Morphological Manipulation of Particle Cluster Using Ultrasonic Phased Array System and Microscopic Vision
Xin Mu, Qingyi Lu, Mingyue Wang, Song Liu
Abstract
The non-contact acoustic manipulation of particle clusters has great potential in various fields. However, current acoustic manipulation technologies for particle cluster manipulation primarily focus on aggregating particles to a specific shape, while morphological transformation of aggregated particle clusters remains an unsolved challenge. In this work, a non-contact acoustic manipulation system for real-time dynamic particle cluster morphological transformation was presented. The system primarily consisted of an ultrasonic phased transducer array (PTA) generating holographic acoustic end-effector (HAE), and a visual servo system to precisely localize the HAE and particles. A theoretical analysis of equal-area transformation was provided to guide the reshaping of particle clusters. A physical-based deep learning algorithm was proposed for computation of phase-only holograms (POHs) for super-resolution HAE. Experimental results validated the efficacy of the proposed system in dynamically transforming the shape of particle clusters. Furthermore, an application demo of the deformed particle cluster passing through a narrow channel highlighted the potential of the proposed system.
BibTeX
@inproceedings{ral2026_morphologicalman,
title = {Morphological Manipulation of Particle Cluster Using Ultrasonic Phased Array System and Microscopic Vision},
author = {Xin Mu and Qingyi Lu and Mingyue Wang and Song Liu},
booktitle = {RA-L 2026},
year = {2026}
}