Sarrafa Abubuwa Masu Girman Milimita Ba Taba Ba Ta Hanyar Daukewa Da Sauti Mai Tsananin Karfi

Teburin Abubuwan Ciki

1. Gabatarwa

Na'urori masu sarrafa kansa suna fuskantar ƙalubale masu yawa lokacin sarrafa abubuwa masu girman milimita saboda ƙarancin ƙarfin kama da daidaiton matsayi. Wannan bincike ya gabatar da na'urar daukewa ta ultrasonic wacce ke ba da damar sarrafa ƙananan abubuwa ba tare da tabawa ba, ta ƙetare iyakokin na'urori masu sarrafa kansa na al'ada.

2. Aiwatar da Fasaha

2.1 Ka'idojin Daukar Sauti

Daukar sauti mai tsananin ƙarfi yana aiki ta hanyar tsangwama sauti mai mitar girma, yana haifar da filayen matsa lamba na gida waɗanda za su iya yin adawa da ƙarfin nauyi. Ƙarfin radiyon sauti $F_{acoustic}$ da ke aiki akan barbashi ana iya siffanta shi da:

$$F_{acoustic} = -\nabla U$$

inda $U$ ke wakiltar yuwuwar Gor'kov, wanda aka bayar da:

$$U = 2\pi R^3 \left( \frac{\langle p^2 \rangle}{3\rho c^2} - \frac{\rho \langle v^2 \rangle}{2} \right)$$

A nan, $R$ shine radius na barbashi, $p$ shine matsa lamba na sauti, $v$ shine saurin barbashi, $\rho$ shine yawan matsakaici, kuma $c$ shine saurin sauti.

2.2 Zane da Haɗa Na'ura

Mai sarrafa yana da zane na silinda tare da masu canza sauti da yawa da aka tsara a cikin tsararrun jeri. Na'urar tana amfani da hanyar hotuna don ƙirar filin sauti, yana ba da damar sarrafa daidai filayen ƙarfin sauti.

3. Sakamakon Gwaji

3.1 Ma'aunin Aiki

Na'urar ta yi nasarar sarrafa abubuwa daban-daban masu girman milimita ciki har da ƙwallon polystyrene, sassan lantarki, da samfuran halittu masu laushi kamar furannin furanni. Tsarin ya nuna ƙarfin aiki mai ƙarfi a kan rashin tabbas na matsayi har zuwa ±2mm.

3.2 Ƙarfin Dubawa da Ido

Yanayin rashin tabawa yana ba da damar kallon kyamara mara hanawa cikin ɗakin sarrafawa, yana sauƙaƙe cire siffofi na gani daidai da kuma lura da samfuran masu laushi cikin lokaci.

4. Binciken Fasaha

4.1 Tsarin Lissafi

Ana yin samfurin filin sauti ta amfani da hanyar hotuna, yana la'akari da saman tunani. Filin matsa lamba $p(x,y,z)$ daga masu canza sauti N ana bayar da shi ta:

$$p(x,y,z) = \sum_{i=1}^{N} A_i \frac{e^{-j(kr_i + \phi_i)}}{r_i}$$

inda $A_i$ shine amplitude, $k$ shine lambar igiyar ruwa, $r_i$ shine nisa, kuma $\phi_i$ shine canjin lokaci.

4.2 Aiwatar da Algorithm na Sarrafawa

class UltrasonicManipulator:
    def __init__(self, transducer_count):
        self.transducers = [Transducer() for _ in range(transducer_count)]
        self.basin_attraction = None
    
    def calculate_phase_shifts(self, target_position):
        """Lissafa canje-canjen lokaci don maƙasudin maƙasudi a matsayin manufa"""
        phases = []
        for transducer in self.transducers:
            distance = np.linalg.norm(transducer.position - target_position)
            phase = (distance % wavelength) * 2 * np.pi / wavelength
            phases.append(phase)
        return phases
    
    def grasp_object(self, object_position, grip_force):
        """Ƙaddamar da jerin kama tare da ƙayyadadden ƙarfi"""
        phases = self.calculate_phase_shifts(object_position)
        self.apply_phases(phases)
        self.modulate_amplitude(grip_force)

5. Ayyuka na Gaba

Wannan fasahar tana da babban yuwuwar a fagage da yawa:

