Publications

List of publications of people who are involved with our group

Electroactive polymers

Ionomers

2009

• Karl Kruusamäe, Paola Brunetto, Salvatore Graziani, Andres Punning, Giovanna Di Pasquale, Alvo Aabloo (2009) Self-sensing IPMC actuating device with patterned surface electrodes, Polymer International, accepted.
• Pugal, David; Jung, Kwangmok; Aabloo, Alvo; Kim, Kwang (2009) IPMC Mechanoelectrical Transduction Review and Perspectives, Polymer International, accepted.
• Andres Punning, Urmas Johanson, Mart Anton, Alvo Aabloo, and Maarja Kruusmaa (2009) A Distributed Model of Ionomeric Polymer Metal Composite, Journal of Intelligent Material Systems and Structures, published online.
• Viljar Palmre, Daniel Brandell, Uno Mäeorg, Janno Torop, Olga Volobujeva, Andres Punning, Urmas Johanson, Maarja Kruusmaa and Alvo Aabloo (2009) Nanoporous carbon-based electrodes for high strain ionomeric bending actuators, Smart Materials and Structures, 18, 095028 (7pp).
• Pugal, D.; Aabloo, A.; Kim, Kwang J (2009) Dynamic surface resistance model of IPMC, Proc. SPIE, Vol. 7289, 72891E
• Karl Kruusamäe, Andres Punning, Maarja Kruusmaa, Alvo Aabloo (2009) Dynamical variation of the impedances of IPMC, Proc. SPIE 7287, 72870V.
• Torop, J.; Arulepp, M.; Leis, J.; Punning, A.; Johanson, U.; Aabloo, A.(2009) Low voltage linear actuators based on carbide-derived carbon powder, Proc. SPIE 7287, 72870V.
• Must, I.; Anton, M.; Kruusmaa, M.; Aabloo, A. (2009) Linear modeling of elongated bending EAP actuator at large deformations, Proc. SPIE 7287, 72870V.
• Soolo, E.; Brandell, D.; Liivat, A.; Tamm, T.; Kasemägi, A.; Aabloo, A. (2009) Force Field Generation and Molecular Dynamics Simulations of Li⁺ - Nafion, Electrochimica Acta, accepted.
• Daniel Brandell, Heiki Kasemägi, Alvo Aabloo (2009),Poly(ethylene oxide)-poly(butadiene) interpenetrated networks as electroactive polymers for actuators: a molecular dynamics study, Electrochimica Acta, accepted.
• Punning, A.; Jalviste. E. (2009). Analytical Solution for Voltage-Step Response of Lossy Distributed RC Lines, IEEE Transactions on Microwave Theory and Techniques, 57, 2, 449 - 457.

