STUDIENARBEIT / DIPLOMA - /BACHELOR - /MASTER THESIS
Mathematical models for interaction forces in microenvironment
- Sketch of a sphere/plane contact. Alvo et al. [2010]
Problem description:
The microscopic world is governed by the same physical laws as the macroscopic world but the relative importance of the physical laws changes: in the microworld where objects are the size of several micrometers, gravity is not the dominant force as in our macroscale and short-range forces, Van-der-Waals and electrostatic forces, become significant. Some of these forces are repulsive, others highly attractive. Therefore an object grasped by a microgripper might tend to stick to the gripper even after release.
To allow precise and intuitive manipulation at that scale, proper knowledge of these forces is essential.
Tasks:
- Literature survey on microforces
- Evaluation of current modeling approaches
- Implementation of models in MATLAB/SIMULINK
- Extend simulator with visual and haptic feedback
Requirements:
Basic knowledge in MATLAB/ SIMULINK.
Bibliography:
- S. Alvo, P. Lambert, M. Gauthier, and S. Regnier, “A van der waals force-based adhesion model for micromanipulation,” Journal of Adhesion Science and Technology, vol. 24, pp. 2415–2428(14), Oct 2010.
- A. Ferreira and C. Mavroidis, “Virtual reality and haptics for nanorobotics,” IEEE Robotics and Automation Magazine, vol. 13, no. 3, pp. 78–92, Sept 2006.
- M. Gauthier, S. Regnier, P. Rougeot, and N. Chaillet, “Analysis of forces for micromanipulations in dry and liquid media,” Journal of Micromechatronics, vol. 3, pp. 389–413(25), Sept 2006.
Supervisor: