Maxime ETIEVANT : "Modélisation et commande de systèmes à bobines mobiles : application à la nage de robots magnétiques"

Abstract :  In the biomedical context, the manipulation of microscopic objects with precision is a real challenge that requires the development of innovative microrobotic systems. Considering the scales involved, the use of magnetic field-guided microrobots is one of the most promising approaches to move objects in highly constrained or difficult to access areas. Although this method of remote actuation is attractive, the two main magnetic actuation devices, namely moving magnet systems and static coil devices, do not generally satisfy the constraints of biomedical applications. There is however a third category of actuation system, the moving coil devices, but these have not been studied much. In this context, the work developed in this thesis concerns the study of magnetic manipulation systems composed of moving coils. First, the way to
model the magnetic field generated by a coil is studied. The methods presented in the state of the art not being compatible with the constraints imposed by the use of a closed loop control, we then adapt an existing model to make it compatible with these constraints. In a second step, we focus on the control of magnetic manipulation systems with mobile sources. For this purpose, we develop a model of a generic system composed of a finite number of moving coils, then this model is linearized. Finally, in order to evaluate the performance of a magnetic manipulation system, we are interested in the manipulability indices of this kind of device. As the existing criteria do not allow to take into account the physical limitations related to the heating of the coils, we propose a manipulability criterion adapted from the macroscopic approaches of cable robots. These
different tools and methods are then used to design, realize and evaluate an experimental device.

Jury Composition :

M. Nicolas ANDREFF, Professeur des universités, Université Bourgogne Franche-Comté -  PhD Director
M. Stéphane REGNIER, Professeur des universités Sorbonne Université - Co-PhD Director
Mme Aude BOLOPION,  Directrice de recherche CNRS - PhD Co-superviser
Mme Laëtitia GIRALDI, Chargée de recherche INRIA-  Reviewer
M. Chedli BOUZGAROU BELHASSAN, Professeur des universités, Sigma Clermont, Intitut Pascal -  Reviewer
M. Arnaud HUBERT, Professeur des universités, Université de Technologie de Compiègne, LEC -Reporter
M. Karim BELHARET,  Directeur de recherche HEI campus Centre, laboratoire PRISME - Reporter

Localization : Amphithéâtre Jules Haag, ENSMM 26, rue de l'Epitaphe 25000 BESANCON