BEGIN:VCALENDAR VERSION:2.0 PRODID:IEEE vTools.Events//EN CALSCALE:GREGORIAN BEGIN:VTIMEZONE TZID:America/Los_Angeles BEGIN:DAYLIGHT DTSTART:20200308T030000 TZOFFSETFROM:-0800 TZOFFSETTO:-0700 RRULE:FREQ=YEARLY;BYDAY=2SU;BYMONTH=3 TZNAME:PDT END:DAYLIGHT BEGIN:STANDARD DTSTART:20201101T010000 TZOFFSETFROM:-0700 TZOFFSETTO:-0800 RRULE:FREQ=YEARLY;BYDAY=1SU;BYMONTH=11 TZNAME:PST END:STANDARD END:VTIMEZONE BEGIN:VEVENT DTSTAMP:20201013T175856Z UID:0060AE85-03F5-49CC-B50C-FC90AAC7F687 DTSTART;TZID=America/Los_Angeles:20201012T183000 DTEND;TZID=America/Los_Angeles:20201012T200000 DESCRIPTION:Robots have an important role during inspection\, clean-up\, an d sample collection in unstructured radiation environments inaccessible to humans. The advantages of soft robots\, such as body morphing\, high comp liance\, and energy absorption during impact\, make them suitable for oper ating under extreme conditions. Despite their promise\, the usefulness of soft robots under a radiation environment has yet to be assessed. In this work\, we evaluate the effectiveness of soft robots fabricated from polydi methylsiloxane (PDMS)\, a common fabrication material\, under radiation fo r the first time. We investigated gamma-induced mechanical damage in the P DMS materials’ mechanical properties\, including elongation\, tensile st rength\, and stiffness. We selected three radiation environments from the nuclear industry to represent a wide range of radiation and then submerged a 3D printed hexapus robot into a radiation environment to estimate its o peration time. Finally\, to test the reliability of the 3D printed soft ro bots\, we compared their performances with molded counterparts. To analyze performance results in detail\, we also investigated dimensional errors a nd the effects of fabrication methods\, nozzle size\, and print direction on the stiffness of PDMS material. Results of this study show that with in creasing exposure to gamma irradiation\, the mechanical properties of PDMS decrease in functionality but are minimally impacted up to 20 kGy gamma r adiation. Considering the fractional changes to the PDMS mechanical proper ties\, it is safe to assume that soft robots could operate for 12 h in two of the three proposed radiation environments. We also verified that the 3 D printed soft robots can perform better than or equal to their molded cou nterparts while being more reliable.\nOsman Dogan Yirmibesoglu\nRobotics P h.D. Candidate\nOregon State University\n\nMr. Osman Dogan Yirmibesoglu is a Robotics Ph.D. candidate in the Collaborative Robotics and Intelligent Systems (CoRIS) Institute of Oregon State University. His research aim is to advance soft robot designs and performance with additive manufacturing by introducing complex building blocks. Before joining the Ph.D. program a t Oregon State University\, he completed B.S degrees in Mechanical Enginee ring (2015) and Electronics Engineering (2014) in Ozyegin University\, Ist anbul\, Turkey. He earned his Master’s degree from Oregon State Universi ty in 2018.\n\nVirtual: https://events.vtools.ieee.org/m/241786 LOCATION:Virtual: https://events.vtools.ieee.org/m/241786 ORGANIZER:edward.c.epp@ieee.org SEQUENCE:6 SUMMARY:Evaluation of 3D Printed Soft Robots in Radiation Environments and Comparison With Molded Counterparts URL;VALUE=URI:https://events.vtools.ieee.org/m/241786 X-ALT-DESC:Description: <br /><p>Robots have an important role during inspe ction\, clean-up\, and sample collection in unstructured radiation environ ments inaccessible to humans. The advantages of soft robots\, such as body morphing\, high compliance\, and energy absorption during impact\, make t hem suitable for operating under extreme conditions. Despite their promise \, the usefulness of soft robots under a radiation environment has yet to be assessed. In this work\, we evaluate the effectiveness of soft robots f abricated from polydimethylsiloxane (PDMS)\, a common fabrication material \, under radiation for the first time. We investigated gamma-induced mecha nical damage in the PDMS materials&rsquo\; mechanical properties\, includi ng elongation\, tensile strength\, and stiffness. We selected three radiat ion environments from the nuclear industry to represent a wide range of ra diation and then submerged a 3D printed hexapus robot into a radiation env ironment to estimate its operation time. Finally\, to test the reliability of the 3D printed soft robots\, we compared their performances with molde d counterparts. To analyze performance results in detail\, we also investi gated dimensional errors and the effects of fabrication methods\, nozzle s ize\, and print direction on the stiffness of PDMS material. Results of th is study show that with increasing exposure to gamma irradiation\, the mec hanical properties of PDMS decrease in functionality but are minimally imp acted up to 20 kGy gamma radiation. Considering the fractional changes to the PDMS mechanical properties\, it is safe to assume that soft robots cou ld operate for 12 h in two of the three proposed radiation environments. W e also verified that the 3D printed soft robots can perform better than or equal to their molded counterparts while being more reliable.</p>\n<div>< span style="color: #000000\; font-family: tahoma\, sans-serif\;">Osman Dog an Yirmibesoglu</span></div>\n<div><span style="color: #000000\; font-fami ly: tahoma\, sans-serif\;">Robotics Ph.D. Candidate</span></div>\n<div><sp an style="color: #000000\; font-family: tahoma\, sans-serif\;">Oregon Stat e University</span></div>\n<div>&nbsp\;</div>\n<div><span style="color: #0 00000\; font-family: tahoma\, sans-serif\;">Mr. Osman Dogan Yirmibesoglu i s a Robotics Ph.D. candidate in the&nbsp\;Collaborative Robotics and Intel ligent Systems (CoRIS) Institute&nbsp\;of Oregon State University. His res earch aim is to advance soft robot&nbsp\;designs and performance with addi tive manufacturing by introducing complex&nbsp\;building&nbsp\;blocks. Bef ore joining the Ph.D. program at Oregon State University\, he completed B. S degrees in Mechanical Engineering (2015) and Electronics Engineering (20 14) in Ozyegin University\, Istanbul\, Turkey. He earned his Master&rsquo\ ;s degree from Oregon State University in 2018.</span></div> END:VEVENT END:VCALENDAR