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Patek Phi l ippe Chair Micromechanical and Horological Design Laboratory

INSTANT-LAB

Annua l Report 2013

Introduction

Human resources

Infrastructure and equipment

ResearchOngoing Ph.D. theses Main ongoing research projects High quality factor oscillators for wrist watches Multistable meso-scale springs and their use for watch-making applications Watch diagnostic iPhone application Miniature flexure structures for multi-degree of freedom contact force sensing Programmable-compliance inserts for geometrically tunable prostheses

EducationTeaching: EPFL Mechanism Design I & II / Conception de mécanismes I & II (2013-2014) Elements of mechanical design I & II / Construction mécanique I & II (2013-2014) Industrial and applied robotics / Robotique industrielle et appliquée (2013) Microengineering Components / Composants de la microtechnique (2012-2013) Completed master projects Participation in Ph.D. committees Teaching: outside EPFL

Invited talks PublicationsBook chapters Book reprints Conference proceedings Articles in peer reviewed journals

Scientific disseminationPoster presentations Newspaper and magazine articles Television programs Book signing events

Conclusion and perspective

TABLE OF CONTENTS

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INSTANT-LAB Annual Report 2013

Following the April 2012 announcement of a partnershipbetweenwatchmakingmanufacturePatekPhilippeandtheEPFL,thePatekPhilippeChairinMicromechanicalandHo-rologicalDesignwasestablishedonNovember1,2012,withthenominationofProfessorSimonHenein.Instant-Lab,thenamechosenforthenewlaboratory,islocatedinMicrocity,theEPFLMicrotechnologycentreinNeuchatel,Switzerland.Instant-Labcurrentlyconsistsofadozenseniorscientists,postdoctoralscholarsandgraduatestudents.

The laboratory’s specialty is the creation of newmecha-nisms featuring kinematic and technological innovationatthe centimeter scale. The scientific approach is inspiredfrommechanicaldesigninfieldssuchasnewandclassicalhorology,roboticsandaerospace.Currentprojectsapplytomechanicalwatchmakingandbiomedical instrumentation,thesefieldsbeingquiteclose,both technologicallyand intheir industrial fabric. Beyond the laboratory’s academicmissiontopursueexcellenceinfundamentalresearchandteaching, it is also committed to strengthen tieswith theSwisswatchmakingindustryandthereforewelcomescolla-borationwithallitsindustrialpartners.

The present report gives an overview of the activities ofInstant-Lab since its creation on November 1, 2012 untilDecember31,2013.

INTRODUCTION 3


HUMAN RESOURCES

Lab head

Professor Simon Henein Dr. Charles Baur Nicolas Ferrier Johan Kruis

Karine Frossard (administrative assistant)

Dr. Ilan Vardi

Dr. Lennart Rubbert

Dr. Roland Bitterli

Marine Clogenson Olivier Laesser

David Lengacher Sebastian Fifanski

Tristan Derbanne

Senior Scientists

Post-Docs

Scientific Assistants Ph.D. Students

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InadditiontoProfessorHenein,12personswerehiredtoworkatInstant-Lab.AsofDecember2013,theteamisconstitutedasfollows:


Instant-Labwas first located in the historical building rueBreguet2,Neuchatel,fromNovember1,2012untilOctober2013.OnOctober16,2013,thelaboratorywasrelocatedtothenewMicrocitybuilding, ruede laMaladière71b,Neu-chatel,withthefollowingsurfaceallocation:

Offices: 125 m2

Laboratories: 170 m2

Grey room: 51 m2

Nomajor equipmentwas acquiredduring 2013 since thelabwasnotyetinstalledinitsfinallocation.Theequipmentacquisitionphasewillstartin2014.

