Sensor-Less Control of Mirror Manipulator Using Shape Memory Polyimide Composite Actuator: Experimental Work.

Integrated thin film-based shape memory polyimide composites (SMPICs) are potentially attractive for efficient and compact design, thereby offering cost-effective applications. The objective of this article is to design and evaluate a mirror manipulator using an SMPIC as an actuator and a sensor with control. A sensor-less control strategy using the SMPIC (a self-sensing actuator) with a proportional derivative combined variable structure controller (PD-VSC) is proposed for position control of the mirror in both the vertical and angular directions. The mirror manipulator is able to move the mirror in the vertical and angular directions by 3.39 mm and 10.5 deg, respectively. A desired fast response is obtained as the performance under control. In addition, some benefits from the proposed control realization include good tracking, stable switching, no overshoot, no steady state oscillations, and robust disturbance rejection. These superior properties are experimentally validated to reflect practical feasibility.

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials-A Review.

This paper comprehensively reviews sensors and sensing devices developed or/and proposed so far utilizing two smart materials: electrorheological fluids (ERFs) and magnetorheological materials (MRMs) whose rheological characteristics such as stiffness and damping can be controlled by external stimuli; an electrical voltage for ERFs and a magnetic field for MRMs, respectively. In this review article, the MRMs are classified into magnetorheological fluids (MRF), magnetorheological elastomers (MRE) and magnetorheological plastomers (MRP). To easily understand the history of sensing research using these two smart materials, the order of this review article is organized in a chronological manner of ERF sensors, MRF sensors, MRE sensors and MRP sensors. Among many sensors fabricated from each smart material, one or two sensors or sensing devices are adopted to discuss the sensing configuration, working principle and specifications such as accuracy and sensitivity. Some sensors adopted in this article include force sensors, tactile devices, strain sensors, wearable bending sensors, magnetometers, display devices and flux measurement sensors. After briefly describing what has been reviewed in a conclusion, several challenging future works, which should be undertaken for the practical applications of sensors or/and sensing devices, are discussed in terms of response time and new technologies integrating with artificial intelligence neural networks in which several parameters affecting the sensor signals can be precisely and optimally tuned. It is sure that this review article is very helpful to potential readers who are interested in creative sensors using not only the proposed smart materials but also different types of smart materials such as shape memory alloys and active polymers.

A New Type of Hydraulic Clutch with Magnetorheological Fluid: Theory and Experiment.

This paper presents a new type of hydraulic clutch operating by means of magnetorheological (MR) fluids and the results achieved from both theoretical analysis and experimental measurement. A hydraulic clutch system with MR working fluid and a rotating magnetic field located was designed. The clutch was based on the principle of using a rotating magnetic field created by an alternating current electromagnet to set the MR fluid in motion. To test the hydraulic clutch with a rotating magnetic field, MR fluids were produced by our laboratory, consisting of solid iron particles of various diameters mixed with a silicone oil. With MR working fluid and a rotating magnetic core was designed. The rheological properties of the MR fluids were assessed on the basis of tests carried out with a Brookfield DV2T rheometer equipped with a magnetic device for generating a magnetic field. The characteristics of the hydraulic clutch were tested on a specially built test stand. It was found that the torque transmitted by the clutch increased with the rotational speed of the magnetic field and with a lower rotational speed of the beaker in which the working fluid was placed. It was also found that the greatest torque occurred with the working fluid with the highest iron content. Based on the analysis of the structure and characteristics of the clutch in which the magnetic field is used, it has been shown that the design of the developed clutch is similar to that of an induction clutch, and its characteristics correspond to the characteristics of the eddy current clutch. Therefore, the proposed new clutch with MR fluid and rotating magnetic field can be applied to stationary power transmission systems in a manner similar to an eddy current clutch.

Effect of Additives on Tribological Performance of Magnetorheological Fluids.

