Search results for: Stéphane Régnier

Items from 1 to 20 out of 93 results

article

Modeling and experimental characterization of an active MEMS based force sensor

Jonathan Cailliez, Mokrane Boudaoud, Abdenbi Mohand-Ousaid, Antoine Weill–Duflos, more

Journal of Micro-Bio Robotics > 2019 > 15 > 1 > 53-64

Active force sensors are based on the principle of force balancing using a feedback control. They allow, unlike passive sensors, the static characterization of forces without interference of the sensor mechanical properties on the estimated stiffness of the object to be studied. This capability is fundamental when dealing with the mechanical characterization of samples having a wide range of stiffness...

article

A natural interface based on intention prediction for semi-autonomous micromanipulation

Laura Cohen, Mohamed Chetouani, Stéphane Régnier, Sinan Haliyo

Journal on Multimodal User Interfaces > 2018 > 12 > 1 > 17-30

Manipulation at micro and nano scales is a particular case for remote handling. Although novel robotic approaches emerge, these tools are not yet commonly adopted due to their inherent complexity and their lack of user-friendly interfaces. In order to fill this gap, this work first introduces a novel paradigm dubbed semi-autonomous. Its aim is to combine full-automation and user-driven manipulation...

article

Fast, repeatable and precise magnetic actuation in ambient environments at the micrometer scale

Aude Bolopion, Soukeyna Bouchebout, Stéphane Régnier

Journal of Micro-Bio Robotics > 2017 > 13 > 1-4 > 55-66

This work aims at increasing the velocity of micrometer scale particles controlled by non contact magnetic actuation systems. The particles are placed in an ambient environment (i.e. in air) to minimize the drag forces. However this approach raises two major issues: the repeatability and the precision of position are difficult to obtain in ambient environments due to the adhesion force between the...

chapter

High-bandwidth 3D force feedback optical tweezers for interactive bio-manipulation

Munan Yin, Edison Gerena, Cecile Pacoret, Sinan Haliyo, more

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 1889 - 1894

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Optical Tweezers are considered one of the most suitable techniques for biological tasks, however the lack of automation make this technology less accessible. We present here a new 3D force sensing method with high bandwidth (up to 10Khz) which can allow implementing complex robotic approaches. Proposed technique uses high speed image tracking with nano-metric resolution in 3 directions. Its capabilities...

chapter

3D closed-loop motion control of swimmer with flexible flagella at low Reynolds numbers

Ali Oulmas, Nicolas Andreff, Stephane Regnier

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 1877 - 1882

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Previously, we developed a 3D path following algorithm to improve the microrobot performances to overcome the modeling errors and environmental disturbances in order to perform real tasks, tested experimentally in a scaled-up helical microswimmer. In this paper, we show that adapting the propulsion mode, the general path following algorithm can be used for any microswimmer behaving as a nonholonomic...

article

Closed-Loop Control of a Magnetic Particle at the Air–Liquid Interface

Mohamed Dkhil, Mohamed Kharboutly, Aude Bolopion, Stephane Regnier, more

IEEE Transactions on Automation Science and Engineering > 2017 > 14 > 3 > 1387 - 1399

One of the greatest challenges in microrobotics is the development of robotic devices for high-speed transportation and precise positioning of microcomponents. This paper proposes to use non contact magnetic actuation in which objects are placed at the air/liquid interface and are actuated through magnetic field gradients. A physical model is developed and identified to perform closed-loop control...

chapter

Laser-induced thermocapillary flow manipulation of microparticles with obstacle avoidance in a non-patterned fluidic environment

Elvin M. Munoz, Johan E. Quispe, Stephane Regnier, Emir Vela

2017 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) > 1 - 6

2017 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

This paper proposes a technique for manipulating microparticles toward a desired position in a non-patterned fluidic environment, avoiding the possible obstacles that it may encounter along its path. Infrared laser pulses were used to generate thermocapillary convection flows, within the fluidic environment, which dragged the particles in a controlled manner. In order to avoid the obstacles in real...

