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Design Of Analog Cmos Integrated Circuits

Heavier-than-air flight at any scale is energetically expensive. This is greatly exacerbated at small scales and has so far presented an insurmountable obstacle for untethered flight in insect-sized (mass less than 500 milligrams and wingspan less than 5 centimetres) robots. These vehicles1–4 thus need to fly tethered to an offboard power supply and signal generator owing to the challenges associated with integrating onboard electronics within a limited payload capacity. Here we address these challenges to demonstrate sustained untethered flight of an insect-sized flapping-wing microscale aerial vehicle. The 90-milligram vehicle uses four wings driven by two alumina-reinforced piezoelectric actuators to increase aerodynamic efficiency (by up to 29 per cent relative to similar two-wing vehicles5) and achieve a peak lift-to-weight ratio of 4.1 to 1, demonstrating greater thrust per muscle mass than typical biological counterparts6. The integrated system of the vehicle together with the electronics required for untethered flight (a photovoltaic array and a signal generator) weighs 259 milligrams, with an additional payload capacity allowing for additional onboard devices. Consuming only 110–120 milliwatts of power, the system matches the thrust efficiency of similarly sized insects such as bees7. This insect-scale aerial vehicle is the lightest thus far to achieve sustained untethered flight (as opposed to impulsive jumping8 or liftoff9). Sustained flight of an insect-sized flapping-wing aerial vehicle weighing just 259 milligrams that does not need to fly tethered to an off-board power supply is demonstrated.

Untethered flight of an insect-sized flapping-wing microscale aerial vehicle

Robotic artificial muscles are a subset of artificial muscles that are capable of producing biologically inspired motions useful for robot systems, i.e., large power-to-weight ratios, inherent compliance, and large range of motions. These actuators, ranging from shape memory alloys to dielectric elastomers, are increasingly popular for biomimetic robots as they may operate without using complex linkage designs or other cumbersome mechanisms. Recent achievements in fabrication, modeling, and control methods have significantly contributed to their potential utilization in a wide range of applications. However, no survey paper has gone into depth regarding considerations pertaining to their selection, design, and usage in generating biomimetic motions. In this paper, we discuss important characteristics and considerations in the selection, design, and implementation of various prominent and unique robotic artificial muscles for biomimetic robots, and provide perspectives on next-generation muscle-powered robots.

https://ieeexplore.ieee.org/ielaam/8860/8731790/8725920-aam.pdf

Robotic Artificial Muscles: Current Progress and Future Perspectives

Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walking, crawling, swimming, and flying). Key functional considerations of responsive materials in machine implementations are response time, cyclability (frequency and ruggedness), sizing, payload capacity, amenability to mechanical programming, performance in extreme environments, and autonomy. This review summarizes the material transformation mechanisms, mechanical design, and robotic integration of responsive materials including shape memory alloys (SMAs), piezoelectrics, dielectric elastomer actuators (DEAs), ionic electroactive polymers (IEAPs), pneumatics and hydraulics systems, shape memory polymers (SMPs), hydrogels, and liquid crystalline elastomers (LCEs) and networks (LCNs). Structural and geometrical fabrication of these materials as wires, coils, films, tubes, cones, unimorphs, bimorphs, and printed elements enables differentiated mechanical responses and consistently enables and extends functional use.

Materials as Machines

To date, insect scale aerial robots have required wire tethers for providing power due to the challenges of integrating the required high-voltage power electronics within their severely constrained weight budgets In this paper we present a significant milestone in the achievement of flight autonomy: the first wireless liftoff of a 190 mg aerial vehicle Our robot is remotely powered using a 976 nm laser and integrates a complete power electronics package weighing a total of 104 mg, using commercially available components and fabricated using a fast-turnaround laser based circuit fabrication technique The onboard electronics include a lightweight boost converter capable of producing high voltage bias and drive signals of over 200 V at up to 170 Hz and regulated by a microcontroller performing feedback control We present our system design and analysis, detailed description of our fabrication method, and results from flight experiments

