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
Industrial Robotics, Mechatronics & Automation Laboratory @ Bologna 