Next Article in Journal
Emotion, Respiration, and Heart Rate Variability: A Mathematical Model and Simulation Analyses
Previous Article in Journal
Investigation on Single Tube CFST Arch Models by Modeling Structural Stressing State Based on NSF Method
Open AccessArticle

A Kinematic Controller for Liquid Pouring between Vessels Modelled with Smoothed Particle Hydrodynamics

1
Department of Systems and Automation, Charles III University of Madrid, 28911 Madrid, Spain
2
Department of Mechanical Chemical and Design Engineering, Technical University of Madrid, 28040 Madrid, Spain
3
Department of Computing Technologies, Monterrey Institute of Technology, CDMX 01389, Mexico
*
Authors to whom correspondence should be addressed.
Appl. Sci. 2019, 9(23), 5007; https://doi.org/10.3390/app9235007
Received: 25 September 2019 / Revised: 22 October 2019 / Accepted: 13 November 2019 / Published: 20 November 2019
(This article belongs to the Section Applied Industrial Technologies)
In 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. View Full-Text
Keywords: robotic pouring of liquids; free surface fluid motion control; smoothed particle hydrodynamics; PID control robotic pouring of liquids; free surface fluid motion control; smoothed particle hydrodynamics; PID control
Show Figures

Graphical abstract

MDPI and ACS Style

Camporredondo, G.; Barber, R.; Legrand, M.; Muñoz, L. A Kinematic Controller for Liquid Pouring between Vessels Modelled with Smoothed Particle Hydrodynamics. Appl. Sci. 2019, 9, 5007.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop