Publications

International journals

[J18] Georges Adam, Mokrane Boudaoud, Valentin Reynaud, Joel Agnus, David J Cappelleri, Cédric Clévy. An Overview of Microrobotic Systems for Microforce Sensing. Annual Review of Control, Robotics, and Autonomous Systems, vol 7, 2024.

[J17] Freddy Romero Leiro, Stéphane Régnier, Sinan Haliyo, Mokrane Boudaoud. A Robotic Strategy for In-Plane Center of Rotation Identification and Control in Atomic Force Microscopy. IEEE Robotics and Automation Letters, vol 9, pp. 523 – 530, 2024.

[J16] Ali Bazaei, Mokrane Boudaoud, Massoud Hemmasian Ettefagh, Zhiyong Chen, Stéphane Régnier. Piezo displacement sensors for a compact high-speed x-y nanopositioner in differential actuation mode. Mechatronics, Elsevier, vol 86, 102860, 2022.

[J15] A. Awde, M. Boudaoud, M. Macioce, S. Régnier, and C. Clévy . A Micro-Robotic Approach For the Intuitive Assembly of Industrial Electro-Optical Sensors Based on Closed-Loop Light Feeling. IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 5462-5471, 2022.

[J14] A. Bazaei, M. Boudaoud, M. H. Ettefagh, Z. Chen, S. Régnier. Non-Collocated Displacement Sensing by Semiconductor Strain Gauges in Differentially Piezo-Driven Nanopositioners, vol. 21, no. 8, pp. 9690-9697, IEEE Sensors Journal, 2020. [pdf]

[J13] J. Cailliez, M. Boudaoud, S. Liang and S. Régnier. Robust Hybrid Control of an Atomic Force Microscope for the Characterization of Interaction Force Regions at the Nanoscale, IEEE Transactions on Control Systems Technology, 2020. [pdf]

[J12] S. Liang, M. Boudaoud, P. Morin, J. Cailliez, B. Cagneau, W. Rong, S. Régnier. Model predictive control with obstacle avoidance for inertia actuated AFM probes inside a scanning electron microscope, vol. 6, no. 2, pp. 382-388, IEEE Robotics and Automation Letters, 2020. [pdf]

[J11] A. Bazaei, M. Boudaoud, M. H. Ettefagh, Z. Chen, S. Régnier. Displacement sensing by piezoelectric transducers in high-speed lateral nanopositioning, IEEE Sensors Journal, vol 19, 2019.

[J10] J. Cailliez, M. Boudaoud, A. Mohand-Ousaid, A. Weill–Duflos, S. Haliyo and S. Régnier. Modeling and Experimental Characterization of an Active MEMS Based Force Sensor, Journal of Micro-Bio Robotics, vol 15, 2019.

[J9] R. Oubellil, A. Voda, M. Boudaoud and S. Régnier. Mixed Stepping / Scanning Mode Control of Stick-Slip SEM-integrated Nano-robotic Systems . Sensors and Actuators A: Physical, 285, 258-268, 2019.

[J8] M. Boudaoud, T. Lu, S. Liang, R. Oubellil and S. Régnier. A voltage/frequency modeling for a multi-DOFs serial nano-robotic system based on piezoelectric inertial actuators . IEEE/ASME Transactions on Mechatronics, Vol 23, 2814 - 2824, 2018

[J7] M. Boudaoud, Y. Le Gorrec, Y. Haddab and P. Lutz. Gain scheduling control of a nonlinear electrostatic microgripper: design by an eigenstructure assignment with an observer based structure. IEEE Transactions on Control Systems Technology, vol 23, pp. 1255-1267, 2015.

[J6] M. Boudaoud, M. G. De Faria,Y. Haddab, S. Haliyo, Y. Le Gorrec, P. Lutz and S. Régnier. Robust microscale grasping through a multimodel design: synthesis and real time implementation. Control Engineering Practice, vol 39, pp. 12-22, 2015.

[J5] M. Boudaoud and S. Régnier. An overview on gripping force measurement at the micro and nano-scales using two-ﬁngers microrobotic systems. International Journal of Advanced Robotic Systems, vol 11, 2014.

[J4] M. Boudaoud, M. G. De Faria, Y. Le Gorrec, Y. Haddab and P. Lutz. An Output feedback LPV control strategy of a nonlinear electrostatic microgripper through a singular implicit modeling. Control Engineering Practice, vol 28, pp. 97 - 111, 2014.

[J3] M. Boudaoud, Y. Haddab, and Y. Le Gorrec. Modeling and optimal force control of a nonlinear electrostatic microgripper. IEEE/ASME Transactions on Mechatronics, vol 18, pp. 1130 - 1139, 2013.

[J2] M. Boudaoud, Y. Haddab, Y. Le Gorrec and P. Lutz. Study of thermal and acoustic noise interferences in low stiffness AFM cantilevers and characterization of their dynamic properties. Review of Scientific Instruments, 83, 013704 (2012).

