My scientific activities have led to 60 publications, including 14 articles (ACL), 1 guest editorial (DO), 3 books chapter (OS) and 26 proceedings (ACT).

Here my publications list are odered by years. Let me notice that prior to 2008, the references are related to the works carried out during my PhD thesis.

The documents contained in this page are included to ensure timely dissemination of scholarly and technical work on a non-commercial basis. Copyright and all rights therein are maintained by the authors or by other copyright holders, notwithstanding that they have offered their works here electronically. It is understood that all persons copying this information will adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

2018 (1)

  1. Sarkis B., Folio D., and Ferreira A. “Catalytic Tubular Microjet Navigating in Confined Microfluidic Channels: Modeling and Optimization”, Journal of Microelectromechanical Systems, vol. 99, no. 99, pp. 1–11, 2018.

    This paper describes the propulsion of the catalytic tubular microjet in confined environments as microchannels and capillaries using the Stokes equations. Especially, the thrust capability of the microjet is outstanding compared with the other microsystems, but remains only partially understood. Studies have identified the internal precursory mechanisms of the propulsion of the microjet: its inner wall catalyzes the dismutation of the fuel, and bubbles are then formed. Since the jet is conical, the bubble migrates towards its widest opening. This impulses the propulsion of the microjet towards the opposite direction. However, the precise propellant role of the liquid surrounding the jet remains misunderstood. The same goes for the inner wall of the vessel in which the jet navigates, especially in narrowed environment. This article discusses these aspects in a simplified theoretical framework. Calculations are performed by explicit computation of the Stokes equations. The obtained theoretical results are in good agreement with experimental results reported in the literature.

    @article{2018_jmems_sarkis,
      title = {Catalytic Tubular Microjet Navigating in Confined Microfluidic Channels: Modeling and Optimization},
      author = {Sarkis, Bruno and Folio, David and Ferreira, Antoine},
      year = {2018},
      doi = {10.1109/JMEMS.2018.2803803},
      number = {99},
      pages = {1--11},
      volume = {99},
      journal = {Journal of Microelectromechanical Systems},
      keywords = {Catalytic microjet, design, modeling, propulsion, microrobotics}
    }
    Details

2017 (2)

  1. Mellal L., Folio D., Belharet K., and Ferreira A. “Motion control analysis of two magnetic microrobots using the combination of magnetic gradient and oscillatory magnetic field”, in International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS'2017), Montreal, QC, Canada, 2017., pp. 1–6.

    This paper analyses the motion control of two magnetic microrobots in the microfluidic channel for future drug targeting applications. To transport the drugs, it is necessary to inject and control the motion of multiple therapeutic magnetic microrobots using magnetic gradients. The main difficulty is to control a group of different therapeutic microrobots at desired states, despite the presence of interaction forces between microrobots. To overcome this issue, the solution is to consider two rather spaced microrobots which are controlled along the x-axis using magnetic gradients and an oscillatory magnetic field. This magnetic interaction force is expressed based on a dipole dipole interaction model and dynamic modeling of two magnetic microrobots. The oscillatory magnetic field is used to overcome the surface forces between microrobots and microfluidic walls. Finally, an experimental investigation is carried out in a simple channel under the presence of the magnetic field and magnetic gradient forces in order to analyze the motion control of two magnetic microrobots using the combination of magnetic gradient and oscillatory magnetic fields. Also, we will assess the prevalence of the magnetic interaction forces between two microrobots.

    @inproceedings{2017_marss_mellal,
      title = {Motion control analysis of two magnetic microrobots using the combination of magnetic gradient and oscillatory magnetic field},
      author = {Mellal, Lyès and Folio, David and Belharet, Karim and Ferreira, Antoine},
      booktitle = {International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS\'2017)},
      year = {2017},
      doi = {10.1109/MARSS.2017.8001917},
      month = jul,
      organization = {IEEE},
      pages = {1--6},
      address = {Montreal, QC, Canada},
      ieeexplore = {8001917},
      keywords = {Magnetic separation, Saturation magnetization, Micromagnetics, Magnetic moments, Coils, Magnetic resonance imaging, Magnetic analysis}
    }
    Details
  2. Folio D. and Ferreira A. “2D Robust Magnetic Resonance Navigation of a Ferromagnetic Microrobot using Pareto Optimality”, IEEE Transactions on Robotics, vol. 33, no. 3, pp. 583–593, 2017.

