Phased Arrays of Transducers (PATs) allow accurate control of ultrasound fields, with applications in haptics, levitation (i.e. We hope that the results and procedures described within this paper enable researchers to build their own ultrasonic arrays and explore novel applications of ultrasonic holograms. The array is integrated in a single board composed of 256 emitters operating at 40 kHz. Lastly, we present a hardware platform for the generation of acoustic holograms. For example, we show an onset of diminishing returns for smaller than a quarter-wavelength sized emitters and a phase and amplitude resolution of eight and four divisions per period, respectively. Secondly, we use the algorithm to analyse the impact of spatial, amplitude and phase emission resolution on the resulting acoustic field, thus providing engineering insights towards array design. Firstly, we introduce an iterative algorithm that accurately calculates the amplitudes and phases of an array of ultrasound emitters in order to create a target amplitude field in mid-air. Here, we present three contributions towards making the field of acoustic holography more widespread. Holographic methods from optics can be adapted to acoustics for enabling novel applications in particle manipulation or patterning by generating dynamic custom-tailored acoustic fields. In addition, using nine modules, we confirmed that we could make a focal point of the size consistent with the theory at 500 mm above the array surface. We experimentally confirmed the synchronization of 20 modules within an accuracy of 0.1 's and the phase and amplitude can be specified at 8 bits resolution. In this paper, we describe the details of the hardware and software architecture of the developed system and evaluate it. Using EtherCAT for communication, the system achieves high accuracy synchronization among the connected modules. Each module has 249 transducers and the software used can individually specify the phase and amplitude of each of the connected transducers. To create workplaces flexibly, we have developed a scalable phased array system in which multiple modules can be connected via Ethernet cables and controlled from a PC or other host device. Through nonlinear effects, airborne ultrasound phased arrays enable mid-air tactile presentations, as well as auditory presentation and acoustic levitation. The provided results open up new possibilities for using acoustic levitation in robotic grippers, which has the potential to be applied in a variety of industrial use cases. Furthermore, a method that uses standing acoustic waves and thin reflectors to lift medium-density objects (ρ≤1g/cm3) from acoustically reflective surfaces is presented. A combination of multiple acoustic traps is used to lift lower density objects (ρ≤0.25g/cm3) from acoustically reflective surfaces using a single-sided arrangement. Lifting of high-density objects (ρ > 7 g/cm3) from acoustically transparent surfaces is demonstrated using a double-sided acoustic gripper that generates standing acoustic waves with dynamically adjustable acoustic power. Three prototypes of such grippers are implemented and used to experimentally verify the lifting of objects into an acoustic pressure field. This is essential for the use of acoustic levitators as contactless robotic grippers. This work presents analytical models based on which concepts for the controlled insertion of objects into the acoustic field are developed. In this paper, we describe our pipeline and demonstrate it with heterogeneous combinations of levitation primitives.Īcoustic levitation forces can be used to manipulate small objects and liquids without mechanical contact or contamination. It enables experiences that seamlessly combine different primitives into meaningful structures (including fully articulated animated shapes) and supports various levitation display approaches (e.g., particles moving at high speed). We designed ArticuLev with the physical properties of commonly used levitation primitives in mind. We present ArticuLev, an integrated pipeline that deals with the identification, assembly and mid-air placement of levitated shape primitives. However, initialization (i.e., placement of such primitives in their mid-air target locations) currently relies on either manual placement or specialized ad-hoc implementations, which limits their practical usage. Such primitives can be independent particles or particles that are physically connected via threads or pieces of cloth to form shapes in mid-air. Acoustic levitation is gaining popularity as an approach to create physicalized mid-air content by levitating different types of levitation primitives.
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