[J1] M. Boudaoud, Y. Haddab, Y. Le Gorrec and P. Lutz. Noise characterization in millimeter sized micromanipulation systems. IFAC Mechatronics, vol 21, pp. 1087-1097, 2011.

International conferences

[C26] Freddy Romero Leiro, Stéphane Régnier, Frédéric Delarue and Mokrane Boudaoud. Robotic Mosaic Atomic Force Microscopy Through Sequential Imaging and Multiview Iterative Closest Points Method. IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024.

[C25] Alioune Diouf, Ferhat Sadak, Irene Fassi, Mokrane Boudaoud, Giovanni Legnani, Sinan Haliyo. Automatic Sorting of Zebrafish Embryos using Deep Learning. International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Abu Dhabi, UAE, 2023. (Best Student Paper)

[C24] Freddy Romero Leiro, Georges Daher, Stéphane Régnier, and Mokrane Boudaoud. Atomic Force Microscope Vertical Feedback Control Strategy for Semi-Automated Long-Range Probe Landing. IEEE International conference on Decision and Control (CDC), Cancun, Mexico, 2022.

[C23] Freddy Romero Leiro, Ali Bazaei, Stéphane Régnier, and Mokrane Boudaoud. A Micro-Robotic Approach for The Correction of Angular Deviations in AFM Samples From Generic Topographic Data. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022.

[C22] Freddy Romero Leiro, Ali Bazaei, Stéphane Régnier, and Mokrane Boudaoud. Feedback Control Strategy for a High Speed Differential Piezo-Driven Stage by an Exclusive use of Piezoelectric Sensors. American Control Conference (ACC), Atlanta, USA, 2022.

[C21] Michael Pumphrey, Mahmoud Al-Tamimi, Aylar Abouzarkhanifard, Stéphane Régnier, Mohammad Al Janaideh, Mokrane Boudaoud "Analysis of the Effect of Clearance in Spherical Joints on the Rotation Accuracy of Parallel Type Micro-Robotic Systems", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic 2021.

[C20] A. Awde, M. Boudaoud, S. Régnier and C. Clévy. Disturbance Observer Based Control Approach for Collaborative Robotics at Small Scales. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020.

[C19] M H. Ettefagh, A. Bazaei, Z. Wang, Z. Chen, H. Zhang, S. Régnier and M. Boudaoud. Hysteresis in nanopositoining systems driven by dual-stack differential driving piezoelectric actuators. IFAC World Congress, Berlin, Germany, 2020. (Accepted)

[J18] S. Liang, M. Boudaoud, P. Morin, J. Cailliez, B. Cagneau, W. Rong, S. Régnier. Model predictive control with obstacle avoidance for inertia actuated AFM probes inside a scanning electron microscope, IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. (Accepted)

[C17] J. Cailliez*, A. Weill--Duflos*, M. Boudaoud, S. Régnier, D. S. Haliyo. Design and Control of a Large-Range Nil-Stiffness Electro-Magnetic Active Force Sensor. IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. (Accepted) * equal contribution

[C16] S. Liang, M. Boudaoud, C. Achard, S. Régnier. Atomic force microscope tip localization and tracking through deep learning based vision inside an electron microscope. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China 2019.

[C15] A. Bazaei, M. Boudaoud, M H. Ettefagh, Z. Chen and S. Régnier. In-Situ Semiconductor Position Sensor for Differentially Piezo-Driven Nanopositioners. IEEE sensors conference, Montréal, Canada, 2019. (Finalist Best Student Paper)

[C14] M. Al Janaideh, M. Boudaoud, M. Al Saaideh, S. Liang, and S. Régnier. Inverse Hysteresis Control of Stick-Slip SEM Integrated Nano-Robotic Systems. IEEE International conference on Decision and Control (CDC), Nice, France, 2019.

[C13] A. Bazaei, M. Boudaoud, M H. Ettefagh, Z. Chen and S. Régnier. Direct Sensing of Time-Varying Displacement in Nanopositioners by Piezoelectric Ceramics Transducers. International Conference on Sensors and Electronic Instrumentation Advances (SEIA), Adeje, Tenerife (Canary Islands), Spain, 2019.

[C12] J. Cailliez, M. Boudaoud and S. Régnier. Calibration of a class of 3 DOF serial micro robotic systems through SEM vision : application to vertical AFM tip landing. International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Helsinki, Finlande, 2019.

[C11] J. Cailliez, M. Boudaoud, A. Mohand-Ousaid, A. Weill–Duflos, S. Haliyo and S. Régnier. Modeling and Experimental Characterization of an Active MEMS Based Force Sensor. International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Nagoya, Japan, 2018. (Finalist Best Paper)

[C10] J. Cailliez, M. Boudaoud, S. Liang, and S. Régnier. A multi-model design for robust hybrid control of non-linear piezoelectric actuators at the micro/nano scales. American Control Conference (ACC), Milwaukee, USA, 2018.

