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This paper demonstrates analytically and experimentally an acoustic levitation motor which has the ability to levitate and rotate an object in the air without mechanical contact. To realize such a device two core methods are applied…
The present paper introduces a novel approach for modelling the governing, slow dynamics of near-field acoustically levitated objects. This model is sufficiently simple and concise to enable designing a closed-loop controller, capable of…
Propagated acoustic waves, which generate radiation pressure, exert a non-contact force on a remote object. By suitably designing the wave field, remote tweezers are produced that stably levitate particles in the air without any mechanical…
The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in…
A focused acoustic standing wave creates a Hookean potential well for a small sphere and can levitate it stably against gravity. Exposing the trapped sphere to a second transverse traveling sound wave imposes an additional acoustical force…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
Waves impart momentum and exert force on obstacles in their path. The transfer of wave momentum is a fundamental mechanism for contactless manipulation, yet the rules of conventional scattering intrinsically limit the radiation force based…
Acoustic levitation provides a unique method for manipulating small particles as it completely evades effects from gravity, container walls, or physical handling. These advantages make it a tantalizing platform for studying complex…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
In this paper, we propose a novel approach for controlling surface water waves and their interaction with floating bodies. We consider a floating target rigid body surrounded by a control region where we design three control strategies of…
Recent advancements in robotics, control, and machine learning have facilitated progress in the challenging area of object manipulation. These advancements include, among others, the use of deep neural networks to represent dynamics that…
In this paper we document a novel laboratory experimental platform for non-contact planar manipulation (positioning) of millimeter-scale objects using acoustic pressure. The manipulated objects are either floating on a water surface or…
Linear and nonlinear resonant states can be restrictive: they exist at particular discrete states in frequency and/or elasticity, under particular (e.g., simple-harmonic) waveforms. In forced oscillators, this restrictiveness is an obstacle…
There are numerous devices currently known with the purpose of reducing the irregularity of the flow upstream of the propeller and to decrease by that means the propeller-induced vibration and noise. Many of these devices are wing-shaped…
A self-powered system is a control technology that powers itself by harvesting energy from exogenous disturbances. This article details the design and experimental validation of a prototype self-powered vibration control system, for…
Levitated optomechanics, the interaction between light and small levitated objects, is a new macroscopic quantum system that is being used as a testing ground for fundamental physics and for the development of sensors with exquisite…
Light and sound waves have the fascinating property that they can move objects through the transfer of linear or angular momentum. This ability has led to the development of optical and acoustic tweezers, with applications ranging from…
In this paper a novel device aimed at controlling the mechanical vibrations of plates by means of a set of electrically-interconnected piezoelectric actuators is described. The actuators are embedded uniformly in the plate wherein they…
A floating air bag, ballasted in water, expands and contracts as it heaves under wave action. Connecting the bag to a secondary volume via a turbine transforms the bag into a device capable of generating useful energy from the waves.…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…