In this study, nano-diamond (ND) and MoS2 powder are used as additives in a carbonyl iron-based magnetorheological fluid (MRF) to improve its tribological performance. MRFs are prepared by dispersing 35 wt.% of CI particles in silicone oil and adding different proportions (0, 1, 3, or 5 wt.%) of ND and MoS2 additives. Seven kinds of MRFs are made and tested using reciprocating friction and wear tester under different normal loads, and then the friction characteristics are evaluated by analyzing the experimental results. The morphological properties of MRFs and contacting surfaces before and after the tests are also observed using a scanning electron microscope and analyzed via energy-dispersive X-ray spectroscopy. The results show that the appropriate weight percentage of MoS2 additives may decrease the friction coefficient and wear zone. It is also demonstrated from detailed analyses of worn surfaces that the wear mechanism is influenced not only by additives, but also by the applied normal load and magnetic field strength.

Thermal Conductivity and Temperature Dependency of Magnetorheological Fluids and Application Systems-A Chronological Review.

Many studies on magnetorheological fluid (MRF) have been carried out over the last three decades, highlighting several salient advantages, such as a fast phase change, easy control of the yield stress, and so forth. In particular, several review articles of MRF technology have been reported over the last two decades, summarizing the development of MRFs and their applications. As specific examples, review articles have been published that include the optimization of the particles and carrier liquid to achieve minimum off-state viscosity and maximum yield stress at on-state, the formulation of many constitutive models including the Casson model and the Herschel-Bulkley (H-B) model, sedimentation enhancement using additives and nanosized particles, many types of dampers for automotive suspension and civil structures, medical and rehabilitation devices, MRF polishing technology, the methods of magnetic circuit design, and the synthesis of various controllers. More recently, the effect of the temperature and thermal conductivity on the properties of MRFs and application systems are actively being investigated by several works. However, there is no review article on this issue so far, despite the fact that the thermal problem is one of the most crucial factors to be seriously considered for the development of advanced MRFs and commercial products of application systems. In this work, studies on the thermal conductivity and temperature in MRFs themselves and their temperature-dependent application systems are reviewed, respectively, and principal results are summarized, emphasizing the following: how to reduce the temperature effect on the field-dependent properties of MRFs and how to design an application system that minimizes the thermal effect. It is noted here that the review summary is organized in a chronological format using tables.

Editorial for the Special Issue on Magnetic and Spin Devices, Volume II.

Although the miniaturization of metal-oxide-semiconductor field effect transistors (MOSFETs)-the main driver behind an outstanding increase in the speed, performance, density, and complexity of modern integrated circuits-is continuing, numerous outstanding technological challenges in complimentary metal-oxide-semiconductor (CMOS) device miniaturization are slowly bringing the downscaling to saturation [...].

A Novel Tactile Sensing System Utilizing Magnetorheological Structures for Dynamic Contraction and Relaxation Motions.

It is well known that the rheological properties of magnetorheological (MR) material change under a magnetic field. So far, most works on MR materials have been oriented toward actuating characteristics instead of sensing functions. In this work, to realize dynamic tactile motion, a spherical MR structure was designed as a sensor, incorporating a magnetic circuit core to provide maximum dynamic motion. After manufacturing a prototype (sample), a sinusoidal magnetic field of varying exciting frequency and magnitude was applied to the sample, and the dynamic contraction and relaxation motion depending on the exciting magnetic field was observed. Among the test results, when 10% deformation occurred, the instantaneous force generated was from 2.8 N to 8.8 N, and the force when relaxed was from 1.2 N to 3.5 N. It is also shown that the repulsive force within this range can be implemented using an acceptable input current. The special tactile sensing structure proposed in this work can be used as a sensor to measure the field-dependent viscoelastic properties of human tissues such as stomach, liver, and overall body. In addition, it could be usefully applied to robot surgery, because it can mimic the dynamic motions of various human organs under various surgical conditions.

Magnetostriction Enhancement in Midrange Modulus Magnetorheological Elastomers for Sensor Applications.

