Study of rectilinear anti-sloshing trajectories based on segmented motion laws
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 rectilinear anti-sloshing trajectories by simply choosing the duration of the segments in common segmented motion law (e.g. constant acceleration, trapezoid acceleration, …), instead of applying techniques based on a modification of a predefined trajectory (input shaping, IIR filtering, FIR filtering, …).
Prerequisites
- Sound knowledge of basic mathematics
- 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:
- Basic knowledge of motion planning methods
- Basic knowledge of the mechanics of vibration
- Basic knowledge of Matlab
- Foundation of optimization algorithms
Target Objectives
- Study of the sloshing phenomenon
- Study of the trajectories commonly used in an industrial context
- Study of methods for vibration damping
- Acquire competence in standard industrial motion planning methods
- Acquire competence in Matlab programming
Expected Results
- Development of a sloshing simulation environment in Matlab for rectilinear motions
- Development of a set of Matlab functions to optimize the segment durations in segmented motion laws to obtain an anti-sloshing behavior
- Analysis of the results
Industrial Robotics, Mechatronics & Automation Laboratory @ Bologna 