article

KiloHertz Bandwidth, Dual-Stage Haptic Device Lets You Touch Brownian Motion

Tianming Lu, Cecile Pacoret, David Heriban, Abdenbi Mohand-Ousaid, more

IEEE Transactions on Haptics > 2017 > 10 > 3 > 382 - 390

This paper describes a haptic interface that has a uniform response over the entire human tactile frequency range. Structural mechanics makes it very difficult to implement articulated mechanical systems that can transmit high frequency signals. Here, we separated the frequency range into two frequency bands. The lower band is within the first structural mode of the corresponding haptic device while...

article

Analysis of the influence of inertia for non-contact micromanipulation

Mohamed Dkhil, Aude Bolopion, Stéphane Régnier, Michaël Gauthier

Journal of Micro-Bio Robotics > 2017 > 13 > 1-4 > 15-26

This article aims at analyzing the effect of the inertia of the objects in remotely actuated systems at the micrometer scale. As the size decreases inertia is commonly neglected and the systems are considered quasi-static. However, this article shows that for high velocities (around 8 mm/s) the dynamic behavior of the manipulated particle must be taken into account. To perform this analysis, a remotely...

chapter

Linear induction actuators for a haptic interface: A quasi-perfect transparent mechanism

Alberto Ortega, Antoine Weill-Duflos, Sinan Haliyo, Stephane Regnier, more

2017 IEEE World Haptics Conference (WHC) > 575 - 580

2017 IEEE World Haptics Conference (WHC)

This article describes the design of a high-fidelity haptic interface based on a three-axis induction system. Unlike other type of actuators, linear induction motors can provide simultaneously a non-contact drive and a very low inertia. Their integration in a haptic device enables an interface with quasiperfect mechanical transparency. We detail the conception of linear induction motors for a haptic...

chapter

Slack strategy for cable driven haptic interfaces

Justine Saint-Aubert, Stephane Regnier, Sinan Haliyo

2017 IEEE World Haptics Conference (WHC) > 581 - 586

2017 IEEE World Haptics Conference (WHC)

Common haptic devices induce interaction with users by transmitting direct forces, corresponding to a coupled environment. Paradoxically, because of their intrinsic mechanical limitations they struggle in cases where this last requires null forces. Cable mechanism are investigated to improve this situation thanks to their low structural inertia. However, current control approaches on these interfaces...

chapter

Velocity characterization and control strategies for nano-robotic systems based on piezoelectric stick-slip actuators

Shuai Liang, Mokrane Boudaoud, Barthelemy Cagneau, Stephane Regnier

2017 IEEE International Conference on Robotics and Automation (ICRA) > 6606 - 6611

2017 IEEE International Conference on Robotics and Automation (ICRA)

Nano-robotic systems based on Piezoelectric StickSlip (PSS) actuators have become increasingly popular in research and industry for semi-automated and automated tasks at small scales. For an efficient use of PSS actuators, a series of research have been fulfilled on design process, dynamic modeling, driving methods and position control. However, there have been very few investigations on velocity...

article

Optimizing the speed of single infrared-laser-induced thermocapillary flows micromanipulation by using design of experiments

Elvin Muñoz, Johan Quispe, Pierre Lambert, Aude Bolopion, more

Journal of Micro-Bio Robotics > 2017 > 12 > 1-4 > 65-72

Laser-induced thermocapillary convection flows is a promising technique to manipulate micrometer size particles. Several parameters, such as the laser exposure time, the laser-particle distance, the particles’ diameter and the water layer thickness can be used to control the particles’ speed. This article deals with the study of the influence of the control parameters in the manipulation process using...

chapter

Three-dimensional visual tracking and pose estimation in Scanning Electron Microscopes

Le Cui, Eric Marchand, Sinan Haliyo, Stephane Regnier

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 5210 - 5215

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Visual tracking and estimation of the 3D posture of a micro/nano-object is a key issue in the development of automated manipulation tasks using the visual feedback. The 3D posture of the micro-object is estimated based on a template matching algorithm. Nevertheless, a key challenge for visual tracking in a scanning electron microscope (SEM) is the difficulty to observe the motion along the depth direction...

chapter

A 2-DOF H_∞ control strategy for a 3 axes robotic system operating at the nanometer scale

Raouia Oubellil, Alina Voda, Mokrane Boudaoud, Stephane Regnier

2016 20th International Conference on System Theory, Control and Computing (ICSTCC) > 355 - 362

2016 20th International Conference on System Theory, Control and Computing (ICSTCC)

