Andrew Viquerat

A bistable mechanism has two stable states with energy input required to move from one stable state to another. This energy barrier allows for energy storage and release which can be used to improve systems characteristics. Bistability has been used to increase the frequency range over which a kinetic energy harvester is effective, and it has been proposed that bistability can increase the efficiency of biomimetic swimming robots. However, experiments involving bistable swimming robots have typically used bistability as a means of overcoming limitations inherent to soft actuators, rather than to increase overall performance. This article implements bistability into a swimming robotic and compares performance with and without bistable action. The static thrust generation and power consumption for bistable and nonbistable configurations for five different tail morphologies are compared. Bistability is generally found to increase the system efficiency, particularly at lower frequencies where increases are observed up to 250%. The untethered swimming speed of the robot in open water is also found to increase by approximately 30%. The results show that bistability can offer direct performance benefits for biomimetic swimming, but that the bistable transmission must be well tuned to the dynamics of the rest of the system.

The preparation of ultra-thin CFRP laminates, which incorporate a cycloaliphatic epoxy resin reinforced with polyhedral oligomeric silsesquioxane (POSS) reagent nanofiller, using out-of-autoclave procedure is reported. The influence of the amount of POSS within the laminate on the mechanical properties and surface roughness of the laminates is analysed before and after exposure to atomic oxygen (AO) to simulate the effects of low Earth orbit (LEO). The addition of 5 wt% POSS to the base epoxy leads to an increase in both flexural strength and modulus, but these values begin to fall as the POSS content rises, possibly due to issues with agglomeration. The addition of POSS offers improved resistance against AO degradation with the laminates containing 20 wt% POSS demonstrating the lowest erosion yield (1.67 × 10⁻²⁴ cm²/atom) after the equivalent of a period of 12 months in a simulated LEO environment. Exposure to AO promotes the formation of a silicon-rich coating layer on the surface of the laminate, which in turn reduces roughness and increases stiffness, as evidenced by measurements of flexural properties and spectral data after exposure.