Response Of Actuator Research Articles

Reprogrammable 4D Printed Liquid Crystal Elastomer Photoactuators by Means of Light‐Reversible Perylene Diimide Radicals

AbstractReconfigurable soft actuators can be programmed to morph into different 3D shapes under the same stimulus exhibiting great potential for adaptive robotic functionalities. Liquid crystalline crosslinked materials programmed and controlled by light have demonstrated great potential in this area, however, their implementation is mainly based on azobenzene chromophores, using ultraviolet light that can potentially damage the device and its surroundings, especially if living cells are present. Here, an ink is presented, containing a green‐absorbing perylene diimide chromophore, to prepare light active liquid crystalline elastomer (LCE) actuators via direct ink writing. Green light irradiation of the LCE elements leads to photothermal actuation, but also to new absorption bands in the far‐red and near‐infrared, ascribed to the formation of radical species. Far‐red irradiation results in mechanical actuation and, advantageously, a recovery of the original absorption spectrum. This reversible transformation enables spatial reconfigurability of the actuator's response to far‐red light. The reconfigurable system gives access to complex deformation modes by simply exciting the element with homogeneous far‐red light, without the need for any structural modification of the actuator. This material strategy, using green and far‐red light, less harmful than ultraviolet, shows significant promise for future development of reconfigurable actuators for biomedical applications.

On different classes of constitutive descriptions in finite electro‐mechanics: Computational modelling of isotropic and anisotropic electro‐active materials

AbstractVarious constitutive formulations can be employed to simulate the coupled behaviour of electro‐active polymers (EAP). Those distinct mathematical descriptions vary with respect to the manner in which the electric field is coupled to the deformation. However, in principle, they are all capable of emulating the finite coupled response of EAP. The underlying coupling mechanism of largely deformable materials can be identified through experimental characterization. This contribution addresses the constitutive and finite element modelling of the actuation response of both isotropic and anisotropic EAP, where different material formulations are considered and implemented within a finite element framework. Those various material formulations are mathematically treated and employed to simulate electro‐mechanical experiments of dielectric materials. Existing coupled electro‐mechanical tests of active materials are referred to, where it is sought to employ different constitutive models to fit the experimental observations. Within the undertaken study, the capability of different descriptions to predict electro‐mechanical instabilities is evaluated. Regarding the numerical implementation of the model, it is referred to an electro‐mechanical Q1P0 finite element formulation. After performing the study and fitting experimental results associated to isotropic materials, the actuation response of several anisotropic EAP‐based structures is emulated.

A portable AFO solution for pneumatic actuator with cable tendon mechanism to assist ankle dorsiflexion

The limited portability of pneumatic pumps presents a challenge for ankle-foot orthosis actuated by pneumatic actuators. The high-pressure requirements and time delay responses of pneumatic actuators necessitate a powerful and large pump, which renders the entire device heavy and inconvenient to carry. In this paper, we propose and validate a concept that enhances portability by employing a slack cable tendon mechanism. By managing slack tension properly, the time delay response problem of pneumatic actuators is eliminated through early triggering, and the system can be effectively controlled to generate the desired force for dorsiflexion assistance. The current portable integration of the system weighs approximately 1.6 kg, with distribution of 0.5 kg actuation part on the shank and 1.1 kg power system on the waist, excluding the battery. A mathematical model is developed to determine the proper triggering time and volumetric flow rate requirements for pump selection. To evaluate the performance of this actuation system and mathematical model, the artificial muscle’s response time and real volumetric flow rate were preliminarily tested with different portable pumps on a healthy participant during treadmill walking at various speeds ranging from 0.5 m/s to 1.75 m/s. Two small pumps, specifically VN-C1 (5.36 L/min, 300 g) and VN-C4 (9.71L/min, 550 g), meet our design criteria, and then tested on three healthy subjects walking at normal speeds of 1 m/s and 1.5 m/s. The kinematic and electromyographic results demonstrate that the device can facilitate ankle dorsiflexion with a portable pump (300–500 g), generating sufficient force to lift up the foot segment, and reducing muscle activity responsible for ankle dorsiflexion during the swing phase by 8% and 10% at normal speeds of 1 m/s and 1.5 m/s respectively. This portable ankle robot, equipped with a compact pump weighing approximately 1.6 kg, holds significant potential for assisting individuals with lower limb weakness in walking, both within their homes and in clinical settings.