2008

• Pugal D.; Kasemägi H.; Kruusmaa M.; and Aabloo A.: An advanced finite element model of IPMC, Electroactive Polymer Actuators and Devices (EAPAD) 2008 6927(1), SPIE, 2008
• M. Kruusmaa, A. Hunt, A. Punning. M. Anton, A. Aabloo, "A Linked Manipulator with Ionic Polymer Metal Composite (IPMC) Joints for Soft- and Micromanupulation", In Proceedings - IEEE International Conference on Robotics and Automation, p 3588-3593, 2008, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, download.
• M. Anton, A. Punning. A.Aabloo, M.Kruusmaa (2008) A Mechanical Model of a non-uniform bending ionomeric polymer metal composite (IPMC) actuator., Journ. of Smart Materials and Structures, 17, 025004.
• Pugal, D.; Kim, K.J.; Punning, A.; Kasemägi, H.; Kruusmaa, M.; Aabloo, A. (2008) Finite A self-oscillating ionic polymer-metal composite bending actuator, Journal of Applied Physics, 103,8
• Johanson,U.; Mäeorg, U.; Sammelselg, V.; Brandell, D; Punning, A.; Kruusmaa, M; Aabloo A. (2008) Electrode Reactions in Cu-Pt Coated Ionic Polymer Actuators., Sensors and Actuators B: Chemical, 31, 340-346.
• Punning, Andres (2007), Electromechanical Characterization of Ionic Polymer-Metal Composite Sensing Actuators, PhD Thesis, University of Tartu.
• Punning, A. ; Johanson, U.; Anton, M.; Kruusmaa, M.; Aabloo, A. distributed model of IPMC Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69270G-1-10, 27 March 2008
• Hunt, A. ; Punning, A.; Anton, M.; Aabloo, A.; Kruusmaa, M. A multilink manipulator with IPMC joints Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69271Z-1-9, 27 March 2008.
• Johanson, U. ; Punning, A.; Kruusmaa, M.; Aabloo, A. Self healing properties of Cu-Pt coated ionic polymer actuators Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69271Y-1-11, 27 March 2008.
• Soolo, E. ; Liivat, A.; Kasemagi, H.; Tamm, T.; Brandell, D.; Aabloo, A. A new force field for molecular dynamics studies of Li+ and Na+-nafion Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69270E-1-9, 27 March 2008.
• Brandell, D.; Kasemagi, H.; Citerin, J.; Vidal, F.; Chevrot, C.; Aabloo, A. Molecular dynamics studies of interpenetrating polymer networks for actuator devices Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 692727-1-11, 27 March 2008

2007

• Punning, A.; Kruusmaa, M.; Aabloo, A. (2007). A Self-Sensing Ionomeric Polymer Metal Composite (IPMC) Actuator. Sensors and Actuators A: Physical, 136, 656–664.
• Doyeon Kim and Kwang J. Kim, Yongsuk Tak, Deivid Pugal, Il-Seok Park (2007). Self-oscillating electroactive polymer actuator. Applied Physics Letters,90, 184104.
• Pugal, D., Kasemägi, H., Kim, KJ, Kruusmaa, M., and Aabloo, A.: Finite element simulations of the bending of the IPMC sheet, Proceedings of SPIE 6524, SPIE, 65240B, 2007
• Punning, A.; Kruusmaa, M.; Aabloo, A. (2007). Surface resistance experiments with IPMC sensors and actuators. Sensors and Actuators A: Physical, 133(1), 200 - 209.

2006

• Soolo, Endel; Karo, Jaanus; Kasemagi, Heiki; Kruusmaa, Maarja; Aabloo, Alvo (2006). Application of the Monte Carlo method for creation of initial models of EAP molecules for molecular dynamics simulation Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, California, USA; 27.02.-02.03.2006. Bellingham: SPIE, 2006, (Proceedings of SPIE - The International Society for Optical Engineering), 61682A.
• Brandell, Daniel; Ainla, Alar; Liivat, Anti; Aabloo, Alvo (2006). Molecular dynamics simulations of Li- and Na-nafion membranes. Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, California, USA; 27.02.-02.03.2006. Bellingham: SPIE, 2006, (Proceedings of SPIE - The International Society for Optical Engineering), 61680G.
• Punning, Andres; Anton, Mart; Kruusmaa, Maarja; Aabloo, Alvo (2006). Empirical model of a bending IPMC actuator. Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, California, USA; 27.02.-02.03.2006. Bellingham: SPIE, 2006, (Proceedings of SPIE - The International Society for Optical Engineering), 61681V.
• Anton, M.; Punning, A.; Aabloo, A.; Kruusmaa, M. (2006). Validating Usability of Ionomeric Polymer-Metal Composite Actuators for Real Life Applications. IROS 2006, IEEE/RSJ International Conference on Intelligent Robots and Systems; Beijing, China; 9-15 October, 2006. IEEE, 2006. download.

