Project Description
The term sloshing refers to the stirring of a liquid inside a container during its motion. Anti-sloshing motion laws are studied in the literature to avoid liquid spillage and, in general, control the motion of the liquid free-surface. This project aims to develop a general method for the fast computation of 2D planar anti-sloshing motions by controlling only the geometrical path of the container without optimizing the timing law.
Prerequisites
- Sound knowledge of basic mathematics
- Basic knowledge of Matlab
- Good programming skills
- Basic knowledge of motion planning methods
- Basic knowledge of the mechanics of vibration
- Strong initiative and attitude problem solving
- Strong will to cope with demanding challenges
- Keen on studying complex new theory
Not required but good to have:
- Foundation of mechanics of robots
- Foundation of optimization algorithms
- Foundation of automatic control
Target Objectives
- Study of the sloshing phenomenon
- Study of methods for vibration damping
- Acquire competence in standard industrial motion planning methods
- Acquire competence in research activities (bibliography analysis)
- Strength the knowledge of Matlab and acquire the capability to use it to simulate the behavior of dynamic systems
- Improve programming skills for the development of path planning algorithm
Expected Results
- Analysis of the literature regarding anti-sloshing path planning
- Development of a general method to compute anti-sloshing path with constant velocity timing laws
- Evaluation of the possibility to generalize the method for other kinds of timing laws
- Verify the effectiveness of the proposed anti-sloshing path planning method with experimental tests on a real robot
Industrial Robotics, Mechatronics & Automation Laboratory @ Bologna 