The Jellyfish: Smart Electro-Active Polymers for an autonomous

distributed sensing node

John B. Blottman,* Roger T. Richards
Naval Undersea Warfare Center, Division Newport, 1176 Howell Street, Newport, RI 02841-1708

ABSTRACT

The US Navy has recently placed emphasis on deployable, distributed sensors for Force Protection, Anti-Terrorism and
Homeland Defense missions. The Naval Undersea Warfare Center has embarked on the development of a self-contained
deployable node that is composed of electro-active polymers (EAP) for use in a covert persistent distributed
surveillance system.

Electro-Active Polymers (EAP) have matured to a level that permits their application in energy harvesting,
hydrophones, electro-elastic actuation and electroluminescence. The problem to resolve is combining each of these
functions into an autonomous sensing platform. The concept presented here promises an operational life several orders
of magnitude beyond what is expected of a Sonobuoy due to energy conservation and harvesting, and at a reasonable
cost.

The embodiment envisioned is that of a deployed device resembling a jellyfish, made in most part of polymers, with the
body encapsulating the necessary electronic processing and communications package and the tentacles of the jellyfish
housing the sonar sensors. It will be small, neutrally buoyant, and will survey the water column much in the manner of
a Cartesian Diver. By using the Electro-Active Polymers as artificial muscles, the motion of the jellyfish can be finely
controlled. An increased range of detection and true node autonomy is achieved through volumetric array beamforming
to focus the direction of interrogation and to null-out extraneous ambient noise.

Keywords: Distributed Sensing; Electro-active Polymer; Energy harvesting; Sonar

1. INTRODUCTION

1.1. Navy trends and direction

The United States Navys SEAPOWER 21 Anti-Submarine Warfare (ASW) Operational Construct1 is based upon a
Netcentric Warfare (NCW) Model to 1) hold enemy combatants at risk, 2) establish a maritime shield surrounding the
Sea Base, and 3) maintain a Protected Passage for friendly combatants and logistic units. The Construct requires a
distributed field of ASW sensors, analogous to traditional sonobuoys but with an additional function that the field be
persistent2. This dictates orders of magnitude reduction in energy requirements because it is simply not currently
possible to store the energy needed to operate the sensors for the requisite operational service life.

The novel design concepts described in this paper strive to capitalize on the emerging field of Smart Electro-Active
Polymers (EAP) as a disruptive technology that will break the normal evolutionary engineering design path and
enable a dramatic step forward. These smart materials exhibit specialized underwater acoustic and electromechanical
properties that are attractive in their potential for dramatically reducing the energy requirements, as well as developing
methods of harvesting energy from the surrounding environment.

*
blottmanjb@npt.nuwc.navy.mil; voice 1 401 832-5112; fax 1 401 832-6401; www.npt.nuwc.navy.mil

Unattended Ground, Sea, and Air Sensor Technologies and Applications VIII,
edited by Edward M. Carapezza, Proc. of SPIE Vol. 6231,
62311E, (2006) 0277-786X/06/$15 doi: 10.1117/12.673124

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 1.2. Electro-active polymer materials
Electro-active Polymers convert energy back and forth between mechanical and electrical forms. When electric fields
are applied to these materials, they exhibit changes in polarization that result in mechanical deformations. Similarly,
stressing these polymers mechanically can bring about changes in electrical polarization. The magnitudes of the
generated electromechanical displacements are related to the elastic and electrical energies of the electroactive
polymers.

There are three necessary requirements of a deployable sensor that are addressed with EAP materials. 1) Polymers can
be used as the sonar signal sensing element, i.e. convert the oscillating pressure in the water into electrical energy for
analysis of the signal. This is conventionally accomplished by hydrophones constructed with PZT ceramics. Electro-
active polymers are better matched to the density sound-speed product (
c) of water and produce a much smaller sonar
target strength for counter detection. 2) Electro-active polymers can be used as a source of prime power for operating
the deployed device, by converting wave motion or the resulting pressure fluctuations into electrical power3. This is an
emerging field referred to as energy scavenging or energy harvesting. 3) The high energy density and power output
of electro-active polymers can be harnessed as artificial muscles to provide activation and position control. An
essential fourth application of polymers, but not of the electro-active variety, is as encapsulants. To keep the device
small and functioning underwater for long periods of time, novel encapsulants are required. The size of the
miniaturized device is controlled by the thickness of the encapsulant necessary to meet an extended operating lifetime.

