Study of rectilinear motion-to-motion anti-sloshing trajectories

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. Classical anti-sloshing methods are applied to execute rest-to-rest movements. This project aims to develop rectilinear anti-sloshing trajectories for an utterly general situation: from a motion condition (velocity and acceleration different from zero) to a motion condition.

Prerequisites

• Sound knowledge of basic mathematics
• Basic knowledge of Matlab
• 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

Expected Results

• Analysis of the literature regarding motion-to-motion anti-vibration motion planning methods
• Development of a method to execute motion-to-motion anti-sloshing rectilinear movements
• Verify the effectiveness of the proposed anti-sloshing method with experimental tests

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