2005

• Punning, Andres ; Anton, Mart ; Kruusmaa, Maarja ; Aabloo, Alvo (2005). An Engineering Approach to Reduced Power Consumption of IPMC (Ion-Polymer Metal Composite) Actuators. In: Proceedings: 12th International Conference on Advanced Robotics (ICAR2005); Seattle, USA; 18.-20.07.2005. New York: IEEE, 2005, 856 - 863.

2004

• Anton, M.; Punning, A.; Aabloo, A.; Listak, M.; Kruusmaa, M. (2004). Towards a biomimetic EAP robot. Towards Autonomous Robotic Systems (TAROS 2004); Clochester, UK; 06.-08.19.2004. Clochester, UK: University of Essex, 2004, (Technical Report Series), 1 - 7. download.
• Punning, A.; Anton, M.; Kruusmaa, M.; Aabloo, A. (2004). A Biologically Inspired Ray-like Underwater Robot with Electroactive Polymer Pectoral Fins. IEEE Confrence "Mechatronics and Robotics 2004" (MechRob04); Aachen, Germany; 13.-15.09.2004. Aachen: Eysoldt, 2004, (2), 241 - 245. download.

Conductive polymers

• Raudsepp, T.; Marandi, M.; Tamm, T.; Sammelselg, V.; Tamm, J. (2008). Study of the factors determining the mobility of ions in the polypyrrole films doped with aromatic sulfonate anions. Electrochimica Acta, 53, 3828 - 3835.
• Tamm, J.; Raudsepp, T.; Marandi, M.; Tamm, T.(2007) Electrochemical properties of the polypyrrole films doped with benzenesulfonate. Synthetic Metals, v 157, n 1, p 66-73
• P. Burk, I. Rauk, T. Tamm, Comparative semiempirical, ab initio, and DFT study of interactions between polypyrrole pentamer dicatio and some anions, Proc. Estonian Acad. Sci. Chem. 2005, v 54, p 85-93.
• Tamm, T.; Tamm, J.; Karelson, M. (2005). Complexes of oligopyrrole dications with inorganic anions: a comparative theoretical HF/post-HF study. Synthetic Metals, 149(1), 47 - 52.
• Johanson, U.; Marandi, M.; Tamm, T.; Tamm, J. (2005). Comparative study of the behavior of anions in polypyrrole films. Electrochimica Acta, 50(7-8), 1523 - 1528.
• Tamm, J.; Johanson, U.; Marandi, M.; Tamm, T.; Tamm, L.; Study of the properties of electrodeposited polypyrrole films, Russian J. Electrochem., 2004, 40, 388-392.
• Tamm, T.; Tamm, J.; Karelson, M. (2002). Theoretical study of the effect of counterions on the structure of pyrrole oligomers. International Journal of Quantum Chemistry, 88(2), p 296 - 301.
• J. Tamm, A. Alumaa, A. Hallik, U. Johanson, L. Tamm, T. Tamm, Influence of anions on electrochemical properties of polypyrrole-modified electrodes, Russian J. Electrochem.,2002, 38, p 210-216.
• Tamm, T.; Tamm, J.; Karelson, M. (1999). A quantum-mechanical study of oxidized oligopyrroles. International Journal of Quantum Chemistry, 71(1), 101 - 109.