INFRASTRUCTURE AND EQUIPMENT 7

SPIN-OFF

The spin-off company GraniteApps SARL (www.grani-teapps.ch) was founded in January 2013 by Dr CharlesBaurandTristanDerbanne.Itfocusesonthedevelopmentofsoftwareapplicationsforsmartphonesandtablets.Thegoalistoextenddailyactivityand/oreverydaylifedevicesbyusingsmartphoneandtabletconnectivityaswellasdatamanagementcapabilities.


Ongoing Ph.D. theses

O. Lasser, preliminary thesis title: Analyse, synthèse et création d’échappements par la théorie des engrenages.ExpectedcompletionMay2014.Kinematics of the Swiss lever escapment reproduced based on

gearsectors(primitivecircles)

J. Kruis,preliminary thesis title:Novel Design for Assem-bly Concepts for Centimeter-scale 3D flexure-mechanisms.ExpectedcompletionJanuary2016.Delta robot consisting of three assembled flexure-based silicon

slabs(size20x20x20mm)(courtesyofCSEM).

S. Fifanski,preliminarythesistitle:Miniature flexure struc-tures for contact force sensing in pointed tools.ExpectedcompletionAugust2017.

Tri-axialinvivoforcesensorsforforcefeedbackdedicatedforear

surgery

RESEARCH 9bd ad

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High quality factor oscillators for wrist watche

Currentmechanicalwristwatches have as timebase anoscillatorconsistingofabalancewheelmountedonjeweledbearingsandahairspring.Theuseofflexurebearingsinsteadofthetraditional journalbearingleadtoahighincreaseinqualityfactor,i.e.,reduceddampingandenergyloss.Asaresultthepowerreservecanbesignificantlyincreasedandchronometric precision can be improved due to reducedoscillator perturbation. This project aims at exploringfundamental and practical issues in the design of novelflexure-basedhighqualityfactoroscillatorsforwatches.ThisprojectisrunincollaborationwithCSEMSA.Butterflyflexurepivotforbalancewheelsuspensionleadingtoin-

creasedqualityfactor(courtesyofCSEM).

Multistable meso-scale springs and their use for watch-making applications

Flexure based mechanisms can be designed in order toproducestronglynon-linearspringbehaviorand judiciousarrangement can yield constant force-springs, zero-forcesprings, bi-stable springs or multi-stable-springs.Combinedwiththeuseofadvancedmaterialssuchasmo-no-crystallinesiliconorotheralloysorcompositeswiththeirrespective fabrication technologies, such springs enablecompletelynewfunctionalitiesat thecentimeterscale, forexample, to harvesting devices, mechanical watches orsurgical instruments. This project aims at exploring thefundamental principles of elastic energy storage mecha-nisms, theirproductionmethodsand their integration intocompletefunctionaldevices.Thisproject isbeing set upwithaconfidential industrialpartner.Negative stiffness linear guide includingposition sensor for cha-

racterization

RESEARCHMain ongoing research projects

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Watch diagnostic iPhone application

A new algorithm for telling time was invented at Instant-lab then implemented as an iPhone application. It allows acomputertotelltimebyreadingthewatchhandsonly,inde-pendentlyof thedisplay.Theadvantageof thisalgorithm isthatwatchhandsaremoreamenable topattern recognitionalgorithmsthanwatchdisplays.The latterareextremelyva-riableanddifficulttorecognisesystematicallyusingcomputerimageprocessingalgorithms.Thisapplicationcanbeusedforseveralpurposes:simplifiedobservationofdailyrate(marchediurne);internalprototypechronometrictesting(chronométrieauporteremployés); largescalechronometric testing (chro-nométrieauporterclient);centralizeddatacollectiontoManu-facture;remotediagnostics;measureofsecond/minutehandsynchronization(useradjustment);verificationofminute/hourhandsynchronization(manufactureassembly);verificationofhand/dialrelativepositioning;client/watchconnection.Thisprojectcalled 5.5° of separation,isbeingdevelopedwithGraniteApps,anInstant-Labspin-off.iPhone application screen captures showing hand detection and