    This paper introduces a two-dimensional autonomous navigation strategy of a 750 \mum steel microrobot along complex fluidic vascular network inside the bore of a clinical 3.0 T magnetic resonance imaging (MRI) scanner. To ensure successful magnetic resonance navigation (MRN) of a microrobot along consecutive channels, the design of autonoumous navigation strategy is needed taking into account the major MRI technological constraints and physiological perturbations, e.g. non-negligible pulsatile flow, limitations on the magnetic gradient amplitude, MRI overheating, susceptibility artifacts uncertainties, and so on. An optimal navigation planning framework based on Pareto optimality is proposed in order to deal with this multiple-objective problem. Based on these optimal conditions, a dedicated control architecture has been implemented in an interventional medical platform for real-time propulsion, control and imaging experiments. The reported experiments suggest that the likelihood of controlling autonomously untethered 750 \mum magnetic microrobots is rendered possible in a complex two-dimensional centimeter-sized vascular phantom. The magnetic microrobot traveled intricate paths at a mean velocity of about 4 mm/s with average tracking errors below 800 \mum with limited magnetic gradients \pm15 mT/m compatible with clinical MRI scanners. The experiments demonstrate that it is effectively possible to autonomously guide a magnetic microrobot using a conventional MRI scanner with only a software upgrade

    @article{2017_tro_folio,
      title = {2D Robust Magnetic Resonance Navigation of a Ferromagnetic Microrobot using Pareto Optimality},
      author = {Folio, David and Ferreira, Antoine},
      year = {2017},
      doi = {10.1109/TRO.2016.2638446},
      issn = {1552-3098},
      number = {3},
      pages = {583--593},
      volume = {33},
      hal = {01446482},
      ieeexplore = {7829399},
      journal = {IEEE Transactions on Robotics},
      keywords = {Microrobotics, Magnetic Resonance Imaging,
      Magnetic Resonance Navigation, Multi-Ojective Planning.},
      publisher = {IEEE}
    }
    Details

2016 (9)

  1. Mellal L., Folio D., Karim Belharet, and Ferreira A. “Optimal Control of Multiple Magnetic Microbeads Navigating in Microfluidic Channels”, in IEEE International Conference on Robotics and Automation (ICRA'2016), Stockholm, Sweden, 2016., pp. 1921–1926.

    This paper presents an optimal design strategy for magnetic targeting of therapeutic drugs. In this study, to maximize the effect of the treatment and minimize adverse effects on the patient, mathematical models have been developed to find the number and the size of the boluses with respect to the growth of a tumor. Using these models, control strategies are developed to establish a schedule that allows the physician to administer the medication while respecting borne by the patient doses. To transport the drugs, we use therapeutic magnetic boluses composed of magnetic particles aggregates as navigable agents controlled by magnetic gradients. Based on the optimal design of the bolus, an experimental investigation is carried out in millimeter-sized fluidic artery vessels to demonstrate the steerability of the magnetic bolus under different velocity, shear-stress and trajectory constraints with a laminar viscous fluidic environment.

    @inproceedings{2016_icra_mellal,
      title = {Optimal Control of Multiple Magnetic Microbeads Navigating in Microfluidic Channels},
      author = {Mellal, Lyès and Folio, David and {Karim Belharet} and Ferreira, Antoine},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA\'2016)},
      year = {2016},
      doi = {10.1109/ICRA.2016.7487338},
      month = may,
      pages = {1921--1926},
      publisher = {IEEE},
      address = {Stockholm, Sweden},
      hal = {01342018},
      keywords = {controllability,drug delivery systems,flow control,laminar flow,linear quadratic control,microchannel flow,observability,optimal control,LQI,controllability conditions,drug targeting applications,laminar viscous fluidic environment,linear quadratic with integral action control,magnetic gradient fields,microfluidic channels,millimeter-sized fluidic artery vessels,multiple magnetic microbeads,observability conditions,optimal control,therapeutic magnetic microbeads,trajectory constraints,velocity constraints,Controllability,Magnetic moments,Magnetic resonance imaging,Magnetic separation,Magnetic tunneling,Micromagnetics,Saturation magnetization}
    }
    Details
  2. Mellal L., Folio D., Karim Belharet, and Ferreira A. “Estimation of Interaction Forces between Two Magnetic Bolus-like Microrobots”, in International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS'2016), Paris, France, 2016., pp. 1–6.

