毛细管偶极子:对漂浮在自由表面的多个粒子的热毛细管微操作

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) Pub Date : 2018-07-01 DOI:10.1109/MARSS.2018.8481155

Ronald Terrazas, Adrien De Maeijer, A. Bolopion, M. Gauthier, M. Kinnaert, P. Lambert

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引用次数: 2

摘要

我们提出了一个贡献热毛细管微操作的漂浮粒子在自由表面。基于所谓的毛细管偶极相互作用的物理模型，用贝塞尔函数预测了两个浮动粒子之间的力，其大小可以从粒子之间的测量距离计算出来。然后将此力视为扰动力，并通过前馈策略在控制方案中加以抑制。给出了该策略的理论结果和概念的实验证明。

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Capillary Dipoles: Towards Thermocapillary Micromanipulation of Multiple Particles Floating at the Free Surface

We present a contribution to thermocapillary micromanipulation of floating particles at the free surfaces. Based on a physical model for the so-called capillary dipole interaction, the force between two floating particles is predicted with a Bessel function, whose magnitude can be calculated from the measured distance between particles. This force is then considered as a disturbance force and rejected in the control scheme thanks to a feedforward strategy. Theoretical results for this strategy as well as an experimental proof of concept are given.

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2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

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