Optimization-based Feedback Manipulation Through an Array of Ultrasonic Transducers

TitleOptimization-based Feedback Manipulation Through an Array of Ultrasonic Transducers
Publication TypeConference Paper
Year of Publication2019
AuthorsMatouš, Josef, Adam Kollarčík, Martin Gurtner, Tomáš Michálek, and Zdeněk Hurák
Conference LocationVienna, Austria

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.


8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019