Controlling the motion of particles on a vibrating plate using dynamic acoustic fields

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.advisor Zhou, Quan, Assoc. Prof., Aalto University, Department of Electrical Engineering and Automation, Finland Latifi, Kourosh 2020-05-20T09:00:15Z 2020-05-20T09:00:15Z 2020
dc.identifier.isbn 978-952-60-3903-9 (electronic)
dc.identifier.isbn 978-952-60-3902-2 (printed)
dc.identifier.issn 1799-4942 (electronic)
dc.identifier.issn 1799-4934 (printed)
dc.identifier.issn 1799-4934 (ISSN-L)
dc.description The public defense on 10th June 2020 at 14:00 (2 p.m.) will be available via remote technology. Link: will be added here later. Zoom Quick Guide: Electronic online display version of the doctoral thesis is available by email by request from
dc.description.abstract Acoustic manipulation, a technique that moves objects by sound, has emerged as a promising method for handling of matter with a wide range of applications in biomedical research, microsystem assembly, lab-on-a-chip, and tissue engineering. Classical acoustic manipulation techniques operate by forming standing pressure waves and trapping the particles in the nodes or antinodes of the waves, enabling the formation of simple patterns of particles. During the last decade, a progress towards more dynamic devices has been initiated, resulting in the emergence of dynamic-field devices. Dynamic-field devices are able to move the acoustic traps, and accordingly the trapped objects, by dynamically reshaping the acoustic field. They enable complex manipulations such as moving biological organisms along predefined trajectories. Despite the remarkable achievements, the state-of-the-art acoustic manipulation methods face two major challenges: (1) The methods depend on the acoustic traps for manipulation, imposing clear functional limitations, e.g., to operate in the whole workspace, the device needs to create trapping points in that space; (2) Motion decoupling is challenging as the acoustic fields are global and when created, certain forces imposed by the shape of the acoustic field are applied to the particles and couple their motion. The suggested methods to solve these challenges typically demand a complex hardware with several, even hundreds, of transducers. First and foremost, this thesis introduces a new perspective on acoustic manipulation methods, which suggests motion control out of the acoustic traps. The idea has been applied to a vibrating plate in two environments, in air and underwater. It has major benefits compared to the state-of-the-art methods, where it considerably simplifies the hardware. For instance, this thesis shows that a single acoustic source can be used to simultaneously control the motion of up to six particles. Secondly, the thesis reports a novel method to control the motion of multiple objects independently and simultaneously inside a global field. It proposes employing a spatially highly nonlinear excitation field, but still global, for independent and simultaneous manipulation of multiple objects. The method allows complex operations on a vibrating plate in air and underwater, such as multi-particle manipulation on user-specific trajectories, pattern formation and transformation, and particle sorting. Finally, the thesis introduces a model-free control method based on reinforcement learning for dynamic-field devices. In this method, the controller does not need a prior knowledge of the acoustic field and learns the optimal control policy for each manipulation task by merely interacting with the acoustic field. The thesis reports the successful implementation of the method to a vibrating plate, allowing manipulation of single and multiple particles towards target locations. en
dc.format.extent 76 + app. 65
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Aalto University en
dc.publisher Aalto-yliopisto fi
dc.relation.ispartofseries Aalto University publication series DOCTORAL DISSERTATIONS en
dc.relation.ispartofseries 83/2020
dc.relation.haspart [Publication 1]: Quan Zhou, Veikko Sariola, Kourosh Latifi, Ville Liimatainen. Controlling the motion of multiple objects on a Chladni plate. Nature Communications 7, 12764, 2016. Full text in Acris/Aaltodoc: DOI: 10.1038/ncomms12764
dc.relation.haspart [Publication 2]: Kourosh Latifi, Harri Wijaya, Quan Zhou. Multi-particle acoustic manipulation on a Chladni plate. In International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Montreal, Canada, July 2017. Full text in Acris/Aaltodoc: DOI: 10.1109/MARSS.2017.8001920
dc.relation.haspart [Publication 3]: Kourosh Latifi, Harri Wijaya, Quan Zhou. Motion of heavy particles on a submerged Chladni plate. Physical Review Letters, 122(18), p.184301, 2019. Full text in Acris/Aaltodoc: DOI: 10.1103/PhysRevLett.122.184301
dc.relation.haspart [Publication 4]: Harri Wijaya, Kourosh Latifi, Quan Zhou. Two-Dimensional manipulation in mid-air using a single transducer acoustic levitator. Micromachines, 10(4), p.257, 2019. Full text in Acris/Aaltodoc: DOI: 10.3390/mi10040257
dc.relation.haspart [Publication 5]: Kourosh Latifi, Artur Kopitca, Quan Zhou. Rapid mode-switching for acoustic manipulation. In International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Helsinki, Finland, July 2019. Full text in Acris/Aaltodoc: DOI: 10.1109/MARSS.2019.8860952
dc.relation.haspart [Publication 6]: Kourosh Latifi, Artur Kopitca, Quan Zhou. Model-free control for dynamic-field acoustic manipulation using reinforcement learning. IEEE Access, 8, pp.20597-20606, 2020. Full text in Acris/Aaltodoc: DOI: 10.1109/ACCESS.2020.2969277
dc.subject.other Electrical engineering en
dc.title Controlling the motion of particles on a vibrating plate using dynamic acoustic fields en
dc.type G5 Artikkeliväitöskirja fi Sähkötekniikan korkeakoulu fi School of Electrical Engineering en
dc.contributor.department Sähkötekniikan ja automaation laitos fi
dc.contributor.department Department of Electrical Engineering and Automation en
dc.subject.keyword vibrating plate en
dc.subject.keyword motion en
dc.subject.keyword acoustic fields en
dc.identifier.urn URN:ISBN:978-952-60-3903-9
dc.type.dcmitype text en
dc.type.ontasot Doctoral dissertation (article-based) en
dc.type.ontasot Väitöskirja (artikkeli) fi
dc.contributor.supervisor Zhou, Quan, Assoc. Prof., Aalto University, Department of Electrical Engineering and Automation, Finland
dc.opn Fischer, Peer, Prof., University of Stuttgart, Germany
dc.opn Gauthier, Michaël, Prof., University of Bourgogne Franche-Comté, France
dc.contributor.lab Robotic Instruments Research Group en
dc.rev Ahmed, Daniel, Asst. Prof., ETH Zürich, Switzerland
dc.rev Banerjee, Ashis, Asst. Prof., University of Washington, USA 2020-06-10
local.aalto.formfolder 2020_05_20_klo_09_48
local.aalto.archive yes

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