CSAIL Event Calendar: Previous Series
THESIS DEFENSE: Control of Underactuated Fluid-Body Systems with Real-Time Particle Image Velocimetry
Speaker: John Roberts , MIT
Controlling the interaction of a robot with a fluid, particularly when the desired behavior is intimately related to the dynamics of the fluid, is a difficult and important problem. High-performance aircraft cannot ignore nonlinear stall effects, and robots hoping to fly and swim with performance matching that seen in birds and fish cannot treat fluid flows as quasi-steady. If we wish to match the level of performance seen in nature several major hurdles must be overcome, with one of the most difficult being the poor observability of the fluid state. Fluid dynamicists have long contended with this observability problem, and have used computationally intensive Particle Image Velocimetry (PIV) to gain an understanding of the fluid behavior after the fact. However, improvement in available computational power is now making it possible to perform PIV in real-time. With the fluid state observable PIV becomes not just an analysis tool, but a valuable sensor that can be integrated into a control loop.