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Habilitation à diriger des recherches

Micromanipulation robotique en milieu liquide.

Abstract : This manuscript deals with a synthesis of scienti c contributions in the led of robotic micromanipulation. The manipulation of microscopic objects, whose behavior is driven by surface e ects, requires new handling and assembly solutions. The general approach proposed in this document consist in manipulate and assemble microcomponents inside a liquid. Indeed, we have shown that the use of a liquid modify signi cantly the problematics of micromanipulation and induces some advantages. For example, trajectories of the object are stabilized because of viscosity or surface e ects can be controlled using physical chemistry principle.The scienti c analysis presented in chapter 1 is based on 3 steps used during the study of robotic micromanipulation in liquid medium whose bibliographic context is presented in chapter 2. The rst step is the modeling of the interaction forces between micro-objects in order to predict and simulate their behavior. Based on this model, micromanipulation strategies (chapter 4) have been proposed, and scienti c works have been focused on their characterization and their control. These micromanipulation strategies are a key point of the construction of micro-assembly platforms reported in chapter 5. The perspectives of these works (chapter 6) deals with the exploration of the no man's land between microscience et nanoscience, the proposition of methods for complex and/or functional microassemblies, and the robotic micromanipulation of biological cells.
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Habilitation à diriger des recherches
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Contributor : Martine Azema <>
Submitted on : Tuesday, December 6, 2011 - 11:14:37 AM
Last modification on : Thursday, November 12, 2020 - 9:42:07 AM
Long-term archiving on: : Friday, November 16, 2012 - 2:26:44 PM


  • HAL Id : tel-00648661, version 1


Michaël Gauthier. Micromanipulation robotique en milieu liquide.. Micro et nanotechnologies/Microélectronique. Université de Franche-Comté, 2011. ⟨tel-00648661⟩



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