1.3. The Jellyfish

The embodiment is inspired by the jellyfish4 but is not biomimetics. The Jellyfish follows a fundamental form and some
features of the biological animal, but must satisfy the functions required of a distributed sensing node. The design
incorporates elements gleaned from biological and engineering literature5. The device is a composite structure, in the
main engineered from EAP to perform each of the functions defined. The hydrodynamic design emulates the
biomechanics of natural jellyfish and the mechanics of a Cartesian Diver. The path the device takes as it descends or
ascends in the water column is governed by the shape and orientation of the structure. Changing the gravitational or
buoyancy force controls the net vertical force. The orientation of the device is controlled by adjustments to the location
of the center-of-gravity. Live jellyfish propel themselves through the water by periodic constriction of the bell (i.e. the
dome shaped body section). The energetics of the device provides a means for adjustment of control surfaces and thrust
by the jetting action produced from constriction of the bell.

2. ENABLING TECHNOLOGIES

2.1. EAP as sensing materials

It has been well established that polyvinylidene fluoride (PVDF) or its copolymer with trifluoroethylene [P(VDF/TrFE)]
can be processed into a piezoelectrically active material capable of sensing underwater acoustic energy and can be used
to generate sound. In addition to their light-weight and good acoustic impedance match with seawater (The actual
density of PVDF and its copolymer is about 1.8 g/cm3 and the acoustic impedance is 2.5 Mrayls, which is close to the
acoustic impedance of water, 1.5 MRayls), these polymers can be fabricated into sensing devices with a wide variety of
novel shapes. The technology for incorporating PVDF and P(VDF/TrFe) into underwater acoustic transducers has been
under development for a number of years in several laboratories including the Naval Undersea Warfare Center and the
Pennsylvania State University with hydrophone designs constructed for pressure, pressure-gradient, or vector sensing.

2.2. EAP as energy-harvesting materials

For underwater energy-harvesting applications, grafted block polymers based on the electroactive terpolymers
developed by Professor Qiming Zhang of Pennsylvania State University offer a promising approach for a material
capable of exhibiting multifunctional properties necessary for the Jellyfish device6. The terpolymers are P(VDF/TrFe)
based structures with small levels of chlorine substitution in the polymer chains. The terpolymers behave as
electrostrictive materials where electric fields can generate high strains and conversely, mechanical motion can produce

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 changes in polarization, when biased under a DC electrical field7. For a material to be used for energy harvesting, there
are several considerations: (1) the acoustic impedance matching to water so that the mechanical energy in the ocean
wave can be effectively transmitted into the energy harvesting material; (2) high elastic energy density since the output
electric energy density is equal to the product of the efficiency times the elastic energy density stored; (3) high
electromechanical conversion efficiency. The electrostrictive terpolymers meet these three requirements.8,9 A theoretical
maximum to the harvestable electric energy density has been shown at 900mJ/cm3 where the electrical boundary
condition maintains an electric field over the energy harvesting cycle.10 In a recent experiment, it was demonstrated that
an electric output of 40 mJ/cm3 can be obtained with the electroactive polymer and an energy conversion efficiency of
10% was achieved. The output electric energy density is more than 20 times higher than the values reported in earlier
works.3,11

2.3. EAP as artificial muscle materials

An artificial muscle must possess certain strain, stress, efficiency, and power density attributes. To support the notion
that terpolymers can also behave as artifical muscles, it has been estimated that for electrostrictive P(VDF/TrFE/CFE)
terpolymers, the maximum strain, work and power output for the transverse strain which will be used in actuation, are
5%, 0.3 kJ/kg, and 0.5 kW/kg at 2 Hz, respectively12. These terpolymers can now be produced in relatively large
quantities (>2 kg per batch), which make it possible to fabricate prototype devices. More recently in Professor Zhangs
group, using the fully functionalized polymer approach where a high dielectric constant CuPc oligomer and conductive
polymer PANI oligomer are directly grafted to a polyurethane backbone, a high dielectric constant (~1,000) and very
high strain response can be induced. A longitudinal strain of -13% under 27 MV/m and a transverse strain of 7% under
23 MV/m have been achieved. However, these are laboratory results; to fully exploit the potential artificial muscle
attributes of the terpolymers and the fully functionalized polymers, several major issues must still be explored.

