Nastic structures are synthetic constructs capable of controllable deformation and shape change similar to plant motility, designed to imitate the biological process of nastic movement found in plants. This paper considers the mechanics and bioenergetics of a prototype nastic structure system consisting of an array of cylindrical microhydraulic actuators embedded in a polymeric plate. Non-uniform expansion/contraction of the actuators in the array may yield an overall shape change resulting in structural morphing. Actuator expansion/contraction is achieved through pressure changes produced by active transport across a bilayer membrane. The active transport process relies on ion-channel proteins that pump sucrose and water molecules across a plasma membrane against the pressure gradient. The energy required by this process is supplied by the hydrolysis of adenosine triphosphate. After reviewing the biochemistry and bioenergetics of the active transport process, the paper presents an analysis of the microhydraulic actuator mechanics predicting the resulting displacement and output energy. Experimental demonstration of fluid transport through a protein transporter follows this discussion. The bilayer membrane is formed from 1-Palmitoyl-2-Oleoyl-sn-Glycero-3-[Phospho-L-Serine] (Sodium Salt), 1-Palmitoyl-2-Oleoyl-sn-Glycero- 3-Phosphoethanolamine lipids to support the AtSUT4 H+-sucrose cotransporter.

Nastic structures are potentially high-energy density smart materials that will be capable of achieving controllable deformation and shape change due to internal microactuation that functions on principles found in the biological process of nastic motion. In plants, nastic motion is accomplished through osmotic pressure changes causing a respective increase or decrease in cell volume, thereby causing net movement. In nastic structures, osmotic pressure is increased by moving fluid from low concentration to high concentration areas by means of active transport, powered by adenosine triphosphate (ATP) hydrolysis. Power analysis involves calculating possible ranges of actuation as a result of interior pressure exchanges and hydraulic flux rates which will determine the speed of actuation. Because pressure inside the actuating cylinder is uniform, the cylinder undergoes deformation in all the three dimensions. Predicting the work-energy balance involves considering the factors that determine the total volumetric change, including cylinder wall expansion, surface bulging and stretching, and outside forces that oppose the actuation. The hydraulic flux rates determine both the force magnitude and the actuation speed. Energy analysis considers the pressure variation range needed to accomplish the desired actuation deflection, and the energy required for active transport mechanisms to move the volume of fluid into the nastic actuator. Nonlinear effects are present, as the pressure inside the actuation cylinder increases, it takes more energy for active transport to continue moving fluid into it. The chemical reaction of ATP hydrolysis supplies the energy for active transport, which is related to the ratio of the reactants, to the products, as well as to the pH level. As the pH lowers, more energy is released through ATP hydrolysis. Therefore, as pH decreases, ATP Hydrolysis releases more energy, enabling active transport to move more fluid into the actuation cylinder, thereby increasing the internal osmotic pressure and causing material deformation work and actuation.

Nastic structures are capable of three dimensional shape change using biological principles borrowed from plant motion. The plant motor cells increase or decrease in size through a change in osmotic pressure. When nonuniform cell swelling occurs, it causes the plant tissue to warp and change shape, resulting it net movement, known as nastic motion, which is the same phenomena that causes plants to angle their broad leaf and flower surfaces to face light sources.The nastic structures considered in this paper are composed of a bilayer of microactuator arrays with a fluid reservoir in between the two layers. The actuators are housed in a thin plate and expand when water from the fluid reservoir is pumped into the actuation chamber through a phospholipid bilayer with embedded active transport proteins, which move the water from the low pressure fluid reservoir into a high pressure actuation chamber. Increasing water pressure inside the actuator causes lateral expansion and axial bulging, and the non-uniform net volume change of actuators throughout the nastic structure results in twisting or bending shape change. Modifying the actuation displacement allows controlled volume change. This paper presents an analytical model of the driving and blocking forces involved in actuation, as well as stress and strain that occurs due to the pressure changes. Actuation is driven by increasing osmotic pressure, and blocking forces are taken into consideration to plan actuator response so that outside forces do not counteract the displacement of actuation. Nastic structures are designed with use in unmanned aerial vehicles in mind, so blocking forces are modeled to be similar to in-flight conditions. Stress in the system is modeled so that any residual strain or lasting deformation can be determined, as well as a lifespan before failure from repeated actuation. The long-term aim of our work is to determine the power and energy efficiency of nastic structures actuation mechanism.