    This paper analyses the interaction forces between two magnetic boluses for future drug targeting applications. To transport the drugs, it is necessary to convey several therapeutic magnetic boluses using magnetic gradients. The main difficulty is to control a group of different therapeutic boluses at desired states, despite the presence of interaction forces between boluses. To overcome this issue and designing robust control strategies, it is important to fully understand these interactions forces. Based on a dipole-dipole interaction model and dynamic modeling of two magnetic boluses, the magnetic and non magnetic forces are expressed. Finally, an experimental investigation is carried out in a tank under the presence of the magnetic field in order to to assess the prevalence between the magnetic and the non-magnetic interaction forces.

    @inproceedings{2016_marss_mellal,
      title = {Estimation of Interaction Forces between Two Magnetic Bolus-like Microrobots},
      author = {Mellal, Lyès and Folio, David and {Karim Belharet} and Ferreira, Antoine},
      booktitle = {International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS\'2016)},
      year = {2016},
      doi = {10.1109/MARSS.2016.7561740},
      month = jul,
      organization = {IEEE},
      pages = {1--6},
      address = {Paris, France},
      ieeexplore = {7561740},
      keywords = {Optimal Control,Microrobot, Magnetic Microrobot Navigating}
    }
    Details
  3. Mellal L., Folio D., Belharet K., and Ferreira A. “Modeling of Optimal Targeted Therapies using Drug-Loaded Magnetic Nanoparticles for the Liver Cancer”, IEEE Transactions on Nano-Bioscience, vol. 15, no. 3, pp. 265–274, April 2016.

    To enhance locoregional therapies for liver cancer treatment, we propose in this study a mathematical model to optimize the transcatheter arterial delivery of therapeutical agents. To maximize the effect of the treatment and minimize adverse effects on the patient, different mathematical models of the tumor growth are considered in this study to find the optimal number of the therapeutic drug-loaded magnetic nanoparticles to be administered. Three types of therapy models are considered, e.g. angiogenesis inhibition therapy, chemotherapy and radiotherapy. We use state-dependent Riccati equations (SDRE) as an optimal control methodology framework to the Hahnfeldt's tumor growth formulation. Based on this, design optimal rules are derived for each therapy to reduce the growth of a tumor through the administration of appropriate dose of anti-angiogenic, radio- and chemo-therapeutic agents. Simulation results demonstrate the validity of the proposed optimal delivery approach, leading to reduced intervention time, low drug administration rates and optimal targeted delivery.

    @article{2016_tnb_mellal,
      title = {Modeling of Optimal Targeted Therapies using Drug-Loaded Magnetic Nanoparticles for the Liver Cancer},
      author = {Mellal, Lyès and Folio, David and Belharet, Karim and Ferreira, Antoine},
      year = {2016},
      doi = {10.1109/TNB.2016.2535380},
      issn = {1536-1241},
      month = apr,
      number = {3},
      pages = {265--274},
      volume = {15},
      hal = {01305959},
      journal = {IEEE Transactions on Nano-Bioscience},
      keywords = {cancer,drug delivery systems,liver,magnetic particles,nanomedicine,nanoparticles,radiation therapy,tumours,Hahnfeldt tumor growth formulation,angiogenesis inhibition therapy,chemotherapy,liver cancer treatment,locoregional therapies,mathematical model,radiotherapy,state-dependent Riccati equations,therapeutic drug-loaded magnetic nanoparticles,therapeutical agents,transcatheter arterial delivery,tumor growth model,Cancer,Drugs,Liver,Magnetic resonance imaging,Mathematical model,Tumors,Locoregional therapies,magnetic resonance navigation,optimal drug delivery,optimal tumor control,tumor growth model}
    }
    Details
  4. Mellal L., Belharet K., Folio D., and Ferreira A. “Modélisation et Commande de Microrobot Magnétiques pour le traitement ciblé du Cancer”, Presented in "Journée de jeunes chercheurs organisée par l’INSA Centre Val de Loire", Bourges, France, June-2016.
    @misc{2016_com_mellal,
      title = {Modélisation et Commande de Microrobot Magnétiques pour le traitement ciblé du Cancer},
      author = {Mellal, Lyès and Belharet, Karim and Folio, David and Ferreira, Antoine},
      year = {2016},
      howpublished = {Presented in "Journée de jeunes chercheurs organisée par l’INSA Centre Val de Loire"},
      month = jun,
      type = {Oral},
      address = {Bourges, France},
      hceres = {COM}
    }
    Details
  5. Krupa A., Folio D., Novales C., Vieyres P., and Li T. “Robotized Tele-Echography: an Assisting Visibility Tool to Support Expert Diagnostic”, IEEE Systems Journal, vol. 10, pp. 974–983, April 2016.