Polymer electrolytes

• Jaanus Karo, Daniel Brandell (2009), A Molecular dynamics study of the influence of side-chain length and spacing on lithium mobility in non-crystalline LiPF6-PEO; x10 and 20, Solid State Ionics, 180,1272-1284.
• Anti Liivat, Daniel Brandell, Alvo Aabloo, J.O. Thomas (2007), A Molecular Dynamics Study of Short-Chain Ordering in Crystalline LiPF₆PEO₆, Polymer, 48,6448-6456
• Anti Liivat, Daniel Brandell and J.O. Thomas (2007), A molecular dynamics study of ion conduction mechanisms in crystalline low-Mw LiPF₆•PEO₆, Journal of Materials Chemistry, 17, 3938-3946.
• Daniel Brandell, Jaanus Karo, Anti Liivat and John O. Thomas (2007), Molecular Dynamics Studies of the Nafion®, Dow® and Aciplex® Fuel-Cell Polymer Membrane Systems, J Molecular Modelling,13, 1039 - 1046.
• Brandell, Daniel; Ainla, Alar (2007). Nafion-Polybenzimidazole (PBI) Composite Membranes for DMFC Applications. Solid State Ionics, 178, 581 - 585.
• Liivat, Anti.(2007) Ordering in Crystalline Short-Chain Polymer Electrolytes, PhD thesis, Uppsala University.
• Liivat, A.; Aabloo, A.; Thomas, JO. (2005). Development of a force field for Li2SiF6 Journal of Computational Chemistry, 26(7), 716 - 724.
• Brandell, D.; Liivat, A.; Kasemagi, H.; Aabloo, A.; Thomas, JO. (2005). Molecular dynamics simulation of the LiPF₆ center dot PEO₆ structure. Journal of Materials Chemistry, 15, 1422 - 1428.
• Karo, J.; Aabloo, A.; Thomas, J. (2005). A molecular dynamics study of the effect of side-chains on mobility in a polymer host. Solid State Ionics, 176, 3041 - 3044.
• Brandell, D.; Liivat, A.; Aabloo, A.; Thomas, JO. (2005). Molecular dynamics simulation of the crystalline short-chain polymer system LiPF₆ center dot PEO₆ (M-w similar to 1000). Journal of Materials Chemistry, 15, 4338 - 4345.
• Brandell, D.; Liivat, A.; Aabloo, A.; Thomas, JO. (2005). Conduction mechanisms in crystalline LiPF6.PEO6 doped with SiF62- and SF6. Chemistry of Materials, 17, 3673
• Thomas, Josh; Kasemagi, Heiki; Aabloo, Alvo (2005). Combining MD and FEA in 3-D micro- And nanoscale battery design. In: Meeting Abstracts: 208th Meeting of The Electrochemical Society; Los Angeles, CA, USA; 16.-21.10.2005. Electrochemical Soc Inc, 2005, 2310.
• Kasemagi, H.; Aabloo, A.; Klintenberg, MK.; Thomas, JO. (2004). Molecular dynamics simulation of the effect of nanoparticle fillers on ion motion in a polymer host. Solid State Ionics, 168(3-4), 249 - 254.
• Kasemagi, H.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2003). Molecular dynamics simulation of temperature and concentration dependence of the 'filler' effect for the LiCl/PEO/Al₂O₃-nanoparticle system. Electrochimica Acta, 48(14-16), 2273 - 2278.
• Hektor, A.; Klintenberg, MK.; Aabloo, A.; Thomas, JO. (2003). Molecular dynamics simulation of the effect of a side chain on the dynamics of the amorphous LiPF₆-PEO system. Journal of Materials Chemistry, 13(2), 214 - 218.
• Brandell, D.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2002). Optical absorption spectra from rare-earth ions in polymers: The effect of the polymer host. Macromolecular Symposia, 186, 51 - 56.
• Kasemagi, H.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2002). Molecular dynamics simulation of the LiBF₄-PEO system containing Al₂O₃ nanoparticles. Solid State Ionics, 147(3-4), 367 - 375.
• Brandell, D.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2002). The effect of polymer host on optical absorption spectra for Er(CF₃SO₃)(3) in poly(ethylene oxide). Journal of Materials Chemistry, 12(3), 565 - 569.
• Aabloo, A.; Thomas, J. (2001). Molecular dynamics simulation of lithium ion mobility in a PEO surface. Solid State Ionics, 143(1), 83 - 87.
• Kasemagi, H.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2001). Molecular dynamics simulation of the effect of adding an Al₂O₃ nanoparticle to PEO-LiCl/LiBr/LiI systems. Journal of Materials Chemistry, 11(12), 3191 - 3196.
• Brandell, D.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2000). Calculation of the optical absorption spectrum of ErCl₃ in poly(ethylene oxide) (PEO). International Journal of Quantum Chemistry, 80(4-5), 799 - 806.
• Aabloo, A.; Klintenberg, M.; Thomas, JO. (2000). Molecular dynamics simulation of a polymer-inorganic interface. Electrochimica Acta, 45(8-9), 1425 - 1429.
• Aabloo, A.; Thomas, JO. (1998). Molecular dynamics simulation of Nd³⁺ ions in a crystalline PEO surface. Electrochimica Acta, 43(10-11), 1361 - 1364.
• Aabloo, A.; Thomas, J. (1997). Molecular dynamics simulations of a poly(ethylene oxide) surface. Computational and Theoretical Polymer Science, 7(1), 47 - 51.
• Aabloo, A.; French, AD. (1994). Preliminary potential-energy calculations of cellulose i-alpha crystal-structure. Macromolecular Theory and Simulations, 3(1), 185 - 191.
• Aabloo, A.; French, AD.; Mikelsaar, RH.; Pertsin, AJ. (1994). Studies of crystalline native celluloses using potential-energy calculations. Cellulose, 1(2), 161 - 168.
• French, AD.; Miller, DP.; Aabloo, A. (1993). Miniature crystal models of cellulose polymorphs and other carbohydrates. International Journal of Biological Macromolecules, 15(1), 30 - 36.

