RI: Collaborative Research: Intelligent Microwave Power Transmission and Control System for Artificial Muscle-Driven Biomimetic Robotic Systems (National Science Foundation, IIS-RI, September 1, 2007-August 31, 2010)

In this research, we introduce an innovative approach to use a wireless link between I-EAP based target locomotion units and a remote control/power unit. The remote unit can provide necessary intelligence to the target locomotion units for proper adaptation to changing environments and continuously supply power needed to drive them. The proposed approach, using a microwave-based power supply method, is useful-especially for a small scale undulatory locomotion system due to its untethered operation in complex, unstructured environments. A microwave-based power supply also can eliminate the requirement of a heavy battery for long-term operation and eliminate problems caused by complex internal wiring often observed in various types of biologically-inspired robots. The proposed microwave power/control link can be modulated in both frequency and amplitude to selectively actuate a different segment of the I-EAP actuator by using a specially coded patch antenna pattern on the electrode surface of the actuator. The project will address control challenges that exist in the proposed integrated microwave and remote locomotion unit along with further improvement of the smart antenna patterns on the electrode surface of the I-EAP actuator. Also, detailed studies of generating different types of locomotion adaptable to a variety of unstructured environmental conditions will be pursued. The proposed microwave link control systems have a wide spectrum of future engineering applications where proper intelligence capabilities in the control system need to be provided to the local locomotion unit wirelessly without a power supply interruption. Also, we will intend to understand the underlying mechanisms of I-EAP via manufacturing process and characterize the materials performance of I-EAPs.

Collaborative Research: Biologically Inspired Cilia-Driven Microscale Robots
(National Sicence Foundation, CISE, Aug 1., 2003 - July 2007)

The goal of this collaborative research effort is to develop biologically inspired cilia-driven smallscale-robots that are based upon a new, enabling technology, electroactive polymers (EAP). Of particular interest is the use of an electroactive polymer to produce an aquatic propulsor capable of suitable thrust and maneuverability.

Control Algorithms for Smart Fin
(ARL/UNLV Cooperative Research, SOldier FERST, May 1., 2003 - June 2008)

The project goal is to enhance accuracy of extended range smart munitions and guided projectiles by providing real-time servo control capability of smart fin on projectile airframe. The smart fin is actuated by MFC (Macro Fiber Composite) actuator and the fin angle tracking performance in different angle of attack and wind speed is being validated in the wind tunnel.

Shock Isolation Using Semi-Active Control Techniques
(ARL/UNLV Cooperative Research, SOldier FERST, May 1., 2003 - June 2008)

The goal of the project is to develop a novel elastomer whose modulus can be actively controlled using electromagnet. Unique feature of the elastomer is that an external electromagnet can lower the storage modulus of the elastomer unlike other magnetorheological elastomer (MRE) that increases the modulus under external magnetic flux. The proposed bi-directional MRE can be useful for numerous military applications in shock isolation.