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Dr. Giacomo Moretti
Institute of Communication, lnformation and Perception Technologies (TeCIP), Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127 Pisa PI, Italy

Basic Info

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Research Keywords & Expertise

0 Electroactive Polymers
0 Dielectric elastomers
0 Electrostatic actuators
0 Multifunctional actuators
0 Soft robotics, energy harvesting

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Article
Published: 26 February 2021 in Meccanica
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Dielectric elastomer generators (DEGs) are soft electrostatic generators based on low-cost electroactive polymer materials. These devices have attracted the attention of the marine energy community as a promising solution to implement economically viable wave energy converters (WECs). This paper introduces a hardware-in-the-loop (HIL) simulation framework for a class of WECs that combines the concept of the oscillating water columns (OWCs) with the DEGs. The proposed HIL system replicates in a laboratory environment the realistic operating conditions of an OWC/DEG plant, while drastically reducing the experimental burden compared to wave tank or sea tests. The HIL simulator is driven by a closed-loop real-time hydrodynamic model that is based on a novel coupling criterion which allows rendering a realistic dynamic response for a diversity of scenarios, including large scale DEG plants, whose dimensions and topologies are largely different from those available in the HIL setup. A case study is also introduced, which simulates the application of DEGs on an OWC plant installed in a mild real sea laboratory test-site. Comparisons with available real sea-test data demonstrated the ability of the HIL setup to effectively replicate a realistic operating scenario. The insights gathered on the promising performance of the analysed OWC/DEG systems pave the way to pursue further sea trials in the future.

ACS Style

Giacomo Moretti; Andrea Scialò; Giovanni Malara; Giovanni Gerardo Muscolo; Felice Arena; Rocco Vertechy; Marco Fontana. Hardware-in-the-loop simulation of wave energy converters based on dielectric elastomer generators. Meccanica 2021, 56, 1223 -1237.

AMA Style

Giacomo Moretti, Andrea Scialò, Giovanni Malara, Giovanni Gerardo Muscolo, Felice Arena, Rocco Vertechy, Marco Fontana. Hardware-in-the-loop simulation of wave energy converters based on dielectric elastomer generators. Meccanica. 2021; 56 (5):1223-1237.

Chicago/Turabian Style

Giacomo Moretti; Andrea Scialò; Giovanni Malara; Giovanni Gerardo Muscolo; Felice Arena; Rocco Vertechy; Marco Fontana. 2021. "Hardware-in-the-loop simulation of wave energy converters based on dielectric elastomer generators." Meccanica 56, no. 5: 1223-1237.

Research article
Published: 24 February 2021 in Science Robotics
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Future robotic systems will be pervasive technologies operating autonomously in unknown spaces that are shared with humans. Such complex interactions make it compulsory for them to be lightweight, soft, and efficient in a way to guarantee safety, robustness, and long-term operation. Such a set of qualities can be achieved using soft multipurpose systems that combine, integrate, and commute between conventional electromechanical and fluidic drives, as well as harvest energy during inactive actuation phases for increased energy efficiency. Here, we present an electrostatic actuator made of thin films and liquid dielectrics combined with rigid polymeric stiffening elements to form a circular electrostatic bellow muscle (EBM) unit capable of out-of-plane contraction. These units are easy to manufacture and can be arranged in arrays and stacks, which can be used as a contractile artificial muscle, as a pump for fluid-driven soft robots, or as an energy harvester. As an artificial muscle, EBMs of 20 to 40 millimeters in diameter can exert forces of up to 6 newtons, lift loads over a hundred times their own weight, and reach contractions of over 40% with strain rates over 1200% per second, with a bandwidth over 10 hertz. As a pump driver, these EBMs produce flow rates of up to 0.63 liters per minute and maximum pressure head of 6 kilopascals, whereas as generator, they reach a conversion efficiency close to 20%. The compact shape, low cost, simple assembling procedure, high reliability, and large contractions make the EBM a promising technology for high-performance robotic systems.

ACS Style

I. D. Sîrbu; G. Moretti; G. Bortolotti; M. Bolignari; S. Diré; L. Fambri; R. Vertechy; M. Fontana. Electrostatic bellow muscle actuators and energy harvesters that stack up. Science Robotics 2021, 6, eaaz5796 .