    This paper presents a robotized tele-echography system with an assisting visibility mode that helps the medical expert diagnosis. This autonomous mode is based on a multitask control approach that maintains the visibility of an anatomic element of interest while the medical expert tele-operates a 2D ultrasound probe held by a 4-DoF robot. The main task is used to automatically maintain several visual constraints that guarantee an intersection between the US image plane and the organ of interest. A secondary task allows the medical expert to manually apply the probe motion through the tele-operation mode. The main advantage of this approach is to give to the clinician the control of all the degrees of freedom of the probe to examine the patient while automatically preserving the visibility of the organ of interest when required. Experimental results, performed on a phantom and human abdomen, demonstrate the efficiency of the visibility assistance task

    @article{2014_isj_tao,
      title = {Robotized Tele-Echography: an Assisting Visibility Tool to Support Expert Diagnostic},
      author = {Krupa, Alexandre and Folio, David and Novales, Cyril and Vieyres, Pierre and Li, Tao},
      year = {2016},
      doi = {10.1109/JSYST.2014.2314773},
      issn = {1932-8184},
      month = apr,
      pages = {974-983},
      volume = {10},
      hal = {00986875},
      ieeexplore = {6808404},
      journal = {IEEE Systems Journal},
      keywords = {biomedical ultrasonics, control engineering computing, medical expert systems, medical image processing, medical robotics, robot vision, telerobotics, 2D ultrasound probe, 4-degrees-of-freedom robot, OI, US image plane, anatomic element visibility, autonomous mode, medical expert diagnosis, medical expert teleoperation, multitask control, organ of interest, probe motion application, robotized tele-echography system, teleoperation mode, visibility tool, Haptic interfaces, Kinematics, Medical diagnostic imaging, Probes, Robot sensing systems, Robotized tele-echography, ultrasound (US)-based visual servoing, visibility constraints}
    }
    Details
  6. Jang B., Wang W., Wiget S., Petruska A., Chen X., Hu C., Hong A., Folio D., Ferreira A., Pané S., and Nelson B. “Catalytic Locomotion of Core-Shell Nanowire Motors”, ACS Nano, vol. 10, no. 11, pp. 9983–9991, November 2016.

    We report the partial core-shell nanowire motors. These nanowires are fabricated using our previously developed electrodeposition-based technique, and their catalytic locomotion in the presence of H2O2 is investigated. Unlike conventional bimetallic nanowires that are self-electroosmotically propelled, our Au/Ru core-shell nanowires show both a noticeable decrease in rotational diffusivity and increase in motor speed with nanowire length. Numerical modelling based on self-electroosmosis attributes the decreases in rotational diffusivity to the formation of toroidal vortices at the nanowire tail, but fails to explain the speed increase with length. To reconcile this inconsistency, we propose a combined mechanism of self-diffusiophoresis and electroosmosis based on the oxygen gradient produced by catalytic shells. This mechanism successfully explains not only the peculiar speed increase of Au/Ru core-shell nanomotors with length, but also the large variation in speeds among Au/Ru, Au/Rh and Rh/Au core-shell nanomotors. The possible contribution of diffusiophoresis to an otherwise well-established electroosmotic mechanism sheds light on future designs of nanomotors, at the same time highlighting the complex nature of nanoscale propulsion.

    @article{2016_acsnano,
      title = {Catalytic Locomotion of Core-Shell Nanowire Motors},
      author = {Jang, Bumjin and Wang, Wei and Wiget, Samuel and Petruska, Andrew and Chen, Xiangzhong and Hu, Chengzhi and Hong, Ayoung and Folio, David and Ferreira, Antoine and Pané, Salvador and Nelson, Bradley},
      year = {2016},
      doi = {10.1021/acsnano.6b04224},
      month = nov,
      number = {11},
      pages = {9983--9991},
      volume = {10},
      hal = {01410107},
      journal = {ACS Nano},
      keywords = {catalytic nanorod,nanorobotics,}
    }
    Details
  7. Folio D., Dahmen C., Ferreira A., and Fatikow S. “MRI-based Dynamic Tracking of an Untethered Ferromagnetic Microcapsule Navigating in Liquid”, International Journal of Optomechatronics, vol. 10, no. 2, pp. 73–96, April 2016.

