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Suivi de chemin 3D de nageurs magnétiques à faible nombre de Reynolds

Abstract : Magnetic microrobots, which swim using bio-inspired propulsion modes, appear very promising for manipulation and characterization of objects at microscopic scale inside confined and very restricted environments, unlike conventional micromanipulation methods. The literature proposes a variety of microrobots with different geometric shapes and magnetic properties. However, the motion controls proposed remain simple, imprecise and insufficiently robust for performing real tasks. In addition, there is still uncertainty that all these artificial microswimmers can accomplish the same tasks with equal performance. The objective of this thesis is thus to propose : generic motion controls by visual servoing in space for all kinds of microswimmers with nonholonomic constraints in order to improve the microswimmer performances, a set of comparison criteria between robots with a different topology or propulsion mode for choosing the most efficient microswimmer in order to perform a specific task. Path following control laws in space are synthesized and experimentally validated on helical and flexible swimmers under different conditions. These robots operate in low Reynolds number fluid, imitating respectively bacteria and spermatozoa and are actuated with uniform magnetic field. These two classes of swimmers have different actuation mode and geometric shape. Their performances are thus compared according to the task to be performed, the environment in which the robots evolve and the manufacturing constraints.
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Submitted on : Friday, November 8, 2019 - 2:58:26 PM
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  • HAL Id : tel-02355957, version 1


Ali Oulmas. Suivi de chemin 3D de nageurs magnétiques à faible nombre de Reynolds. Automatique / Robotique. Sorbonne Université, 2018. Français. ⟨NNT : 2018SORUS070⟩. ⟨tel-02355957⟩



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