BEGIN:VCALENDAR
VERSION:2.0
PRODID:-//Penn Engineering Events - ECPv6.15.18//NONSGML v1.0//EN
CALSCALE:GREGORIAN
METHOD:PUBLISH
X-WR-CALNAME:Penn Engineering Events
X-ORIGINAL-URL:https://seasevents.nmsdev7.com
X-WR-CALDESC:Events for Penn Engineering Events
REFRESH-INTERVAL;VALUE=DURATION:PT1H
X-Robots-Tag:noindex
X-PUBLISHED-TTL:PT1H
BEGIN:VTIMEZONE
TZID:America/New_York
BEGIN:DAYLIGHT
TZOFFSETFROM:-0500
TZOFFSETTO:-0400
TZNAME:EDT
DTSTART:20200308T070000
END:DAYLIGHT
BEGIN:STANDARD
TZOFFSETFROM:-0400
TZOFFSETTO:-0500
TZNAME:EST
DTSTART:20201101T060000
END:STANDARD
BEGIN:DAYLIGHT
TZOFFSETFROM:-0500
TZOFFSETTO:-0400
TZNAME:EDT
DTSTART:20210314T070000
END:DAYLIGHT
BEGIN:STANDARD
TZOFFSETFROM:-0400
TZOFFSETTO:-0500
TZNAME:EST
DTSTART:20211107T060000
END:STANDARD
BEGIN:DAYLIGHT
TZOFFSETFROM:-0500
TZOFFSETTO:-0400
TZNAME:EDT
DTSTART:20220313T070000
END:DAYLIGHT
BEGIN:STANDARD
TZOFFSETFROM:-0400
TZOFFSETTO:-0500
TZNAME:EST
DTSTART:20221106T060000
END:STANDARD
END:VTIMEZONE
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20210709T130000
DTEND;TZID=America/New_York:20210709T140000
DTSTAMP:20260406T185553
CREATED:20210629T200051Z
LAST-MODIFIED:20210629T200051Z
UID:5040-1625835600-1625839200@seasevents.nmsdev7.com
SUMMARY:MEAM MSE Thesis Defense: "Design and Characterization of an Origami-Inspired Robot that Swims via Jet Propulsion"
DESCRIPTION:Underwater swimmers present unique opportunities for using bodily reconfiguration for self-propulsion. Origami-inspired designs are low-cost\, fast to fabricate\, robust\, and can be used to create compliant mechanisms useful in energy-efficient underwater locomotion. This thesis demonstrates an origami-inspired robot that can change its body shape to ingest and expel water\, creating a jet that propels it forward similarly to cephalopods. We use the magic ball origami pattern\, which can transform between ellipsoidal (low volume) and spherical (high volume) shapes. We modified the pattern by tuning the number of its rows and columns and reported their stiffness and mechanical properties. A custom actuation mechanism contracts the robot to take in fluid\, and the inherent mechanics of the magic ball returns the robot to its natural shape upon release. We describe the design and control of this robot and verify its locomotion in a water tank. The resulting robot is able to move forward at 6.7 cm/s (0.2 body lengths/s)\, with a cost of transport of 2.0. The discussion in this thesis is mainly based on the first-generation prototype of the robot\, a future design plan to improve the robot is explained as well.
URL:https://seasevents.nmsdev7.com/event/meam-mse-thesis-defense-design-and-characterization-of-an-origami-inspired-robot-that-swims-via-jet-propulsion/
LOCATION:Zoom – Email MEAM for Link\, peterlit@seas.upenn.edu
CATEGORIES:Dissertation or Thesis Defense,Master's
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
END:VEVENT
END:VCALENDAR