Godaba Hareesh

Godaba Hareesh
University of Sussex · Department of Engineering and Design

Doctor of Engineering

About

35
Publications
9,243
Reads
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751
Citations
Introduction
I am a Lecturer in the Department of Engineering and Design and a core member of the Robotics and Mechatronics Systems Research Group at the University of Sussex. I am interested in the intersection of functional materials, applied mechanics and bioinspiration to develop intelligent soft robots and devices to tackle significant challenges in industrial and biomedical applications.
Additional affiliations
December 2020 - present
University of Sussex
Position
  • Lecturer
December 2018 - November 2020
Queen Mary, University of London
Position
  • PostDoc Position
January 2018 - November 2018
National University of Singapore
Position
  • Research Associate

Publications

Publications (35)
Article
Dealing safely with nuclear waste is an imperative for the nuclear industry. Increasingly, robots are being developed to carry out complex tasks such as perceiving, grasping, cutting, and manipulating waste. Radioactive material can be sorted, and either stored safely or disposed of appropriately, entirely through the actions of remotely controlled...
Article
Full-text available
Monitoring surgical wounds post-operatively is necessary to prevent infection, dehiscence and other complications. However, the monitoring of deep surgical sites is typically limited to indirect observations or to costly radiological investigations that often fail to detect complications before they become severe. Bioelectronic sensors could provid...
Article
Human muscles can sense external stimuli and generate forces as well. To emulate these capabilities, we design a paper-based transducer capable of both sensing and actuation. Utilizing the origami technique, we develop a soft transducer with attributes of simple structure, easy fabrication and low cost. The origami transducer can function as a defo...
Article
Full-text available
In recent years we have seen tremendous progress in the development of robotic solutions for minimally invasive surgery (MIS). Indeed, a number of robot-assisted MIS systems have been developed to product level and are now well-established clinical tools; Intuitive Surgical’s very successful da Vinci Surgical System a prime example. The majority of...
Conference Paper
Full-text available
Despite their soft and compliant bodies, most of to-day's soft robots have limitations when it comes to elongation or extension of their main structure. In contrast to this, a new type of soft robot called the eversion robot can grow longitudinally , exploiting the principle of eversion. Eversion robots can squeeze through narrow openings, giving t...
Chapter
In this extended abstract, we present a soft stretchable multi-modal capacitive skin sensor that can be used for exteroception and proprioception in soft surgical manipulators. A soft skin prototype was made using Ecoflex, embedding three conductive carbon grease terminal layers. This soft skin is capable of measuring stretch and touch simultaneous...
Chapter
Soft actuators are free from any rigid, bulky, and hard components. This is greatly beneficial towards achieving compliant actuation and safe interactions in robots. Inspired by the eversion principle, we develop a novel soft actuator of the inhomogeneous cross-section that can linearly extend and achieve a large payload capability. The proposed so...
Conference Paper
Full-text available
This paper presents a novel approach for developing robotic grippers with variable stiffness hinges for dexterous grasps. This approach for the first time uses pneumatically actuated pouch actuators to fold and unfold morphable flaps of flexure hinges thus change stiffness of the hinge. By varying the air pressure in pouch actuators, the flexure hi...
Preprint
Thin and imperceptible soft skins that can detect internal deformations as well as external forces, can go a long way to address perception and control challenges in soft robots. However, decoupling proprioceptive and exteroceptive stimuli is a challenging task. In this paper, we present a silicone-based, capacitive E-skin for exteroception and pro...
Conference Paper
Full-text available
In the last decade, soft robots have been at the forefront of a robotic revolution. Due to the flexibility of the soft materials employed, soft robots are equipped with a capability to execute new tasks in new application areas-beyond what can be achieved using classical rigid-link robots. Despite these promising properties, many soft robots nowada...
Article
Full-text available
Plant-inspired inflatable eversion robots with their tip growing behaviour have recently emerged. Because they extend from the tip, eversion robots are particularly suitable for applications that require reaching into remote places through narrow openings. Besides, they can vary their structural stiffness. Despite these essential properties which m...
Article
Full-text available
Stretchable optoelectronic materials are essential for applications in wearable electronics, human–machine interfaces and soft robots. However, intrinsically stretchable optoelectronic devices such as light-emitting capacitors usually require high driving alternating voltages and excitation frequencies to achieve sufficient luminance in ambient lig...
Article
Instabilities in a thin sheet are ubiquitous and can be induced by various stimuli, such as a uniaxial force, a liquid-vapor surface tension, etc. This paper investigates voltage-induced instabilities in a membrane of a dielectric elastomer. Instabilities including buckling, wrinkling, and crumpling are observed in the experiments. The prestretches...
Chapter
