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Theses

Conception et commande d'un dispositif magnétique de micromanipulation par poussée - Application à la manipulation de micro-objets biologiques

Abstract : The development of the biological research requires new tools of cells micromanipulation in laboratory. The size of the biological cells are around ten to hundred micrometers, so their manipulation is a part of the microrobotics problematic and more particularly of the micromanipulation. We present in this thesis a Wireless Micromanipulation System (WIMS), which allows to push cells contained in water between two glass slides. The cell pusher is a ferromagnetic object, which follows the movement of a permanent magnet located under the lower glass slide. The pusher built in electroplated nickel have dimensions from 10x10x5 µm to 400x400x20 µm. This thesis presents a complete model of the movement transmission from the magnet to the pusher. Two kinds of action can be made to push an object with the pusher : turning the pusher around the contact point (rotation), or moving the pusher in translation. Rotation allows to place an object with a precision lower than 1 µm, but acts on a small range. Translation allows to move an object with a lower precision on a large range. We propose in this thesis, a specific coarse-fine control strategy to push an object with a good precision on a large range. We also built a pushing force software sensor based on the measure of the relative position between the magnet and the pusher. Many experimentations was made with our micromanipulation device. For example, PS balls 50 microns diameter, and oocytes 150 microns diameter were pushed.
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https://tel.archives-ouvertes.fr/tel-00007129
Contributor : Michaël Gauthier <>
Submitted on : Friday, October 15, 2004 - 3:38:37 PM
Last modification on : Thursday, November 12, 2020 - 9:42:06 AM
Long-term archiving on: : Thursday, September 13, 2012 - 12:20:38 PM

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  • HAL Id : tel-00007129, version 1

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Michaël Gauthier. Conception et commande d'un dispositif magnétique de micromanipulation par poussée - Application à la manipulation de micro-objets biologiques. Automatique / Robotique. Université de Franche-Comté, 2002. Français. ⟨tel-00007129⟩

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