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Finding NEMO (novel electromaterial muscle oscillator): a polypyrrole powered robotic fish
with real-time wireless speed and directional control
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2009 Smart Mater. Struct. 18 095009
(http://iopscience.iop.org/0964-1726/18/9/095009)
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IOP PUBLISHING
doi:10.1088/0964-1726/18/9/095009
1. Introduction
Mobile platforms offer improved versatility for sensing
systems involved with environmental monitoring, pollution
detection, video mapping, surveillance and other such tasks.
For operation within aquatic environments, highly mobile
swimming robots are an obvious form that can enable high
mobility and versatility. While autonomous undersea vehicles
5 Author to whom any correspondence should be addressed.
0964-1726/09/095009+10$30.00
S McGovern et al
Top speed
1
Dimensions/(mass)
Drive voltage
Reference
27 cm 5.0 cm 6.5 cm
(550 g)
[16]
23 cm 13 cm 6.5 cm
(295 g)
3.3 V (p-p) at 2 Hz
[11]
4.5 cm 1.0 cm in
diameter (0.76 g)
5 V (p-p) at 1 Hz
[17]
[9]
[12]
fish shapes and sizes highlight the many variables that affect
fish swimming performance. Body size and shape; tail fin
size and shape; size and placement of pectoral and dorsal
fin(s) all affect the swimming speed and manoeuvrability.
Different species of fish also produce propulsion through
different combinations of movement of both the body and/or
the caudal (tail) fin [35, 2]. While still the subject of ongoing research, it is clear that mimicking fish hydrodynamics
requires a high degree of freedom of the flow control surfaces.
In aquatic animals this control is afforded by their muscular
system. For example, six major muscle groups control
the pectoral fin on fish [6]. The same degree of freedom
cannot be achieved in AUVs using conventional motors
because of size limitations. Bandyopadhyays analysis of fish
hydrodynamics [1] concluded that mimicking the performance
of fish was most feasible by adopting multiple artificial muscle
actuators with neuroscience based control.
Artificial muscles, or actuator materials, are attractive
for mobile robotics for a variety of reasons. As mentioned,
actuator materials offer the ability to generate fish-like
movements by using multiple, small actuators to fine-tune body
and fin movements. Because of their simple structure, artificial
muscles also provide the possibility of scaling down the size
of the AUV. Small sized AUVs would be capable of entering
small spaces, expanding their surveillance capabilities to areas
such as pipe and tank inspections. Actuator materials can
also provide silent operation, which can be important to avoid
detection.
While a large number of actuating materials exist, we
favour the bending-type actuators that can be directly coupled
to a tail or pectoral fin to produce a flapping action without any
other mechanical mechanism. Such a simple design will aid in
the future further miniaturization of the device. Bending-type
polymer actuators are available from piezoelectric materials,
ionic-polymer metal composites (IPMCs) and conducting
polymers (CPs). The latter two materials operate at low
2
S McGovern et al
Figure 1. Various modes of swimming that are related to BCF propulsion [4].
electrochemically deposited onto either side of a platinumcoated poly(vinylidene fluoride) membrane (PVDF) 100 m
thick with a 0.45 m pore size (Immobilon Millipore)
to manufacture a stand-alone actuator with a tri-layer
configuration [7, 25, 24]. The advantage of this configuration
is that both the working and counter electrodes (consisting of
each of the individual PPy layers) are self-contained within the
system and form the boundaries of the electrochemical cell
(the PVDF separator). When fully wetted with electrolyte,
these actuators may work stand-alone in air or other media and
minimize the overall size of the device as the PVDF separator
is paper thin (100 m) and acts as a reservoir to hold the
electrolyte.
Extremely fast actuators have been realized with the use
of bis(trifluoromethane sulfonimide) (TFSI) as dopant for the
PPy [23, 24]. To form the PPy.TFSI, pyrrole monomer was
electropolymerized onto sputter-coated PVDF with an applied
current density of 0.1 mA cm2 for 12 h at a temperature
of 33 C from a propylene carbonate (PC) solution that
contained 0.1 M pyrrole monomer, 0.1 M lithium TFSI and
1 w/w% water.
One design challenge encountered was to make a fish body
to house the electronics that was waterproof but also enabled
ready access to the electronics and battery. Fully encapsulated
systems provide good water-proofing, but do not allow easy
access to the electronics for replacement of parts or batteries.
A simple solution used in our prototype system, was to house
the control unit and the battery in a 25 ml syringe that was
cut down and adapted to facilitate a tail fin for propulsion and
pectoral and dorsal fins for stability. Further, the control unit
and the battery are deliberately placed at the lower section of
the syringe to ensure that the centre of gravity of the prototype
was below the centre of buoyancy to provide inherent stability,
preventing any tilt unconditionally, during operation in liquid.
The end of the syringe was plugged and the fixed pectoral
and dorsal fins were attached with epoxy adhesive. Output
wires to power the actuators were attached to the electronics
board and passed through a small hole in the fish body, which
was also plugged with epoxy. The length of these wires
was made to enable complete removal of the electronics and
battery compartment from the fish body for any necessary later
adaptations. A photo of the apparatus may be seen in figure 2.
