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Article Dans Une Revue IEEE Transactions on Automation Science and Engineering Année : 2015

Closed loop control of a magnetic particle at the air/liquid interface.

Résumé

One of the greatest challenges in microrobotic is the development of robotic devices for high speed transportation and precise positioning of microcomponents. This paper proposes to use non contact magnetic actuation in which objects are placed at the air/liquid interface and are actuated through magnetic field gradients. A physical model is developed and identified to perform closed loop control. This approach is validated through several experiments in 1D. Precise positioning and high speed trajectory tracking of objects smaller than 100 µm are achieved. The position error of an object of 60x50x25 µm3 is less than 10 % of its size and the maximum velocity reached is about 6 mm=s. The closed loop control has been tested on objects as small as 30x20x25 µm3 and demonstrates its ability to perform precise positioning (the position error is less than 7 % of the size of the object). This approach represents a promising solution to design devices for high throughput transportation and precise positioning of micro-objects, which will lead to magnetic smart surfaces at micrometer scale.
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Dates et versions

hal-01303493 , version 1 (18-04-2016)

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Mohamed Dkhil, Mohamed Kharboutly, Aude Bolopion, Stéphane Régnier, Michaël Gauthier. Closed loop control of a magnetic particle at the air/liquid interface.. IEEE Transactions on Automation Science and Engineering, 2015, 99, pp.1-14. ⟨10.1109/TASE.2015.2448133⟩. ⟨hal-01303493⟩
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