AMA Style

I. D. Sîrbu, G. Moretti, G. Bortolotti, M. Bolignari, S. Diré, L. Fambri, R. Vertechy, M. Fontana. Electrostatic bellow muscle actuators and energy harvesters that stack up. Science Robotics. 2021; 6 (51):eaaz5796.

Chicago/Turabian Style

I. D. Sîrbu; G. Moretti; G. Bortolotti; M. Bolignari; S. Diré; L. Fambri; R. Vertechy; M. Fontana. 2021. "Electrostatic bellow muscle actuators and energy harvesters that stack up." Science Robotics 6, no. 51: eaaz5796.

Journal article
Published: 01 February 2021 in Journal of Dynamic Systems, Measurement, and Control
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Motivated by engineering applications, we address bounded steady-state optimal control of linear dynamical systems undergoing steady-state bandlimited periodic oscillations. The optimization can be cast as a minimization problem by expressing the state and the input as finite Fourier series expansions, and using the expansions coefficients as parameters to be optimized. With this parametrization, we address linear quadratic problems involving periodic bandlimited dynamics by using quadratic minimization with parametric time-dependent constraints. We hence investigate the implications of a discretization of linear continuous time constraints and propose an algorithm that provides a feasible suboptimal solution whose cost is arbitrarily close to the optimal cost for the original constrained steady-state problem. Finally, we discuss practical case studies that can be effectively tackled with the proposed framework, including optimal control of DC/AC power converters, and optimal energy harvesting from pulsating mechanical energy sources.

ACS Style

Giacomo Moretti; Luca Zaccarian; Franco Blanchini. Quadratic Constrained Periodic Optimization for Bandlimited Linear Systems Via the Fourier-Based Method. Journal of Dynamic Systems, Measurement, and Control 2021, 143, 1 .

AMA Style

Giacomo Moretti, Luca Zaccarian, Franco Blanchini. Quadratic Constrained Periodic Optimization for Bandlimited Linear Systems Via the Fourier-Based Method. Journal of Dynamic Systems, Measurement, and Control. 2021; 143 (6):1.

Chicago/Turabian Style

Giacomo Moretti; Luca Zaccarian; Franco Blanchini. 2021. "Quadratic Constrained Periodic Optimization for Bandlimited Linear Systems Via the Fourier-Based Method." Journal of Dynamic Systems, Measurement, and Control 143, no. 6: 1.

Review
Published: 21 October 2020 in Advanced Intelligent Systems
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ACS Style

Giacomo Moretti; Samuel Rosset; Rocco Vertechy; Iain Anderson; Marco Fontana. A Review of Dielectric Elastomer Generator Systems. Advanced Intelligent Systems 2020, 2, 1 .

AMA Style

Giacomo Moretti, Samuel Rosset, Rocco Vertechy, Iain Anderson, Marco Fontana. A Review of Dielectric Elastomer Generator Systems. Advanced Intelligent Systems. 2020; 2 (10):1.

Chicago/Turabian Style

Giacomo Moretti; Samuel Rosset; Rocco Vertechy; Iain Anderson; Marco Fontana. 2020. "A Review of Dielectric Elastomer Generator Systems." Advanced Intelligent Systems 2, no. 10: 1.

Review
Published: 23 August 2020 in Advanced Intelligent Systems
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Dielectric elastomer generator systems (DEGSs) are a class of electrostatic soft‐transducers capable of converting oscillating mechanical power from different sources into usable electricity. Over the past years, a diversity of DEGSs has been conceived, integrated, and tested featuring diverse topologies and implementation characteristics tailored on different applications. Herein, the recent advances on DEGSs are reviewed and illustrated in terms of design of hardware architectures, power electronics, and control, with reference to the different application targets, including large‐scale systems such as ocean wave energy converters, and small‐scale systems such as human motion or ambient vibration energy harvesters. Finally, challenges and perspectives for the advancement of DEGSs are identified and discussed.

ACS Style

Giacomo Moretti; Samuel Rosset; Rocco Vertechy; Iain Anderson; Marco Fontana. A Review of Dielectric Elastomer Generator Systems. Advanced Intelligent Systems 2020, 2, 1 .

AMA Style

Giacomo Moretti, Samuel Rosset, Rocco Vertechy, Iain Anderson, Marco Fontana. A Review of Dielectric Elastomer Generator Systems. Advanced Intelligent Systems. 2020; 2 (10):1.