[C9] S. Liang, M. Boudaoud, B. Cagneau and S. Régnier. Velocity characterization and control strategies for nano- robotic systems based on piezoelectric stick-slip actuators . IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.

[C8] M. Boudaoud, S. Liang, T. Lu and S. Régnier. Voltage/frequency rate dependent modeling for nano-robotic systems based on piezoelectric stick-slip actuators. IEEE International Conference on Intelligent Robots and Systems (IROS), Deajeon, South Korea, 2016.

[C7] R. Oubellil, A. Voda, M. Boudaoud and S. Régnier. A 2-DOF Hinf control strategy for a 3 axes robotic system operating at the nanometer scale. International Conference on System Theory, Control and Computing (ICSTCC), Sinaia, Romania, 2016.

[C6] T. Lu, M. Boudaoud, D. Hériban and S. Régnier. Nonlinear modeling for a class of nano-robotic systems using piezoelectric stick-slip actuators. IEEE International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.

[C5] R. Oubellil, A. Voda, M. Boudaoud, and S. Régnier. Robust control strategies of stick-slip type actuators for fast and accurate nanopositioning operations in scanning mode. Mediterranean Conference on Control and Automation (MED), Torremolinos, Spain, 2015.

[C4] M. Boudaoud, M. G. De Faria,Y. Haddab, S. Haliyo, Y. Le Gorrec, P. Lutz and S. Régnier. Robust microscale grasping using a self scheduled dynamic controller. IFAC World Congress, Cape Town, South Africa, 2014.

[C3] M. Boudaoud, Y. Le Gorrec , Y. Haddab, and P. Lutz. Gain scheduled control strategies for a nonlinear electrostatic microgripper: Design and real time implementation. IEEE International conference on Decision and Control (CDC), Maui, Hawaii, 2012.

[C2] M. Boudaoud, Y. Haddab, Y. Le Gorrec and P. Lutz. Effects of Environmental Noise on the Accuracy of Millimeter Sized Grippers in Cantilever Configuration and Active Stabilization. IEEE International Conference on Robotics and Automation (ICRA) , Shanghai, China, 2011.

[C1] M. Boudaoud, Y. Haddab, and Y. Le Gorrec. Modelling of a MEMS based microgripper: application to dexterous micromanipulation. IEEE International Conference on Intelligent Robots and Systems (IROS), Taipei , Taiwan, 2010.

Invited Sessions organization

[S2] M. Boudaoud, A. Voda, M. Salapaka and M. Rakotondrabe. Control methods for high-resolution microscopy. Invited Session at American Control Conference (ACC), Milwaukee, USA, 2018.

[S1] M. Boudaoud, A. Voda, M. Salapaka and M. Rakotondrabe. Measurement and estimation for control, investigation and manipulation at the Small-Scales. Invited Session at American Control Conference (ACC), Milwaukee, USA, 2018.

Tutorials

[T2] M. Boudaoud, Y. Haddab, Y. Le Gorrec and P. Lutz. Commande d’une micro-pince à actionnement électrostatique pour la maîtrise des forces de préhension à l’échelle micrométrique. Colloque sur l'Enseignement des Technologies et des Sciences de l'Information et des Systèmes (CETSIS) , Besançon, France, 2014.

[T1] Y. Haddab and M. Boudaoud. Noise characterization, modelling and reduction in micromanipulation systems”, IEEE - ICRA, (International Conference on Robotics and Automation), Shanghai China, May 2011. Lecture at tutorial session.

Book chapter

[B1] M. Boudaoud, Y. Haddab and Y. Le Gorrec. Kalman Filtering Applied to Weak Force Measurement and Control in the Microworld. Signal Measurement and Estimation Techniques for Micro and Nanotechnology, Clévy, Cédric; Rakotondrabe, Micky; Chaillet, Nicolas (Eds.), pp. 71-91, 2011.

Communications

[N3] M. Boudaoud, Y. Le Gorrec, Y. Haddab, et P. Lutz. Commande de systèmes de micromanipulation par des approches LPV. Journée nationale en Robotique et Automatique (JRA), Nantes, 2012.

[N2] M. Boudaoud, Y. Le Gorrec, Y. Haddab, et P. Lutz. Robust and gain scheduled control of a nonlinear electrostatic microgripper: Design and real time implementation. Workshop µ-Control, Besançon, 2012.

[N1] M. Boudaoud, Y. Haddab, Y. Le Gorrec et P. Lutz. Effets des bruits environnementaux sur la précision de positionnement des micromanipulateurs. Journée des Jeunes Chercheurs en Robotique (JJCR), Paris session poster, 2010.