Author:
Hardman David,George Thuruthel Thomas,Iida Fumiya
Abstract
AbstractThe ability to remotely control a free-floating object through surface flows on a fluid medium can facilitate numerous applications. Current studies on this problem have been limited to uni-directional motion control due to the challenging nature of the control problem. Analytical modelling of the object dynamics is difficult due to the high-dimensionality and mixing of the surface flows while the control problem is hard due to the nonlinear slow dynamics of the fluid medium, underactuation, and chaotic regions. This study presents a methodology for manipulation of free-floating objects using large-scale physical experimentation and recent advances in deep reinforcement learning. We demonstrate our methodology through the open-loop control of a free-floating object in water using a robotic arm. Our learned control policy is relatively quick to obtain, highly data efficient, and easily scalable to a higher-dimensional parameter space and/or experimental scenarios. Our results show the potential of data-driven approaches for solving and analyzing highly complex nonlinear control problems.
Publisher
Springer Science and Business Media LLC
Reference33 articles.
1. Ding, X. et al. On-chip manipulation of single microparticles, cells, and organisms using surface acoustic waves. Proc. Natl. Acad. Sci. 109, 11105–11109 (2012).
2. Collins, D. J. et al. Two-dimensional single-cell patterning with one cell per well driven by surface acoustic waves. Nat. Commun. 6, 1–11 (2015).
3. Zhang, P. et al. Generation of acoustic self-bending and bottle beams by phase engineering. Nat. Commun. 5, 1–9 (2014).
4. Punzmann, H., Francois, N., Xia, H., Falkovich, G. & Shats, M. Generation and reversal of surface flows by propagating waves. Nat. Phys. 10, 658–663 (2014).
5. Zhou, Q., Sariola, V., Latifi, K. & Liimatainen, V. Controlling the motion of multiple objects on a chladni plate. Nat. Commun. 7, 1–10 (2016).
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献