused area Image plane (a) (b) Figure 11 .6... Photoresist SU-8 Teflon@ like polymer PDMS elastomer Substrate (b) Figure 11 .10 (See color insert following page 3 02) (Continued ) Bar- Cohen : Biomimetics: Biologically Inspired Technologies DK 316 3_c 011 Final Proof page 3 01 22 .9 .20 05 1: 00am Biologically Inspired Optical Systems 3 01 Figure 11 .10 (See color insert following page 3 02) Artificial appositional eye approach: (a) schematic, (b) lens array process... close-up picture of lenslets (From Jeong, K., Kim, J., Nevill, J., and Lee, L.P (20 05) With permission.) Figure 11 .11 Neural superpositional eye schematic: The neural superpositional eye combines the sensitivities of all facets by comparing all retrieved images Bar- Cohen : Biomimetics: Biologically Inspired Technologies DK 316 3_c 011 Final Proof page 3 02 22. 9 .20 05 1: 00am 3 02 Biomimetics: Biologically Inspired . Letters 20 03: 82( 19 ), 317 1– 31 72. With permission.) Bar- Cohen : Biomimetics: Biologically Inspired Technologies DK 316 3_c 011 Final Proof page 29 4 22 .9 .20 05 1: 00am 29 4 Biomimetics: Biologically Inspired. Inspired Technologies 11 Biologically Inspired Optical Systems Robert Szema and Luke P. Lee CONTENTS 11 .1 Introduction 29 1 11 .2 Camera Eyes 29 2 11 .2. 1 A Fluidic Adaptive Lens 29 2 11 .2. 2 An Artificial. Vol. 10 6, No. 13 (19 97), 5685– 56 92. Bar- Cohen : Biomimetics: Biologically Inspired Technologies DK 316 3_c 010 Final Proof page 29 0 21 .9 .20 05 11 :46am 29 0 Biomimetics: Biologically Inspired Technologies 11 Biologically