Autonomous Particle Image Velocimetry Using Zero-Shot Sim-to-Real Reinforcement Learning

원문 초록

Particle image velocimetry (PIV) reconstructs a flow field from the motion of tracer particles but the reconstruction quality is bounded by how well the flow structure of interest is resolved in the images. The acquisition position is typically fixed by the operator before the measurement. We cast camera placement as a sequential decision-making problem and train a reinforcement learning agent to control a 6-DoF manipulator equipped with a camera, enabling it to locate, frame and resolve a hydrofoil wake in a water tunnel. The agent commands the camera pose and observes the scene only through the velocity field and uncertainty estimated from time-separated image pairs. It is trained entirely in a photorealistic simulation of our water tunnel, with wakes generated by Computational Fluid Dynamics (CFD) simulations of hydrofoils with varying profiles, positions and angles of attack. After zero-shot transfer to the real water tunnel, the policy reliably locates and frames the wakes of randomly placed hydrofoils. It resolves the wake at a higher resolution than a fixed camera view and with lower error in the measured flow statistics, in roughly half the time of a full scan and with far fewer image pairs.