3D printed neuromorphic sensing systems

Thanks to the high energy efficiency, neuromorphic devices are spotlighted recently by mimicking the calculation principle of the human brain through the parallel computation and the memory function. Various bio-inspired \u27in-memory computing\u27 (IMC) devices were developed during the past decades, such as synaptic transistors for artificial synapses. By integrating with specific sensors, neuromorphic sensing systems are achievable with the bio-inspired signal perception function. A signal perception process is possible by a combination of stimuli sensing, signal conversion/transmission, and signal processing. However, most neuromorphic sensing systems were demonstrated without signal conversion/transmission functions. Therefore, those cannot fully mimic the function provides by the sensory neuron in the biological system. This thesis aims to design a neuromorphic sensing system with a complete function as biological sensory neurons. To reach such a target, 3D printed sensors, electrical oscillators, and synaptic transistors were developed as functions of artificial receptors, artificial neurons, and artificial synapses, respectively. Moreover, since the 3D printing technology has demonstrated a facile process due to fast prototyping, the proposed 3D neuromorphic sensing system was designed as a 3D integrated structure and fabricated by 3D printing technologies. A novel multi-axis robot 3D printing system was also utilized to increase the fabrication efficiency with the capability of printing on vertical and tilted surfaces seamlessly. Furthermore, the developed 3D neuromorphic system was easily adapted to the application of tactile sensing. A portable neuromorphic system was integrated with a tactile sensing system for the intelligent tactile sensing application of the humanoid robot. Finally, the bio-inspired reflex arc for the unconscious response was also demonstrated by training the neuromorphic tactile sensing system

Design and Fabrication of Origami Elements for use in a Folding Robot Structure

The aim of the research is to investigate the methodology of the design and fabrication of folding robots that depend on the origami structures. The use of origami structures as a foundation to build reconfigurable and morphing robots that could assist in search and rescue (SAR) tasks are investigated. The design of the origami folding structures divided into three stages: consideration of the geometry of the origami structure, the hinge design, and the actuation system. The result of investigating three origami structures shows the ability to use the unit cell of the origami ball structure as a self-folding element. Furthermore, the novel type of origami structure for manipulation was created according to this result. This novel structure was designed to be a soft manipulation robot arm. Two approaches are used to design and fabricate flexure hinge. The first is by using a 3D printed multi-material technique. By this technique, the hinge printed using soft and solid material at the same time, which is Tango plus flx930 for soft material and Vero for solid material. The soft material act as a flexure hinge. Therefore, three tests were operated for it to calculate the tensile force, fatigue limit, and the required bend force. The second approach is by using acrylic and Kapton materials. Two types of actuation systems were studied: the external actuation system and embedded actuation system. The external actuation system was used for the Origami structure for manipulation, while the embedded actuation system was used for the self-folding structure. The shape memory alloy wires in torsion (TSW) and bending (BSW) was used in an embedded actuation system. A unit cell of origami ball was fabricated as a self-folding element by using three approaches: manually, acrylic, and Kapton and 3D printing. It is actuated by using shape memory alloy wire. Furthermore, an origami structure for manipulation was fabricated and actuated using an external actuation system. This novel type of origami structure provided an excellent bend motion ability

Active Polymeric Materials for 3D Shaping and Sensing

Part I: Reprogrammable Chemical 3D Shaping for Origami, Kirigami, and Reconfigurable Molding Origami- and kirigami-based design principles have recently received strong interest from the scientific and engineering communities because they offer fresh approaches to engineering of structural hierarchy and adaptive functions in materials, which could lead to many promising applications. Herein, we present a reprogrammable 3D chemical shaping strategy for creating a wide variety of stable complex origami and kirigami structures autonomously. This strategy relies on a reverse patterning method that encodes prescribed 3D geometric information as a spatial pattern of the unlocked phase (dispersed phase) in the locked phase (matrix phase) in a pre-stretched Nafion sheet. Building upon the unique chemical reprogramming capability of the Nafion shape memory polymer, we have developed a reconfigurable molding technology that can significantly reduce the time, cost, and waste in 3D shaping of various materials with high fidelity. Part II: A Versatile, Multifunctional, Polymer-Based Dynamically Responsive Interference Coloration The bioinspired stimuli-responsive structural coloration offers a wide variety of potential applications, ranging from sensing to camouflage to intelligent textiles. Owing to its design simplicity, which does not require multilayers of materials with alternative refractive indices or micro- and nanostructures, thin film interference represents a promising solution towards scalable and affordable manufacturing of high-quality responsive structural coloration systems. However, thin films of polymers with appropriate thickness generally do not exhibit visible structural colors if they are directly deposited on substrates with relatively low refractive indices such as glass and polydimethylsiloxane (PDMS). Here, a versatile technology that enables polymer-based, stimuli-responsive interference coloration (RIC) on various substrates is presented. Real-time, continuous, colorimetric RIC sensors for humidity, organic vapor, temperature, and mechanical force are demonstrated by using different stimuli-responsive polymers. The transparent RIC film on glass shows strong coupling of constructive interference reflected colors and complementary destructive interference transmitted colors on opposite sides of the film. The ability to use substrates such as glass and PDMS allows for the proof-of-concept demonstration of a humidity-sensing window, and a self-reporting, self-acting sensor that does not consume external power

