PhD Dissertation · University of Florida · MAE
Fish Robots, Soft Actuators
& Electrostatic Energy Harvesting
A multi-year experimental and computational program designing, building, and characterizing a HASEL-actuated soft robotic fish — and demonstrating electricity generation from the artificial muscles for the first time.
Soft Robotics
Energy Harvesting
HASEL Actuators
Fluid–Structure Interaction
Digital Image Correlation
Modal Analysis
Dissertation Aims
Aim 1
Soft Robotic Fish — Nebula
Design, fabrication, and experimental characterization of a continuously flexible, HASEL-actuated robotic trout. Kinematic analysis in quiescent water with DIC + LDV. EHE beam model for quiescent and uniform flow.
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Aim 2
HASEL Energy Harvesting
First experimental demonstration of electricity generation from Peano-HASEL actuators. Constant-voltage cycle, circuit design, 2.49 mJ/pouch, 23% mechanical efficiency. Frequency dependence, self-sensing, memcapacitance.
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Side Projects
Independent of dissertation aims
Gantry System Build
Custom 3-axis servo-driven underwater oscillation platform. DYN4 drives, Galil controller, dSpace integration. Used for Nebula base-excitation energy harvesting experiments.
Underwater DIC (NREL Contract)
Evaluated DIC and videogrammetry for tracking flexible WEC deformation in NREL's wave flume. Snell's Law analysis; camera angle tests; recommendation: underwater camera housing.
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Publications & Conferences
Journal publications, conference papers and presentations
Background Reading
What is a HASEL? Electrostatic zipping, variable capacitance, self-healing, inertial vs. viscous regimes. EHE modeling: Euler-Bernoulli beam, Lighthill theory, Galerkin method, MAC & traveling index.
Research Timeline
Fall 2021
EHE Model — Quiescent Flow
MATLAB Galerkin simulation with nonlinear fluid damping.
Spring 2022
Nebula Design + SMASIS22
Parametric body design. Compliance & traveling wave generation.
Fall 2022
Nebula Fabrication & Air Testing
TPU skeleton, Ecoflex silicone cast, LDV + DIC in air.
Spring 2023
Nebula Aquarium Testing
DIC + LDV at 3 natural frequencies. MAC and traveling index analysis.
Fall 2023
SMASIS23 (3rd place) + NREL Contracts Begin
HASEL EH and Underwater DIC contracts awarded.
Jan–Nov 2024
HASEL EH Paper 1 + Nebula Journal
Full 4×5 EH test matrix. Nebula SMS journal submitted June 2024. EH Paper 1 submitted Nov 2024.
Apr 2025
RoboSoft 2025 — Nebula v2
Lausanne. Distributed muscles + sensing. 44% thrust increase with phase offset.
Jan–Jul 2025 (NREL MEGSRP)
Power & Frequency Study
Cyclic EH with self-sensing. Power density vs. frequency 0.5–20 Hz.
Oct–Dec 2025
Nebula EH on Bending Structure
Gantry base-excitation experiments. Phase relationship study.
April 2026
HASEL Memcapacitance
Nonlinear C vs. V with hysteresis — AC superposition method, Trek 10/10.