Frederic Demoly is a Full Professor at UTBM, France, and a department director at the CNRS (French National Center for Scientific Research). His research focuses on design for 4D printing using computational intelligence, and on multi-material additive manufacturing processes.Jean-Claude Andre is a Research Director at the CNRS and Professor Emeritus at the University of Lorraine, France. He is developing research on new 3D processes and works alongside Frédéric Demoly on 4D printing.

• Foreword ixChapter 1. Getting Things Moving 11.1. Introduction 21.2. Actuators 41.2.1. General information 41.2.2. Different types of actuator 81.2.3. Amplification 111.2.4. Other modes of action from mechanics 12                                                                                 1.2.5. Remarkable properties 161.3. Actuators and 4D printing 261.3.1. General framework 271.3.2. Specificities linked to the manufacturing process 301.4. Stimulations of matter 601.4.1. Programmable matter 611.4.2. Materials for 4D printing 701.4.3. Activations by physical pathway 881.4.4. A transition to 4D printing: swimming robots 971.4.5. Current scientific offer and application specifications 1031.4.6. Some constraints 1051.5. And tomorrow? 1121.6. References 114Chapter 2. Energy Stimulation: The Abandoned Child? 1592.1. Introduction 1592.2. To go a little further 1622.3. References 164Chapter 3. Material-Process Duality in Industrial 4D Printing 1673.1. Introduction 1673.2. From research to innovation 1683.2.1. Research 1693.2.2. Innovation 1723.2.3. Inclusion of 4D printing in future projects 1783.2.4. Weaknesses between research and profitable applications 1813.3. From matter to 4D form; from 4D form to function 1843.3.1. General considerations 1893.3.2. Algorithms by/for 4D printing 1903.3.3. Preforming the material 1933.4. References 194Chapter 4. Design for 4D Printing 2034.1. Introduction 2034.2. How can 4D printing in design be approached? 2044.3. Opportunities and challenges in design: a strategic roadmap for research 2074.3.1. Evolution of technological solutions and associated challenges 2074.3.2. Design for 4D printing 2094.3.3. Methodological framework for the design of energy-sensitive structures 2114.4. Capture and reuse of 4D printing knowledge 2134.5. Functional design 2184.5.1. Functional modeling and solution principles 2184.5.2. Smart material/stimulus selection and processing planning 2194.6. From architectural design to detailed design 2194.6.1. Definition of design spaces and CAD representations 2204.6.2. Voxel-based modeling and simulation of active material behavior 2214.6.3. Distribution of active materials 2244.6.4. Distribution of active materials by integrating empty elements 2274.6.5. Additional scientific challenges 2294.7. Digital chain for 4D design and prototyping 2304.8. Claims and practical constraints 2314.9. Conclusion 2324.10. References 232Conclusion 243Appendix 281Index 293

Frederic Demoly is a Full Professor at UTBM, France, and a department director at the CNRS (French National Center for Scientific Research). His research focuses on design for 4D printing using computational intelligence, and on multi-material additive manufacturing processes.Jean-Claude Andre is a Research Director at the CNRS and Professor Emeritus at the University of Lorraine, France. He is developing research on new 3D processes and works alongside Frédéric Demoly on 4D printing.

