Modeling fluidic pattern generators for the control of soft robots
This thesis investigates how geometric parameters, specifically tube length and logic gate volume, influence the oscillation frequency of fluidic ring oscillators, which is critical for timing and control in soft robotics. Existing analytical models, primarily derived from oscillators utilizing bistable valves, lack general applicability across diverse fluidic oscillator designs. To address this limitation, this research first numerically examines the propagation delays in fluid channels and reservoirs using COMSOL, investigating their capacitive effect, and provides an analytical framework to help accurately predict a generalized ring oscillator.
Advisor: Professor Markus Nemitz (Tufts University)
Committee: Professor Cagdas Onal (WPI) and Professor Pratap Rao (WPI)
Zoom: https://tufts.zoom.us/j/98209716385?pwd=cUbb8aM1ODgnvXSWlxx3H1Txy4OQIY.1&from=addon