Magnetorheological elastomer (MRE), which is capable of exhibiting magnetostriction in the presence of a magnetic field, has a great potential to be used for the development of sensor devices. Unfortunately, to date, many works focused on studying low modulus of MRE (less than 100 kPa) which can hamper their potential application in sensors due to short lifespan and low durability. Thus, in this work, MRE with storage modulus above 300 kPa is to be developed to enhance magnetostriction magnitude and reaction force (normal force). To achieve this goal, MREs are prepared with various compositions of carbonyl iron particles (CIPs), in particular, MRE with 60, 70 and 80 wt.% of CIP. It is shown that both the magnetostriction percentage and normal force increment are achieved as the concentration of CIPs increases. The highest magnetostriction magnitude of 0.075% is obtained with 80 wt.% of CIP, and this increment is higher than that of moderate stiffness MRE developed in the previous works. Therefore, the midrange range modulus MRE developed in this work can copiously produce the required magnetostriction value and potentially be implemented for the design of forefront sensor technology.

Revolutionizing Prosthetic Design with Auxetic Metamaterials and Structures: A Review of Mechanical Properties and Limitations.

Prosthetics have come a long way since their inception, and recent advancements in materials science have enabled the development of prosthetic devices with improved functionality and comfort. One promising area of research is the use of auxetic metamaterials in prosthetics. Auxetic materials have a negative Poisson's ratio, which means that they expand laterally when stretched, unlike conventional materials, which contract laterally. This unique property allows for the creation of prosthetic devices that can better conform to the contours of the human body and provide a more natural feel. In this review article, we provide an overview of the current state of the art in the development of prosthetics using auxetic metamaterials. We discuss the mechanical properties of these materials, including their negative Poisson's ratio and other properties that make them suitable for use in prosthetic devices. We also explore the limitations that currently exist in implementing these materials in prosthetic devices, including challenges in manufacturing and cost. Despite these challenges, the future prospects for the development of prosthetic devices using auxetic metamaterials are promising. Continued research and development in this field could lead to the creation of more comfortable, functional, and natural-feeling prosthetic devices. Overall, the use of auxetic metamaterials in prosthetics represents a promising area of research with the potential to improve the lives of millions of people around the world who rely on prosthetic devices.

A Novel Active Cooling System for Internal Combustion Engine Using Shape Memory Alloy Based Thermostat.

Pollutants in exhaust gases and the high fuel consumption of internal combustion engines remain key issues in the automotive industry despite the emergence of electric vehicles. Engine overheating is a major cause of these problems. Traditionally, engine overheating was solved using electric pumps and cooling fans with electrically operated thermostats. This method can be applied using active cooling systems that are currently available on the market. However, the performance of this method is undermined by its delayed response time to activate the main valve of the thermostat and the dependence of the coolant flow direction control on the engine. This study proposes a novel active engine cooling system incorporating a shape memory alloy-based thermostat. After discussing the operating principles, the governing equations of motion were formulated and analyzed using COMSOL Multiphysics and MATLAB. The results show that the proposed method improved the response time required to change the coolant flow direction and led to a coolant temperature difference of 4.90 °C at 90 °C cooling conditions. This result indicates that the proposed system can be applied to existing internal combustion engines to enhance their performance in terms of reduced pollution and fuel consumption.

The effect of salt water ageing on the mechanical and rheological properties of magnetorheological elastomer.

This paper aims to investigate the mechanical and rheological properties of magnetorheological elastomer (MRE) in marine ecosystems. The prepared samples comprised silicone rubber (SR) and 70 wt% micron-sized carbonyl iron particles (CIPs), immersed in an artificial marine ecosystem using salt water (Natrium Chloride) for 30 days. The mechanical properties of MRE samples were evaluated using hardness and quasi-static tensile tests. While the rheometer was used to investigate the rheological properties of their storage modulus condition with magnetic field stimulation. Further analysis of the defects and damages caused by salt water ageing was done through morphological observation using scanning electron microscope (SEM) technology. The results showed that the hardness and tensile strength of MRE samples that were soaked in salt water were affected over time. Lower values of hardness and tensile strength were obtained after 30 days due to the presence of Na+ and Cl-, which acted as an accelerator to the hydrolyzation process of the MRE. The process then, enhanced the water ingress capability into the matrix to cause the molecular changes. Interestingly, for rheological properties, 30 days of salt water ageing allowed the water molecules to move the MRE matrix molecular chains apart, a process known as plasticization and thus increasing the MR effect. Furthermore, morphological evidence was established to determine the MRE changes during salt water ageing. The research findings should greatly contribute to a better understanding of the effect of salt water on the performance of MRE.

