First experiments on MagPieR: A planar wireless magnetic and piezoelectric microrobot

Ivan, Ioan Alexandru; Hwang, Gilgueng; Agnus, Joël; Rakotondrabe, Micky; Chaillet, Nicolas; Régnier, Stéphane

doi:10.1109/icra.2011.5979885

Cited by 41 publications

(39 citation statements)

References 16 publications

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“…The top is composed of a ferromagnetic layer Ni and the bottom is a piezoelectric material (PMN-PT). It was specially designed for breaking the speed record '2 mm dash 1 at NIST IEEE Mobile Microrobotics Challenge held at ICRA2010 in Alaska (Ivan et al 2011). MagPieR also won the 'mobility challenge' at NIST IEEE Mobile Microrobotics Challenge held at ICRA2011 in Shanghai.…”

Section: The Samplementioning

confidence: 99%

High Quality Real-Time Video with Scanning Electron Microscope Using Total Variation Algorithm on a Graphics Processing Unit

Ouarti

Sauvet

Régnier

2012

International Journal of Optomechatronics

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The scanning electron microscope (SEM) is usually dedicated to taking a picture of micro-nanoscopic objects. In the present study, we wondered whether a SEM can be converted as a real-time video display. To this end, we designed a new methodology. We use the slow mode of the SEM to acquire a high quality reference image that can then be used to estimate the optimal parameters that regularize the signal for a given method. Here, we employ Total Variation, a method which minimizes the noise and regularizes the image. An optimal lagrangian multiplier can be computed that regularizes the image efficiently. We showed that a limited number of iterations for Total Variation algorithm can lead to an acceptable quality of regularization. This algorithm is parallel and deployed on a Graphics Processing Unit to obtain a real-time high quality video with a SEM. It opens the possibility of a real-time interaction at micro-nanoscales.

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Section: The Samplementioning

confidence: 99%

High Quality Real-Time Video with Scanning Electron Microscope Using Total Variation Algorithm on a Graphics Processing Unit

Ouarti

Sauvet

Régnier

2012

International Journal of Optomechatronics

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“…The MagPieR moves inside a capacitor. The bottom electrode is the arena substrate itself, (a) Image from Scanning Electronic Microscope of MagPieR [35] (b) Disposition of the coils surrounding the MagPieR arena [35] Fig. 13 The MagPieR design and the top electrode is an optically transparent conductive glass (ITO glass) allowing a visualization of the scene from above.…”

Section: Micro-robot Designmentioning

confidence: 99%

“…The maximum admissible current intensity in the electromagnet depends on how much heat the conductive material can withstand and how fast it can be dissipated by the coil. However, cooling systems [21], or square waveform current instead of continuous current [35] can be used.…”

Section: Challenges In Designing Magnetic Actuation Platforms and Micmentioning

confidence: 99%

“…Actually, magnetic forces can induce the same accelerations regardless of the object's size, therefore a micro-robot can experience high accelerations relative to its reduced size However, depending on the environment, the micro-robot's behavior is disturbed by high adhesion forces in the air [38], which depends closely on the surface of the arena and fabrication of the micro-robot. Adhesion forces can be reduced at this scale by using vibrations generated from a piezoelectric layer [35], or levitation using the electrostatic effect. In a liquid environment, the micro-robot experiences fluid drag forces [38], which increase with its velocity; as the micro-robot operates, the liquid state changes and leads to system disturbances.…”

Section: Challenges In Controlling Magnetic Micro-robotsmentioning

confidence: 99%

“…The MagPieR is a micro-parallelepiped [35], composed of two heterostructure layers: a ferromagnetic material (Nickel) layer for magnetic driving on top of a bulk of PMN-PT (Pb(Mg 1/3 Nb 2/3 )O 3 -PbTiO 3 : a composite of Lead-Magnesium-Niobium-Titane), a piezoelectric material used to overcome surface friction Fig. 13(a).…”

Section: Micro-robot Designmentioning

confidence: 99%

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An overview of multiple DoF magnetic actuated micro-robots

Bouchebout

Bolopion

Abrahamians

et al. 2012

J. Micro-Nano Mech.

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This paper reviews the state of the art of untethered, wirelessly actuated and controlled micro-robots. Research for such tools is being increasingly pursued to provide solutions for medical, biological and industrial applications. Indeed, due to their small size they offer both high velocity, and accessibility to tiny and clustered environments. These systems could be used for in vitro tasks on lab-on-chips in order to push and/or sort biological cells, or for in vivo tasks like minimally invasive surgery and could also be used in the micro-assembly of microcomponents. However, there are many constraints to actuating, manufacturing and controlling micro-robots, such as the impracticability of on-board sensors and actuators, common hysteresis phenomena and nonlinear behavior in the environment, and the high susceptibility to slight variations in the atmosphere like tiny dust or humidity. In this work, the major challenges that must be addressed are reviewed and some of the best performing multiple DoF micro-robots sized from tens to hundreds µm are presented. The different magnetic micro-robot platforms are presented and compared. The actuation method as well as the control strategies are analyzed. The reviewed magnetic micro-robots highlight the ability of wireless actuation and show that high velocities can be reached. However, major issues on actuation and control must be overcome in order to perform complex micro-manipulation tasks.

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