Undersea distributed networked sensor systems require a miniaturization of platforms and a means of both spatial and
temporal persistence. One aspect of this system is the necessity to modulate sensor depth for optimal positioning and
station-keeping. Current approaches involve pneumatic bladders or electrolysis; both require mechanical subsystems and
consume significant power. These are not suitable for the miniaturization of sensor platforms. Presented in this study is a
novel biologically inspired method that relies on ionic motion and osmotic pressures to displace a volume of water from
the ocean into and out of the proposed buoyancy engine. At a constant device volume, the displaced water will alter
buoyancy leading to either sinking or floating. The engine is composed of an enclosure sided on the ocean's end by a
Nafion ionomer and by a flexible membrane separating the water from a gas enclosure. Two electrodes are placed one
inside the enclosure and the other attached to the engine on the outside. The semi-permeable membrane Nafion allows
water motion in and out of the enclosure while blocking anions from being transferred. The two electrodes generate local
concentration changes of ions upon the application of an electrical field; these changes lead to osmotic pressures and
hence the transfer of water through the semi-permeable membrane. Some aquatic organisms such as pelagic crustacean
perform this buoyancy control using an exchange of ions through their tissue to modulate its density relative to the
ambient sea water. In this paper, the authors provide an experimental proof of concept of this buoyancy engine. The
efficiency of changing the engine's buoyancy is calculated and optimized as a function of electrode surface area. For
example electrodes made of a 3mm diameter Ag/AgCl proved to transfer approximately 4mm3 of water consuming 4
Joules of electrical energy. The speed of displacement is optimized as a function of the surface area of the Nafion
membrane and its thickness. The 4mm3 displaced volume obtained with the Ag/AgCl electrodes required approximately
380 seconds. The thickness of the Nafion membrane is 180μm and it has an area of 133mm3.
This study presents the design and development of an underwater Jellyfish like robot using Ionic Polymer Metal
Composites (IPMCs) as propulsion actuators. For this purpose, IPMCs are manufactured in several variations. First the
electrode architecture is controlled to optimize the strain, strain rate, and stiffness of the actuator. Second, the
incorporated diluents species are varied. The studied diluents are water, formamide, and 1-ethyl-3-methyimidazolium
trifluoromethanesulfonate (EmI-Tf) ionic liquid. A water based IPMC demonstrates a fast strain rate of 1%/s, but small
peak strain of 0.3%, and high current of 200mA/cm2, as compared to an IL based IPMC which has a slow strain rate of
0.1%/s, large strain of 3%, and small current of 50mA/cm2. The formamide is proved to be the most powerful with a
strain rate of approximately 1%/s, peak strain larger than 5%, and a current of 150mA/cm2. The IL and formamide based
samples required encapsulation for shielding the diluents from being dissolved in the surrounding water. Two Jellyfish
like robots are developed each with an actuator with different diluents. Several parameters on the robot are optimized,
such as the input waveform to the actuators, the shape and material of the belly. The finesse ratio of the shape of the
robotic belly is compared with biological jellyfish such as the Aurelia-Aurita..
The US Navy has recently placed emphasis on deployable, distributed sensors for Force Protection, Anti-Terrorism and Homeland Defense missions. The Naval Undersea Warfare Center has embarked on the development of a self-contained deployable node that is composed of electro-active polymers (EAP) for use in a covert persistent distributed surveillance system. Electro-Active Polymers (EAP) have matured to a level that permits their application in energy harvesting, hydrophones, electro-elastic actuation and electroluminescence. The problem to resolve is combining each of these functions into an autonomous sensing platform. The concept presented here promises an operational life several orders of magnitude beyond what is expected of a Sonobuoy due to energy conservation and harvesting, and at a reasonable cost. The embodiment envisioned is that of a deployed device resembling a jellyfish, made in most part of polymers, with the body encapsulating the necessary electronic processing and communications package and the tentacles of the jellyfish housing the sonar sensors. It will be small, neutrally buoyant, and will survey the water column much in the manner of
a Cartesian Diver. By using the Electro-Active Polymers as artificial muscles, the motion of the jellyfish can be finely controlled. An increased range of detection and true node autonomy is achieved through volumetric array beamforming to focus the direction of interrogation and to null-out extraneous ambient noise.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.