Robotics and path planning

• M. Kruusmaa, Y. Gavshin, A. Eppendahl (2007), Don't Do Things You Can't Undo: Reversiblity Models for Generating Safe Behaviour, in Proc, of the IEEE Conf. on Robotics and Automation (ICRA 2007) download.
• Kristo Heero, Path planning and learning strategies for mobile robots in dynamic partially unknown environments, Ph.D. Thesis, Tartu University, 2006
• Willemson, Jan; Kruusmaa, Maarja (2006). Algorithmic Generation of Path Fragment Covers for Mobile Robot Path Planning. In: Intelligent Systems: 3rd International IEEE Conference; London, UK; 04.-06.09.2006. (Toim.) Chountas, P.; Kacprzyk, J.; Ptrounias, I.; Yager, R.. New York: IEEE, 2006, 673 - 678.
• A. Eppendahl and M. Kruusmaa (2006), Obstacle avoidance as a consequence of suppressing irreversible actions, in Proceedings of the Sixth International Workshop on Epigenetic Robotics, Lund University Cognitive Studies, vol. 128. download.
• Heero, K.; Kruusmaa, M.; Aabloo, A. (2005). On the Utility of Exploration on Time-Critical Mobile Robot Missions. In: Proceedings: 2nd European Conference on Mobile Robots (ECMR05); Ancona, Italy; 07.-10.09.2005. Macerata: Edizioni Simple, 2005, 152 - 157. download.
• Heero, K.; Kruusmaa, M.; Aabloo, A. (2005). Learning innovative routes for mobile robots in dynamic partially unknown environments. International Journal of Advanced Robotic Systems , 2(3), 209 - 222. download.
• Heero, K.; Kruusmaa, M.; Willemson, J.; Aabloo, A. (2004). Robots Find a Better Way: A Learning Method for Mobile Robot Navigation in Partially Unknown Environments. Groen, F.; Amato, N.;Bonarini, A.; Yoshida, E.; Kröse, B. (Toim.). Intelligent Autonomous Systems (559 - 566). Amsterdam: IOS Press. download.
• Kruusmaa, M. (2003). Global level path planning for mobile robots in dynamic environments. Journal of Intelligent & Robotic Systems, 38(1), 55 - 83.
• Kruusmaa, M. (2003). Global navigation in dynamic environments using case-based reasoning. Autonomous Robots, 14(1), 71 - 91.
• Kruusmaa, M.; Willemson, J. (2003). Covering the path space: a casebase analysis for mobile robot path planning. Knowledge-Based Systems, 16(5-6), 235 - 242.
• Heero, K.; Kruusmaa, M.; Willemson, J. (2003). Path Selection for Mobile Robots in Dynamic Environments. In: Proceedings: 1st European Conference on Mobile Robots (ECMR 2003); Radziejowice, Poland; 04.-06.09.2003. Warszawa:, 2003.
• Listak, Madis; Martin, Georg; Kruusmaa, Maarja (2003). Automatic image detection system - a tool for monitoring underwater macrovegetation. Baltic Sea Science Congress, Helsinki, August 24th - 28th, 2003. , 2003.
• Kruusmaa, M.; Willemson, J. (2002). Covering the Path Space: A Casebase Analysis for Mobile Robot Path Planning. In: Research and Development in Intelligent Systems XIX: 22nd SGAI International Conference on Knowledge Based Systems and Applied Artificial Intelligence; Cambridge, UK; DEC 2002. (Toim.) Bramer, M.; Preece, A.; Coenen, F.. London: Springer, 2002, (BCS Conference Series), 1 - 16.
• Kruusmaa, M. (2001). Repeated Path Planning For Mobile Robots In Uncertain Environments. In: Proceedings of the IASTED: IASTED International Conference of Robotic and Applications; Tampa, Florida; 19-22 November, 2001, . , 2001.