2.4. EAP as communication media

A variety of electroluminescent organic polymers are available for incorporation into the body of the jellyfish to provide
light emission signals13,14. Electroluminescent polymers are long chain hydrocarbon-based conjugated molecules
featuring alternating single and double carbon bonds. When an electrical field is applied, the electroluminescent
polymer is converted into a high-energy electronic excited state that is capable of photon emission. A wide range of
colors can be achieved by blending different polymers together or by changing their chemical composition. The
intensity of the light is proportional to the current drawn. Poly(phenylene vinylene), polythiophenes, cyanopolymers,
and carbazole-containing polymers compounds all exhibit light emission properties. The light emission of
electroluminescent polymers can be detected with suitable optical configurations at large distances and with great
sensitivity.

2.5. Nanocomposite polymers as encapsulant

Materials for encapsulating undersea sensors must be acoustically transparent and exhibit low water permeability. The
flux of the permeating water is directly proportional to the permeability of the encapsulant and inversely proportional to
the thickness of the coating. Current polyurethane materials must be applied in thick layers to compensate for their
relatively high permeability, or more hydropobic non-polar polymers such as EPDM and butyl rubber must be molded
and bonded to the device. These alternative elastomers are more difficult to work with and bond to other substrates.

Recent developments in nanotechnology have produced polymeric materials modified by clay mineral nanoparticles that
greatly improve the barrier properties15. Special chemical treatments applied to the clay particles allow polymer
molecules to penetrate between the individual silicate sheets comprising the clay particles. Processing allows the
individual silicate sheets (also called platelets) to adopt intercalated or completely exfoliated geometries. The platelets
are impermeable in their thickness direction. Thus, permeating molecules cannot pass quickly or directly through such a
composite; instead, they are forced to follow long, tortuous paths. With the proper composite particulate geometry, the
net permeability can be reduced by orders of magnitude.

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 Because each individual clay particle contains thousands (perhaps millions) of silicate sheets, the amount of clay that
must be added to a polymer to achieve an order of magnitude or two reduction in permeability is low (ca. 2% - 5% by
weight). This is advantageous for acoustic encapsulant coatings because the load of filler particles affects critical
acoustic properties. Nanocomposite technology should allow the manufacture of a very thin, acoustically clear coating
that will provide the same degree of water barrier protection as traditional polymer coating that are 10 100 times
thicker. The development of acoustically clear polymer-clay nanocomposites is presently underway at NUWC Division
Newport

2.6. Polymeric-electrolyte-membrane fuel cell

During operation for extended durations, environmental conditions, i. e., wind power, ocean current power, etc, may not
be able to provide continuous power. Therefore, the device incorporates an additional energy-harvesting system for
redundancy. Although several types of fuel cells capable of generating the required electrical power are candidates as a
secondary source of energy16, the focus here is on the polymeric-electrolyte-membrane (PEM) fuel cell. The light-
weight, compactness and relatively low operating temperature of polymer-based devices are attractive features for a
jellyfish that must be supple and agile when navigating in the ocean. When methanol is supplied to a PEM fuel cell,
oxidation takes place in the anode compartment, liberating electrons that flow through an external circuit to provide
electrical energy. The anodic reaction also generates protons that diffuse through a membrane into a cathode
compartment where the electrons combine with the protons and oxygen gas to produce water. The overall energy
released by the oxidation of methanol is 21 kJ/gram. When considered with the power requirements of the proposed
jellyfish, this energy is sufficient to provide power over a 7-day duration.

