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Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles
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. Howe...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
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Frontiers Media S.A.
2023
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Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10602668/ https://www.ncbi.nlm.nih.gov/pubmed/37901166 http://dx.doi.org/10.3389/frobt.2023.1267019 |
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author | Jacquart, Sylvain Obayashi, Nana Hughes, Josie |
author_facet | Jacquart, Sylvain Obayashi, Nana Hughes, Josie |
author_sort | Jacquart, Sylvain |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-10602668 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-106026682023-10-27 Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles Jacquart, Sylvain Obayashi, Nana Hughes, Josie Front Robot AI Robotics and AI 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. Frontiers Media S.A. 2023-10-12 /pmc/articles/PMC10602668/ /pubmed/37901166 http://dx.doi.org/10.3389/frobt.2023.1267019 Text en Copyright © 2023 Jacquart, Obayashi and Hughes. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Jacquart, Sylvain Obayashi, Nana Hughes, Josie Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles |
title | Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles |
title_full | Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles |
title_fullStr | Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles |
title_full_unstemmed | Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles |
title_short | Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles |
title_sort | non-contact robotic manipulation of floating objects: exploiting emergent limit cycles |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10602668/ https://www.ncbi.nlm.nih.gov/pubmed/37901166 http://dx.doi.org/10.3389/frobt.2023.1267019 |
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