Self-Sensing Variable Stiffness Actuation of Shape Memory Coil by an Inferential Soft Sensor.

Self-sensing actuation of shape memory alloy (SMA) means to sense both mechanical and thermal properties/variables through the measurement of any internally changing electrical property such as resistance/inductance/capacitance/phase/frequency of an actuating material under actuation. The main contribution of this paper is to obtain the stiffness from the measurement of electrical resistance of a shape memory coil during variable stiffness actuation thereby, simulating its self-sensing characteristics by developing a Support Vector Machine (SVM) regression and nonlinear regression model. Experimental evaluation of the stiffness of a passive biased shape memory coil (SMC) in antagonistic connection, for different electrical (like activation current, excitation frequency, and duty cycle) and mechanical input conditions (for example, the operating condition pre-stress) is done in terms of change in electrical resistance through the measurement of the instantaneous value. The stiffness is then calculated from force and displacement, while by this scheme it is sensed from the electrical resistance. To fulfill the deficiency of a dedicated physical stiffness sensor, self-sensing stiffness by a Soft Sensor (equivalently SVM) is a boon for variable stiffness actuation. A simple and well-proven voltage division method is used for indirect stiffness sensing; wherein, voltages across the shape memory coil and series resistance provide the electrical resistance. The predicted stiffness of SVM matches well with the experimental stiffness and this is validated by evaluating the performances such as root mean squared error (RMSE), the goodness of fit and correlation coefficient. This self-sensing variable stiffness actuation (SSVSA) provides several advantages in applications of SMA: sensor-less systems, miniaturized systems, simplified control systems and possible stiffness feedback control.

Design and Control of Monolithic Compliant Gripper Using Shape Memory Alloy Wires.

This paper presents the design, fabrication and testing of a shape memory alloy (SMA)-actuated monolithic compliant gripping mechanism that enables translational motion of the gripper tips for grasping operation suitable for micromanipulation and microassembly. The design is validated using a finite element analysis (FEA), and a prototype is created for experimental testing. The reported gripping structure is simple and easy to build and design. The gripper is demonstrated to have a displacement amplification gain of 3.7 that allows maximum tip displacement up to 1.2 cm to possess good handling range and geometric advantage which cannot be accomplished by conventional grippers. The position of the gripper tip is predicted from the variation in the electrical resistance of the SMA wire based on the self-sensing phenomena. Self-sensing actuation of the SMA allows the design of a compact and lightweight structure; moreover, it supports the control loop/scheme to use the same SMA element both as an actuator and sensor for position control. The geometrical dimensions of the SMA wire-actuated monolithic compliant gripper is 0.09 m × 0.04 m and can be operated to handle objects with a maximum size of 0.012 m weighing up to 35 g.

Morphological Effects of Strain Localization in the Elastic Region of Magnetorheological Elastomers.

