Browsing by Author "Kothera, Curt S."

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    Characterization, Modeling, and Control of the Nonlinear Actuation Response of Ionic Polymer Transducers
    Kothera, Curt S. (Virginia Tech, 2005-09-27)
    Ionic polymer transducers are a class of electroactive polymer materials that exhibit coupling between the electrical, chemical, and mechanical domains. With the ability for use as both sensors and actuators, these compliant, light weight, low voltage materials have the potential to benefit diverse application areas. Since the transduction properties of these materials were recently discovered, full understanding of their dynamic characteristics has not yet been achieved. This research has the goal of better understanding the actuation response of ionic polymers. A specific emphasis has been placed on investigating the observed nonlinear behavior because the existing proposed models do not account for these characteristics. Employing the Volterra representation, harmonic ratio analysis, and multisine excitations, characterization results for cantilever samples showed that the nonlinearity is dynamic and input-dependent, dominant at low frequencies, and that its influence varies depending on the solvent. It was determined that lower viscosity solvents trigger the nonlinear mechanisms at higher frequencies. Additionally, the primary components of the harmonic distortion appear to result from quadratic and cubic nonlinearities. Using knowledge gained from the characterization study, the utility of different candidate system structures was explored to model these nonlinear response characteristics. The ideal structure for modeling the current-controlled voltage and tip velocity was shown to consist of an underlying linear system with a dynamic input nonlinearity. The input nonlinearity is composed of a parallel connection of linear and nonlinear terms, where each nonlinear element has the form of a Hammerstein system. This system structure was validated against data from measured time and frequency responses. As a potential application, and consequently further validation of the chosen model structure, a square-plate polymer actuator was considered. In this study, the plate was clamped at the four corners where a uniform input was applied, measuring the center-point displacement. Characterization and modeling were performed on this system, with results similar to the cantilever sample. Applying output feedback control, in the form of proportional-integral compensation, showed that accurate tracking performance could be achieved in the presence of nonlinear distortions. Special attention was extended here to the potential application in deformable mirror systems.
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    Micro-Manipulation and Bandwidth Characterization of Ionic Polymer Actuators
    Kothera, Curt S. (Virginia Tech, 2002-12-02)
    Ionic polymer materials are a class of electroactive polymers that have been used in recent applications that take advantage of their large bending deflection. Although these materials have been around since the 1960s, it has only been in the last decade that their electromechanical coupling has been discovered. Because their life as a transducer has been relatively short, the underlying mechanisms for their mechanical motion have not yet been fully characterized. Modeling has been performed with ionic polymers, but there is no existing model, to date, that explains all the physical phenomena associated them. The work presented in this document will contribute to the characterization of these materials. To better understand the dehydration effect of ionic polymers operating in an open air environment, research was performed to help characterize this effect. Through the use of frequency response analysis, trends were established showing how the material's response characteristics varied with time, as the polymer dehydrated. These tests were also run at different humidity levels to assess the impact environmental conditions had on the response. It was shown that lower humidity levels cause the system parameters to shift at a higher rate. The two configurations tested were clamped-free and clamped-clamped, in an effort to bound the performance of the actuators for engineering applications. The clamped-clamped condition also facilitated applying tension to the polymers for evaluation of the dehydrating effects. Several comparisons to beam theory were made throughout the analysis, using it as a baseline condition illustrator. Though qualitative results were obtained with the polymers, there was much discrepancy in quantitative measures. This was to be expected though, because ionic polymers are composite actuators that exhibit nonlinear behavior, while uniform beams are linear. Environmental testing was not all that was done, however. Control techniques were applied to improve the closed-loop performance of the actuators. Using proportional-integral control, it was demonstrated that ionic polymers are capable of tracking reference inputs better than it was previously thought. This result will validate future experimentation with ionic polymers for micro-manipulation applications. The simplicity of integral control also eliminated the need for cumbersome model derivations and control system designs, reducing the time necessary to implement and test an actuator. Through the use of this control algorithm, the closed-loop bandwidth was also characterized for the cantilever and clamped-clamped polymers.
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    Transport modeling in ionomeric polymer transducers and its relationship to electromechanical coupling
    Wallmersperger, Thomas; Leo, Donald J.; Kothera, Curt S. (American Institute of Physics, 2007-01-15)
    Ionomeric polymer transducers consist of an ion-conducting membrane sandwiched between two metal electrodes. Application of a low voltage (< 5 V) to the polymer produces relatively large bending deformation (> 2% strain) due to the transport of ionic species within the polymer matrix. A computational model of transport and electromechanical transduction is developed for ionomeric polymer transducers. The transport model is based upon a coupled chemoelectrical multifield formulation and computes the spatiotemporal volumetric charge density profile to an applied potential at the boundaries. The current induced in the polymer is computed using the isothermal transient ionic current associated with surface charge accumulation at the electrodes induced by nonzero volumetric charge density within the polymer. The stress induced in the polymer is assumed to be a summation of linear and quadratic functions of the volumetric charge density. Euler-Bernoulli beam mechanics are used to compute the bending deflection of the transducer to an applied potential. The diffusion coefficient and permittivity of the polymer is identified from the measured current density to a step change in the applied potential. A comparison between the measured data and the predicted response demonstrates that this model accurately predicts the current discharge due to the applied potential at voltages over the range of 50-500 mV. Furthermore, the measured strain response is accurately predicted by determining the two parameters of the mechanics model that relates volumetric charge density to induced stress. The coupled model with parameters identified from the step response analysis is used to predict the harmonic response of the current and the bending strain. Comparisons between measured data and simulations illustrate that the coupled transport-mechanics model accurately predicts the magnitude and trends associated with the current response and strain output. Excellent agreement is obtained at excitation periods above approximately 1 s while good agreement is obtained at longer excitation periods. The transport model highlights the importance of the asymmetry that develops at large applied potentials and long excitation periods in the volumetric charge density due to the fixed anionic species in the polymer. (c) 2007 American Institute of Physics.