Multi-particle acoustic manipulation on a Chladni plate

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.author Latifi, Kourosh
dc.contributor.author Wijaya, Harri
dc.contributor.author Zhou, Quan
dc.date.accessioned 2017-11-21T13:35:55Z
dc.date.available 2017-11-21T13:35:55Z
dc.date.issued 2017-07-17
dc.identifier.citation 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 . IEEE , pp. 1-7 , International Conference on Manipulation, Automation and Robotics at Small Scales , Montreal , Canada , 17/07/2017 . https://doi.org/10.1109/MARSS.2017.8001920 en
dc.identifier.isbn 978-1-5386-0346-8
dc.identifier.other PURE UUID: 4c443edb-8ba3-4eee-95be-f15e1f2d63e2
dc.identifier.other PURE ITEMURL: https://research.aalto.fi/en/publications/multiparticle-acoustic-manipulation-on-a-chladni-plate(4c443edb-8ba3-4eee-95be-f15e1f2d63e2).html
dc.identifier.other PURE FILEURL: https://research.aalto.fi/files/15400774/Latifi_et_al._MARSS_2017.pdf
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/28788
dc.description.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. en
dc.format.extent 7
dc.format.extent 1-7
dc.format.mimetype application/pdf
dc.language.iso en en
dc.relation.ispartof International Conference on Manipulation, Automation and Robotics at Small Scales en
dc.relation.ispartofseries Proceedings of the IEEE International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2017 en
dc.rights openAccess en
dc.subject.other 213 Electronic, automation and communications engineering, electronics en
dc.title Multi-particle acoustic manipulation on a Chladni plate en
dc.type A4 Artikkeli konferenssijulkaisussa fi
dc.description.version Peer reviewed en
dc.contributor.department Department of Electrical Engineering and Automation
dc.subject.keyword Accoustic manipulation
dc.subject.keyword Chladni plat
dc.subject.keyword mobile microrobot
dc.subject.keyword model predictive control
dc.subject.keyword linear programming
dc.subject.keyword 213 Electronic, automation and communications engineering, electronics
dc.identifier.urn URN:NBN:fi:aalto-201711217609
dc.identifier.doi 10.1109/MARSS.2017.8001920
dc.type.version acceptedVersion


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