The capability of doing dexterous robotic tasks at the nanometer scale inside a Scanning Electron Microscope (SEM) is a critical issue for nanotechnologies. SEM-integrated nano-robotic systems have consequently emerged in many robotics laboratories. They can be composed of one or more actuators assembled into nano-robotic platforms with one or several effectors. When driven by Piezoelectric Stick-Slip...

chapter

Voltage/frequency rate dependent modeling for nano-robotic systems based on piezoelectric stick-slip actuators

Mokrane Boudaoud, Shuai Liang, Tianming Lu, Raouia Oubellil, more

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) > 5297 - 5303

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

In order to define trajectory-tracking strategies for nano-robotic systems using piezoelectric stick-slip actuators, the dynamics of the elementary actuator must be studied and well modeled. The modeling of this class of actuators is complex because several nonlinear parameters are involved. In this paper, we propose a systematic modeling methodology of piezoelectric stick-slip actuators for nano-robotic...

chapter

Modeling and 1D control of a non contact magnetic actuation platform at the air/liquid interface for micrometer scale applications

Mohamed Dkhil, Aude Bolopion, Stephane Regnier, Michael Gauthier

2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) > 1 - 6

2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

Non contact magnetic actuation inside liquids or in ambient environments has gained a large interest over the last few years. A large range of micrometer size particles are controlled using this principle. However little consideration has been made to air/liquid interface, despite the interesting properties of this environment (good repeatability due to the small adhesion forces, and low viscous effects...

chapter

Preface

Stephane Regnier, Sergej Fatikow, Sinan Haliyo, Mokrane Boudaoud, more

2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) > 1

2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

This volume contains the papers presented at MARSS 2016: First International Conference on Manipulation, Automation and Robotics at Small Scales held on July 18–21, 2016 in Paris, France.

chapter

Chained formulation of 3D path following for nonholonomic autonomous robots in a Serret-Frenet frame

Ali Oulmas, Nicolas Andreff, Stephane Regnier

2016 American Control Conference (ACC) > 7275 - 7280

2016 American Control Conference (ACC)

The problem of 3D path following of nonholonomic systems in closed-loop is addressed. The kinematic model in a local coordinate system using a Serret-Frenet frame with sideslip and attack angles is used to express the motion of the robot. A new derivation of the chained form with five states and three inputs is developed to linearize the kinematic model of the robot in order to design a decoupled...

chapter

Single particle manipulation/sorting through the transient response of thermocapillary convection flows

Johan E. Quispe, Jean C. Inga, Elvin M. Munoz, Stephane Regnier, more

2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) > 1 - 6

2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

In this paper, studies on the transient behavior of thermocapillary convection flows, generated with a single IR laser beam of 1470 nm in wavelength, as a micromanipulation technique are presented. The transient regime was first simulated using COMSOL Multiphysics showing that the flows start having their toroidal shape in less than 100 ms. Then experiments were conducting to measure the influence...

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English (90)
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Keywords