    The propulsion of ferromagnetic objects by means of MRI gradients is a promising approach to enable new forms of therapy. In this work, necessary techniques are presented to make this approach work. This includes path planning algorithms working on MRI data, ferromagnetic artifact imaging and a tracking algorithm which delivers position feedback for the ferromagnetic objects and a propulsion sequence to enable interleaved magnetic propulsion and imaging. Using a dedicated software environment integrating path-planning methods and real-time tracking, a clinical MRI system is adapted to provide this new functionality for controlled interventional targeted therapeutic applications. Through MRI-based sensing analysis, this paper aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in human body. The proposed approaches are validated with different experiments.

    @article{2016_ijo_folio,
      title = {MRI-based Dynamic Tracking of an Untethered Ferromagnetic Microcapsule Navigating in Liquid},
      author = {Folio, David and Dahmen, Christian and Ferreira, Antoine and Fatikow, Sergej},
      year = {2016},
      doi = {10.1080/15599612.2016.1166305},
      month = apr,
      number = {2},
      pages = {73--96},
      volume = {10},
      hal = {01305963},
      journal = {International Journal of Optomechatronics},
      keywords = {Microrobotics, MRI-based sensing, navigation, path planning, visual tracking.},
      publisher = {Taylor \& Francis}
    }
    Details
  8. Folio D. “Les innovations en microrobotique pour le biomédical”, Prospective et Stratégie, vol. 7, no. 1, pp. 69–78, 2016. [Online]. Available at: https://www.cairn.info/revue-prospective-et-strategie-2016-1-page-69.htm

    La microrobotique est un champ pluridisciplinaire innovant qui fait émerger de nouveaux défis scientifiques et offrent des avancées révolutionnaires prometteuses, notamment pour les applications biomédicales. Par exemple, dans le traitement ciblé du cancer, des microrobots, délivrés par cathéter, navigueraient dans le système vasculaire vers une tumeur. Ceci permettrait d’améliorer significativement l’efficacité thérapeutique tout en minimisant la toxicité et les effets secondaires sur les tissus sains. Cependant, le développement de microrobots présente des difficultés de conception, de fabrication et de contrôle, dans la mesure où le microrobot doit évoluer dans un micromonde dont les propriétés diffèrent grandement de celles rencontrées communément dans les applications classiques. Ainsi, la microrobotique est un domaine qui requiert la collaboration entre physiciens, chimistes, biologistes, informaticiens et ingénieurs pour réaliser un objectif commun : améliorer le bien-être de l’homme.

    @article{2016_apors_folio,
      title = {Les innovations en microrobotique pour le biomédical},
      author = {Folio, David},
      year = {2016},
      doi = {10.3917/pstrat.007.0069},
      number = {1},
      pages = {69--78},
      url = {https://www.cairn.info/revue-prospective-et-strategie-2016-1-page-69.htm},
      volume = {7},
      hceres = {ACLN},
      journal = {Prospective et Stratégie},
      keywords = {microrobotique, biomédicale, micromanipulation, thérapie ciblée},
      publisher = {APORS Edition}
    }
    Details
  9. Amari N., Folio D., and Ferreira A. “Nanorobotics for Synchrotron Radiation Applications”, in Encyclopedia of Nanotechnology, 2nd ed., B. Bhushan, Ed. Dordrecht: Springer Netherlands, 2016., pp. 1–19.

    By nanorobotic manipulation, it is meant that nanoobjects are localized, positioned, and placed by controlling external forces under the X-ray beam of a synchrotron.

    @inbook{encyclo_2016_amari,
      title = {Nanorobotics for Synchrotron Radiation
      Applications},
      author = {Amari, Nabil and Folio, David and Ferreira, Antoine},
      booktitle = {Encyclopedia of Nanotechnology},
      year = {2016},
      chapter = {Nanorobotics for Synchrotron Radiation Applications},
      doi = {10.1007/978-94-007-6178-0_100927-1},
      edition = {2nd},
      editor = {Bhushan, Bharat},
      pages = {1--19},
      publisher = {Springer Netherlands},
      address = {Dordrecht},
      keywords = {Nanotechnology,nanorobotics,micromanipulation}
    }
    Details

2015 (5)

  1. Sarkis B., Folio D., and Ferreira A. “Catalytic Tubular Microjet Propulsion Model for Endovascular Navigation”, in IEEE International Conference on Robotics and Automation (ICRA'2015), Seattle, Washington, USA, 2015., pp. 3537–3542.

