Publication:
A kinematic controller for liquid pouring between vessels modelled with smoothed particle hydrodynamics

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorCamporredondo, Gabriel
dc.contributor.authorBarber Castaño, Ramón Ignacio
dc.contributor.authorLegrand, Mathieu
dc.contributor.authorMuñoz, Lourdes
dc.date.accessioned2020-04-03T15:08:50Z
dc.date.available2020-04-03T15:08:50Z
dc.date.issued2019-11-20
dc.description.abstractIn robotics, the task of pouring liquids into vessels in non-structured or domestic spaces is an open field of study. A real time, fluid dynamic simulation, based on smoothed particle hydrodynamics (SPH), together with solid motion kinematics, allow for a closed loop control of pouring. In the first place, a control criterion related with the behavior of the liquid free surface is established to handle sloshing, especially in the initial phase of pouring to prevent liquid adhesion over the vessel rim. A 2-D, free surface SPH simulation is implemented on a graphic processing unit (GPU) to predict the liquid motion with real-time capability. The pouring vessel has a single degree of freedom of rotation, while the catching vessel has a single degree of freedom of translation, and the control loop handles the tilting angle of the pouring vessel. In this work, a two-stage pouring method is proposed, differentiating an initial phase where sloshing is particularly relevant, and a nearly constant outflow phase. For control purposes, the free outflow trajectory was simplified and modelled as a free falling solid with an initial velocity at the vessel crest, as calculated by the SPH simulation. As the first stage of pouring is more delicate, a novel slosh induction method (SIM) is proposed to overcome spilling issues during initial tilting in full filled vessels. Both robotic control and fluid modelling showed good results at multiples initial vessel filling heights.en
dc.format.extent21es
dc.identifier.bibliographicCitationApplied sciences, 9(23), 5007, Nov. 2019en
dc.identifier.doihttps://doi.org/10.3390/app9235007
dc.identifier.issn2076-3417
dc.identifier.publicationfirstpage1es
dc.identifier.publicationissue23, 5007es
dc.identifier.publicationlastpage21es
dc.identifier.publicationtitleApplied Sciences-Baselen
dc.identifier.publicationvolume9es
dc.identifier.urihttps://hdl.handle.net/10016/30099
dc.identifier.uxxiAR/0000024355
dc.language.isoengen
dc.publisherMDPIen
dc.rights© 2019 by the authors. Licensee MDPI, Basel, Switzerland.en
dc.rightsThis article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) licenseen
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherRobotic pouring of liquidsen
dc.subject.otherFree surface fluid motion controlen
dc.subject.otherSmoothed particle hydrodynamicses
dc.subject.otherPID controlen
dc.titleA kinematic controller for liquid pouring between vessels modelled with smoothed particle hydrodynamicsen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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