This paper reports modeling and control of a microsized polymer aggregate of magnetic particles inside an artery, using a MRI device for supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behavior of blood is considered, as well as wall effects and interactions, resulting in a highly nonlinear model. A backstepping approach is synthesized to ensure Lyapunov stability along a pre-planned trajectory inherited from the model, with robustness concerns.

In this paper, we present the design of a new magnetic nano and microforce sensor for microbiological applications. The sensing part of the sensor presents a naturally stable six degrees of freedom equilibrium state using the combination of upthrust buoyancy and magnetic force. The sensor allows force measurement without deformation of the sensing element using a feedback control loop and is able to measure the components, in the horizontal plan, of the external force applied. The measurement range varies between around plusmn100 muN with a resolution of 20 nN and a linear output. The mechanical stiffness of the passive system is about 0.018 Nm-1(same order of magnitude than an AFM micro-cantilever). A complete static study and experimental validation of the used principle are presented in this paper.

This paper presents the dynamic behaviour modelling of a horizontal triangular platform, used as the sensing part of a microforce sensor. This sensor is based on a magnetic and a buoyancy principle. A particular configuration used to obtain a linear model is presented. This linear model will be essential for the future control of the system, in order to achieve force measurement without displacement of the platform. The determination of the platform position and orientation in the horizontal plane is done thanks to three laser range sensors. Sensors configuration provide a linear transformation between the three measured ranges and the position and orientation of the platform. Finally, an open loop result comparison is done between the linear state model and a more complex 3D non linear model.