Traditional IP multicast (IPMC) maintains state per IPMC group in core devices to distribute one-to-many traffic along tree-like structures through the network. This limits its scalability because whenever subscribers of groups change, forwarding network needs be updated. Bit Index Explicit Replication (BIER) has been proposed by IETF for efficient transport without need IPMC-group-dependent de...

The ionic polymer metal composite (IPMC) actuator is a kind of soft that can work for underwater applications. However, IPMC control suffers from high nonlinearity due to the existence inherent creep and hysteresis phenomena. Furthermore, applications, they are highly exposed parametric uncertainties external disturbances characteristics working environment. Those factors significantly affect p...

This article deals with the control-oriented energy-based modeling of ionic polymer–metal composite (IPMC) patches using multiscale infinite dimensional port-Hamiltonian formulations and Lagrange multipliers. Inspired by work Nishida et al. in 2012, but considering different assumptions, this f...

In this paper, we introduce the novel integrated actuator-sensor on a single Ionic-Polymer film and its control strategy. Both IPMC and BuckyGel were our target materials. A/S system will enable feedback control by getting over nonlinear characteristics of those plants and individual variability. We have investigated a displacement observer with regarding to the considerable electric interferen...

Rachel Grange, Jae-Woo Choi, Chia-Lung Hsieh, Ye Pu, Arnaud Magrez, Rita Smajda, László Forró, and Demetri Psaltis École Polytechnique Fédérale de Lausanne (EPFL), School of Engineering, Optics Laboratory, 1015 Lausanne, Switzerland Department of Electrical Engineering, California Institute of Technology, Pasadena, California 91125, USA École Polytechnique Fédérale de Lausanne (EPFL), Institute...