Strain localization is a significant issue that poses interesting research challenges in viscoelastic materials because it is difficult to accurately predict the damage evolution behavior. Over time, the damage mechanism in the amorphous structure of viscoelastic materials leads to subsequent localization into a shear band, gradually jeopardizing the materials' elastic sustainability. The primary goal of this study is to further understand the morphological effects and the role of shear bands in viscoelastic materials precipitated by strain localization. The current study aims to consolidate the various failure mechanisms of a sample and its geometry (surface-to-volume ratio) used in torsional testing, as well as to understand their effects on stress relaxation durability performance. A torsional shear load stress relaxation durability test was performed within the elastic region on an isotropic viscoelastic sample made of silicon rubber and a 70% weight fraction of micron-sized carbonyl iron particles. Degradation was caused by a shear band of localized plasticity that developed microscopically due to stress relaxation durability. The failure pattern deteriorated as the surface-to-volume ratio decreased. A field-emission scanning electron microscope (FESEM) and a tapping-mode atomic force microscope (AFM) were used for further observation and investigation of the sample. After at least 7500 cycles of continuous shearing, the elastic sustainability of the viscoelastic materials microstructurally degraded, as indicated by a decline in stress performance over time. Factors influencing the formation of shear bands were observed in postmortem, which was affected by simple micromanipulation of the sample geometry, making it applicable for practical implementation to accommodate any desired performance and micromechanical design applications.

Sedimentation Stability of Magnetorheological Fluids: The State of the Art and Challenging Issues.

Among the many factors causing particle sedimentation, three principal ingredients are heavily involved: magnetic particles, a carrier liquid (base oil), and additives (surfactant). Therefore, many works have been carried out to improve the sedimentation stability of magnetorheological fluids (MRFs) by adopting the three methods. In the particle modification stage, the weight concentration, size distribution, particle shape, coated materials, and combinations of different sizes of the particles have been proposed, while for the modification of the carrier liquid, several works on the density increment, wettability control, and the use of natural oils, lubricant oil, grease, and ethyl- and butyl-acetate oils have been undertaken. Recently, in certain recipes to improve sedimentation stability, some additives such as aluminum stearate were used to increase the redispersibility of the aggregated particles. In addition, several works using more than two recipes modifying both the particles and base oils are being actively carried out to achieve higher sedimentation stability. This review article comprehensively introduces and discuses the recipes to improve sedimentation stability from the aspects of the three ingredients. A few conceptual methodologies to prevent the sedimentation occurring via a bottle's storage on the shelves of the application systems are also presented, since, to the author's knowledge, there has not been a report on this issue. These are challenging works to be explored and developed for successful application systems' MRFs.

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade.

This paper mainly focuses on various types of robots driven or actuated by shape memory alloy (SMA) element in the last decade which has created the potential functionality of SMA in robotics technology, that is classified and discussed. The wide spectrum of increasing use of SMA in the development of robotic systems is due to the increase in the knowledge of handling its functional characteristics such as large actuating force, shape memory effect, and super-elasticity features. These inherent characteristics of SMA can make robotic systems small, flexible, and soft with multi-functions to exhibit different types of moving mechanisms. This article comprehensively investigates three subsections on soft and flexible robots, driving or activating mechanisms, and artificial muscles. Each section provides an insight into literature arranged in chronological order and each piece of literature will be presented with details on its configuration, control, and application.

Design and Analysis of a Hybrid Annular Radial Magnetorheological Damper for Semi-Active In-Wheel Motor Suspension.

In this study, a novel hybrid annular radial magnetorheological damper (HARMRD) is proposed to improve the ride comfort of an electric vehicle (EV) powered by an in-wheel motor (IWM). The model primarily comprises annular-radial ducts in series with permanent magnets. Mathematical models representing the governing motions are formulated, followed by finite element analysis of the HARMRD to investigate the distribution of the magnetic field density and intensity of the magnetorheological (MR) fluid in both the annular and radial ducts. The optimized model generates a damping force of 87.3-445.7 N at the off-state (zero input current) with the excitation velocity ranging between 0 and 0.25 m/s. By contrast, the generated damping force varies from 3386.4 N to 3753.9 N at an input current of 1.5 A with the same velocity range as the off state. The damping forces obtained using the proposed model are 31.4% and 19.2% higher for the off-field and on-field states, respectively, compared with those of the conventional annular radial MR damper. The efficiency of the proposed model is evaluated by adopting two different vehicles: a conventional vehicle powered by an engine and an EV powered by an IWM. The simulation results demonstrate that the proposed HARMRD along with the skyhook controller significantly improves both the ride comfort and road-holding capability for both types of vehicles.

