Closed-Loop Control of a Magnetic Particle at the Air–Liquid Interface

Dkhil, Mohamed; Kharboutly, Mohamed; Bolopion, Aude; Régnier, Stéphane; Gauthier, Michaël

doi:10.1109/tase.2015.2448133

Cited by 32 publications

(48 citation statements)

References 62 publications

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“…The main limitation of the proposed approach is that the objects are manipulated at the air/liquid interface, which restricts the displacements to a plane. However, several applications at micrometer scale, such as conveying [6] or assembly [25] benefit from the planar manipulation. Vortex pumps are also demonstrated in [26] using laser trapping of micro beads placed at an air/liquid interface.…”

Section: Discussionmentioning

confidence: 99%

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1D manipulation of a micrometer size particle actuated via thermocapillary convective flows

Mallea

Bolopion

Beugnot

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper deals with the open-loop characterization of a micromanipulation system actuated by thermocapillary convective flows. Micrometric size objects placed at the air/liquid interface are actuated by heating the surface of the liquid using a laser. The heat generates a surface tension gradient at the interface which induces thermocapillary convective flows that are used to move the objects. In this paper, the performances of this approach are analyzed based on openloop experiments. Several actuation strategies are proposed and discussed. The experimental results highlight the potential of this approach since velocities up to several millimeters per second are obtained. However the precision of the positioning is not ensured by open-loop actuation, so closed-loop control will be necessary in future works. As a first step towards closedloop control, this paper proposes a model of the system. This model is based on the open-loop experimental results, but the proposed methodology can be applied to any setup that use thermocapillary convective flows for particle manipulation.

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Section: Discussionmentioning

confidence: 99%

“…Magnetophoresis is based on magnetic fields produced by electromagnetic coils [4] or moving permanent magnets [5]. The scalability of this technique is remarkable since objects of any shape as small as a few micrometers to objects larger than 1 mm can be controlled [6]. Several methods can be used to produce the desired displacement.…”

Section: Introductionmentioning

confidence: 99%

1D manipulation of a micrometer size particle actuated via thermocapillary convective flows

Mallea

Bolopion

Beugnot

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

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“…Due to the small size of the actuator, the inertial term M€ x can be neglected in Eq. (9) with regard to the other forces [23]. The validity of this assumption will be discussed in Subsection 4.3.…”

Section: Nominal Behavior Model Constructionmentioning

confidence: 99%

A hybrid prognostics approach for MEMS: From real measurements to remaining useful life estimation

Skima

Medjaher

Varnier

et al. 2016

Microelectronics Reliability

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This paper presents a hybrid prognostics approach for Micro Electro Mechanical Systems (MEMS). This approach relies on two phases: an offline phase for the MEMS and its degradation modeling, and an online phase where the obtained degradation model is used with the available data for prognostics. In the online phase, the particle filter algorithm is used to perform online parameters estimation of the degradation model and predict the Remaining Useful Life (RUL) of MEMS. The effectiveness of the proposed approach is validated on experimental data related to an electro-thermally actuated MEMS valve.

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“…In Eqs. (14)- (20), M, H, and χ a are all written with respect to the global coordinate system O-xyz, which has the same orientation as the body frame system Figure 3(1).…”

Section: Magnetic Field Exerts Forces and Torques On Objectmentioning

confidence: 99%

“…A host of gradient-field-based driving mechanisms were reported in the past several years. Different configurations of gradient-field-based EMA systems [17][18][19][20][21][22] were proposed for various purposes. Further, to improve controllability and mane maneuverability of the microrobots, a variety of novel methods were also proposed.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot

Xie

Guo

2019

Chin. J. Mech. Eng.

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Non-contact actuated microbeads have attracted a lot of attention in recent years because of its enormous potential in medical, biological, and industrial applications. Researchers have proposed a multitude of electromagnetic actuation (EMA) systems consisting of a variety of coil pairs. However, a unified method to design and optimize a coil pair according to technical specifications still does not exist. Initially, this paper presented the modeling of an untethered ferromagnetic particle actuated by externally applied magnetic field. Based on the models, a simple method of designing and optimizing the EMA coil pair according to technical specifications, was proposed. A loop-shaped coil pair generating uniform magnetic and gradient fields was chosen to demonstrate this method clearly and practically. The results of the optimization showed that the best distance to radius ratio of a loop-shaped coil pair is 1.02 for a uniform magnetic field and 1.75 for a uniform gradient field. The applicability of the method to other shapes of coil configuration was also illustrated. The best width to distance ratio for a square-shaped coil pair is 0.558 and 0.958 for uniform magnetic and gradient fields, respectively. The best height to width ratio and distance to width ratio for a rectangle-shaped coil pair is h/w = [0.9,1.1], d/w = [0.5,0.6] for uniform magnetic field and h/w = [1.0,1.2], d/w = [0.9,1.1] for uniform gradient field. Furthermore, simulations of a microparticle tracking the targeted trajectory were conducted to analyze the performance of the newly designed coils. The simulations suggested the ability of manipulating microparticles via the coils designed by our proposed method. The research mainly proposed a unified design and optimization method for a coil pair, which can support researchers while designing a specific coil pair according to the technical requirements. This study is aimed at researchers who are interested in EMA system and microrobots. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Closed-Loop Control of a Magnetic Particle at the Air–Liquid Interface

Cited by 32 publications

References 62 publications

1D manipulation of a micrometer size particle actuated via thermocapillary convective flows

1D manipulation of a micrometer size particle actuated via thermocapillary convective flows

A hybrid prognostics approach for MEMS: From real measurements to remaining useful life estimation

Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot

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