a b s t r a c tThis paper is focused on the design and modeling of a new micro and nano force sensor using magnetic springs. The force sensitive part is a macroscopic horizontal rigid platform used as a floating seismic mass. This platform presents a naturally stable equilibrium state for its six degrees of freedom (dof) thanks to the combination of upthrust buoyancy and magnetic forces. This force sensor allows the measurement of the external horizontal force and the vertical torque applied to the platform. Thanks to the magnetic springs configuration used, the seismic mass presents a 0.02 N/m horizontal mechanical stiffness (similar to the stiffness of a thin AFM micro-cantilever). The measurement range typically varies between ±50 N. The resolution depends on the displacement sensors used to measure the seismic mass displacement and on the environmental conditions (ground, liquid and air vibrations). In steady state, this displacement is proportional to the applied force. Resolution of less than 10 nN can be reached with the use of an anti-vibration table.

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Abstract-This paper reports modeling and control of a microsized polymer aggregate of magnetic particles inside an artery, using a MRI device for supplying propulsion in order to achieve targeted chemotherapy. Non-newtonian behaviour of blood is took into account, as well as wall effects and interactions, resulting in a highly nonlinear model. A backstepping approach is synthesized to ensure Lyapunov stability along a pre-planned trajectory inherited from the model, with robustness concerns.