Visible Light Responsive Soft Actuator Based on PVA‐DR1

AbstractThere is a growing interest in creating biomimetic actuators that can perform human‐like actions in response to external stimuli. Despite the significant advancements in soft actuators, using high‐energy UV light in photoresponsive actuators remains a great challenge. Herein, we develop a film composed of polyvinyl alcohol and photo responsive Disperse Red 1 (PVA/DR1) that actuate in response to visible light. The photoresponsive film starts to actuate in the presence of green light due to trans→cis isomerization of photoresponsive dye. The actuation response of the films was investigated by varying concentrations of DR1 dye and the intensity of green light. Based on these features, we demonstrated a four‐arm soft‐gripper that can mimic human‐hand‐like motions in response to green light. This kind of actuator may find potential applications in soft robotics and biomimetic microgrippers.

Autonomous self-healing organic crystals for nonlinear optics

Non-centrosymmetric molecular crystals have a plethora of applications, such as piezoelectric transducers, energy storage and nonlinear optical materials owing to their unique structural order which is absent in other synthetic materials. As most crystals are brittle, their efficiency declines upon prolonged usage due to fatigue or catastrophic failure, limiting their utilities. Some natural substances, like bone, enamel, leaf and skin, function efficiently, last a life-time, thanks to their inherent self-healing nature. Therefore, incorporating self-healing ability in crystalline materials will greatly broaden their scope. Here, we report single crystals of a dibenzoate derivative, capable of self-healing within milliseconds via autonomous actuation. Systematic quantitative experiments reveal the limit of mechanical forces that the self-healing crystals can withstand. As a proof-of-concept, we also demonstrate that our self-healed crystals can retain their second harmonic generation (SHG) with high efficiency. Kinematic analysis of the actuation in our system also revealed its impressive performance parameters, and shows actuation response times in the millisecond range.

Error-triggered spatial model predictive control for oven temperature

An error-triggered spatial model predictive control (MPC) strategy is present for the parabolic partial differential equation (PDE) system, utilizing input/output data. The initial model is first constructed, in which the spatial basis functions (SBFs) are obtained through Karhunen-Loève expansion, and the temporal models are trained by the neural network. Due to the time-varying nature of the PDE system and the poor control performance during model updates, an error-triggered mechanism is developed to update the SBFs. Besides, a temporal sliding window is designed to update the temporal models, which can strike a balance between capturing the latest dynamics and maintaining temporal model accuracy. Based on the aforementioned model, a spatial MPC incorporating spatial distribution information is proposed. Theoretical analysis affirms the stability of the proposed controller. To demonstrate the superiority of this method, experiments during the thermal process in an oven are carried out. Compared with the methods with fixed update step size, the proposed method has the smoother actuator response and better control performance.

Dynamic modeling of hard-magnetic soft actuators: Unraveling the role of polymer chain entanglements, crosslinks, and finite extensibility

In recent years, there has been increasing interest in hard-magnetic soft materials (HMSMs) due to their ability to retain high residual magnetization and undergo large deformations under external magnetic loading. The performance of these materials in the dynamic mode of actuation is significantly influenced by internal properties, such as entanglements, crosslinks, and the finite extensibility of polymer chains. This article presents a theoretical framework for modeling the dynamic behavior of a hard-magnetic soft material-based planar actuator. A physics-based nonaffine material model is utilized to consider the inherent properties of polymer chain networks. The governing equation for dynamic motion is derived using Euler–Lagrange’s equation of motion for conservative systems. The devised dynamic model is utilized to examine the dynamic response, stability, periodicity, and resonance properties of a planar hard-magnetic soft actuator for different values of polymer chain entanglements, crosslinks, and finite extensibility parameters. The Poincaré maps and phase-plane plots are presented to analyze the stability and periodicity of the nonlinear vibrations of the actuator. The results reveal that transitions between aperiodic and quasi-periodic oscillations occur when the density of polymer chain entanglements and cross-linking changes. The findings from the present investigation can serve as an initial step towards the design and manufacturing of remotely controlled actuators for various futuristic applications.