True autonomy requires an alternative fuel cell concept such as one employing a microbial source17, charged by
nutrients harvested from the ocean through a semi-permeable membrane on the jellyfish bell surface, for example,
Plankton Power, as labeled by researchers at Oregon State University18. Here the flow of the device through the ocean
current collects nutrients that feed bacteria grown on the anode of a fuel cell. As the organic matter is digested by the
bacteria, highly charged chemical species are formed, creating a voltage gradient that can produce electricity. The
power density is dependent on the amount of plankton and nutrients from the water column and temperature.19 The
harvested energy would be converted to higher voltage and stored in polymer capacitors. This approach allows for the
generation of electricity without the need for cumbersome and heavy batteries.

3. APPLICATION CONCEPTS

3.1. Distributed sensing node

The embodiment is that of a network of semi-autonomous nodes deployed from an A-size Sonobuoy canister into a
forward operating area for choke point control or harbor surveillance. The neutrally buoyant platform will remain
below the ocean surface and swim against the ocean current. Each node will consist of multiple acoustic sensors
extending below the main body as tentacles on a jellyfish. The sonar receive elements housed in the tentacles will also
be polymer rather than the very dense PZT traditionally used in Navy sonar systems. This volumetric array will provide
directional information after a detection has been obtained.

The body of the jellyfish-like device will contain the processing, communications and energy storage systems. In order
to provide the needed extended lifetime, energy will be harvested from the motion of the water and stored in lightweight
polymer capacitors. The entire device will be neutrally buoyant. This is made possible by fabricating the majority of
the device from various specialized polymer components that are nearly
c matched to water. The device would then
be difficult to detect by unfriendly sonar systems.

The main mode of travel through the water column will be passive drifting similar to that of a Cartesian Diver20.
However, it will be necessary to provide some station-keeping feature to remain near its original drop point. This will
require that the device be self-propelled. The electro-active polymers serve as artificial muscles for activating control
surfaces on the device, which will enable the device to tack through the currents much in the manner of a sailboat
tacking to the wind. In the presence of light currents this may provide all of the needed propulsive force to maintain the

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 device in the desired location. In higher currents it will be necessary to provide supplemental propulsion, or additional
energy in the form of a fuel cell to combat the current.

A polymeric-electrolyte-membrane fuel cell provides the additional energy needs. The carbon-dioxide gas that is
generated as a by-product of feeding the fuel cell will provide a source of buoyancy control that is required by the
Cartesian Diver. Increasing the carbon-dioxide store will increase the buoyancy and raise the jellyfish, decreasing the
gas store will decrease buoyancy and the jellyfish will dive.

For covert operation, it may be prudent to scuttle the jellyfish. This may be achieved by designing a biodegradable
encapsulant that becomes hydrophilic over time, or creating a permanent negative buoyancy upon command or mission
timing.

3.2. Large area sensing array

A cluster of jellyfish form a network of semi-autonomous nodes deployed from the Sonobuoy. Each node will survey
the water column around station, but remain on standby until a detection is made. The tentacles of the jellyfish form a
volumetric array to introduce acoustic nulls that can be steered toward surface traffic, thereby concentrating on
submerged targets. Populating the water column with a cluster of nodes will permit a three-dimensional interrogation of
the surrounding region using adaptive beamforming techniques to capitalize on the non-symmetric noise field.

At an appropriate time following a detection the device must communicate its findings. Transmission methods follow
one of two scenarios, based upon mission.

In a traditional distributed network deployment senario, the node communicates via acoustic modem to the now drifting
Sonobuoy. Tethered to the Sonobuoy will be a vertical line-array of vector sensors that receives the ACOMM packet
and determines the bearing of the reporting jellyfish. The range is deduced by the syncronized timing of the received
signal. The target location is obtained by triangulation on multiple contacts. The Sonobuoy may then report the
detection via a VHF radio or Iridium satellite link. The report consists of, location, time and signature of the received
signal. The ACOMM system will greatly increase complexity and energy expense of the system.

