Maarja Kruusmaa

Hydrodynamic pressure sensing with an artificial lateral line in steady and unsteady flows

With the overall goal being a better understanding of the sensing environment from the local perspective of a situated agent, we studied uniform flows and Kármán vortex streets in a frame of reference relevant to a fish or swimming robot. We visualized each flow regime with digital particle image velocimetry and then took local measurements using a rigid body with laterally distributed parallel pressure sensor arrays. Time and frequency domain methods were used to characterize hydrodynamically relevant scenarios in steady and unsteady flows for control applications. Here we report that a distributed pressure sensing mechanism has the capability to discriminate Kármán vortex streets from uniform flows, and determine the orientation and position of the platform with respect to the incoming flow and the centre axis of the Kármán vortex street. It also enables the computation of hydrodynamic features which may be relevant for a robot while interacting with the flow, such as vortex shedding frequency, vortex travelling speed and downstream distance between vortices. A Kármán vortex street was distinguished in this study from uniform flows by analysing the magnitude of fluctuations present in the sensor measurements and the number of sensors detecting the same dominant frequency. In the Kármán vortex street the turbulence intensity was 30% higher than that in the uniform flow and the sensors collectively sensed the vortex shedding frequency as the dominant frequency. The position and orientation of the sensor platform were determined via a comparative analysis between laterally distributed sensor arrays; the vortex travelling speed was estimated via a cross-correlation analysis among the sensors.

Nanoporous carbon-based electrodes for high strain ionomeric bending actuators

Ionic polymer metal composites (IPMCs) are electroactive material devices that bend at low applied voltage (1–4 V). Inversely, a voltage is generated when the materials are deformed, which makes them useful both as sensors and actuators. In this paper, we propose two new highly porous carbon materials as electrodes for IPMC actuators, generating a high specific area, and compare their electromechanical performance with recently reported RuO2 electrodes and conventional IPMCs. Using a direct assembly process (DAP), we synthesize ionic liquid (Emi-Tf) actuators with either carbide-derived carbon (CDC) or coconut-shell-based activated carbon-based electrodes. The carbon electrodes were applied onto ionic liquid-swollen Nafion membranes using a direct assembly process. The study demonstrates that actuators based on carbon electrodes derived from TiC have the greatest peak-to-peak strain output, reaching up to 20.4 me (equivalent to>2%) at a 2 V actuation signal, exceeding that of the RuO2 electrodes by more than 100%. The electrodes synthesized from TiC-derived carbon also exhibit significantly higher maximum strain rate. The differences between the materials are discussed in terms of molecular interactions and mechanisms upon actuation in the different electrodes.

A self-oscillating ionic polymer-metal composite bending actuator

This paper presents an electromechanical model of an ionic polymer-metal composite (IPMC) material. The modeling technique is a finite element method (FEM). An applied electric field causes the drift of counterions (e.g., Na+), which, in turn, drags water molecules. The mass and charge imbalance inside the polymer is the main cause of the bending motion of the IPMC. The studied physical effects have been considered as time dependent and modeled with FEM. The model takes into account the mechanical properties of the Nafion polymer as well as the thin coating of the platinum electrodes and the platinum diffusion layer. The modeling of the electrochemical reactions, in connection with the self-oscillating behavior of an IPMC, is also considered. Reactions occurring on the surface of the platinum electrode, which is immersed into formaldehyde (HCHO) solution during the testing, are described using partial differential equations and also modeled using FEM. By coupling the equations with the rest of the model, ...

Flow-relative control of an underwater robot

This paper describes flow-relative and flow-aided navigation of a biomimetic underwater vehicle using an artificial lateral line for flow sensing. Most of the aquatic animals have flow sensing organs, but there are no man-made analogues to those sensors currently in use on underwater vehicles. Here, we show that artificial lateral line sensing can be used for detecting hydrodynamic regimens and for controlling the robot’s motion with respect to the flow. We implement station holding of an underwater vehicle in a steady stream and in the wake of a bluff object. We show that lateral line sensing can provide a speed estimate of an underwater robot thus functioning as a short-term odometry for robot navigation. We also demonstrate navigation with respect to the flow in periodic turbulence and show that controlling the position of the robot in the reduced flow zone in the wake of an object reduces a vehicle’s energy consumption.

