Robustness Of A Robot Control Scheme For Liquid Transfer

Tzamtzi, M.P.; Koumboulis, Fotis N.

doi:10.1007/978-1-4020-8737-0_28

Cited by 6 publications

(7 citation statements)

References 14 publications

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“…The coupled problem is of great practical interest in the transport of liquids along roads, maritime fluid transport, and industrial applications. Examples of where dynamic coupling is of interest is the sloshing of water on the the deck of fishing vessels [13], transport of liquid by robots [46,47], motion planning for industrial control [23,38,20,18], sloshing in automobile fuel tanks [48], and motion of water waves in a suspended container [16]. The book of MOISEYEV & RUMYANTSEV [36] covers general aspects of the dynamic coupling between vessel motion and interior fluid motion.…”

Section: Introductionmentioning

confidence: 99%

Dynamic coupling between horizontal vessel motion and two-layer shallow-water sloshing

Ardakani

Bridges

Turner

2015

Journal of Fluids and Structures

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Abstract. Numerical and analytical results are presented for fluid sloshing, of a two-layer inviscid, incompressible and immiscible fluid with thin layers and a rigid lid, coupled to a vessel which is free to undergo horizontal motion governed by a nonlinear spring. Exact analytical results are obtained for the linear problem, giving the natural frequencies and the resonance structure, particularly between the fluid and vessel. A numerical method for the linear and nonlinear equations is developed based on the high-resolution f-wave-propagation finite volume methods due to BALE, LEVEQUE, MITRAN AND ROSSMANITH (2002) (SIAM J. Sci. Comput. 24, 955-978), adapted to include the pressure gradient at the rigid-lid, and coupled to a Runge-Kutta solver for the vessel motion. The numerical simulations in the linear limit are compared with the exact analytical solutions. The coupled nonlinear numerical solutions with simulations near the internal 1 : 1 resonance are presented. Of particular interest is the partition of energy between the vessel and fluid motion.

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Section: Introductionmentioning

confidence: 99%

Dynamic coupling between horizontal vessel motion and two-layer shallow-water sloshing

Ardakani

Bridges

Turner

2015

Journal of Fluids and Structures

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“…Both these methods have low performance since they require multiple passes of costly fluid simulations. In view of this high complexity, [14], [31] use a reduced or simplified dynamics fluid model to achieve higher planning performance.…”

Section: Planning With Fluid Constraintsmentioning

confidence: 99%

Motion planning for fluid manipulation using simplified dynamics

Pan¹,

Manocha²

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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We present an optimization-based motion planning algorithm to compute a smooth, collision-free trajectory for a manipulator used to transfer a liquid from a source to a target container. We take into account fluid dynamics constraints as part of trajectory computation. In order to avoid the high complexity of exact fluid simulation, we introduce a simplified dynamics model based on physically inspired approximations and system identification. Our optimization approach can incorporate various other constraints such as collision avoidance with the obstacles, kinematic and dynamics constraints of the manipulator, and fluid dynamics characteristics. We demonstrate the performance of our planner on different benchmarks corresponding to various obstacles and container shapes. Furthermore, we also evaluate its accuracy by validating the motion plan using an accurate but computationally costly Navier-Stokes fluid simulation.

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“…equations (3)-(4) in [15] and equation (27) in [19]). However, we will find that it is the form (2.10) that will be useful in the numerical simulation.…”

Section: Vehicle Motionmentioning

confidence: 99%

“…Examples of where dynamic coupling is of interest is the sloshing of water on the deck of fishing vessels [6], transport of liquid by robots [26,27], motion planning for industrial control [10][11][12]24], sloshing in automobile fuel tanks [4] and motion of water waves in a suspended container [8]. It is the last paper that motivates the present study.…”

Section: Introductionmentioning

confidence: 99%

Dynamic coupling between shallow-water sloshing and horizontal vehicle motion

Ardakani¹,

Bridges²

2010

Eur. J. Appl. Math

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The coupled motion between shallow-water sloshing in a moving vehicle and the vehicle dynamics is considered, with the vehicle dynamics restricted to horizontal motion. The paper is motivated by Cooker's experiments and theory for water waves in a suspended container. A new derivation of the coupled problem in the Eulerian fluid representation is given. However, it is found that transformation to a Lagrangian representation leads to a formulation which has nice properties for numerical simulation. In the Lagrangian representation, a simple and fast numerical algorithm with excellent energy conservation over long times, based on the Störmer-Verlet method, is implemented. Numerical simulations of the coupled dynamics in both the linear and non-linear case are presented.

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Robustness Of A Robot Control Scheme For Liquid Transfer

Cited by 6 publications

References 14 publications

Dynamic coupling between horizontal vessel motion and two-layer shallow-water sloshing

Dynamic coupling between horizontal vessel motion and two-layer shallow-water sloshing

Motion planning for fluid manipulation using simplified dynamics

Dynamic coupling between shallow-water sloshing and horizontal vehicle motion

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