Research Activities

Current research activities

Optimal design of 3D micromechatronic systems

Context and objectives

Nowadays, the design of micro-mechatronic systems using smart material gives rise to an important challenge in terms of design. Due to their high-density of integration, such systems require to deal with the coupling between the structure and the functional mechanisms through an overall strategy of optimization.

To address this issue, we propose here to take advantages of form optimization, especially topology optimization method. The objective is to develop a methodology with an appropriate framework for optimal design of micro mechatronic systems.

This research topic was awarded of four projects:

-ANR-JCJC project CODE-Track “energy harvesters design based topology optimization”, 208-2021 (coordinated by Pr Micky Rakotondrabe)

-PEPS-JCJC-CNRS younger project (COSMMOT, 9 k€), 2016-2017. (coordinated by me)

-Newcomer project (BQR 5k euros), Franche-Comté University, 2017. (coordinated by me)

-Regional project COMPACT, 24 k€, ‘’Accompagnement Nouvelle Equipe de Recherche’’, région Bourgogne Franche-Comté 2018-2021. (coordinated by me)

Involved people:

Abdnebi Mohand-Ousaid, Associate professor
Micky Rakotondrabe, Associate professor/HDR
Thomas Schlinquer, PhD student, “Optimal Design of micromechatronic systems”, 2016-2019
Abbas Hamlayoni, PhD student, “Methodology of design of Piezoelectric energy harvesting devoted to power

small animal tracking devices using control theory tools”, 2017-2021

Romain Catry, PhD student, “ Design of elementary block for programmable matter”, 2017-2021

Digital Microrobotics

This research topic investigates a new paradigm in the design of microrobots by using mechanical stability instead of complex control strategies. Called digital microrobotic, this concept is based on discrete actuators (bistable and multistable modules). Switching between two or several states, these actuators guarantee a mechanical stability of the states in open loop without energy consumption unlike stick-slip, inertial or inchworms actuators. This bottom-up approach takes advantage of MEMS technology and open-loop digital control to offer a flexible way to experiment various kinematics adapted to the microworld. This concept has several advantages:

- Open loop control (no sensor)

- No noises sensibility

- Low energy consumption

- Adapted to precise micro manipulation in confined environment (SEM, TEM)

- Robust and easy to fabricate (monolithic microfabrication)

Involved people:

Ismail Bouhadda (former postdoc), Hussein Hussein (former PhD), Abdenbi Mohand-Ousaid, Gilles Bourbon (DMA dept.), Patrice Le Moal (DMA Dept.), Yassine Haddab (LIRMM) and Philippe Lutz.

Programmable Matter

The goal of this research topic is to develop and design elementary blocks, called catom, with embedded actuation. Expected to have centimeter-size, such blocks will be used as basic modules for smart and programmable matter (modular robotics). This matter is made possible by combining several modules that are able to attach together and to move. Their design remains today a real challenge and gives rise to two main issues: hardware and software. The first concerns the catom’s geometry optimization and its actuation whilst the second aims to provide a new solution of programming such a complex system. To address the first issue, which is the focus of this topic, a quasi spherical geometry with local deformations and electromagnetic actuators are expected. As an application, the resulted catoms will be used to sculpt a shape memory polymer sheet.

Involved people in AS2M department:

Philipe Lutz, Professor
Abdnebi Mohand-Ousaid, Associate professor
Micky Rakotondrabe, Associate professor/HDR
Romain Catry, PhD student, “ Design of elementary block for programmable matter”, 2017-2021
Morris Kimathi Mwangi, Intenship, “Design and realization of electrostatic actuators for programmable matter,

Mars-August 2019

Previous research activities

Thesis :

Design of a Stable and Transparent Micro Teleoperation System

Direct user interaction in microrobotics is a challenge because of the scale of the treated objects, the complexity of the physical phenomena and the high impact of environmental conditions. Teleoperation in this case is a promising approach to supplement human perception. Its success requires a control scheme guaranteeing transparency and stability, to represent complex physical phenomena to the user without degradation. Although several control schemes are proposed with good performances, it clearly appears that there is room for improvement especially in regard to specificities of multi-scale haptic coupling, the rendering of the haptic information, force sensing at the micro-scale, the mechanics of measurement devices...

Several issues need to be addressed in this purpose :

design of an adapted haptic device,
design of a force sensor with proper dynamic properties and bandwidth,
development of a case-specific control scheme,
implementation of bilateral coupling between the haptic device and the force sensor.

Therefore, this thesis describes a novel teleoperation chain for micro-scale force probing. Experimental validations are carried out, with single axis measurements on a water droplet. The system is also tested by several user with no experience in micro=scale phenomena. All the test subjects were able to correctly master the approach-and-retreat operations. Various interaction forces, pull-in and pull-off phenomena are correctly rendered. The proposed system is a proof-of-concept of a new design for a micro-scale force sensing tool, a high-fidelity haptic device, and appropriate bilateral coupling. It also stands for a more widespread use of human-operated microrobotics systems. [Read more]

Post-doctoral :

Haptic interfaces Design [Read more]

Micro-force sensors Design by Using MEMS Techniques [Read more]

REMIQUA Project [Read more][Project web site]