Chicago/Turabian Style

Giacomo Moretti; Samuel Rosset; Rocco Vertechy; Iain Anderson; Marco Fontana. 2020. "A Review of Dielectric Elastomer Generator Systems." Advanced Intelligent Systems 2, no. 10: 1.

Journal article
Published: 05 June 2020 in Actuators
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Up to date, Dielectric Elastomer Actuators (DEA) have been mostly based on either silicone or acrylic elastomers, whereas the potential of DEAs based on inexpensive, wide-spread natural and synthetic rubbers has been scarcely investigated. In this paper, a DEA based on a styrene-based rubber is demonstrated for the first time. Using a Lozenge-Shaped DEA (LS-DEA) layout and following a design procedure previously proposed by the authors, we develop prototypes featuring nearly-zero mechanical stiffness, in spite of the large elastic modulus of styrenic rubber. Stiffness compensation is achieved by simply taking advantage of a biaxial pre-stretching of the rubber DE membrane, with no need for additional stiffness cancellation mechanical elements. In the paper, we present a characterization of the styrene rubber-based LS-DEA in different loading conditions (namely, isopotential, isometric, and isotonic), and we prove that actuation strokes of at least 18% the actuator side length can be achieved, thanks to the proposed stiffness-compensated design.

ACS Style

Giacomo Moretti; Luca Sarina; Lorenzo Agostini; Rocco Vertechy; Giovanni Berselli; Marco Fontana. Styrenic-Rubber Dielectric Elastomer Actuator with Inherent Stiffness Compensation. Actuators 2020, 9, 44 .

AMA Style

Giacomo Moretti, Luca Sarina, Lorenzo Agostini, Rocco Vertechy, Giovanni Berselli, Marco Fontana. Styrenic-Rubber Dielectric Elastomer Actuator with Inherent Stiffness Compensation. Actuators. 2020; 9 (2):44.

Chicago/Turabian Style

Giacomo Moretti; Luca Sarina; Lorenzo Agostini; Rocco Vertechy; Giovanni Berselli; Marco Fontana. 2020. "Styrenic-Rubber Dielectric Elastomer Actuator with Inherent Stiffness Compensation." Actuators 9, no. 2: 44.

Journal article
Published: 03 October 2019 in Smart Materials and Structures
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ACS Style

Yi Chen; Lorenzo Agostini; Giacomo Moretti; Marco Fontana; Rocco Vertechy. Dielectric elastomer materials for large-strain actuation and energy harvesting: a comparison between styrenic rubber, natural rubber and acrylic elastomer. Smart Materials and Structures 2019, 28, 114001 .

AMA Style

Yi Chen, Lorenzo Agostini, Giacomo Moretti, Marco Fontana, Rocco Vertechy. Dielectric elastomer materials for large-strain actuation and energy harvesting: a comparison between styrenic rubber, natural rubber and acrylic elastomer. Smart Materials and Structures. 2019; 28 (11):114001.

Chicago/Turabian Style

Yi Chen; Lorenzo Agostini; Giacomo Moretti; Marco Fontana; Rocco Vertechy. 2019. "Dielectric elastomer materials for large-strain actuation and energy harvesting: a comparison between styrenic rubber, natural rubber and acrylic elastomer." Smart Materials and Structures 28, no. 11: 114001.

Journal article
Published: 17 June 2019 in Renewable Energy
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This paper introduces a theoretical and experimental study of a wave energy converter (WEC) that combines the two innovative concepts of U-oscillating water column (U-OWC) and dielectric elastomer generator (DEG) power take-off (PTO). The U-OWC is a type of oscillating water column that features a U-shaped duct that is introduced to tune its dynamics to a certain wave period without active means of phase-control. The DEG is a compliant polymeric generator that makes it possible to convert mechanical energy into electrical energy by exploiting the large deformations of elastomeric membranes. A lumped-parameter mathematical model of the proposed WEC has been set-up and a small-scale model/prototype has been preliminary tested in a benign real-sea environment. During experiments, relevant experimental data have been collected and used for assessing the reliability of the modelling approach. Beside the model validation, specific experiments have been conducted to test a simple but yet effective load shedding system based on the progressive opening of an air valve. Finally, a preliminary design of a full-scale U-OWC equipped with DEG-PTO has been studied through wave-to-wire analysis. The obtained numerical results show an overall performance that is comparable with that of more conventional, expensive and complex PTO technologies.