Innovative robot hand designs of reduced complexity for dexterous manipulation

This thesis investigates the mechanical design of robot hands to sensibly reduce the system complexity in terms of the number of actuators and sensors, and control needs for performing grasping and in-hand manipulations of unknown objects. Human hands are known to be the most complex, versatile, dexterous manipulators in nature, from being able to operate sophisticated surgery to carry out a wide variety of daily activity tasks (e.g. preparing food, changing cloths, playing instruments, to name some). However, the understanding of why human hands can perform such fascinating tasks still eludes complete comprehension. Since at least the end of the sixteenth century, scientists and engineers have tried to match the sensory and motor functions of the human hand. As a result, many contemporary humanoid and anthropomorphic robot hands have been developed to closely replicate the appearance and dexterity of human hands, in many cases using sophisticated designs that integrate multiple sensors and actuators---which make them prone to error and difficult to operate and control, particularly under uncertainty. In recent years, several simplification approaches and solutions have been proposed to develop more effective and reliable dexterous robot hands. These techniques, which have been based on using underactuated mechanical designs, kinematic synergies, or compliant materials, to name some, have opened up new ways to integrate hardware enhancements to facilitate grasping and dexterous manipulation control and improve reliability and robustness. Following this line of thought, this thesis studies four robot hand hardware aspects for enhancing grasping and manipulation, with a particular focus on dexterous in-hand manipulation. Namely: i) the use of passive soft fingertips; ii) the use of rigid and soft active surfaces in robot fingers; iii) the use of robot hand topologies to create particular in-hand manipulation trajectories; and iv) the decoupling of grasping and in-hand manipulation by introducing a reconfigurable palm. In summary, the findings from this thesis provide important notions for understanding the significance of mechanical and hardware elements in the performance and control of human manipulation. These findings show great potential in developing robust, easily programmable, and economically viable robot hands capable of performing dexterous manipulations under uncertainty, while exhibiting a valuable subset of functions of the human hand.Open Acces

Additively Manufactured Shape-changing RF Devices Enabled by Origami-inspired Structures

The work to be presented in this dissertation explores the possibility of implementing origami-inspired shape-changing structures into RF designs to enable continuous performance tunability as well as deployability. The research not only experimented novel structures that have unique mechanical behaviour, but also developed automated additive manufacturing (AM) fabrication process that pushes the boundary of realizable frequency from Sub-6 GHz to mm-wave. High-performance origami-inspired reconfigurable frequency selective surfaces (FSSs) and reflectarray antennas are realized for the first time at mm-wave frequencies via AM techniques. The research also investigated the idea of combining mechanical tuning and active tuning methods in a hybrid manner to realize the first truly conformal beam-forming phased array antenna that can be applied onto any arbitrary surface and can be re-calibrated with a 3D depth camera.Ph.D

Advances in Bio-Inspired Robots

This book covers three major topics, specifically Biomimetic Robot Design, Mechanical System Design from Bio-Inspiration, and Bio-Inspired Analysis on A Mechanical System. The Biomimetic Robot Design part introduces research on flexible jumping robots, snake robots, and small flying robots, while the Mechanical System Design from Bio-Inspiration part introduces Bioinspired Divide-and-Conquer Design Methodology, Modular Cable-Driven Human-Like Robotic Arm andWall-Climbing Robot. Finally, in the Bio-Inspired Analysis on A Mechanical System part, research contents on the control strategy of Surgical Assistant Robot, modeling of Underwater Thruster, and optimization of Humanoid Robot are introduced

