Optimization-based Feedback Manipulation Through an Array of Ultrasonic Transducers

Kód výsledku v IS VaVaI

RIV/68407700:21230/19:00334233 - isvavai.cz

Výsledek na webu

https://doi.org/10.1016/j.ifacol.2019.11.722

DOI - Digital Object Identifier

10.1016/j.ifacol.2019.11.722

Jazyk výsledku

angličtina

Název v původním jazyce

Optimization-based Feedback Manipulation Through an Array of Ultrasonic Transducers

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Optimization-based Feedback Manipulation Through an Array of Ultrasonic Transducers

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

IFAC PapersOnLine

ISBN

—

ISSN

2405-8963

e-ISSN

—

Počet stran výsledku

6

Strana od-do

483-488

Název nakladatele

IFAC

Místo vydání

Laxenburg

Místo konání akce

Vídeň

Datum konání akce

4. 9. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000503816000083