calculationofdisplayedtimeusingtheanglebetweenwatchhands

asinputtothealgorithminventedanddevelopedbyInstant-Lab

Miniature flexure structures for multi-degree of freedom contact force sensing

Thegoaloftheprojectistodevelopactivesurgicaltoolsthatfitmicrosurgeryrequirements(e.g.eyesurgery,brainsurgery,etc.) in terms of tool size, force range and required reliabi-lity. ItwillcombineflexiblestructuretechnologyprovidedbyInstant-Lab togetherwith in house optical fiber based sen-singtechnologyofSensopticSAthathasbeensuccessfullyintroducedintoactivetoolsinheart,ear,noseandthroatsur-gery.Focuswillbeonflexibleandsensingstructuretopologyanddesign,extrememiniaturization,multipleDOFforceandtorquemeasurementaswellasindustrializationaspectssuchassealingorinsitureliabilityofthesensingparts.Toprovidesurgical instrumentswith forcemeasurement capabilities atthetooltipwillallowperformingsurgicalgestureinprecisionand reliability that exceed those performed currently by anorderofmagnitude.Applicationofsuchsensors formanualwatch-makingtoolsisalsoforeseen.ThisprojectisbeingsetupincollaborationwithSensopticSA.Tri-axialinvivoforcesensorsforforcefeedbackbasedonflexure

structure and light optical fibre interferometers. Outer-diameter:

2mm.


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Programmable-compliance inserts for geometrically tunable prostheses

Thepresentprojectconsists inageometricallyadjustablekneeprosthesisbasedonamechanismthat is integratedinto thepolyethylene insertplacedbetween the tibialandfemoralmetallic components. The geometry of this insertcan be modified easily pre- per- and post-operativelywithoutanyinvasiveoperationontheknee.Theadjustmentoftheprosthesiswillbeperformedtimetotimeduringthewholelifeoftheimplanttocompensateitswearandadaptto the changes in condition of the patient. The expectedbenefits include longer lifetime of the implant and reduc-tionofthenumberofinvasiverevisionsurgeriesrequiredtorealignorreplacetheimplant.ThisprojectisbeingsetupincollaborationwithotherEPFLlabsandCHUV

Scale2:1prototypeof3degreesoffreedomprogrammable-com-

pliance insert composed of a flexure structure for the bearing

function, flexible bellows filled with incompressible fluid for the

positionlockingfunctionandremote-controlledvalvesforthecom-

pliancecommandfunction.


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Teaching: EPFL

Mechanism Design I & II / Conception de mécanismes I & II (2013-2014)Lecturer:Prof.S.HeneinSection:Microtechnique(90students)Bachelorsemesters2and33periodsperweek

Elements of mechanical design I & II / Construction mécanique I & II (2013-2014)Lecturers:CourseundertheresponsibilityofProf.S.Henein&Prof.J.Schiffmanandtaughtbytwoexternallecturers.Sections:Microtechnique/Géniemécanique(500students)Bachelorsemesters1and23periodsperweek

Industrial and applied robotics / Robotique industrielle et appliquée (2013)ContributionstothecoursebyProf.S.HeneinandDrCh.BaurFlexuremechanismsDesignofmechanismsforvacuumapplicationMedicalroboticsSection:Microtechnique(60students)Mastersemestre2

Microengineering Components / Composants de la microtechnique (2012-2013)Lecturer:Prof.S.Henein&Prof.Ch.MoserSection:Microtechnique(90students)Bachelorsemesters2and33periodsperweek

Completed master projectsDevelopmentofa7-DOFforcefeedbackhapticinterfaceformicrosurgery,BillyNussbaumer,incollaborationwithStanfordUniversity,completedinApril2013,wontheOmegaPrizeandtheHiltyPrize.

