Jelly-Z: Twisted and coiled polymer muscle actuated jellyfish robot for environmental monitoring

Matharu, Pawandeep Singh; Ghadge, Akash Ashok; Almubarak, Yara; Tadesse, Yonas

doi:10.21014/acta_imeko.v11i3.1255

Cited by 17 publications

(18 citation statements)

References 28 publications

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“…In future, the hydrodynamic model of the buoy will be studied with the mooring arrangements. The energy generated from the buoy can be used in powering underwater soft robots [65,66] for water quality monitoring of different in-line river streams. The measurement of wind and river flow, along with the Inertial Measurement Unit (IMU) motion data from different sensors placed on the buoy, will provide us with the necessary information to design a passive damper that could damp down the oscillations of the buoy in turbulent waters.…”

Section: Discussionmentioning

confidence: 99%

Design and development of a continuous water quality monitoring buoy for health monitoring of river Ganga

Shukla,

Matharu,

Bhattacharya

2023

Eng. Res. Express

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Real-time monitoring of water quality in the river Ganga and other Indian rivers is crucial to determining its suitability for drinking and other usages across the seasons and round the clock. For this, a structurally strong and hydrostatically stable floating observation centre is required for housing all the sensors and related equipment. This paper explains the design process for such a buoy platform that can house an array of water quality sensors powered by hybrid energy harvesting systems. Sensors are connected to a wireless sensor network (WSN) system that transfers data to a web-based platform, where we can monitor and analyse our data for the purpose of hazard prediction. Computational analysis has been carried out for the observatory body to ascertain its structural integrity and hydrostatic stability at small and large angles of inclination. The buoy design is based on various requirements specific to Indian rivers at different locations from the mid-course till the confluence. It is important that the system be modular and portable for use in a constantly changing river/water environment. A full-scale functional prototype has been developed and field testing has been carried out to bring out the efficacy of the proposed system. Also, the WSN system collected real-time water quality data have been validated with laboratory-based experiments. The establishment of a network of low-cost river/water health monitoring system will further initiate the large-scale data collection and help creating digital twins of the Indian rivers.

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Section: Discussionmentioning

confidence: 99%

Design and development of a continuous water quality monitoring buoy for health monitoring of river Ganga

Shukla,

Matharu,

Bhattacharya

2023

Eng. Res. Express

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“…What are the parameters that affect the performance of the TCP actuator? These are very limited studies that are available when it comes to the TCP actuated in an underwater setting for robotic application 18,43 . As a result, an experimental characterization was performed on the self-coiled TCPFL actuator, in which the parameters can be noted in Table 2.…”

Section: Experimental Characterization With Predictive Model Of Tcpfl...mentioning

confidence: 99%

“…The fishing line monofilament after twisting and coiling can provide contraction and expansion movements based on variations in temperature. We followed a similar fabrication process as explained in our previous work 18 . The power source used is DC power supply by BK Precision, model number -9116/B with output rating 0 to 150V and 0 to 30A.…”

Section: Fabrication Of Tcpfl Musclesmentioning

confidence: 99%

“…This paper focuses on the analysis of the swimming performance of a soft jellyfish inspired robot (Jelly-Z) published in IMEKO ACTA 18 using novel material for actuation, twisted and coiled fishing line thread incorporated with nichrome wire (TCP FL ). In general, TCPs are soft polymer materials that are initially fully twisted causing them to coil in a spring like shape.…”

Section: Introductionmentioning

confidence: 99%

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Jelly-Z: Swimming performance and analysis of twisted and coiled polymer (TCP) actuated jellyfish soft robot

Matharu

Gong

Guntaka

et al. 2022

Preprint

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Monitoring, sensing, and exploration of over 70% of the Earth’s surface that is covered with water is permitted through the deployment of underwater bioinspired robots without affecting the surrounding natural habitat. To create a soft robot actuated with soft polymeric actuators, this paper describes the development of a lightweight jellyfish-inspired swimming robot, which achieves a maximum vertical swimming speed of 7.3 mm/s (0.05 body length/s) and is characterized by a simple design. The robot, named Jelly-Z, utilizes a contraction-expansion mechanism for swimming similar to the motion of a Moon jellyfish. To better understand the characteristics of this motion, FSI flow simulation, and particle image velocimetry (PIV) tests were conducted to study the wake structure from the robot’s bell margin. The thrust generated by the robot was also characterized with a force sensor to ascertain the force and cost of transport (COT) at different input currents. Jelly-Z is the first robot that utilized twisted and coiled polymer fishing line (TCPFL) actuators for articulation of the bell and showed successful swimming operations. Here, a thorough investigation on swimming characteristics in an underwater setting is presented theoretically and experimentally. We found swimming metrics of the robot are comparable with other jellyfish-inspired robots that have utilized different actuation mechanisms, but the actuators used here are scalable and can be made in-house relatively easily, hence paving way for further advancements into the use of these actuators.

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“…Decisions are made by intelligence that evaluates information internal to the CPS and, in some scenarios, also information from other CPSs [8]- [10].…”

Section: Introductionmentioning

confidence: 99%

Digital twins based on augmented reality of measurement instruments for the implementation of a cyber-physical system

Liccardo¹,

Bonavolontà²,

Moriello³

et al. 2022

Acta IMEKO

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The recent increase on the Internet of Things and Industry 4.0 fields has led the research topics to investigate on the innovative technologies that could support these emerging topics in different area of applications. In particular, the current trends are to close the gap between the physical and digital worlds, thus originating the so-called Cyber-Physical System (CPS). A relevant feature of the CPS is the digital twin, i.e., a digital replica of a process/product with which user can interact to operate on the real world. In this paper, the authors propose an innovative approach exploiting an Augmented Reality solution as Digital Twin for the measurement instrument to obtain a tight connection between the measurements as physical world and the Internet of Things as digital applications. In fact, by means of the adoption of the 3D scanning strategy, Augmented Reality software and with the development of a suitable connection between the instrument and the digital world, a Cyber-Physical System has been realized as an IoT platform that collect and control the real measurement instrument and makes its available in Augmented Reality. An application example involving a digital storage oscilloscope is finally presented to highlight the efficacy of the proposed approach.

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Jelly-Z: Twisted and coiled polymer muscle actuated jellyfish robot for environmental monitoring

Cited by 17 publications

References 28 publications

Design and development of a continuous water quality monitoring buoy for health monitoring of river Ganga

Design and development of a continuous water quality monitoring buoy for health monitoring of river Ganga

Jelly-Z: Swimming performance and analysis of twisted and coiled polymer (TCP) actuated jellyfish soft robot

Digital twins based on augmented reality of measurement instruments for the implementation of a cyber-physical system

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