LAUSR

Most acoustic levitation techniques are limited to objects smaller than half the wavelength. To overcome this limit, different strategies have been proposed for suspending macroscopic objects in mid-air. Two approaches to levitate spherical and non-spherical macroscopic objects have been recently presented: the acoustical virtual vortices and the boundary hologram method. However, the former approach places high demands on the available hardware due to the mandatory high switching rate while the latter uses a computationally expensive model that prevents future real-time manipulation. In the present work, we demonstrate the single-beam levitation of a Mie sphere using a 2D transducer array. To achieve this, we employ a computationally fast sound field model based on spherical harmonics expansion. To obtain a suitable array output, we formulate an optimization problem that maximizes the stability of the sphere while keeping the net force balanced. In addition, we prove the local asymptotic stability for the equilibrium position and determine a domain of attraction using Lyapunov-based methods. In experiments, we show that the macroscopic sphere is stably levitated in a twin tuning forks trap, which results from a superposition of two twin trap signatures and a bottle trap signature. This result could open up the possibility of a computationally fast and convenient non-contact manipulation of macroscopic objects by a superposition of holographic elements in future applications.