Field-Dependent Rheological Properties of Magnetorheological Elastomer with Fountain-Like Particle Chain Alignment.

Magnetorheological elastomer (MRE) consists of magnetic particles known as carbonyl iron (CIPs), which have been locked in a silicone-based matrix, in various alignments. However, current MRE exhibits inadequate rheological properties due to several issues such as particle alignments. Therefore, in this study, a new approach of the particle alignment of CIPs in MRE, namely fountain-like structure, is introduced. It is expected that this kind of MRE exhibits enhancement rheological responses, in off- and on-state conditions. This work includes the development of a new mold that can produce various directions of magnetic flux lines in order to have fountain-like structures of CIPs in MRE, during the curing process. Three types of particle alignments in MRE, namely isotropic, fountain-like and inverted fountain-like, are fabricated. The rheological properties of MRE in terms of storage modulus and MR effect are measured in an oscillatory shear mode using a rheometer. The results have revealed that fountain-like MRE exhibits higher storage modulus than the isotropic MRE, approximately 0.6 MPa of increment in the strain sweep test, in an on-state condition. Furthermore, it has been demonstrated from strain, frequency and the current sweep test that the rheological properties of fountain-like MRE related to storage modulus and magnetorheological (MR) effect are higher compared to the inverted fountain-like MRE.

A Cylindrical Grip Type of Tactile Device Using Magneto-Responsive Materials Integrated with Surgical Robot Console: Design and Analysis.

This paper proposes a cylindrical grip type of tactile device that is effectively integrated to a surgical robot console so that a surgeon can easily touch and feel the same stiffness as the operating organs. This is possible since the yield stress (or stiffness) of magnetic-responsive materials can be tuned or controlled by the magnetic field intensity. The proposed tactile device consists of two main parts: a magnetorheological elastomer (MRE) layer and a magnetorheological fluid (MRF) core. The grip shape of the device to be positioned on the handle part of the master of the surgical robot is configured and its operating principle is discussed. Then, a couple of equations to calculate the stiffness from the gripping force and the field-dependent yield stress of MRF are derived and integrated using the finite element analysis (FEA) model. After simulating the stiffness of the proposed tactile device as a function of the magnetic field intensity (or current), the stiffnesses of various human organs, including the liver and heart, are calculated from known data of an elastic modulus. It is demonstrated from comparative data between calculated stiffness from human tissues and simulated stiffness from FEA that the proposed tactile device can generate sufficient stiffness with a low current level to recognize various human organs which are significantly required in the surgical robot system.

Effect of Time and Frequency of Magnetic Field Application on MRF Pressure Performance.

This research was conducted to determine the effect of the time and frequency of magnetic field application on MRF pressure performance. It was carried out by placing magnetorheological fluid (MRF) in a U-shaped, glass tube and then repeatedly applying a magnetic field to it for a certain time period with a particular frequency set by the generator frequency. The length of the application period of the magnetic field, the frequency of the application of the magnetic field, and the magnitude of changes in fluid pressure that occurred and changes in pressure in the MRF were recorded with a data logger for a specific time, which was 60 s. From the field tests that were carried out, it was found that during the application of a continuous magnetic field, there was pressure on the MRF until it reached the maximum pressure; then, there was a gradual decrease in pressure when the magnetic field was turned off, but the pressure was intense. It was shown that the pressure decreased rapidly as the magnetism disappeared, even causing the pressure to drop below the initial pressure, which, in turn, gradually rose again toward the equilibrium pressure. Meanwhile, during the repeated application of a magnetic field, it appeared that the MRF effectively produced pressure in response to the presence of a magnetic field up to a frequency of 5 Hz. The higher the applied magnetic field frequency, the smaller the pressure change that occurred. Starting at a frequency of 10 Hz, the application of a magnetic field produced more minor pressure changes, and the resulting pressure continued to decrease as the liquid level decreased toward the initial equilibrium position.