• Foreword ixChapter 1. Getting Things Moving 11.1. Introduction 21.2. Actuators 41.2.1. General information 41.2.2. Different types of actuator 81.2.3. Amplification 111.2.4. Other modes of action from mechanics 12                                                                                 1.2.5. Remarkable properties 161.3. Actuators and 4D printing 261.3.1. General framework 271.3.2. Specificities linked to the manufacturing process 301.4. Stimulations of matter 601.4.1. Programmable matter 611.4.2. Materials for 4D printing 701.4.3. Activations by physical pathway 881.4.4. A transition to 4D printing: swimming robots 971.4.5. Current scientific offer and application specifications 1031.4.6. Some constraints 1051.5. And tomorrow? 1121.6. References 114Chapter 2. Energy Stimulation: The Abandoned Child? 1592.1. Introduction 1592.2. To go a little further 1622.3. References 164Chapter 3. Material-Process Duality in Industrial 4D Printing 1673.1. Introduction 1673.2. From research to innovation 1683.2.1. Research 1693.2.2. Innovation 1723.2.3. Inclusion of 4D printing in future projects 1783.2.4. Weaknesses between research and profitable applications 1813.3. From matter to 4D form; from 4D form to function 1843.3.1. General considerations 1893.3.2. Algorithms by/for 4D printing 1903.3.3. Preforming the material 1933.4. References 194Chapter 4. Design for 4D Printing 2034.1. Introduction 2034.2. How can 4D printing in design be approached? 2044.3. Opportunities and challenges in design: a strategic roadmap for research 2074.3.1. Evolution of technological solutions and associated challenges 2074.3.2. Design for 4D printing 2094.3.3. Methodological framework for the design of energy-sensitive structures 2114.4. Capture and reuse of 4D printing knowledge 2134.5. Functional design 2184.5.1. Functional modeling and solution principles 2184.5.2. Smart material/stimulus selection and processing planning 2194.6. From architectural design to detailed design 2194.6.1. Definition of design spaces and CAD representations 2204.6.2. Voxel-based modeling and simulation of active material behavior 2214.6.3. Distribution of active materials 2244.6.4. Distribution of active materials by integrating empty elements 2274.6.5. Additional scientific challenges 2294.7. Digital chain for 4D design and prototyping 2304.8. Claims and practical constraints 2314.9. Conclusion 2324.10. References 232Conclusion 243Appendix 281Index 293

Frederic Demoly is a Full Professor at UTBM, France, and a department director at the CNRS (French National Center for Scientific Research). His research focuses on design for 4D printing using computational intelligence, and on multi-material additive manufacturing processes.Jean-Claude Andre is a Research Director at the CNRS and Professor Emeritus at the University of Lorraine, France. He is developing research on new 3D processes and works alongside Frédéric Demoly on 4D printing.

• Foreword ixChapter 1. Getting Things Moving 11.1. Introduction 21.2. Actuators 41.2.1. General information 41.2.2. Different types of actuator 81.2.3. Amplification 111.2.4. Other modes of action from mechanics 12                                                                                 1.2.5. Remarkable properties 161.3. Actuators and 4D printing 261.3.1. General framework 271.3.2. Specificities linked to the manufacturing process 301.4. Stimulations of matter 601.4.1. Programmable matter 611.4.2. Materials for 4D printing 701.4.3. Activations by physical pathway 881.4.4. A transition to 4D printing: swimming robots 971.4.5. Current scientific offer and application specifications 1031.4.6. Some constraints 1051.5. And tomorrow? 1121.6. References 114Chapter 2. Energy Stimulation: The Abandoned Child? 1592.1. Introduction 1592.2. To go a little further 1622.3. References 164Chapter 3. Material-Process Duality in Industrial 4D Printing 1673.1. Introduction 1673.2. From research to innovation 1683.2.1. Research 1693.2.2. Innovation 1723.2.3. Inclusion of 4D printing in future projects 1783.2.4. Weaknesses between research and profitable applications 1813.3. From matter to 4D form; from 4D form to function 1843.3.1. General considerations 1893.3.2. Algorithms by/for 4D printing 1903.3.3. Preforming the material 1933.4. References 194Chapter 4. Design for 4D Printing 2034.1. Introduction 2034.2. How can 4D printing in design be approached? 2044.3. Opportunities and challenges in design: a strategic roadmap for research 2074.3.1. Evolution of technological solutions and associated challenges 2074.3.2. Design for 4D printing 2094.3.3. Methodological framework for the design of energy-sensitive structures 2114.4. Capture and reuse of 4D printing knowledge 2134.5. Functional design 2184.5.1. Functional modeling and solution principles 2184.5.2. Smart material/stimulus selection and processing planning 2194.6. From architectural design to detailed design 2194.6.1. Definition of design spaces and CAD representations 2204.6.2. Voxel-based modeling and simulation of active material behavior 2214.6.3. Distribution of active materials 2244.6.4. Distribution of active materials by integrating empty elements 2274.6.5. Additional scientific challenges 2294.7. Digital chain for 4D design and prototyping 2304.8. Claims and practical constraints 2314.9. Conclusion 2324.10. References 232Conclusion 243Appendix 281Index 293