Coaxially oriented PVDF/MWCNT nanofibers as a high‐performance piezoelectric actuator

AbstractControlling the orientation of the carbon nanotubes inside a polymer matrix essentially improves their reinforcement effect even at small loading levels, which is attractive from the processing point of view. We inform the utilization of electrospinning to produce highly aligned small‐diameter polyvinylidene fluoride (PVDF) nanofibers where the multiwalled carbon nanotube (MWCNT) are coaxially aligned inside the PVDF nanofibers. The coaxially aligned MWCNTs arrange large numbers of contact sites with the polymer chains, thereby providing enhanced interfacial interactions, resulting in the superior effect of the MWCNTs on the crystalline structure and actuator response of the PVDF at low loading levels (0.06 wt.%). An effective α‐ to β‐phase conversion occurred through the synergistic effects of the electrospinning and MWCNTs, the β‐phase content reached 94%. Also, the degree of crystallinity increased up to 50% respecting the pure nanofibers. The bending actuation of the nanofibers was analyzed as the active layer of soft piezoelectric actuators in a unimorph configuration. The well‐aligned nanofibers showed better actuator deflection than the randomly oriented nanofibers. Comparing the PVDF nanofiber‐based actuators in the literature, our actuators exhibited excellent piezoelectric performance with high potential for practical applications.Highlights Highly aligned small‐diameter PVDF/CNT nanofibers produced by electrospinning. Axially aligned CNTs induce a great piezoelectric effect at low‐loading levels. The F(β) was 94%, and the crystallinity increased by 50% at only 0.06 wt% CNTs. Well‐aligned nanofibers showed better actuator response than the random ones. The soft actuators showed a higher performance than those in the literature.

Modeling and Design Enhancement of Electrothermal Actuators for Microgripping Applications

Microgrippers are miniature tools that have the capability to handle and manipulate micro- and nano-scale objects. The present work demonstrates the potential impact of the incorporation of perforations on a ‘hot and cold arm’ electrothermal actuation mechanism in order to improve the operation of microgrippers in terms of arm opening and operating temperature. By applying a voltage to one arm and setting the other as a ground, the current passes through the electrothermal actuator and induces its displacement along the in-plane direction. The difference in the geometry of the two arms causes one arm to expand more than the other and this results in transverse bending. A computational model was developed using a finite element analysis tool to simulate the response of the thermal actuators with varying geometries and investigate the impact of incorporating perforations on the arms of the thermal actuators to enhance its performance in terms of deflection and operating temperature. The simulation results were compared to their experimental counterparts reported in the literature. A good agreement between the numerical and experimental data was obtained. A novel design of a microgripper, made of perforated electrothermal actuators, was introduced. Its main characteristics, including the tip opening of the gripper arms, the applied voltage, and the stress and temperature distributions, were analyzed using the developed computational model. Different perforation shape and distribution were investigated. The present study demonstrates the capability of perforations to enhance the operation of microgrippers as manifested by the obtained higher tip displacement and lower tip temperature in comparison to conventional microgripper designs made of non-perforated thermal actuators. Furthermore, the highest stress generated on the microgripper elements was found to be much lower than the yield strength of the constituent material, which indicates proper functioning without any mechanical failure.

Dynamics modeling and experiment validation for piezoelectric-transmission-wing system

Aiming at the challenge of predicting the dynamic behavior of the flapping wing in the piezoelectric-transmission-wing (PTW) wingbeat system, a lumped-parameter model coupling piezoelectric structural mechanics and flapping-wing aerodynamics is proposed to address the challenge caused by the fluid-structure interaction (FSI). Firstly, a model describing the piezoelectric mechanical response is established, which has the ability to better predict the mechanical response of the piezoelectric actuator under high electric field and low-frequency driving conditions. In order to verify the validity and accuracy, tip deflection, stiffness and blocking force experiments as well as data comparisons are performed to substantiate the findings. Secondly, a comprehensive and reasonable lumped-parameter dynamic model is constructed based on the analysis of the transmission mechanics based on pseudo-rigid-body theory and the improved aerodynamic modeling of the wing, along with the aforementioned piezoelectric mechanical modeling. Thirdly, simulation and dynamic response experiments of the wingbeat system are carried out. Results show that the simulation data are in good agreement with the experimental values, which indicates the accuracy of the model in predicting the dynamic behavior of the flapping wing powered by the piezoelectric actuator. Moreover, some interesting phenomena such as the pitch oscillation of the wing and the dependence of the flapping motion on the driving frequency have been demonstrated in the simulation and the wingbeat experiment, respectively. The research findings of this article offer three types of assistance: (1) providing a parameter design method for piezoelectric actuators to achieve the desired mechanical response; (2) predicting and explaining the dynamic behavior of the PTW wingbeat system; and (3) providing a theoretical foundation for the parameter design and optimization of the wing-actuator pairing in the flapping wing system.