Teaching: outside EPFL

FSRM,1DayTutorial,Neuchâtel,S.Henein,13.2.2013,ConceptiondesguidagesflexiblesESRF,2DaysTutorial,Grenoble,S.Henein,28-29.4.2013,ConceptiondesguidagesflexiblesFSRM,1DayTutorial,Neuchâtel,I.Vardi,13.12.2013,Astronomiedelamontre

EDUCATION 17

Thelaboratoryisstronglyinvolvedinteachingdesigntostudentsatalllevels.Thefocusisontrainingthecreativeprocessstartingwiththeactofdesignandfollowingupwiththeanalyticalmethodnecessarytomodel,simulateandpredictmachinebehavior.

Bachelorstudentsduringtheir“MechanismDesignI”exam,December17th2013


16ème Congrès International de Chronométrie, Mon-treux,September25,2013,S.Henein,Instant-Lab:la nou-velle chaire de l’EPFL en conception micromécanique et horlogère

Assemblée Générale de l’ASRH, Neuchâtel, S. Henein,March14,2013, Instant-Lab: la nouvelle chaire de l’EPFL en conception micromécanique et horlogèreIMT-DAY,RolexLearning-CenterEPFL,S.Henein,May8,2013,Instant-Lab:la nouvelle chaire de l’EPFL en concep-tion micromécanique et horlogèrePrésentation at Patek-Philippe, Geneva, S. Henein,May15,2013,Instant-Lab:la nouvelle chaire de l’EPFL en conception micromécanique et horlogère

Fleurier célèbre le changement de l’heure,A recherche de l’heure perdue,I.Vardi,FleurierMarch30,2013

Soirée des régleurs,Une nouvelle complication horlogère,I.Vardi,LaChaux-de-Fonds,July2,2013

First FSRM public lecture,L’astronomie de la montre, I.Vardi,Neuchatel,October30,2013

GDR Robotique(GT1:robotiquemédicale)etleGDR STIC-Santé(ThèmeF:gestesmédicochirurgicaux):Gestesmé-dicauxguidésparl’imageetinteractionsavecdesorganesdéformables,Systèmeshaptiquesetdispositifsmédicaux,l’expérienceForceDimension–EPFL,C.Baur,INSA–Lyon,December2,2013

Statismo,toolkitforPCAshapemodelbuilding,M.Clogen-son,University of Basel, Department of Mathematics and Computer Science,March4-8,2013

Summer Slicer Project week 2013 (NAMIC),M.Clogen-son,MITBoston,17-21June20131stStatismomodel buildingdays,M.Clogenson,Univer-sity of Basel, Department of Mathematics and Computer Science:December4-6,2013

INVITED TALKS 19


PUBLICATIONS 21

Book chapters

R.Clavel,S.Henein&M.Richard,FlexibleRobotics:Applications toMultiscaleManipula-tions,Chapter7:Flexures forHigh-PrecisionManipulationRobots,pages243–274,Wiley-ISTE,July2013

R.Clavel,S.Henein&M.Richard,Robotiqueflexible:manipulationmulti-échelle,Chapter8:Guidageflexiblepour les robotsmanipulateursà trèshautesprécision,pages253–285,Hermes,July2013

IlanVardi,rewrotethechapterL’équation du temps,forthe5theditionofthebookLes montres compliquées byFrançoisLecoultre,EditionSimonin,Neuchatel,September2013.

Book reprints

S.Henein,Conceptiondesguidagesflexibles,CollectionMeta,PressesPolytechniquesetUniversitairesRomandes,Lausanne,Switzerland,1stprinting(2001)500copies,2ndprinting(2002)300copies,3rdprinting(2013)100copies.

Conference proceedings

P.Janphuang,R.Lockhart,S.Henein,D.Briand,andN.F.deRooij, “On theexperimentaldeterminationoftheefficiencyofpiezoelectric impact-typeenergyharvestersusingarota-tionalflywheel,” in Proc.13th Int. Workshop PowerMEMS,London,UK,December3-6,2013.