• Robotics na Likita: Sarrafa kyallen jikin halitta da sassan tiyata masu laushi ba tare da tabawa ba
• Ƙananan Tari: Sarrafa daidai sassan lantarki da sassan injina masu ƙanƙanta
• Kayan Aikin Laboratory: Sarrafa samfuran masu laushi a cikin binciken halittu ta atomatik
• Ƙirar Ƙari: Sanya kayan aiki ba tare da tabawa ba a cikin buga 3D na ƙanana

Bincike na Asali

Binciken kan daukawar ultrasonic don sarrafa robot yana wakiltar ci gaba mai mahimmanci a cikin ƙananan na'urori masu sarrafa kansa. Wannan aikin yana magance gibin mai mahimmanci a cikin robotics na gabaɗaya ta hanyar ba da damar sarrafa abubuwa ƙanana fiye da rashin tabbas na matsayi na al'ada. Yanayin sarrafa sauti ba tare da tabawa ba yana ba da fa'idodi daban-daban fiye da masu kama na al'ada, musamman ga samfuran halittu masu laushi da sassan lantarki masu mahimmanci.

Idan aka kwatanta da matattaran gani, waɗanda aka yi amfani da su sosai don sarrafa ƙanana a cikin binciken halittu (kamar yadda aka nuna a cikin bincike daga cibiyoyi kamar MIT da Stanford), daukawar ultrasonic tana ba da ingantaccen sikelin sikelin da ingantaccen kuzari don abubuwa masu girman milimita. Ƙarfin sarrafa abubuwa akan saman tunani, kamar yadda aka cimma a cikin wannan aikin, yana wakiltar ingantacciyar inganci akan tsarin daukawar sauti na baya waɗanda yawanci suna buƙatar dandamali na musamman marasa tunani.

Haɗin kai tare da na'urori masu sarrafa kansa na gabaɗaya yana bin tsarin haɗin kai da ake gani a cikin tsarin robot masu nasara kamar ROS (Tsarin Aikin Robot), yana ba da damar yaduwa ba tare da faɗaɗa kayan aikin hardware ba. Wannan ya yi daidai da yanayin binciken robot na haɗin kai daga cibiyoyi kamar Cibiyar Robotics ta Carnegie Mellon, inda ake ƙara jaddada iyawar toshe-kuma-kunna.

Tushen lissafi, musamman amfani da yuwuwar Gor'kov da hanyar hotuna, yana ba da ingantaccen tsarin ka'idar kwatankwacin tsarin jiki da aka kafa a cikin ilimin kimiyyar sauti. Hanyar sarrafa lokaci tana nuna ingantaccen sarrafa siginar mai kama da tsarin radar mai jeri, wanda aka daidaita don sarrafa ƙanana.

Ci gaban gaba zai iya amfana daga haɗa dabarun koyon injina don sarrafa daidaitawa, kama da hanyoyin da ake amfani da su a cikin tsarin hangen nesa na kwamfuta kamar waɗanda aka ambata a cikin takardar CycleGAN don daidaita yanki. Yuwuwar sarrafa tururuwa ta amfani da na'urori masu haɗin kai da yawa yana gabatar da yuwuwar mai ban sha'awa don tsarin tara ƙanana.

6. Nassoshi

1. J. Nakahara, B. Yang, da J. R. Smith, "Sarrafa Abubuwa Masu Girman Milimita Ba Taba Ba Ta Hanyar Daukewa Da Sauti Mai Tsananin Karfi," arXiv:2002.09056v1 [cs.RO], 2020.
2. R. W. Appledge da sauransu, "Rarraba Microfluidic ta amfani da raƙuman sauti a tsaye," Lab a kan Guntu, juzu'i na 5, shafi na 100-110, 2005.
3. A. Marzo da B. W. Drinkwater, "Matattaran Sauti na Holographic," Proceedings of the National Academy of Sciences, juzu'i na 116, shafi na 84-89, 2019.
4. K. Dholakia da T. Čižmár, "Siffata Makomar Sarrafawa," Nature Photonics, juzu'i na 5, shafi na 335-342, 2011.
5. M. A. B. Andrade da sauransu, "Daukar Sauti da Sarrafa ta Hanyar Tsararrun Masu Canzawa da Yawa," Bita na Kayan Aikin Kimiyya, juzu'i na 86, 2015.
6. J. Zhu da sauransu, "Fassarar Hoto-zuwa-Hoto mara Biyu ta amfani da Cibiyoyin Sadarwar Masu Adawa da Zagayowar," ICCV, 2017.
7. S. J. Rupitsch, "Masu Canza Sauti Mai Tsananin Karfi don Sarrafa Barbashi," a cikin Piezoelectric Sensors and Actuators, Springer, 2019.