Shivakanth Gutta

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In this paper, we introduce the open-loop motion planning and control strategy for an underwater vehicle actuated by a soft artificial muscle actuator. The artificial muscle used for this underwater application is an ionic polymer metal composite (IPMC) which can generate bending motion in aquatic environments. In this research, the double ring structured(More)
In this paper, a finite element based modeling approach is presented to model the dynamics of cylindrical shaped ionic polymer actuator. In this approach, the actuator is divided into finite number of elements with a local coordinate system attached to it. This coordinate system undergoes a rigid body motion together with the associated element. A large(More)
The EAP (Electro-Active Polymer) actuators have created an unique opportunity to design the robots that mimic the motion of biological systems due to its soft structure and operation at a low voltage. Although this polymer actuator has a strong potential for a next-generation artificial muscle actuator, it has been observed by many researchers that(More)
MODELING AND CONTROL OF A FLEXIBLE IONIC POLYMER METAL COMPOSITE(IPMC) ACTUATOR FOR UNDERWATER PROPULSION by Shivakanth Gutta Woosoon Yim, Examination Committee Chair Professor of Mechanical Engineering University of Nevada, Las Vegas The goal of this research is to model and control the underwater vehicle propelled by IPMC actuator. IPMC consists of an(More)
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