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There is now a CONTENT FREEZE for Mercury while we switch to a new platform. It began on Friday, March 10 at 6pm and will end on Wednesday, March 15 at noon. No new content can be created during this time, but all material in the system as of the beginning of the freeze will be migrated to the new platform, including users and groups. Functionally the new site is identical to the old one. webteam@gatech.edu
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THE SCHOOL OF MATERIALS SCIENCE AND ENGINEERING
GEORGIA INSTITUTE OF TECHNOLOGY
Under the provisions of the regulations for the degree
MASTER OF SCIENCE
on Friday, April 10, 2020
11:00 AM
BLUEJEANS: https://bluejeans.com/660059188
will be held the
MASTER’S THESIS DEFENSE
for
Riccardo Goldoni
"Development of a Nanocomposite Sensor and Electronic System for Monitoring of Locomotion of a Soft Earthworm Robot"
Committee Members:
Prof. W. Hong Yeo, Advisor, ME
Prof. Seung Soon Jang, MSE
Prof. Sundaresan Jayaraman, MSE
Abstract:
The ability to detect external stimuli and perceive the surrounding areas represents a key feature of modern soft robotic systems, used for exploration of harsh environments. Although people have developed various types of biomimetic soft robots, no integrated-sensor system is available to provide feedback locomotion. Here, a stretchable nanocomposite strain sensor with integrated wireless electronics to provide a feedback-loop locomotion of a soft robotic earthworm is presented. The ultrathin and soft strain sensor based on a carbon nanomaterial and a low-modulus silicone elastomer allows for a seamless integration with the body of the soft robot, accommodating large strains derived from bending, stretching, and physical interactions with obstacles. A scalable, cost-effective, screen-printing method manufactures an array of strain sensors that are conductive and stretchable over 100% with a gauge factor over 38. An array of stretchable nanomembrane interconnectors enables a reliable connection between soft strain sensors and wireless electronics, while tolerating the robot’s multi-modal movements. A set of computational and experimental studies of soft materials, stretchable mechanics, and hybrid packaging provides key design factors for a reliable, nanocomposite sensor system. The miniaturized wireless circuit, embedded in the robot joint, offers a real-time monitoring of strain changes on the earthworm skin. Collectively, the soft sensor system shows a great potential to be integrated with other flexible, stretchable electronics for applications in soft robotics, wearable devices, and human-machine interfaces.
