Optimization-based Feedback Manipulation Through an Array of Ultrasonic Transducers

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00334233" target="_blank" >RIV/68407700:21230/19:00334233 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1016/j.ifacol.2019.11.722" target="_blank" >https://doi.org/10.1016/j.ifacol.2019.11.722</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2019.11.722" target="_blank" >10.1016/j.ifacol.2019.11.722</a>

Result language
angličtina
Original language name
Optimization-based Feedback Manipulation Through an Array of Ultrasonic Transducers
Original language description
In this paper we document a novel laboratory experimental platform for noncontact planar manipulation (positioning) of millimeter-scale objects using acoustic pressure. The manipulated objects are either floating on a water surface or rolling on a solid surface. The pressure field is shaped in real time through an 8-by-8 array (matrix) of ultrasonic transducers. The transducers are driven with square voltages whose phase-shifts are updated periodically every 20 milliseconds based on the difference between the desired and true (estimated from video) position. Numerical optimization is used within every period of a discrete-time feedback loop to determine the phase shifts for the voltages. The platform can be used as an affordable testbed for algorithms for non-contact manipulation through arrays of actuators as all the design and implementation details for the presented platform are shared with the public through a dedicated git repository. The platform can certainly be extended towards higher numbers of simultaneously yet independently manipulated objects and larger manipulation areas by expanding the transducer array.
Czech name
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Czech description
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Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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