Manipulation of free-floating objects using Faraday flows and deep reinforcement learning

The ability to remotely control a free-floating object through surface flows on a fluid medium can facilitate numerous applications. Current studies on this problem have been limited to uni-directional motion control due to the challenging nature of the control problem. Analytical modelling of the object dynamics is difficult due to the high-dimensionality and mixing of the surface flows while the control problem is hard due to the nonlinear slow dynamics of the fluid medium, underactuation, and chaotic regions. This study presents a methodology for manipulation of free-floating objects using large-scale physical experimentation and recent advances in deep reinforcement learning. We demonstrate our methodology through the open-loop control of a free-floating object in water using a robotic arm. Our learned control policy is relatively quick to obtain, highly data efficient, and easily scalable to a higher-dimensional parameter space and/or experimental scenarios. Our results show the potential of data-driven approaches for solving and analyzing highly complex nonlinear control problems.

Detection of Multi-pixel Low Contrast Object on a Real Sea Surface

The video images captured at long range usually have low contrast floating objects of interest on a sea surface. A comparative experimental study of the statistical characteristics of reflections from floating objects and from the agitated sea surface showed the difference in the correlation and spectral characteristics of these reflections. The functioning of the recently proposed modified matched subspace detector (MMSD) is based on the separation of the observed data spectrum on two subspaces: relatively low and relatively high frequencies. In the literature the MMSD performance has been evaluated in generally and moreover using only a sea model (additive Gaussian background clutter). This paper extends the performance evaluating methodology for low contrast object detection and moreover using only the real sea dataset. This methodology assumes an object of low contrast if the mean and variance of the object and the surrounding background are the same. The paper assumes that the energy spectrum of the object and the sea are different. The paper investigates a scenario in which an artificially created model of a floating object with specified statistical parameters is placed on the surface of a real sea image. The paper compares the efficiency of the classical Matched Subspace Detector (MSD) and MMSD for detecting low-contrast objects on the sea surface. The article analyzes the dependence of the detection probability at a fixed false alarm probability on the difference between the statistical means and variances of a floating object and the surrounding sea.

Archimedes’ principle with surface tension effects in undergraduate fluid mechanics

The general physics of how objects float is only partly covered in most undergraduate fluid mechanics courses. Although Archimedes’ principle is a standard topic in fluid statics, the role of surface tension in floating is rarely discussed in detail. For example, very few undergraduate textbooks, if any, mention that the total buoyancy force on a floating object includes the weight of the fluid displaced by the meniscus. This leaves engineering students without an understanding of a wide range of phenomena that occur at a low Bond number (the ratio of buoyancy to interfacial tension forces), such as how heavier-than-water objects can float at a gas-liquid interface. This article makes a case for teaching a more unified version of Archimedes’ principle, which combines the effects of surface tension and hydrostatic pressure in calculating the total buoyancy on floating objects. Sample problems at the undergraduate level and two classroom demonstrations are described that reinforce the basic science concepts.

Output Feedback Cooperative Dynamic Positioning Control for an Unactuated Floating Object Using Multiple Vessels

This paper proposes an output feedback cooperative dynamic positioning control scheme for an unactuated floating object using multiple vessels under model uncertainties and environmental disturbances. The floating object is connected to multiple vessels through towlines. At first, nonlinear extended state observers are developed for the floating object and vessels to reconstruct the unmeasured velocity and to estimate the model uncertainties and disturbances. Second, observer-based controllers are designed for the floating object and vessels to drive the floating object to track the reference signal and to achieve the cooperative control of multiple vessels, respectively. The salient features of the proposed control scheme are presented as follows. Firstly, by design the object controller, the tracking performance of the object is improved. Secondly, according to the required force of the floating object, the time-varying formation of vessels is obtained by using the towline attachment geometry of the floating object, control allocation and a towline model. It is shown that all signals in closed-loop system are bounded via Lyapunov analysis. Simulation study is carried out to verify the effectiveness of proposed control method.

Dielectrowetting Control of Capillary Force (Cheerios Effect) between Floating Objects and Wall for Dielectric Fluid

A capillary interaction between floating objects and adjacent walls, which is known as “Cheerios effect”, is a common phenomenon that generates capillary attraction or repulsion forces between them depending on their wettabilities, densities, geometries, and so on. This paper deals with controlling the capillary forces, specifically, acting on objects floating on a dielectric (non-conductive) fluid. A key control input parameter is the wettability (contact angle) of the sidewall adjacent to the floating object. By introducing dielectrowetting to the sidewall and actively changing the contact angle on the sidewall, the capillary force is controlled and easily reversed between attraction and repulsion. In this reversing process, the tilting angle of the sidewall is another critical parameter. A theoretical relation taking the titling angle into account is compared and in good agreement with experimental results obtained from the trajectory of the floating object. Finally, a continuous motion of the floating object is demonstrated using this control where an array of dielectrowetting electrode pads is sequentially activated.