In a low-energy deployment scenario, each node will have minimal on-boards smarts to determine detection and
location independently via a digital compass and volumetric beamforming. Incorporating electroluminescence into the
bell of the jellyfish and employing optical coverage by satellite or over-flight imaging removes the requirement for an
RF communications link and reduces energy needs. Triggering the luminescence of the polymer covering of the
jellyfish bell signals detection. Since the color of the fluorescence is actually selectable, using a color-coded rosette
could signal additional information such as location of the target by quadrant. Off-board processing on multiple
reporting nodes may reduce false alarm rates and permit identification of target path and speed. This would provide a
more stealthy communication link than radio transmission. Selection of florescences must minimize the effects of cloud
cover. Note that bells of live jellyfish can easily exceed three feet in diameter.

3.3. Energy assessment

Energy requirements involve the electronic system needs and the hydrodynamic propulsion needs. The operational
construct is designed to minimalize these requirements by remaining on standby until detection occurs and surveying
the water column by passive drifting.

The biomechanical behavior of jellyfish has been a subject of study for twenty years. Mathematical models of the
hydrodynamics of jellyfish demonstrate the thrust generated by jetting of the bell, the force generated by accelerating
water around the body and the drag resistance.21,22,23 From these forces, empirical relations between size, shape and
behaviorial parameters provide a "cost of transport" measure of energy needs. For the aurelia aurita jellyfish24,
hydrodynamic performance range from 0.03 to 1.4 J/kg-m. For PVDF, the density is 1.8e-3 kg/cm3, thus in a 1 knot
current (0.5m/s), the "cost of transport" is about 1.3e-3 W/cm3. From this, an estimate for the energy requirements
may be scaled.

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 The electronic requirements are minimal, and of short duration energy needs. Considering COTS electronic systems,
a Garmin GPS-15 receiver draws 0.280 W; a Sparton SP3000D digital compass draws 0.015W, and a handheld Yaesu
VX-2R VHF transceiver requires 1.5W. The total energy requirements for electronics are approximately 2W peak.

Previous energy harvesting efforts, such as the PVDF based DARPA electric eel25 was projected to produce 3W for a
310cm2 active crossection and 20 cm long eel at 1 knot current (0.5m/s)26. That's 4.8e-4 W/cm3. New advances in
terpolymers are projected to produce 0.4W/cm3 of power at 1Hz; several orders of magnitude improvement11. An
equivalent sized electric eel would then provide 240 Watts of power, and draw about 10 W. Of course the design will
be much more complicated than this and must be further developed.

3.4. Technology transfer

The nature of the Jellyfish platform is conducive to application wherever environmental monitoring is required.
Measurements of environmental factors such as current, temperature, depth, salinity or chemical content may be
incorporated into the design to detect and report changes to the ambient field. This broad scope of applications make the
design suitable for use by the Environmental Protection Agency programs for water quality monitoring where
Biochemical Oxygen Demand (BOD) is measured by diffusion27. The National Oceanic and Atmospheric
Administration and European Space Agency studies of El Nino Southern Oscillations (ENSO) monitor ocean currents
and temperature profiles by relying on satellite sensing that is limited to ocean surface, or shallow water monitoring28.
These studies would benefit from the persistent, three-dimensional coverage provided by a distributed array of Jellyfish.
Likewise, Department of Homeland Security programs for monitoring of ports or waterways traffic and biochemical
monitoring of water supplies29 are customers for this technology.

4. CONCLUSIONS
To construct a deployable, distributed network of surveillance sensors for Netcentric Warfare, a break in the normal
evolutionary design path for sonar sensors and platforms is necessary. Electro-active polymers have matured to a level
that permits development of the desired functions of autonomous sensing, actuation, energy conservation and
harvesting, and passsive communications. What remains to resolve is combining each of these features into an
autonomous sensing platform. Efforts begun at the NUWC Division Newport strive to achieve this goal.

ACKNOWLEDGMENTS

This work is sponsored by ONR 321MS Mr. Jan F. Lindberg and the NUWC IAR program manager Mr. Richard B.
Philips. The authors are grateful to Mr. Thomas Ramotowski of NUWC, Prof. George Kavarnos of University of Rhode
Island and Prof. Qiming Zhang of Pennsylvania State University for many valuable discussions.

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