Publications

List of publications of people who are involved with our group

Electroactive polymers

IPMC

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 Proc. of IEEE ICRA 2008, to appear M. Anton, A. Punning. A.Aabloo, M.Kruusmaa "A Mechanical Model of a non-uniform bending ionomeric polymer metal composite (IPMC) actuator," Journ. of Smart Materials and Structure, IoP, to appear.

• Pugal, D.; Kim, K.J.; Punning, A.; Kasemägi, H.; Kruusmaa, M.; Aabloo, A. (2007) Finite Element model of a Self-Oscillating IPMC, Journal of Applied Physics, Accepted
• Johanson,U.; Mäeorg, U.; Sammelselg, V.; Brandell, D; Punning, A.; Kruusmaa, M; Aabloo A. (2007) Electrode Reactions in Cu-Pt Coated Ionic Polymer Actuators, Sensors and Actuators B: Chemical,Accepted.
• Punning, Andres (2007), Electromechanical Characterization of Ionic Polymer-Metal Composite Sensing Actuators, PhD Thesis, University of Tartu.
• 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.
• 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.
• 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.
• 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.

Polypyrrole

• 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.

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.
• 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.

Polymer electrolytes

• 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, 37, 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.

An Underwater vehicle for environmental monitoring

• 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.