Yuning LEI : "Nanorobotic Origami Unfolded at the Tip of Optical Fiber "

Abstract : The need for characterization and manipulation systems to operate at very small scales is increasingly emerging because of the research and industrial interest in many micro- and nano-objects. These needs are considerable and cover a wide range of
applications. Current available commercial nanopositioning robots have strong limitations in terms of workspace and repeatability due to their large size difference with the object. This thesis investigated a new paradigm of robotic motion generation for nanoscale applications. The original approach proposed is based on the unfolding of a 3D origami structure actuated by laser at the tip of the optical fiber in Scanning Electron Microscope (SEM). This involves pattering, folding, assembling a silica origami structure using Focused Ion Beam (FIB), and generating its deployment at the tip of the optical fiber by using the optical flow. Silica elastic joints made by FIB induced folding are proposed to be used as robotic joints. The controllable and repeatable fabrication method of origami joints is investigated. A polyarticulated structure composed of the origami joints is experimentally studied. The size of the proposed structure appears disruptive because smaller than 50 μm in typical overall length. It enables for the first time motion transfer in a large planar workspace of 57 μm squared with excellent repeatability standard deviations of 227 nm and 216 nm in x and y directions, respectively. Finally, a sub-50 μm case study of an actuation integrated ultra-compact gripper unfolding at the tip of an optical fiber is demonstrated. These results together state the interest of novel polyarticulated structures resulting from the FIB folding as a basis for the next tethered nanorobotics generation.

Jury Composition  :

M. Yassine HADDAB Professeur des universités Université de Montpellier Reporter
M. Sinan HALIYO Maître de conférences Sorbonne Université Reporter
M. Pierre RENAUD Professeur des universités INSA Strasbourg Reviewer
M. Skandar BASROUR Professeur des universités Université Grenoble Alpes Reviewer
M. Jean-Yves RAUCH Ingénieur de recherche Université Bourgogne Franche-Comté PhD Co-director
M. Cédric CLÉVY Maître de conférences Université Bourgogne Franche-Comté PhD Director

Localization : Amphithéâtre J-J Gagnepain - Institut FEMTO-ST, 15B, Avenue des Montboucons - 25000 Besançon