Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope

Siyuan An; Chengxi Zhong; Mingyue Wang; Shudong Wang; Haojian Lu; Jiaqi Li; Youfu Li; Song Liu

doi:10.1109/IROS58592.2024.10801630

Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope

Siyuan An, Chengxi Zhong, Mingyue Wang, Shudong Wang, Haojian Lu, Jiaqi Li, Youfu Li, Song Liu^*

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

1 Citation (Scopus)

Abstract

Non-contact particle cluster manipulation holds significant promise in the realms of advanced manufacturing, chemistry, and pharmacy. However, achieving precise and dynamic control over the spatial kinematics of particle clusters remains a significant challenge, necessitating real-time and accurately programmable robotic end-effector. To this end, we develop an innovative non-contact, precise particle cluster manipulation system with ultrasonic phased array transducer (PAT) under microscope. This system combines a physics-based deep learning algorithm for real-time calculation of phase-only holograms (POHs), supporting PAT to dynamically form acoustic fields, namely holographic acoustic end-effector (HAE). Leveraging the dynamically and accurately generated HAEs by our system, kinematics control of particle clusters including aggregation, rotation, and translation is yielded. The extensive experiments well demonstrated the effectiveness of proposed system for particle cluster manipulation. © 2024 IEEE.

Original language	English
Title of host publication	2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE
Pages	13076-13081
ISBN (Electronic)	979-8-3503-7770-5
DOIs	https://doi.org/10.1109/IROS58592.2024.10801630
Publication status	Published - 2024
Event	2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024): Collaboration for a Sustainable Future - ADNEC Centre Abu Dhabi, Abu Dhabi, United Arab Emirates Duration: 14 Oct 2024 → 18 Oct 2424 https://iros2024-abudhabi.org/

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
Abbreviated title	IROS '24
Place	United Arab Emirates
City	Abu Dhabi
Period	14/10/24 → 18/10/24
Internet address	https://iros2024-abudhabi.org/

Funding

This work was supported by National Natural Science Foundation of China under Grant 62303321 and in part by Hong Kong Research Grant Council under CityU11206122 and in part by State Key Laboratory of Electrical Insulation and Power Equipment (EIPEEIPE24212)

RGC Funding Information

RGC-funded

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/IROS58592.2024.10801630

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An, S., Zhong, C., Wang, M., Wang, S., Lu, H., Li, J., Li, Y., & Liu, S. (2024). Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 13076-13081). (IEEE International Conference on Intelligent Robots and Systems). IEEE. https://doi.org/10.1109/IROS58592.2024.10801630

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title = "Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope",

abstract = "Non-contact particle cluster manipulation holds significant promise in the realms of advanced manufacturing, chemistry, and pharmacy. However, achieving precise and dynamic control over the spatial kinematics of particle clusters remains a significant challenge, necessitating real-time and accurately programmable robotic end-effector. To this end, we develop an innovative non-contact, precise particle cluster manipulation system with ultrasonic phased array transducer (PAT) under microscope. This system combines a physics-based deep learning algorithm for real-time calculation of phase-only holograms (POHs), supporting PAT to dynamically form acoustic fields, namely holographic acoustic end-effector (HAE). Leveraging the dynamically and accurately generated HAEs by our system, kinematics control of particle clusters including aggregation, rotation, and translation is yielded. The extensive experiments well demonstrated the effectiveness of proposed system for particle cluster manipulation. {\textcopyright} 2024 IEEE.",

author = "Siyuan An and Chengxi Zhong and Mingyue Wang and Shudong Wang and Haojian Lu and Jiaqi Li and Youfu Li and Song Liu",

year = "2024",

doi = "10.1109/IROS58592.2024.10801630",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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pages = "13076--13081",

booktitle = "2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

address = "United States",

note = "2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024) : Collaboration for a Sustainable Future, IROS '24 ; Conference date: 14-10-2024 Through 18-10-2424",

url = "https://iros2024-abudhabi.org/",

}

An, S, Zhong, C, Wang, M, Wang, S, Lu, H, Li, J, Li, Y & Liu, S 2024, Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope. in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE International Conference on Intelligent Robots and Systems, IEEE, pp. 13076-13081, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, United Arab Emirates, 14/10/24. https://doi.org/10.1109/IROS58592.2024.10801630

Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope. / An, Siyuan; Zhong, Chengxi; Wang, Mingyue et al.
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024. p. 13076-13081 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope

AU - An, Siyuan

AU - Zhong, Chengxi

AU - Wang, Mingyue

AU - Wang, Shudong

AU - Lu, Haojian

AU - Li, Jiaqi

AU - Li, Youfu

AU - Liu, Song

PY - 2024

Y1 - 2024

N2 - Non-contact particle cluster manipulation holds significant promise in the realms of advanced manufacturing, chemistry, and pharmacy. However, achieving precise and dynamic control over the spatial kinematics of particle clusters remains a significant challenge, necessitating real-time and accurately programmable robotic end-effector. To this end, we develop an innovative non-contact, precise particle cluster manipulation system with ultrasonic phased array transducer (PAT) under microscope. This system combines a physics-based deep learning algorithm for real-time calculation of phase-only holograms (POHs), supporting PAT to dynamically form acoustic fields, namely holographic acoustic end-effector (HAE). Leveraging the dynamically and accurately generated HAEs by our system, kinematics control of particle clusters including aggregation, rotation, and translation is yielded. The extensive experiments well demonstrated the effectiveness of proposed system for particle cluster manipulation. © 2024 IEEE.

AB - Non-contact particle cluster manipulation holds significant promise in the realms of advanced manufacturing, chemistry, and pharmacy. However, achieving precise and dynamic control over the spatial kinematics of particle clusters remains a significant challenge, necessitating real-time and accurately programmable robotic end-effector. To this end, we develop an innovative non-contact, precise particle cluster manipulation system with ultrasonic phased array transducer (PAT) under microscope. This system combines a physics-based deep learning algorithm for real-time calculation of phase-only holograms (POHs), supporting PAT to dynamically form acoustic fields, namely holographic acoustic end-effector (HAE). Leveraging the dynamically and accurately generated HAEs by our system, kinematics control of particle clusters including aggregation, rotation, and translation is yielded. The extensive experiments well demonstrated the effectiveness of proposed system for particle cluster manipulation. © 2024 IEEE.

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DO - 10.1109/IROS58592.2024.10801630

M3 - RGC 32 - Refereed conference paper (with host publication)

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 13076

EP - 13081

BT - 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Y2 - 14 October 2024 through 18 October 2424

ER -

An S, Zhong C, Wang M, Wang S, Lu H, Li J et al. Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. 2024. p. 13076-13081. (IEEE International Conference on Intelligent Robots and Systems). Epub 2024 Dec 25. doi: 10.1109/IROS58592.2024.10801630

Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope

Abstract

Publication series

Conference

Funding

RGC Funding Information

UN SDGs

Access Output

Other Access Options

Permanent Link

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GRF: Event-Based 3D Human Pose Estimation and Tracking

Cite this

Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope

Abstract

Publication series

Conference

Funding

RGC Funding Information

UN SDGs

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Projects

GRF: Event-Based 3D Human Pose Estimation and Tracking

Cite this