Jacquart Sylvain, Obayashi Nana, Hughes Josie
CREATE Lab, Institute of Mechanical Engineering, EPFL, Lausanne, Switzerland.
Front Robot AI. 2023 Oct 12;10:1267019. doi: 10.3389/frobt.2023.1267019. eCollection 2023.
The study of non-contact manipulation in water, and the ability to robotically control floating objects has gained recent attention due to wide-ranging potential applications, including the analysis of plastic pollution in the oceans and the optimization of procedures in food processing plants. However, modeling floating object movements can be complex, as their trajectories are influenced by various factors such as the object's shape, size, mass, and the magnitude, frequency, and patterns of water waves. This study proposes an experimental investigation into the emergence ofrobotically controlled limit cycles in the movement of floating objects within a closed environment. The objects' movements are driven by robot fins, and the experiment plan set up involves the use of up to four fins and variable motor parameters. By combining energy quantification of the system with an open-loop pattern generation, it is possible to demonstrate all main water-object interactions within the enclosed environment. A study using dynamic time warping around floating patterns gives insights on possible further studies.
由于包括海洋塑料污染分析和食品加工厂程序优化在内的广泛潜在应用，水中非接触操作以及对漂浮物体进行机器人控制的能力最近受到了关注。然而，对漂浮物体运动进行建模可能很复杂，因为它们的轨迹会受到各种因素的影响，例如物体的形状、大小、质量以及水波的大小、频率和模式。本研究提出了一项实验性调查，以研究在封闭环境中漂浮物体运动中机器人控制的极限环的出现情况。物体的运动由机器人鳍片驱动，实验计划涉及使用多达四个鳍片和可变的电机参数。通过将系统的能量量化与开环模式生成相结合，可以展示封闭环境内所有主要的水与物体的相互作用。一项围绕漂浮模式使用动态时间规整的研究为可能的进一步研究提供了见解。