Design and characterization of electro-active soft actuator based on phase transition of microencapsulated silicon-ethanol composite

In this study, we demonstrate the development of a fast-response soft composite actuator fabricated by mechanical mixing of silicone elastomer (matrix) and ethanol (as phase-change fluid). Joule heating generated by electrical actuation causes a liquid-vapor transition of ethanol embedded in silicone microcapsules; provides the required pressure for mimicking the natural movements. We discuss the critical design variables to improve the temperature response, chemical composition, mechanical properties, force generated, and microstructure of soft actuator. Our soft actuator produces a high load-to-weight ratio (1000 times greater than its own) using a low-voltage source (˂20V). The stability of the soft actuator under multiple working cycles would bring the application to different robotic areas. The actuator using the mechanism presented here is easy to manufacture, automate, and recyclable. It can be used in a range of robotic applications.

Eddy Effect and Dynamic Response of High-Speed Solenoid Valve with Composite Iron Core.

To alleviate the Eddy effect of the high-speed solenoid valve (HSV) and improve its dynamic response speed, a novel HSV with a composite iron core is presented. The time-step finite element method is used to establish and verify the numerical simulation of HSV coupling multiple physical fields. Then, the Eddy effect and dynamic response characteristics of the conventional and composite HSVs are further compared and analyzed. The results showed that the Eddy current loss in the main pole was the largest for the conventional HSV, accounting for 72.5% and 64.4% in the actuation and release processes, respectively. It was found that the Eddy effect of the composite HSV was obviously weakened, and the total Eddy current losses in the actuation and release processes were reduced by 58.8% and 38.7%, respectively. Meanwhile, the actuation response time and release response time of the composite HSV were shortened by 15.6% and 18.5%, respectively. In addition, increasing the peak voltage further shortened the actuation response time of the composite HSV, but had no significant effect on the response time of the conventional HSV.

Multi-objective optimisation of K-shape notch multi-way spool valve using CFD analysis, discharge area parameter model, and NSGA-II algorithm

Multi-way spool valves (MWSVs) with K-shape notches (KSNs) provide advantages such as improvement of the actuator speed control, micro-action, and response performance. However, the pressure drop (PD) associated with the energy consumption is larger of MWSVs under the high-pressure and large-flow condition. Meanwhile, extremely complex flow coefficient and multi-parameter, highly coupled KSNs are the chief factors restricting the flow-pressure characteristics exploration and optimisation design of MWSVs. To address these problems, complete numerical research and experiment are performed in this study, especially concerning the method of MWSV flow-pressure characteristics modelling, and surrogated model-based optimal design of KSN structures. First, the relationships between KSN structure parameters and flow-pressure properties of MWSV are modelled on the innovative discharge area parameter model (DAPM) and response surface methodology (RSM) (RSM-DPAM) using the CFD dataset. Second, to reduce the PD combining the flow control performance, surrogate model-based optimisation design is addressed. During optimisation, six KSN structure parameters are chosen as design variables, PD and flow area relative deviation (FARD) are selected as objective functions, and the RSM is employed as the projected model. Depended on the created surrogate model, the non-dominated sorting genetic algorithm (NSGA-II) is established to search for the optimal KSN structure. To certify the performance of the optimisation, flow field characteristics are analysed. The results demonstrate that the proposed RSM-DAPM-RSM model achieves reliable prediction for PD and FARD with a great correlation coefficient (0.9757 and 0.9946). The average PD reduces as much as 7.23% while the FARD is only 1.28%. Moreover, the region of low-pressure, high-velocity, and high-turbulent kinetic energy in the flow field are reduced. The proposed framework enhances the performance in KSN spool optimisation and could be applied to other kinds of notches.Abbreviations: BOI: Body of influence; BSV: Bucket spool valve; CFD: Computational fluid dynamics; CM: Construction machinery; DAPM: Discharge area parameter model; FARD: Flow area relative deviation; FCC: Flow control characteristic; GSA: Global sensitivity analysis; KSN: K-shape notch; MHAs: Meta-heuristic algorithms; MODE: Multi-objective differential evolution; MOGA: Multi-objective genetic algorithm; MOO: Multi-objective optimisation; MOPSO: Multi-objective particle swarm optimisation; MWSV: Multi-way spool valve; NRMS: Non-road mobile source; NSGA-II: Non-dominated sorting genetic algorithm; OLHD: Optimal Latin hypercube design; PD: Pressure drop; PDCs: Pressure drop characteristics; RSM: Response surface methodology; SA: Sensitivity analysis; TKE: Turbulent kinetic energy; TOPSIS: Technique for order preference by similarity to ideal solution; VFR: Volume flow rate