A Distributed Model of Ionomeric Polymer Metal Composite

This article presents a novel model of an ionomeric polymer metal composite (IPMC) material. An IPMC is modeled as a lossy RC distributed line. Unlike other electro-mechanical models of an IPMC, the distributed nature of our model permits modeling the non-uniform bending of the material. Instead of modeling the tip deflection or uniform deformation of the material, we model the changing curvature. The transient behavior of the electrical signal as well as the transient bending of the IPMC are described by partial differential equations. By implementing the proper initial and boundary conditions we develop the analytical description of the possibly non-uniform transient behavior of an IPMC consistent with the experimental results.

A fish perspective: detecting flow features while moving using an artificial lateral line in steady and unsteady flow

For underwater vehicles to successfully detect and navigate turbulent flows, sensing the fluid interactions that occur is required. Fish possess a unique sensory organ called the lateral line. Sensory units called neuromasts are distributed over their body, and provide fish with flow-related information. In this study, a three-dimensional fish-shaped head, instrumented with pressure sensors, was used to investigate the pressure signals for relevant hydrodynamic stimuli to an artificial lateral line system. Unsteady wakes were sensed with the objective to detect the edges of the hydrodynamic trail and then explore and characterize the periodicity of the vorticity. The investigated wakes (Kármán vortex streets) were formed behind a range of cylinder diameter sizes (2.5, 4.5 and 10 cm) and flow velocities (9.9, 19.6 and 26.1 cm s−1). Results highlight that moving in the flow is advantageous to characterize the flow environment when compared with static analysis. The pressure difference from foremost to side sensors in the frontal plane provides us a useful measure of transition from steady to unsteady flow. The vortex shedding frequency (VSF) and its magnitude can be used to differentiate the source size and flow speed. Moreover, the distribution of the sensing array vertically as well as the laterally allows the Kármán vortex paired vortices to be detected in the pressure signal as twice the VSF.

A mechanical model of a non-uniform ionomeric polymer metal composite actuator

This paper describes a mechanical model of an IPMC (ionomeric polymer metal composite) actuator in a cantilever beam configuration. The main contribution of our model is that it gives the most detailed description reported so far of the quasistatic mechanical behaviour of the actuator with non-uniform bending at large deflections. We also investigate a case where part of an IPMC actuator is replaced with a rigid elongation and demonstrate that this configuration would make the actuator behave more linearly. The model is experimentally validated with MuscleSheet™ IPMCs, purchased from BioMimetics Inc.

FILOSE for Svenning: A Flow Sensing Bioinspired Robot

The trend of biomimetic underwater robots has emerged as a search for an alternative to traditional propeller-driven underwater vehicles. The drive of this trend, as in any other areas of bioinspired and biomimetic robotics, is the belief that exploiting solutions that evolution has already optimized leads to more advanced technologies and devices. In underwater robotics, bioinspired design is expected to offer more energy-efficient, highly maneuverable, agile, robust, and stable underwater robots. The 30,000 fish species have inspired roboticists to mimic tuna [1], rays [2], boxfish [3], eels [4], and others. The development of the first commercialized fish robot Ghostswimmer by Boston Engineering and the development of fish robots for field trials with specific applications in mind (http://www.roboshoal. com) mark a new degree of maturity of this engineering discipline after decades of laboratory trials.

Design of a semiautonomous biomimetic underwater vehicle for environmental monitoring

This paper describes a preliminary prototype of a fishlike biomimetic underwater robot. The goal is to develop a semiautonomous vehicle for environmental monitoring in shallow waters. We describe the vehicle and discuss the environmental factors that have influenced the design. Experimental results illustrate the performance of the prototype.

Low cost anatomically realistic renal biopsy phantoms for interventional radiology trainees

This paper describes manufacturing of economically affordable renal biopsy phantoms for radiology residents and practicing radiologists. We reconstructed a realistic 3-dimensional patient-specific kidney model from CT data, manufactured an organ mould and casted the kidney phantoms. Using gelatin gel materials with calibrated parameters allowed making phantoms with realistic mechanical, ultrasound and CT properties including various pathologies. The organ phantoms with cysts included were further casted into gelatin gel medium. They were validated by radiology residents in biopsy training and compared against self-made phantoms traditionally used in the curriculum of interventional radiology. The realism, durability, price and suitability for training were evaluated. The results showed that our phantoms are more realistic and easier to use than the traditional ones. Our proposed technology allows creating a low-cost (50