Liftoff of a 190 mg Laser-Powered Aerial Vehicle: The Lightest Wireless Robot to Fly

In previous work we presented design and manufacturing rules for optimizing the energy density of piezoelectric bimorph actuators through the use of laser-induced melting, insulating edge coating, and features for rigid ground attachments to maximize force output, as well as a pre-stacked technique to enable mass customization. Here we adapt these techniques to bending actuators with four active layers, which utilize thinner material layers. This allows the use of lower operating voltages, which is important for overall power usage optimization, as typical small-scale power supplies are low-voltage and the efficiency of boost-converter and drive circuitry increases with decreasing output voltage. We show that this optimization results in a 24%–47% reduction in the weight of the required power supply (depending on the type of drive circuit used). We also present scaling arguments to determine when multi-layer actuator are preferable to thinner actuators, and show that our techniques are capable of scaling down to sub-mg weight actuators.

http://iopscience.iop.org/article/10.1088/0964-1726/25/5/055033/pdf

Multilayer laminated piezoelectric bending actuators: design and manufacturing for optimum power density and efficiency

This paper presents a power electronics design for the piezoelectric actuators of an insect-scale flapping-wing robot, the RoboBee The proposed design outputs four high-voltage drive signals tailored for the two bimorph actuators of the RoboBee in an alternating drive configuration It utilizes fully integrated drive stage circuits with a novel highside gate driver to save chip area and meet the strict mass constraint of the RoboBee Compared with previous integrated designs, it also boosts efficiency in delivering energy to the actuators and recovering unused energy by applying three power saving techniques, dynamic common mode adjustment, envelope tracking, and charge sharing Using this design to energize four 15 nF capacitor loads with a 200 V and 100 Hz drive signal and tracking the control commands recorded from an actual flight experiment for the robot, we measure an average power consumption of 290 mW

A Low Mass Power Electronics Unit to Drive Piezoelectric Actuators for Flying Microrobots

This paper describes a power electronics unit (PEU) for an insect-scale flapping-wing robot. Three power saving techniques used in the actuator driver of the PEU — envelope tracking, dynamic common mode, and charge sharing — reduce power consumption while retaining weight benefits of an inductor-less linear driver. A pair of actuator driver ICs energize four 15nF capacitor loads, which represent the piezoelectric actuators of a flapping-wing robot. The PEU consumes 290mW, which translates to 37% lower power compared to a design without these power saving techniques.

A power electronics unit to drive piezoelectric actuators for flying microrobots

We demonstrate a battery-powered multi-chip system optimized for insect-scale flapping wing robots that meets the tight weight limit and real-time performance demands of autonomous flight. Measured results show open-loop wing flapping driven by a power electronics unit and energy efficiency improvements via hardware acceleration.

http://vlsiarch.eecs.harvard.edu/wp-content/uploads/2015/06/vlsi2015_robobee.pdf

A multi-chip system optimized for insect-scale flapping-wing robots

Small-scale, highly maneuverable, flapping-wing robotic insects have a wide range of applications, including exploration, environmental monitoring, search and rescue, and surveillance. For these small-scale robots, a piezoelectric cantilever actuator driven by a high voltage drive signal is a preferred actuation mechanism. The generation of this drive signal via light and efficient power electronics is critical given the limited weight budget for the flapping-wing robot. Previous work demonstrated actuator drive circuitry using discrete power transistors and passive elements. This paper presents a new design that integrates all the power FETs into a single monolithic IC, reducing the weight of the power electronics to fit within the weight budget. This design adds the capability of driving multiple outputs to accommodate recent electromechanical design advances for flying robots.

Mario Lok

Papers

Multilayer laminated piezoelectric bending actuators: design and manufacturing for optimum power density and efficiency

A Low Mass Power Electronics Unit to Drive Piezoelectric Actuators for Flying Microrobots

A power electronics unit to drive piezoelectric actuators for flying microrobots

A multi-chip system optimized for insect-scale flapping-wing robots

Design and analysis of an integrated driver for piezoelectric actuators