Smart Aquaculture in Internet of Things-based Catfish Farming

The primary objective of developing the project titled "Smart Aquaculture in Internet of Things-based Catfish Farming" is to create a specialized tool for catfish farming that facilitates automated monitoring and control of water quality, eliminating the need for manual intervention at the aquaculture pond. The collected data is made accessible through a web monitoring system. The tool aims to mitigate catfish mortality risks, enhance yield, and streamline the cultivation process. The development process of this tool encompasses several stages, which are as follows: (1) Requirements Analysis, involving the identification of necessary tools and materials for the project; (2) Implementation, encompassing the design and fabrication of the tool, outlining the circuit scheme, and detailing the step-by-step manufacturing process; (3) Testing, describing the procedures and results of evaluating the tool's performance. The monitoring system employs PH- 4502C sensors, DS18B20 temperature sensor, and HC-SR04 level sensor, all controlled by ESP32 DevKit. Comparative analysis against standard measuring instruments demonstrates an average error percentage of 1.64% for pH, 0.88% for temperature, and 0.70% for water level measurements. Additionally, the data transmission test reveals a delay of 19.16 seconds, while the actuator response test, based on sensor readings, successfully operates within the system's intended parameters.

Fusion Hybrid Linear Actuator: Concept and Disturbance Resistance Evaluation

The response of robot actuators to various dynamic interactions during contact tasks is not trivial because there exists a tradeoff between actuator-thrust force density and back-drivability. Although hybrid actuation approaches are promising, complex transmission mechanisms are necessary to synthesize forces from heterogeneous actuators. This study presents a novel concept of a fusion hybrid linear actuator to address the fundamental problems in conventional hybrid actuation approaches. The concept embodies an integrated structure of an air cylinder and a linear motor and shares the moving spaces of the piston and moving part of the linear motor inside the compact housing of the actuator. Herein, the design strategy requirements and its structural optimization processes are discussed. A kinetic friction model of a pneumatic cylinder that considers a piston structure is proposed to improve the force characteristics during dynamic interaction. Furthermore, a quantitative benchmark test is developed to maintain the contact force constant against a load actuator, to evaluate the disturbance resistance under a wide range of target contact force conditions. The concept and performance were validated by experiments comparing the proposed hybrid actuation condition with conventional pneumatic actuation conditions.

HAPSEA: Hydraulically Amplified Soft Electromagnetic Actuator for Haptics

Novel actuators that can provide squeeze, vibration, and localized forces while remaining soft and comfortable are essential for next-generation augmented reality applications. Despite this need, there are currently few soft actuator topologies that can provide high forces and high bandwidths at low voltages and temperatures. In this work, we present a new type of soft electromagnetic actuator architecture for haptics. These low-cost, easy-to-manufacture, and conformal actuators are composed of a coil, magnet, thin-film material, and water. Adding a thin ferromagnetic sheet further enables the creation of a latching actuator variant, which can improve force output while reducing power consumption. Each actuator combines low voltage (up to 2 V), high-bandwidth electromagnetics with hydraulics to amplify force output. In addition to force amplification, the hydraulics provide cooling and thermal mass, which enable the actuator to be used safely in wearables for longer durations. In this work, we characterize the output forces, frequency response, efficiency, and thermal profiles of the prototype actuators. Results from tabletop experiments show that with hydraulic amplification, a nonlatching actuator is able to exert 1.3 N of force at 4 A, and a latching actuator is able to exert up to 5.2 N when preloaded with 3.7 N of compression. Furthermore, the prototype actuator has a bandwidth of 30 Hz when operating in air. After 120 s of continuous operation (1.3 W) in ambient air (26 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula> C), the maximum actuator temperature reaches 36 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula> C, making it safe for haptic applications. Using these designs, we develop a prototype wearable wristband device that can render body-grounded squeeze and vibration. By expanding on the operating principles described in this work, novel augmented reality applications can potentially become possible.