Soft sensors are crucial to enable feedback in soft robots. Soft capacitive sensing is a reliable technology that can be embedded into soft pneumatic robots for obtaining proprioceptive and exteroceptive feedback. In this paper, we model a soft capacitive sensor that measures both the actuated state as well as applied external forces. We develop a...
Chapter
Full-text available
Recent progress in soft robotics has seen new types of actuation mechanisms based on apical extension which allows robots to grow to unprecedented lengths. Eversion robots are a type of robots based on the principle of apical extension offering excellent maneuverability and ease of control allowing users to conduct tasks from a distance. Mechanical...
Chapter
The development of grasping mechanisms for various grasping applications have enabled robots to perform a wide variety of tasks in both industrial as well as domestic applications. Soft robotic grippers have been very useful in grasping applications with an added advantage of simpler control mechanisms as compared to rigid grippers. In this paper,...
Article
Technological progress in advanced materials and artificial intelligence has given an impetus to development of humanoid robots that can mimic human appearance and interact with people effectively. Eyeball motions play a key role in facial expression of humanoid robots, and can greatly improve the relationship between the robots and the users. In t...
Article
Origami has emerged as a powerful methodology for developing intelligent transformable robots. Although there is considerable progress in origami techniques to enable the design of a broad range of geometries, there is a dearth of effective actuation mechanisms which can eliminate the complex process of assembling external actuators. This paper ill...
Article
It is an interesting open question how to achieve large actuation of a dielectric elastomer (DE). In many previous works, in order to harness snap-through instability to achieve large deformation, a reservoir was employed to assist the dielectric elastomer actuator (DEA) to optimize its loading condition/path, which makes the whole actuation system...
Article
Full-text available
Giant deformation of the dielectric elastomer (DE) via electromechanical instability (or the “snap-through” phenomenon) is a promising mechanism for large-volume fluid pumping. Snap-through of a DE membrane coupled with compressible air has been previously investigated. However, the physics behind reversible snap-through of a DE diaphragm coupled w...
Conference Paper
Modern unmanned aerial vehicles are gaining promising success because of their versatility, flexibility, and minimized risk of operations. Most of them are normally designed and constructed based on hard components. For example, the body of the vehicle is generally made of aluminum or carbon fibers, and electric motors are adopted as the main actua...
Article
Full-text available
Dielectric elastomer is a class of soft actuators with exceptionally high strain capabilities and energy density. It is being studied for wide range of various applications and has been hypothesized to be a good material for biomedical blood pumps. We performed experimental characterization of a simple dielectric elastomer fluid pump to test this f...
Article
A membrane of a dielectric elastomer may undergo electromechanical phase transition from the flat to wrinkled state, when the applied voltage reaches a critical value. The wrinkled region is observed to expand at the expense of the flat region during phase transition. In this paper, we report on a dynamic pattern of wrinkles in a circular membrane...
Article
Although dielectric elastomers have been extensively studied recently, to date there has been little research into application of dielectric elastomer actuators to undersea robots. This letter focuses on development of a jellyfish robot using a dielectric elastomer actuator, which exhibits muscle-like properties including large deformation and high...
Conference Paper
Full-text available
Soft robots are gaining in popularity due to their unique attributes such as low weight, compliance, flexibility and diverse range in motion types. This paper illustrates soft robots and actuators which are developed using dielectric elastomer. These developments include a jellyfish robot, a worm like robot and artificial muscle actuators for jaw m...
Article
A duct silencer with tunable acoustic characteristics is presented in this paper. Dielectric elastomer, a smart material with lightweight, high elastic energy density and large deformation under high direct current/alternating current voltages, was used to fabricate this duct silencer. The acoustic performances and tunable mechanisms of this duct s...
Article
Full-text available
A dielectric elastomer actuator is one class of soft actuators which can deform in response to voltage. Dielectric elastomer actuators coupled with liquid have recently been developed as soft pumps, soft lenses, Braille displays, etc. In this paper, we conduct experiments to investigate the performance of a dielectric elastomer actuator which is co...
Article
Recently dielectric elastomer actuators have been explored for applications to haptic feedback. The force/displacement of the vibration shaker driven by the dielectric elastomer actuator will determine the user’s tactile sensation. In this paper, we investigate how to tune the output force/displacement induced by a dielectric elastomer actuator. Th...
Article
Dielectric elastomer actuators coupled with liquid have recently been developed as soft pumps, soft lenses, Braille displays, etc. In this paper, we investigate the performance of a dielectric elastomer actuator, which is coupled with water. The experiments demonstrate that the membrane of a dielectric elastomer can achieve a giant voltage-induced...

