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Planar Position Control of Ferrofluid Marble using External Magnetic Field

Sarkhosh, Mohammad Hossein | 2024

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57475 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat Pishkenari, Hossein; Bijarchi, Mohammad Ali
  7. Abstract:
  8. Digital microfluidics has emerged as a promising tool in engineering and biomedicine over the past decade, with applications in drug delivery, biochemistry, sample manipulation in lab-on-chip systems, and tissue engineering. These systems enable the precise control of droplets and microfluids independently, which can be utilized as contamination-free chambers for conducting chemical reactions in medical applications. The precise control of the position of a ferrofluidic marble is also crucial in the field of digital microfluidics. Given the importance of this issue, this dissertation investigates, for the first time, the closed-loop control of a ferrofluidic marble’s position using a magnetic field. The thesis begins with an examination of the dynamics of a ferrofluidic marble on water under the influence of a repulsive magnetic force. Various parameters are analyzed, and a dynamic model is developed, which is compared with experimental data. Subsequently, three systems for the precise one-dimensional position control of a ferrofluidic marble are introduced. Additionally, applications of ferrofluidic marble control are presented. Finally, by enhancing one of the three introduced systems, a system capable of controlling the marble's position in two dimensions is developed
  9. Keywords:
  10. Micro Robotic ; Closed Loop System ; Digital Microfluidics ; Ferrofluid Marble ; Microfluidic System

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