Dry Surface Micromanipulation Using An Untethered And Magnetic Microrobot

Precise micromanipulation tasks are typically performed using micromanipulators that require an accessible workspace to reach components. However, many applications have inaccessible or require sealed workspaces. This paper presents a novel magnetically-guided, and untethered, actuation method for precise and accurate positioning of microcomponents on dry surface within a remote workspace using a magnetic microrobot. By use of an oscillatory and uniform magnetic field, the magnetic microrobot can traverse on a dry surface with fine step size and accurate open-loop vector following, 3% and 2% of its body-length, respectively (step size of 7 μm). While maintaining precise positioning capability, the microrobot can manipulate and carry other microcomponents on the dry surface using direct pushing or grasping using various attachments, respectively. We demonstrate and characterize the untethered micromanipulation capabilities of this method using a 3 mm cubic microrobot for us

Cyber-Physical Systems for Micro-/Nano-assembly Operations: a Survey

Abstract Purpose of Review Latest requirements of the global market force manufacturing systems to a change for a new production paradigm (Industry 4.0). Cyber-Physical Systems (CPS) appear as a solution to be deployed in different manufacturing fields, especially those with high added value and technological complexity, high product variants, and short time to market. In this sense, this paper aims at reviewing the introduction level of CPS technologies in micro/nano-manufacturing and how these technologies could cope with these challenging manufacturing requirements. Recent Findings The introduction of CPS is still in its infancy on many industrial applications, but it actually demonstrates its potential to support future manufacturing paradigm. However, only few research works in micro/nano-manufacturing considered CPS frameworks, since the concept barely appeared a decade ago. Summary Some contributions have revealed the potential of CPS technologies to improve manufacturing performance which may be scaled to the micro/nano-manufacturing. IoT-based frameworks with VR/AR technologies allow distributed and collaborative systems, or agent-based architectures with advance algorithm implementations that improve the flexibility and performance of micro-/nano-assembly operations. Future research of CPS in micro-/nano-assembly operations should be followed by more studies of its technical deployment showing its implications under other perspectives, i.e. sustainable, economic, and social point of views, to take full advance of all its features

Advanced medical micro-robotics for early diagnosis and therapeutic interventions

Recent technological advances in micro-robotics have demonstrated their immense potential for biomedical applications. Emerging micro-robots have versatile sensing systems, flexible locomotion and dexterous manipulation capabilities that can significantly contribute to the healthcare system. Despite the appreciated and tangible benefits of medical micro-robotics, many challenges still remain. Here, we review the major challenges, current trends and significant achievements for developing versatile and intelligent micro-robotics with a focus on applications in early diagnosis and therapeutic interventions. We also consider some recent emerging micro-robotic technologies that employ synthetic biology to support a new generation of living micro-robots. We expect to inspire future development of micro-robots toward clinical translation by identifying the roadblocks that need to be overcome

Feedforward and IMC-feedback control of a nonlinear 2-DOF piezoactuator dedicated to automated micropositioning tasks.

International audienceThis paper presents the characterization, modeling and precise control of a 2-dof piezoactuator dedicated to precise and automated micropositioning tasks. The piezoactuator is characterized by a strong hysteresis and a high coupling between the two axes making the synthesis of a controller very difficult. We therefore propose to compensate first the hysteresis (feedforward control) in order to obtain an approximate linear system. Afterwards, an internal model control (IMC) structure is applied (feedback control) to enhance the performances of the piezoactuator. The main advantage of the proposed approach is its simplicity both for computation and for implementation making it very convenient for realtime embedded systems. Finally, the experimental results demonstrate its efficiency and conveniency for precise positioning

Microrobotique et Micromécatronique pour la Réalisation de Tâches de Micro-Assemblage Complexes et Précises.

