Hadi Soweidan
Research Mentor: Y Z
Mentor Department: NERS, EECS, MSE, ROB, AP, Engineering
Author(s): Hadi Soweidan, Y Z
Session: Session 7 (4:00 PM – 4:50 PM)
Presentation Type: Oral Presentation
Abstract
A variety of scientific systems are analyzed through a model utilizing a characteristic function of all the system’s variables. A surface can be created from this function, such that stable states of the system and transitions between those states can be studied from local minima and saddle points of the surface respectively. The system’s many variables can be projected onto a representation of lower dimension, such that the surface can be similarly projected to enable visualization. One example of this modeling is used in the analysis of the free energy within a system of hard spheres, a simplification of atoms with no attractive interaction or overlap. From simulations of these hard spheres, projections can be made from the configuration states, then free-energy landscapes can be created and studied. We present an experimental test bench as a physical version of this study. The test bench involves a swarm of robots, which all move through angle-able brushes driven by a linear resonance actuator, commanded and tracked by a Robot Operating System (ROS) network with microROS deployed on each robot. Four of these robots are arranged within a spherical arena of variable radius, and the configuration of their ordering is tracked, emulating the reference study. We aim to use the resulting projected free-energy landscapes to compare with theory under the presence of impulses, as controlled commands or measured byproducts of a physical experiment.