FORCE (23)
HAPTIC INTERFACES (12)
ACTUATORS (8)
FORCE MEASUREMENT (7)
MICROMANIPULATION (7)
PROPULSION (7)
CAMERAS (6)
FRICTION (6)
MAGNETIC ACTUATION (6)
ROBOTS (6)
TORQUE (6)
VIBRATIONS (6)
MICROROBOTICS (5)
COILS (4)
DYNAMICS (4)
FORCE SENSORS (4)
GRIPPERS (4)
HAPTIC FEEDBACK (4)
MAGNETOSPHERE (4)
MATHEMATICAL MODEL (4)
NANOMANIPULATION (4)
SUBSTRATES (4)
VISUALIZATION (4)
BIOMEDICAL OPTICAL IMAGING (3)
DRAG (3)
FORCE FEEDBACK (3)
HYSTERESIS (3)
MAGNETIC FIELDS (3)
MAGNETIC LIQUIDS (3)
OPTICAL FEEDBACK (3)
PROBES (3)
REAL-TIME SYSTEMS (3)
SCANNING ELECTRON MICROSCOPY (3)
SENSORS (3)
SHAPE (3)
SOLID MODELING (3)
VIRTUAL REALITY (3)
VOLTAGE CONTROL (3)
ASSEMBLY (2)
ATMOSPHERIC MODELING (2)
ATOMIC FORCE MICROSCOPY (2)
BANDWIDTH (2)
BILATERAL COUPLING (2)
BIOMECHANICS (2)
CELLS MECHANOTRANSDUCTION (2)
CELLULAR BIOPHYSICS (2)
CONVECTION (2)
COUPLINGS (2)
DESIGN OF EXPERIMENTS (DOE) (2)
ELASTICITY (2)
ELECTRODES (2)
ELECTROMAGNETS (2)
ESTIMATION (2)
HAPTIC COUPLING (2)
HELICAL SWIMMER (2)
HIGH-SPEED OPTICAL TECHNIQUES (2)
JACOBIAN MATRICES (2)
LASER BEAMS (2)
MAGNETIC FORCES (2)
MAGNETIC RESONANCE IMAGING (2)
MANIPULATORS (2)
MEMS (2)
MICROASSEMBLY (2)
MICROFORCE MEASUREMENT (2)
NON-LINEAR ELASTIC PROPERTIES OF CELLS (2)
OPEN-LOOP CONTROL (2)
OPTICAL SENSORS (2)
PROTOTYPES (2)
RESONANT FREQUENCY (2)
RETINA (2)
ROBUSTNESS (2)
SCANNING PROBE MICROSCOPY (2)
SENSITIVITY (2)
SURFACE TENSION (2)
THREE-DIMENSIONAL DISPLAYS (2)
TIME FACTORS (2)
VISCOSITY (2)
VISUAL SERVOING (2)
1-DOF H<INF>∞</INF> CONTROL (1)
1D NANOSTRUCTURES (1)
2-DOF H<INF>∞</INF> CONTROL (1)
2D TRAJECTORY CONTROL (1)
3-D POSE ESTIMATION (1)
3-D STEERING (1)
3D MICROSTRUCTURE FABRICATION (1)
ADHESION (1)
ADHESION FORCES (1)
ADHESIVES (1)
AIR GAPS (1)
AIR–LIQUID INTERFACE (1)
AIR/LIQUID INTERFACE (1)
ANALOGIES (1)
APPROXIMATION METHODS (1)
ARTIFICIAL POTENTIAL METHOD (1)
ATOMIC FORCE MICROSCOPE (1)
ATOMIC FORCE MICROSCOPE (AFM) (1)
AUTOMATED (1)
AUTOMATIC CONTROL (1)
AUTOMATIC DATA ACQUISITION (1)
AUTOMATION APPROACH (1)
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Springer (19)
Elsevier (8)
ACS (1)
Wiley (1)

INFONA - science communication portal

Search results for: Stéphane Régnier

Modeling and experimental characterization of an active MEMS based force sensor

A natural interface based on intention prediction for semi-autonomous micromanipulation

Fast, repeatable and precise magnetic actuation in ambient environments at the micrometer scale

High-bandwidth 3D force feedback optical tweezers for interactive bio-manipulation

3D closed-loop motion control of swimmer with flexible flagella at low Reynolds numbers

Closed-Loop Control of a Magnetic Particle at the Air–Liquid Interface

Laser-induced thermocapillary flow manipulation of microparticles with obstacle avoidance in a non-patterned fluidic environment

KiloHertz Bandwidth, Dual-Stage Haptic Device Lets You Touch Brownian Motion

Analysis of the influence of inertia for non-contact micromanipulation

Linear induction actuators for a haptic interface: A quasi-perfect transparent mechanism

Slack strategy for cable driven haptic interfaces

Velocity characterization and control strategies for nano-robotic systems based on piezoelectric stick-slip actuators

Optimizing the speed of single infrared-laser-induced thermocapillary flows micromanipulation by using design of experiments

Three-dimensional visual tracking and pose estimation in Scanning Electron Microscopes

A 2-DOF H_∞ control strategy for a 3 axes robotic system operating at the nanometer scale

Voltage/frequency rate dependent modeling for nano-robotic systems based on piezoelectric stick-slip actuators

Modeling and 1D control of a non contact magnetic actuation platform at the air/liquid interface for micrometer scale applications

Preface

Chained formulation of 3D path following for nonholonomic autonomous robots in a Serret-Frenet frame

Single particle manipulation/sorting through the transient response of thermocapillary convection flows

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