ACS Style

Giacomo Moretti; Giovanni Malara; Andrea Scialò; Luca Daniele; Alessandra Romolo; Rocco Vertechy; Marco Fontana; Felice Arena. Modelling and field testing of a breakwater-integrated U-OWC wave energy converter with dielectric elastomer generator. Renewable Energy 2019, 146, 628 -642.

AMA Style

Giacomo Moretti, Giovanni Malara, Andrea Scialò, Luca Daniele, Alessandra Romolo, Rocco Vertechy, Marco Fontana, Felice Arena. Modelling and field testing of a breakwater-integrated U-OWC wave energy converter with dielectric elastomer generator. Renewable Energy. 2019; 146 ():628-642.

Chicago/Turabian Style

Giacomo Moretti; Giovanni Malara; Andrea Scialò; Luca Daniele; Alessandra Romolo; Rocco Vertechy; Marco Fontana; Felice Arena. 2019. "Modelling and field testing of a breakwater-integrated U-OWC wave energy converter with dielectric elastomer generator." Renewable Energy 146, no. : 628-642.

Conference paper
Published: 13 February 2019 in Proceedings of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences
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This paper introduces the analysis and design of a wave energy converter (WEC) that is equipped with a novel kind of electrostatic power take-off system, known as dielectric elastomer generator (DEG). We propose a modelling approach which relies on the combination of nonlinear potential-flow hydrodynamics and electro-hyperelastic theory. Such a model makes it possible to predict the system response in operational conditions, and thus it is employed to design and evaluate a DEG-based WEC that features an effective dynamic response. The model is validated through the design and test of a small-scale prototype, whose dynamics is tuned with waves at tank-scale using a set of scaling rules for the DEG dimensions introduced here in order to comply with Froude similarity laws. Wave-tank tests are conducted in regular and irregular waves with a functional DEG system that is controlled using a realistic prediction-free strategy. Remarkable average performance in realistically scaled sea states has been recorded during experiments, with peaks of power output of up to 3.8 W, corresponding to hundreds of kilowatts at full-scale. The obtained results demonstrated the concrete possibility of designing DEG-based WEC devices that are conceived for large-scale electrical energy production.

ACS Style

Giacomo Moretti; Gastone Pietro Rosati Papini; Luca Daniele; David Forehand; David Ingram; Rocco Vertechy; Marco Fontana. Modelling and testing of a wave energy converter based on dielectric elastomer generators. Proceedings of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences 2019, 475, 20180566 .

AMA Style

Giacomo Moretti, Gastone Pietro Rosati Papini, Luca Daniele, David Forehand, David Ingram, Rocco Vertechy, Marco Fontana. Modelling and testing of a wave energy converter based on dielectric elastomer generators. Proceedings of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences. 2019; 475 (2222):20180566.

Chicago/Turabian Style

Giacomo Moretti; Gastone Pietro Rosati Papini; Luca Daniele; David Forehand; David Ingram; Rocco Vertechy; Marco Fontana. 2019. "Modelling and testing of a wave energy converter based on dielectric elastomer generators." Proceedings of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences 475, no. 2222: 20180566.

Journal article
Published: 20 December 2018 in Robotica
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SummaryThe paper presents physical modeling, design, simulations, and experimentation on a novel Soft Underwater Artificial Skin (SUAS) used as tactile sensor. The SUAS functions as an electrostatic capacitive sensor, and it is composed of a hyperelastic membrane used as external cover and oil inside it used to compensate the marine pressure. Simulation has been performed studying and modeling the behavior of the external interface of the SUAS in contact with external concentrated loads in marine environment. Experiments on the external and internal components of the SUAS have been done using two different conductive layers in oil. A first prototype has been realized using a 3D printer. The results of the paper underline how the soft materials permit better adhesion of the conductive layer to the transducers of the SUAS obtaining higher capacitance. The results here presented confirmed the first hypotheses presented in a last work and opened new ways in the large-scale underwater tactile sensor design and development. The investigations are performed in collaboration with a national Italian project named MARIS, regarding the possible extension to the underwater field of the technologies developed within the European project ROBOSKIN.

ACS Style

Giovanni Gerardo Muscolo; Giacomo Moretti; Giorgio Cannata. SUAS: A Novel Soft Underwater Artificial Skin with Capacitive Transducers and Hyperelastic Membrane. Robotica 2018, 37, 756 -777.

