Diz 70 en
Micromanipulation Using Dielectrophoresis: Modeling and Real-Time Optimization-Based Control
Author: Tomáš Michálek
This thesis describes a novel computational framework for position and orientation control of arbitrarily-shaped microscopic objects using dielectrophoresis. A suitable control-oriented model, that is, evaluable online (in real time) coupling the dielectrophoretic and hydrodynamic effects is derived. It can predict not only the dielectrophoretic force and torque but also the final translational and rotational velocities of micro-objects in a liquid medium. Subsequently, a control structure and model-based computational methods for design of a feedback controller are proposed. Finally, the functionality of the introduced framework is demonstrated in experiments. Discussion of important design and fabrication issues is included.