Ce document présente une synthèse de mes contributions scientifiques aux domaines de la microrobotique et de la micromécatronique ainsi que des transferts effectués, tant à destination de l’industrie que de l’enseignement. Les travaux conduits sont orientés vers la réalisation de tâches de micro-assemblage complexes, précises et automatisées par approche microrobotique et sont plus particulièrement appliqués aux MOEMS.L’échelle micrométrique considérée induit de nombreuses spécificités qui se traduisent par un déficit notable de connaissances du comportement des systèmes à cette échelle. Pour cela, une première partie des travaux est dédiée à l’étude et à la modélisation multiphysique des systèmes microrobotiques et micromécatroniques. Cette connaissance a conduit, dans une seconde partie des travaux, à la proposition de nouveaux principes de mesure et d’actionnement mais également au développement de microsystèmes complexes, instrumentés et intégrés (micro-banc-optique, micropince, plateformes compliantes). Enfin, des lois de commandes et des stratégies d’assemblage originales ont été proposées notamment une commande dynamique hybride force-position combinant une commande hybride externe et une commande en impédance. Celle-ci permet de maîtriser la dynamique des transitions contact/non-contact critique à l’échelle micrométrique mais également d’automatiser des processus de micro-assemblage complexes. L’ensemble de ces travaux ont fait l’objet de validations expérimentales permettant de quantifier précisément les performances obtenues (exactitude de positionnement, temps de cycle, robustesse…). Les perspectives de ces travaux portent sur la proposition de systèmes microrobotiques et micromécatroniques compacts et intégrés utiles au micro-assemblage haute dynamique ainsi qu’à l’assemblage de composants nanophotoniques

Advanced medical micro-robotics for early diagnosis and therapeutic interventions

Recent technological advances in micro-robotics have demonstrated their immense potential for biomedical applications. Emerging micro-robots have versatile sensing systems, flexible locomotion and dexterous manipulation capabilities that can significantly contribute to the healthcare system. Despite the appreciated and tangible benefits of medical micro-robotics, many challenges still remain. Here, we review the major challenges, current trends and significant achievements for developing versatile and intelligent micro-robotics with a focus on applications in early diagnosis and therapeutic interventions. We also consider some recent emerging micro-robotic technologies that employ synthetic biology to support a new generation of living micro-robots. We expect to inspire future development of micro-robots toward clinical translation by identifying the roadblocks that need to be overcome

Automatic Microassembly System for tissue engineering- Assisted with top-view and force control

Master'sMASTER OF ENGINEERIN

Computer Vision Measurements for Automated Microrobotic Paper Fiber Studies

The mechanical characterization of paper fibers and paper fiber bonds determines the key parameters affecting the mechanical properties of paper. Although bulk measurements from test sheets can give average values, they do not yield any real fiber-level data. The current, state-of-the-art methods for fiberlevel measurements are slow and laborious, requiring delicate manual handling of microscopic samples. There are commercial microrobotic actuators that allow automated or tele-operated manipulation of microscopic objects such as fibers, but it is challenging to acquire the data needed to guide such demanding manipulation. This thesis presents a solution to the illumination problem and computer vision algorithms for obtaining the required data. The solutions are designed for a microrobotic platform that comprises actuators for manipulating the fibers and one or two microscope cameras for visual feedback.The algorithms have been developed both for wet fibers, which can be treated as 2D objects, and for dry fibers and fiber bonds, which are treated as 3D objects. The major innovations in the algorithms are the rules for the micromanipulation of the curly fiber strands and the automated 3D measurements of microscale objects with random geometries. The solutions are validated by imaging and manipulation experiments with wet and dry paper fibers and dry paper fiber bonds. In the imaging experiments, the results are compared with the reference data obtained either from an experienced human or another imaging device. The results show that these solutions provide morphological data about the fibers which is accurate and precise enough to enable automated fiber manipulation. Although this thesis is focused on the manipulation of paper fibers and paper fiber bonds, both the illumination solution and the computer vision algorithms are applicable to other types of fibrous materials

Automatic Microassembly of Tissue Engineering Scaffold

Ph.DDOCTOR OF PHILOSOPH