<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>47</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Matouš, Josef</style></author><author><style face="normal" font="default" size="100%">Kollarčík, Adam</style></author><author><style face="normal" font="default" size="100%">Gurtner, Martin</style></author><author><style face="normal" font="default" size="100%">Michálek, Tomáš</style></author><author><style face="normal" font="default" size="100%">Zdeněk Hurák</style></author></authors><secondary-authors><author><style face="normal" font="default" size="100%">Lukasz Jadachowski</style></author></secondary-authors></contributors><titles><title><style face="normal" font="default" size="100%">Optimization-based Feedback Manipulation Through an Array of Ultrasonic Transducers</style></title><secondary-title><style face="normal" font="default" size="100%">8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019</style></secondary-title><short-title><style face="normal" font="default" size="100%">IFAC-PapersOnLine</style></short-title></titles><dates><year><style  face="normal" font="default" size="100%">2019</style></year><pub-dates><date><style  face="normal" font="default" size="100%">2019</style></date></pub-dates></dates><urls><web-urls><url><style face="normal" font="default" size="100%">https://doi.org/10.1016/j.ifacol.2019.11.722</style></url></web-urls></urls><pub-location><style face="normal" font="default" size="100%">Vienna, Austria</style></pub-location><volume><style face="normal" font="default" size="100%">52</style></volume><pages><style face="normal" font="default" size="100%">483 - 488</style></pages><abstract><style face="normal" font="default" size="100%">&lt;p&gt;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.&lt;/p&gt;
</style></abstract><issue><style face="normal" font="default" size="100%">15</style></issue><custom2><style face="normal" font="default" size="100%">&lt;p&gt;8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019&lt;/p&gt;
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