The complete fish prototype was 20 mm in diameter 125 mm
in length and weighed 16.2 g.
The wireless capacity of the robot prototype was provided
through a SCTX2B/RX2FS transmitter and receiver unit
chips (IPS Japan). These units were contained in a board
that produced a pulse width modulated constant 1 V
St =
na
.
v
(1)
2. Experimental details
The biorobotic fish design was based on previously reported
systems and used a single caudal fin for propulsion and
steering. While probably not the optimal design to achieve
the desired speed and manoeuvrability, this design allows
a direct comparison between a polypyrrole (PPy) propelled
system with the previously reported CP and IPMC actuated
ostraciiform swimming fish robots. The system used in the
present study was designed to be simple to construct and
operate. In particular, the ability to readily change batteries
and actuator elements was incorporated into the fish design.
Bending-type PPy actuators were fabricated as previously
described [24]. Polypyrrole (PPy) conducting polymer was
3
S McGovern et al
3. Results
The operation of this NEMO structure on the fish body was
investigated first in air and later in water to determine the effect
that the frequency of oscillation has on the sweep angle travel.
These studies were used for the analysis of the resulting speed
and manoeuvrability of the fish.
3.1. Operation of the NEMO in air
Operation of the NEMO tail fin in air was extremely responsive
and a large deflection of the fin tip was achieved upon
S McGovern et al
The NEMO tail fin was immersed in water to see the effect that
liquid dampening had on the oscillation amplitude of the tail
fin at different operation frequencies. It was observed on the
initial attempt that the tail fin oscillation amplitude diminished
very rapidly such that there was little or no movement after
approximately 60 s operation. This degradation in oscillation
S McGovern et al
(a)
(b)
FD = 12 CD SV 2
(3)
S McGovern et al
Figure 8. Schematic diagram showing typical oscillation amplitudes of the NEMO at both (A) low and (B) high frequencies, and (C) with a
change in the axis of oscillation that can enable turning.
Figure 9. Top view schematic illustration showing how the NEMO tail fin oscillations cause a turning of the nose of the fish.
Re =
LV
(4)
4. Discussion
4.1. Force analysis of swimming device
The drag force is fundamentally a flow loss, which acts to
retard the movement of a swimming device, and is given by
7
S McGovern et al
acting on the device consists of the body drag force and the
caudal fin drag force, where each drag force component is a
summation of the form drag (due to the shape of the object) and
skin friction drag (that is related to the viscous forces acting on
the surface of the object). If we approximate the body shape
to that of a cylinder, the form drag can be easily determined
for forward motion without turning of the nose by using
equation (3), and taking the drag coefficient CD 0.81 as that
of a cylinder in axial flow [29]. The form drag force may be
estimated as 0.138 mN. However, determination of the frontal
surface area upon turning of the nose of the fish (that occurs
during normal swimming) is more difficult calculation that is
made easier using finite element packages such as ANSYS.
Likewise, ANSYS may also be used to easily calculate the skin
friction drag acting on the surface at a given speed. The fish
body was generated in ANSYS with a mesh size of 3 mm and
the drag force acting on the body was calculated for movement
at its maximum velocity of 33 mm s1 (figure 11(a)).
Using ANSYS, the form drag acting on the nose was
calculated as 0.146 mN and the total body drag force (including
skin friction drag) was estimated to be 0.303 mN. However,
when the swimming device turns to one side by 15 , this total
drag force increases to 0.503 mN. Thus the orientation of the
swimming body relative to the flow direction increases the drag
force significantly. The maximum drag force acting on the
b
= 0.503 mN.
rigid body is Fdrag
The form drag force acting on the caudal fin and the
polymer actuators may also be calculated using equation (3).
The bending angle ( 2 ) of the fin was approximately 15 during
the 33 mm s1 movement of the device in the water. This
makes the frontal surface area of the fin and the two polymer
actuators = 169.52 mm2 . If we take the drag coefficient
S McGovern et al
b
f
Figure 11. Configuration of the body, actuators, and fin of the swimming device (not to scale). Fdrag
, Fdrag
, and Fthrust are the body drag force,
fin and actuator drag force, and the thrust force acting on the fin, respectively. The actuator force F is reflected on the geometric centre of the
fin as F . L and L are 5 and 12.5 mm, respectively.
Tail amplitude (a )
na
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
28.5
29.5
24.5
17.0
13.5
11.0
8.5
7.5
8.6
11.8
12.3
10.2
9.5
8.8
7.7
7.5
Acknowledgments
5. Conclusions
References
[1] Banyopadhyay P R 2005 Trends in biorobotic autonomous
undersea vehicles IEEE J. Ocean. Eng. 30 10939
[2] Videler J J 1993 Fish Swimming (London: Chapman and Hall)
[3] Colgate E E and Lynch K M 2004 Mechanics and control of
swimming: a review IEEE J. Ocean. Eng. 29 66072
S McGovern et al
10