AMA Style

Giovanni Gerardo Muscolo, Giacomo Moretti, Giorgio Cannata. SUAS: A Novel Soft Underwater Artificial Skin with Capacitive Transducers and Hyperelastic Membrane. Robotica. 2018; 37 (4):756-777.

Chicago/Turabian Style

Giovanni Gerardo Muscolo; Giacomo Moretti; Giorgio Cannata. 2018. "SUAS: A Novel Soft Underwater Artificial Skin with Capacitive Transducers and Hyperelastic Membrane." Robotica 37, no. 4: 756-777.

Accepted manuscript
Published: 29 January 2018 in Smart Materials and Structures
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Dielectric elastomer generators (DEGs) are a class of capacitive solid-state devices that employ highly stretchable dielectrics and conductors to convert mechanical energy into high-voltage direct-current electricity. Their promising performance in terms of convertible energy and power density has been mostly proven in quasi-static experimental tests with prescribed deformation. However, the assessment of their ability in harvesting energy from a dynamic oscillating source of mechanical energy is crucial to demonstrate their effectiveness in practical applications. This paper reports a first demonstration of a DEG system that is able to convert the oscillating energy carried by water waves into electricity. A DEG prototype is built using a commercial polyacrylate film (VHB 4905 by 3M) and an experimental campaign is conducted in a wave-flume facility, i.e. an artificial basin that makes it possible to generate programmed small-scale waves at different frequencies and amplitudes. In resonant conditions, the designed system demonstrates the delivery of a maximum of 0.87 W of electrical power output and 0.64 J energy generated per cycle, with corresponding densities per unit mass of dielectric elastomer of 197 W/kg and 145 J/kg. Additionally, a notable maximum fraction of 18% of the input wave energy is converted into electricity. The presented results provide a promising demonstration of the operation and effectiveness of ocean wave energy converters based on elastic capacitive generators.

ACS Style

Giacomo Moretti; Gastone Pietro Rosati Papini; Michele Righi; David Forehand; David Ingram; Rocco Vertechy; Marco Fontana. Resonant wave energy harvester based on dielectric elastomer generator. Smart Materials and Structures 2018, 27, 035015 .

AMA Style

Giacomo Moretti, Gastone Pietro Rosati Papini, Michele Righi, David Forehand, David Ingram, Rocco Vertechy, Marco Fontana. Resonant wave energy harvester based on dielectric elastomer generator. Smart Materials and Structures. 2018; 27 (3):035015.

Chicago/Turabian Style

Giacomo Moretti; Gastone Pietro Rosati Papini; Michele Righi; David Forehand; David Ingram; Rocco Vertechy; Marco Fontana. 2018. "Resonant wave energy harvester based on dielectric elastomer generator." Smart Materials and Structures 27, no. 3: 035015.

Communication
Published: 15 July 2017 in Polymers
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This paper introduces a fabrication method and the experimental characterization of a soft polymeric energy converter manufactured using a combination of dielectric and conductive polydimethylsiloxane elastomers. The presented system is an inflated circular diaphragm dielectric elastomer generator; i.e., a deformable electrostatic transducer that converts the mechanical work done by a time-varying pressure into electricity. A prototype of the system is realized on the basis of a simple fabrication procedure that makes use of commercially available silicone dielectric elastomer films and custom-prepared deformable conductive electrodes. A test-bench is developed and employed to estimate the energy conversion performance. Remarkable results are obtained, such as an amount of energy converted per cycle of up to 0.3 J, converted power of up to 0.15 W, energy per unit of employed elastomer mass of up to 173 J/kg, and fraction of the input mechanical work converted into electricity of 30%.

ACS Style

Giacomo Moretti; Michele Righi; Rocco Vertechy; Marco Fontana. Fabrication and Test of an Inflated Circular Diaphragm Dielectric Elastomer Generator Based on PDMS Rubber Composite. Polymers 2017, 9, 283 .

AMA Style

Giacomo Moretti, Michele Righi, Rocco Vertechy, Marco Fontana. Fabrication and Test of an Inflated Circular Diaphragm Dielectric Elastomer Generator Based on PDMS Rubber Composite. Polymers. 2017; 9 (12):283.

Chicago/Turabian Style

Giacomo Moretti; Michele Righi; Rocco Vertechy; Marco Fontana. 2017. "Fabrication and Test of an Inflated Circular Diaphragm Dielectric Elastomer Generator Based on PDMS Rubber Composite." Polymers 9, no. 12: 283.