@conference {769,
	title = {Optimization-based Feedback Manipulation Through an Array of Ultrasonic Transducers},
	booktitle = {8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019},
	volume = {52},
	year = {2019},
	month = {2019},
	pages = {483 - 488},
	address = {Vienna, Austria},
	abstract = {<p>In this paper we document a novel laboratory experimental platform for noncontact planar manipulation (positioning) of millimeter-scale objects using acoustic pressure. The manipulated objects are either floating on a water surface or rolling on a solid surface. The pressure field is shaped in real time through an 8-by-8 array (matrix) of ultrasonic transducers. The transducers are driven with square voltages whose phase-shifts are updated periodically every 20 milliseconds based on the difference between the desired and true (estimated from video) position. Numerical optimization is used within every period of a discrete-time feedback loop to determine the phase shifts for the voltages. The platform can be used as an affordable testbed for algorithms for non-contact manipulation through arrays of actuators as all the design and implementation details for the presented platform are shared with the public through a dedicated git repository. The platform can certainly be extended towards higher numbers of simultaneously yet independently manipulated objects and larger manipulation areas by expanding the transducer array.</p>
},
	issn = {24058963},
	doi = {10.1016/j.ifacol.2019.11.722},
	url = {https://doi.org/10.1016/j.ifacol.2019.11.722},
	author = {Matou{\v s}, Josef and Kollar{\v c}{\'\i}k, Adam and Gurtner, Martin and Mich{\'a}lek, Tom{\'a}{\v s} and Zden{\v e}k Hur{\'a}k},
	editor = {Lukasz Jadachowski}
}