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Couplages haptiques pour la téléopération à l'échelle nanoscopique     

Abstract : A key issue for further developments in nanotechnology is the manipulation of objects. Operators cannot handle them manually due to the reduced size, complex and counterintuitive force fields, and the high influence of environmental conditions. Force feedback teleoperation appears as a promising solution as it allows high intuitivity and flexibility. For the different steps of conception, fabrication, and analysis of new nanoscale systems, two tools are required: robotic manipulators and simulators. Similar issues arise for teleoperations dealing with these tools, including complex force fields that must be transmitted to users, and instabilities due to the scaling difference. Currently, for teleoperation of either real or virtual objects, there is no system that can be used to perform complex manipulations. Applications are limited to demonstrations of some pre-defined experiments. In order to develop multi-purpose remote nano handling systems, following issues should be resolved: - the control of the influence of the scale reduction on the coupling schemes, and the adequacy between the coupling characteristics and the applications, in terms of transparency and stability, - the definition of strategies in respect to technological constraints of manipulation systems, - the use of methods to overcome the compromise between stability, ease of manipulation and haptic feedback quality due to the scale difference. In this work, first complex teleoperations at nanoscale have been performed by considering these points. On a variety of implemented remote nano handling applications, users were able to manipulate micro spheres (rolling, pick and place) while receiving haptic feedback on nanoscale interactions. A state-of-art example of 3D manipulation with force-feedback is also presented. Moreover, as an example of nanoscale realtime simulation applications, a molecular simulator has been fitted with a haptic interface. The operator is hence able to act directly on the simulated molecule, and induce deformations and atomic motions while receiving haptic information relative to inter molecular atomic forces. This work is a preliminary step toward the generalized use of haptic remote handling in nanoscale, and demonstrates the advantages of this approach for nanotechnology through several dedicated applications.
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Contributor : Aude Bolopion <>
Submitted on : Wednesday, December 15, 2010 - 11:08:55 AM
Last modification on : Friday, March 22, 2019 - 1:30:28 AM
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  • HAL Id : tel-00546946, version 1

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Aude Bolopion. Couplages haptiques pour la téléopération à l'échelle nanoscopique     . Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2010. Français. ⟨tel-00546946⟩

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