An Underwater vehicle for environmental monitoring

• Madis Listak, A Task-Oriented Design of a Biomimetic Underwater Vehicle, Ph.D. Thesis, Tallinn University of Technology, 2007
• Listak, Madis; Pugal, Deivid; Kruusmaa, Maarja (2007). Computational Fluid Dynamics Simulations of a Biomimetic Underwater Robot. 13th International Conference on Advanced Robotics , Korea, Jeju, 21-24 August, 2007. IEEE, 2007, 314 - 319. download.
• Listak, Madis; Pugal, Deivid; Kruusmaa, Maarja (2007). Biomimetic fish-like underwater robot for shallow water applications. 13th International Conference on Advanced Robotics , Korea, Jeju, 21-24 August, 2007. IEEE, 2007, 332 - 336. download.
• Listak, M.; Martin, G.; Pugal, D.; Aabloo, A.; Kruusmaa, M. (2005). Design of a semiautonomous biomimetic underwater vehicle for environmental monitoring. 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA 2005); Espoo, Finland; 27.06.-30.06.2005. New York: IEEE, 2005, 9 - 14. download
• Listak, Madis; Martin, Georg; Pugal, David; Aabloo, Alvo; Kruusmaa, Maarja (2005). Task-oriented Design of an Underwater Vehicle for Environmental Monitoring in The Baltic Sea. In: Proceedings of the IARP: International Workshop on Underwater Robotics (IWUR 2005); Genova, Italy; 09.-11.11.2005. Genova: IARP, 2005. download.
• Listak, M.; Kruusmaa, M. (2004). Buoyancy Control of a Semiautonomous Underwater Vehicle for Environmental Monitoring in Baltic Sea . In: Proceedings of the International IEEE Conference Mechatronics and Robotics 2004 (MechRob'04): Aachen:, 2004, (2), 252 - 257. download.
• Listak, Madis; Martin, Georg; Kruusmaa, Maarja (2004). Light Control Method for Automatic Benthic Algae Recognition. The XVIIIth International Seaweed Symposium Bergen, Norway, June 20-25, 2004. , 2004.
• Listak, Madis; Martin, Georg; Kruusmaa, Maarja (2003). Using image analysis for calculating the overall coverage of underwater vegetation in Baltic Sea region. In: Visualization, Imaging and Image Processing (VIIP 2003): IASTED conference on "Visualization, Imaging and Image Processing" (VIIP 2003), Benalmadena, Spain 2003. (Toim.) M.H.Hamza., 2003, (1), 472 - 477.