3D Photocatalytic Air Processor for Dramatic Reduction of Life Support Mass and Complexity

To dramatically reduce the cost and risk of CO2 management systems in future extended missions, we have conducted preliminary studies on the materials and device development for advanced "artificial photosynthesis" reaction systems termed the High Tortuosity PhotoElectroChemical (HTPEC) system. Our Phase I studies have demonstrated that HTPEC operates in much the same way a tree would function, namely directly contacting the cabin air with a photocatalyst in the presence of light and water (as humidity) to immediately conduct the process of CO2 reduction to O2 and useful, "tunable" carbon products. This eliminates many of the inefficiencies associated with current ISS CO2 management systems. We have laid the solid foundation for Phase II work to employ novel and efficient reactor geometries, lighting approaches, 3D manufacturing methods and in-house grown novel catalytic materials.The primary objective of the proposed work is to demonstrate the scientific and engineering foundation for light-activated, compact devices capable of converting CO2 to O2 and mission-relevant carbon compounds. The proposed HTPEC CO2 management system will demonstrate a novel pathway with high efficiency and reliability in a compact, lightweight reactor architecture. The proposed HTPEC air processing concept can be developed in multiple architectures, such as centralized processing as well as "artificial leaves" distributed throughout the cabin that utilize pre-existing cabin ventilation (wind). Additionally, HTPEC can be deployed with spectrally tunable collection channels for selectable product generation. HTPEC employs light as its only energy source to remove and convert waste CO2 using a non-toxic composite catalyst.We have demonstrated in the Phase I studies the production, tunability and robustness of the novel composite catalysts following the preliminary work in the Chen laboratory. Additionally, we have designed, fabricated and tested all components of HTPEC device with active materials, including flow modeling to optimize flow mixing and pressure drop as well as the production of ethylene and other larger hydrocarbons. To best determine how this technology could be implemented, we also performed system integration optimization and trade studies. This includes parameters such as mass, volume, power in relation to selected mission configurations, CO2 delivery methods and light source/delivery approaches

Integrated design approach for responsive solar-shadings in double skin facades in hot arid climate

Ph. D. Thesis.To deliver climate adaptive architecture, current trends in architecture are directed towards dynamic and responsive building skins. ‘Responsive building skin’ is used to describe the ability of building envelopes to adapt in real time in response to external environmental conditions. Recent attention has focused on ‘soft robotics’ approach which uses soft and/or extensible materials to deform with muscle‐like actuation, mimicking biological systems. Material embedded actuation can autonomously alter shading systems’ morphology stimulated by external environmental conditions. Passively thermally‐activated shading systems offer responsive actuation by solar‐radiation and stratified hot air in a double skin façade (DSF) without recourse to energy consuming systems. This research identifies the intersection between bio‐inspiration, folding principles and smart materials to integrate the underlying mechanisms in responsive solar‐shading systems and assesses their environmental performance. The thesis proposes an interdisciplinary mixed methodology linking hands‐on experimentation with environmental performance simulation of responsive building skins. ‘Practice‐led approach’ is used to explore the design potential of responsive systems using smart materials. ‘Computational Fluid Dynamics’ (CFD) numerical methods are used to measure the impact of responsive solar‐shading systems on multiple environmental factors in a DSF cavity. This helps the design decisions, selection and customisation of smart materials. Hands‐on experimentation is used to explore various prototypes, leading to the selection of a folded prototype, to be simulated for environmental performance. Solar‐shading systems are tested within a DSF, in an hot arid climate. Flat and folded solar‐shading devices are installed in a DSF cavity with three aperture sizes (30%, 50% & 70%) to represent the responsive system states. Point‐in‐time simulations are carried at 9:00 am, 12:00 pm and 15:00 pm in peak summer and winter day. The developed analytical design framework presents different design parameters for responsive solar‐shading systems to guide decision‐making in research of climate actuated smart shading systems. Keywords: Responsive skins, Adaptive facades, Soft robotics, Bio‐inspiration, Origami, Deployable structures, Actuation, Smart materials, Shape memory alloys, Double skin facades, Energy efficiency, Digital simulation, CFD Modelling