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Symposia
Biography SYMPOSIUM 6
Spacecraft control in the aerospace industry (Huntsville 12 years), founder
of dynamics and control programs in Purdue Aero and at UCSD. 3 books BIOINSPIRED SOFT ROBOTS USING FLUIDIC
on control theory and1 book on tensegrity systems ARTIFICIAL MUSCLES
Member National Academy of Engineering, Fellow of AIAA, IEEE, IFAC, Norman Wereley
International Astronautics, Norman Medal of ASCE, Alexander von Minta Martin Professor and Department Chair
Humboldt Award, Japan Society for the Promotion of Science Award Director, Smart Structures Laboratory
Director, Composites Research Laboratory
SYMPOSIUM 5 Dept. of Aerospace Engineering,
University of Maryland
STRUCTURAL HEALTH MONITORING, INVERSE PROBLEMS, Abstract
MODEL UPDATING, AND EIGENSTRUCTURE ASSIGNMENT
A key question is how muscular compliance and its interaction with a
Dan Inman skeletal framework dictates the performance of soft robots. Bio-inspired
C. L. “Kelly” Johnson Collegiate Professor soft robots have been defined in numerous ways. One approach is to use
Department of Aerospace Engineering soft actuators within a skeletal framework, which provides the capability to
University of Michigan apply or carry loads. At the other end of the spectrum, soft robots are
under development where the musculature alone provides the capability
Abstract to apply or carry load. This talk explores this key trade-off in soft robotics
in the context of fluidic artificial muscles (FAMs). Pneumatic Artificial
It often happens in science, engineering and mathematics that different Muscles (PAMs) were first conceived by Gaylord in the 1950’s, and use air
discipline specific researchers ignore problems and techniques in those as the working fluid, and have since been investigated for use in prosthetic
disciplines not directly related to their own. The purpose of this review is and robotic devices, soft robotics, morphing and nastic structures, and
to remind researchers that there are important similarities between various aerospace applications. PAMs possess many attractive characteristics for
disciplines and that these similarities can be exploited to provide new implementation in soft robots. They are simple, lightweight actuators that
results. Specifically some forms of structural health monitoring are very produce high levels of force and large, usable stroke at moderate
much like several other disciplines. In order to limit the scope of this actuation pressures (< 620 kPa). The potential advantages of PAM
presentation it is limited to structures describing linear structural systems actuators extend beyond their high performance levels. PAMs are naturally
that can be well defined in second order form resulting from the direct compliant and are highly tolerant to misalignment and impulsive loading.
application of Newton’s law. Four problems are considered that are Air can be distributed to PAMs via flexible, lightweight, low pressure
mathematically identical. They are: inverse eigenvalue problems from tubing, PAMs are highly amenable to distributed actuation concepts. First,
mathematics, eigenstructure assignment from controls, model updating the advantages and disadvantages of PAMs relative to other smart
(also called model correction) from structural dynamics and structural material-based actuation technologies is discussed in terms of block force,
health monitoring, largely from the fields of structural dynamics and free contraction, specific actuation force and specific work. Using FAMs
signal processing. with a fluid such as water or oil, leads to hydraulic artificial muscles (HAMs),
and the pros and cons of HAMs vs. PAMs is discussed, The trade-off of
muscular vs. skeletal systems when using FAMs in robotics applications in
the context of a bio-inspired seastar appendage both with and without the
skeletal framework used by seastars consisting of ossicles and/or flexures
Biography Biography 21
Daniel J. Inman received his Ph.D. from Michigan State University in Dr. Wereley‘s research interests are in dynamics and control of smart
Mechanical Engineering in 1980 and is Chair of the Department of structures applied to helicopters and other aerospace and automotive
Aerospace Engineering at the University of Michigan, as well as the C. L. systems, with emphasis on active and passive vibration isolation, shock
“Kelly” Johnson Collegiate Professor. Since 1980, he has published eight mitigation (especially occupant protection systems), and actuation
books (on vibration, energy harvesting, control, statics, and dynamics), systems. A key theme in his research is the fluid mechanics of
eight software manuals, 20 book chapters, over 350 journal papers and magnetorheological fluids in applications used for these applications. Dr.
600 proceedings papers, given 65 keynote or plenary lectures, graduated Wereley has published over 215 journal articles, 16 book chapters, and
64 Ph.D. students and supervised more than 75 MS degrees. He works in over 275 conference articles. Dr. Wereley is an inventor on 20 patents and
the area of applying smart structures to solve aerospace engineering several patents pending. Dr. Wereley was the editor of Plants and
problems including energy harvesting, structural health monitoring, Mechanical Motion – A Synthetic Approach to Plants and Mechanical
vibration suppression and morphing aircraft. He is a Fellow of AIAA, Motion (2012) and Magnetorheology: Advances and Applications (2013)
ASME, IIAV, SEM and AAM.