Questions

Question (1)
Question
Does anyone know how to configure RSM in ANSYS to fire a job from local machine to the local server?

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Projects

Projects (2)
Project
With the ageing of nuclear facilities such as those in the Sellafield nuclear site in the UK, or the relatively recent disaster that occurred in the Fukushima Daiichi power plant in Japan, nuclear decommissioning is a major challenge that needs to be addressed in the 21st century. Innovative decommissioning technologies can assist in minimizing the risks and costs in tackling these complex challenges. More particularly, robotics solutions have already shown their potential, through several exploration missions, to monitor the conditions in Fukushima and mapping radiation sources in the Sellafield nuclear site. However, only a few dedicated robotic manipulators have been developed to contribute to the decommissioning tasks. Due to the radiation and the environmental uncertainties, standard robotic manipulators used in industrial applications are unsuitable for decommissioning scenarios. In this project, we propose a robotic solution to aid in the clean-up of the primary containment vessel in Fukushima, and dismantling and decommissioning operations in Sellafield. We will develop a robotic manipulator based on a novel Variable Impedance Actuator (VIA) and employ artificial intelligence techniques for efficient exploration and decommissioning in nuclear environments. In contrast to existing VIAs which require sensors in the region of interaction and use feedback control strategies to modify the robot's impedance, we propose a novel Continuously Variable Transmissions(CVT) based Variable Impedance Actuator for an inherently collision-safe manipulator that can adapt to uncertain environments without additional interaction sensors. To fully capitalize on the manipulator's ability to change its impedance, new navigation and control strategies will be developed to perform remote handling tasks and a dedicated impedance controller will be designed to adapt the dynamic interaction behaviour of the robot according to the situation. The VIA, the manipulator and associated control strategies will finally be validated in realistic use-case scenarios representative of the Sellafield and Fukushima challenges. This robotic solution will help to address the challenges associated with limited sensor availability due to radiation hazards and will allow us to safely conduct tasks in sensitive environments owing to the inherent collision safely offered by the VIA. This solution also offers resilience in events of communication and sensor failure or during misoperation in teleoperation protocols, further de-risking robotic manipulation in the clean-up and decommissioning tasks in Fukushima and Sellafield respectively.
Project
The goal of this project is to make a silicone-based, stretchable and multimodal capacitive skin sensor that can detect its own stretch state (proprioception) and external touch (exteroception).