Multi-particle acoustic manipulation on a Chladni plate

Kourosh Latifi, Harri Wijaya, Quan Zhou

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

3 Citations (Scopus)
271 Downloads (Pure)

Abstract

Controlling the motion of multiple miniature objects independently and simultaneously is a grand challenge in microrobotics. In this paper, we report our recent achievements in acoustic manipulation that can control the motion of multiple objects simultaneously and independently on a centrally actuated vibrating plate. By employing spatially highly nonlinear excitation fields on the plate, we can control the motion of multiple objects with relaxed properties. The paper reports the modelling of the excitation fields, open-loop control based on pre-calculated control sequence, and closed loop control using model predictive control (MPC) and linear programming methods. The experimental results show that with appropriate planning, object motion on vibrating plate is sufficiently predictable to be controlled even in open-loop. The experimental results with closed-loop control show that the methods allow various applications including trajectory following, particle assembling, and droplet merging. Despite the reported method is based on acoustic manipulation on a Chladni plate, the method can be extended to other energy fields as soon as they are spatially highly nonlinear and such nonlinearity can be excited.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2017
PublisherIEEE
Pages1-7
Number of pages7
ISBN (Electronic)978-1-5386-0346-8
DOIs
Publication statusPublished - 17 Jul 2017
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Manipulation, Automation and Robotics at Small Scales - University of Montreal, Montreal, Canada
Duration: 17 Jul 201721 Jul 2017
http://marss-conference.org/

Conference

ConferenceInternational Conference on Manipulation, Automation and Robotics at Small Scales
Abbreviated titleMARSS
CountryCanada
CityMontreal
Period17/07/201721/07/2017
Internet address

Keywords

  • Accoustic manipulation
  • Chladni plat
  • mobile microrobot
  • model predictive control
  • linear programming

Fingerprint Dive into the research topics of 'Multi-particle acoustic manipulation on a Chladni plate'. Together they form a unique fingerprint.

  • Equipment

  • Cite this

    Latifi, K., Wijaya, H., & Zhou, Q. (2017). Multi-particle acoustic manipulation on a Chladni plate. In Proceedings of the IEEE International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2017 (pp. 1-7). IEEE. https://doi.org/10.1109/MARSS.2017.8001920