HBS-1.2: Lightweight Socially Assistive Robot with 6-Ply Twisted Coiled Polymer Muscle-Actuated Hand

In this paper, a new socially assistive robot (SARs) called HBS-1.2 is presented, which uses 6-ply twisted and coiled polymer (TCP) artificial muscles in its hand to perform physical tasks. The utilization of 6-ply TCP artificial muscles in a humanoid robot hand is a pioneering advancement, offering cost effective, lightweight, and compact solution for SARs. The robot is designed to provide safer human–robot interaction (HRI) while performing physical tasks. The paper explains the procedures for fabrication and testing of the 6-ply TCP artificial muscles, along with improving the actuation response by using a Proportional-Integral-Derivative (PID) control method. Notably, the robot successfully performed a vision-based pick and place experiment, showing its potential for use in homecare and other settings to assist patients who suffer from neurological diseases like Alzheimer’s disease. The study also found an optimal light intensity range between 34 to 108 lumens/m2, which ensures minimal variation in calculated distance with 95% confidence intervals for robust performance from the vison system. The findings of this study have important implications for the development of affordable and accessible robotic systems to support elderly patients with dementia, and future research should focus on further improving the use of TCP actuators in robotics.

Multifunctional Magnetoelectric Sensing and Bending Actuator Response of Polymer-Based Hybrid Materials with Magnetic Ionic Liquids.

With the evolution of the digital society, the demand for miniaturized multifunctional devices has been increasing, particularly for sensors and actuators. These technological translators allow successful interaction between the physical and digital worlds. In particular, the development of smart materials with magnetoelectric (ME) properties, capable of wirelessly generating electrical signals in response to external magnetic fields, represents a suitable approach for the development of magnetic field sensors and actuators due to their ME coupling, flexibility, robustness and easy fabrication, compatible with additive manufacturing technologies. This work demonstrates the suitability of magnetoelectric (ME) responsive materials based on the magnetic ionic liquid (MIL) 1-butyl-3-methylimidazolium tetrachloroferrate ([Bmim][FeCl4]) and the polymer poly(vinylidene fluoride-co-trifluoroethylene) (P(VDF-TrFE) for magnetic sensing and actuation device development. The developed sensor works in the AC magnetic field and has frequency-dependent sensitivity. The materials show voltage responses in the mV range, suitable for the development of magnetic field sensors with a highest sensitivity (s) of 76 mV·Oe-1. The high ME response (maximum ME voltage coefficient of 15 V·cm-1·Oe-1) and magnetic bending actuation (2.1 mm) capability are explained by the magnetoionic (MI) interaction and the morphology of the composites.

Mechanically Prestressed Pneumatically Driven Bistable Soft Actuators

Abstract Bistable soft robots are gaining momentum for their fast speed. This study presents a novel asymmetric mechanically prestressed, pneumatically driven, bistable laminated soft actuator. Its two orthogonal stable shapes are created by prestretching two orthogonal elastomer matrix composites before bonding them to a thin core layer. Two fluidic layers with fluid channels are bonded on either side of the core layer to actuate and trigger the snap-through process of the actuator. An analytical model is proposed as follows: the actuator net energy is calculated based on polynomials with unknown coefficients, and the stable shapes of the actuator are computed as a result of pneumatic pressure and external loads with the Rayleigh–Ritz method. Bistable actuators are fabricated with different prestrains, and motion capture and tensile loading experiments are conducted for model validation. A gripper is fabricated with two bistable actuators and demonstrated to grasp a variety of objects. Sensitivity studies are performed to identify the actuator response as a function of a variety of design parameters.

Implementation of Fuzzy Logic for Chili Irrigation Integrated with Internet of Things

Chili, mustard greens, and tomatoes have always been farmers' favored crops, despite their high water and labor demands. Adapt to these conditions by utilizing smart agriculture systems (SAS) agricultural techniques that involve technology such as automatic irrigation that regulates watering based solely on routine, regardless of land conditions. This type of control during the transitional season can lead to root rot and fungisarium disease on chile plants. In the form of an embedded system with internet of things (IoT) monitoring, a system incorporating artificial intelligence such as fuzzy logic is proposed as a solution. Fuzzy logic will regulate irrigation based on the land's humidity and temperature using computational mathematics. Beginning with the fuzzyification stage to map the sensor's temperature and humidity input values, fuzzy logic is applied. The creation of an inference engine in the NodeMcu 8266 microcontroller to interpret fuzzy rule statements in the form of aggregation of minimum conditions with the AND operator, followed by the combination of a single set value of 0 and 1 in the fuzzy system to produce an appropriate actuator response After the entire system has been prototyped, testing is conducted to determine the responsiveness of the fuzzy program code to changes in the simulated agricultural cultivation land ecosystem. This study found that the fuzzy logic program code embedded in the nodeMCU8266 microcontroller effectively controls the spraying duration of the pump in response to various simulated environmental conditions within 3.6 seconds.