PeriSim: A Simulator for Optimizing Peristaltic Table Control

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ID: 71453
2019
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Abstract
Peristaltic conveyance can be used for the sorting and transport of delicate and nonrigid objects such as meat or soft fruit. The non‐linearity and stochastic behavior of peristaltic systems make them difficult to control. Optimizing controllers using machine learning represents a promising path to effective peristaltic control but currently, there is no suitable simulated model of a peristaltic table in which to run these optimizations. A simple, simulated model of a peristaltic conveyor that can be used for optimizing peristaltic control on a variety of peristaltic tables is presented. This simulator is demonstrated through a limited control problem evaluated on our real‐world system that is built for peristaltic conveyance. This simulator is available as the python package PeriSim so that it can be used by the robotics community for peristaltic control development.
Reference Key
mckenzie2019perisimadvanced Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors McKenzie, Ross M.;Roberts, Jamie O.;Sayed, Mohammed E.;Stokes, Adam A.;
Journal advanced intelligent systems
Year 2019
DOI
DOI not found
URL
https://doi.org/10.1002/aisy.201900070
Keywords
Pharmacy and materia medica Science physics law computer engineering. computer hardware control engineering systems. automatic machinery (general) astrophysics

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