J.Kruis,F.Barrot,L.Giriens,D.Bayat,R.Fournier,S.Henein,S.Jeanneret,“Designandfabri-cationofanovelcentimeterscalethreedimensionalsilicontip,tiltandpistonmirrormecha-nism,”Proceedings of the 13th euspen International Conference,Berlin,May2013

O.Laesser,“Masseoscillanteidéale;CQFD:Théoriesemi-empiriquedelavitessederemon-tageauCyclotest,”Actes du 16ème Congrès International de Chronométrie de la SSC (2013),p.25-30.

Articles in peer reviewed journals

P.Janphuang,R.Lockhart,D.Isarakorn,S.Henein,D.Briand,andN.F.deRooij,Harvesting Energy from a Rotating Gear Using an AFM-like MEMS Piezoelectric Harvester, JournalofMicroelectromechanicalSystems,(submittedandunderreview).

I.Vardi,L’équation de l’âge de Lune, une nouvelle complication horlogère,BulletindelaSociétéSuissedeChronométrie73,septembre2013,31-37.


SCIENTIFIC DISSEMINATION 23

Poster presentations

J.Kruis,Smartsystemsforabetterlife,Mesoscale systems for medical and surgical applica-tions,Besançon,12thofSeptember

I.Vardi,FestivaldellaScienza,L’eleganza del Tempo,Matematicaemeccanicadell’orologe-ria,Genoa,October24–November3,2013(scientificsupervision).

Newspaper and magazine articles

NZZEquity-Magazin,DieUhrwenigeroftaufziehen,E.Stamm,May2013,p.21.http://instantlab.epfl.ch/files/content/sites/instantlab/files/Articles/Bild1.pdf

HHMagazine,Del’utilitédesfonctionsdansl’horlogerie,F.Eschmann,October22,2013BulletinSSCn°74,Del’utilitédesfonctionsdansl’horlogerie,F.Eschmann,December2013

Television programs

RTS, I.Vardi,March30,2013,http://www.rts.ch/video/info/journal-19h30/4782371-fleurier-ne-s-est-autoproclamee-capitale-mondiale-du-changement-d-heure.htmlCanal Alpha, I. Vardi, March 30, 2013, http://www.canalalpha.ch/actu/fleurier-capitale-du-changement-dheure-2/

Book signing events

I.Vardi,Les montres compliquées,PayotNeuchâtelandLaChaux-de-Fonds,November9,2013


CONCLUSION AND PERSPECTIVE 25

Instant-lab’skeyachievement in itsfirstyearofexistencewastosetupacompleteteamhavingtherequiredexper-tise.Additionally,theresearchhasbeenlaunchedandthefirstresultshavebeenpublishedthroughthreePhDthesesandanumberof industrialcollaborations.Severalpatentswere filed allowing academic publication of their subjectmatter.TheteachingofmechanicaldesignstarteddirectlyafterthecreationofInstant-Lab.OurnewlycreatedcoursesweretakenbyallfirstyearBachelorstudents inMechani-calandMicroengineeringsectionsandbyallsecondyearBachelorstudentsinMicroengineering.

Perspect ive for 2014:

In 2014wewill equip the laboratorywith theessentialphysical tools required for research and prototyping; thegreyroomwillbeequippedinasubsequentphase.Furtherdevelopment of the laboratory will be sought via fundingsourcessuchastheFNS(SwissNationalScienceFounda-tion)forfundamentalresearch,andtheCTI(CommissionforTechnology and Innovation) as well as industrial partnersforapplied research.Wewillpatent thenpublish resultsobtained in 2013 and present them at internationalconferences. Our Ph.D. students will also publish theirresults in scientific journals and conference proceedings.Finally,several2013industrialprojectswillbecompletedtothepartners’specifications.

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PatekPhilippeChairinMicromechanicalandHorologicalDesignEPFLSTIIMTINSTANT-LAB,Microcity,RuedelaMaladière71b,CH-2000Neuchâtel

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