    This paper describes the propulsion of the catalytic tubular microjet using Navier-Stokes equations. Especially, the thrust capability of the microjet is outstanding compared with the other microsystems, but remains only partially understood. Studies have identified the internal precursory mechanisms of the propulsion of the microjet: its inner wall catalyzes the dismutation of aqueous hydrogen peroxide, and an oxygen bubble is then formed. Since the jet is conical, the bubble migrates towards its widest opening. This impulses the propulsion of the microjet towards the opposite direction. However, the precise propellant role of the liquid surrounding the jet remains misunderstood. The same goes for the inner wall of the vessel in which the jet navigates, especially in narrowed environment. This article discusses these aspects in a simplified theoretical framework. Calculations are performed by explicit computation of Navier-Stokes equations. The obtained theoretical results are in good agreement with experimental results in the literature.

    @inproceedings{2015_icra_sarkis,
      title = {Catalytic Tubular Microjet Propulsion Model for Endovascular Navigation},
      author = {Sarkis, Bruno and Folio, David and Ferreira, Antoine},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA\'2015)},
      year = {2015},
      doi = {10.1109/ICRA.2015.7139689},
      month = may,
      organization = {IEEE},
      pages = {3537--3542},
      address = {Seattle, Washington, USA},
      hal = {01160826},
      ieeexplore = {7139689},
      keywords = {Blood,Engines,Force,Geometry,Mathematical model,Propulsion}
    }
    Details
  2. Mellal L., Folio D., Belharet K., and Ferreira A. “Magnetic Microbot Design Framework for Antiangiogenic Tumor Therapy”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2015), Hamburg, Germany, 2015., pp. 1397–1402.

    This paper presents an optimal design strategy for magnetic targeting of therapeutic drugs. In this study, to maximize the effect of the treatment and minimize adverse effects on the patient, a mathematical model have been developed to find the number and the size of the boluses with respect to the growth of a tumor. Using these models, control strategies are developed to establish a schedule that allows the physician to administer the medication while respecting borne by the patient doses. To transport the drugs, we use therapeutic magnetic boluses composed of magnetic particles aggregates as navigable agents controlled by magnetic gradients. Based on the optimal design of the bolus, an experimental investigation is carried out in millimeter-sized fluidic artery vessels to demonstrate the steerability of the magnetic bolus under different velocity, shear-stress and trajectory constraints with a laminar viscous fluidic environment.

    @inproceedings{2015_iros_mellal,
      title = {Magnetic Microbot Design Framework for Antiangiogenic Tumor Therapy},
      author = {Mellal, Lyès and Folio, David and Belharet, Karim and Ferreira, Antoine},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2015)},
      year = {2015},
      doi = {10.1109/IROS.2015.7353550},
      month = sep,
      pages = {1397--1402},
      publisher = {IEEE},
      address = {Hamburg, Germany},
      keywords = {Tumor Model, Optimal Control,Microrobot, Magnetic Microrobot Navigating, Coils, Micromagnetics}
    }
    Details
  3. Mellal L., Belharet K., Folio D., and Ferreira A. “Modélisation et Commande d’un injecteur microrobotique pour le traitement du cance”, Presented in "Journée de jeunes chercheurs organisée par le laboratoire PRISME"., Blois, France, June-2015.
    @misc{2015_com_mellal,
      title = {Modélisation et Commande d’un injecteur microrobotique pour le traitement du cance},
      author = {Mellal, Lyès and Belharet, Karim and Folio, David and Ferreira, Antoine},
      year = {2015},
      howpublished = {Presented in "Journée de jeunes chercheurs organisée par le laboratoire PRISME".},
      month = jun,
      type = {Oral},
      address = {Blois, France},
      hceres = {COM}
    }
    Details
  4. Mellal L., Belharet K., Folio D., and Ferreira A. “Optimal Structure of Particles-based Superparamagnetic Microrobots: application to MRI guided targeted drug therapy”, Journal of Nanoparticle Research, vol. 17, no. 2, pp. 64–82, January 2015.

    This paper presents an optimal design strategy for therapeutic magnetic micro carriers (TMMC) guided in real time by a magnetic resonance imaging (MRI) system. As aggregates of TMMC must be formed to carry the most amount of drug and magnetic actuation capability, different clustering agglomerations could be arranged. Nevertheless, its difficult to predict the hydrodynamic behavior of any arbitrary-shaped object due to the nonlinear hydrodynamic effects. Indeed, the drag effect is related not only to the properties of the bolus but also to its interaction with the fluid viscosity, the free-stream velocity and the container geometry. In this work, we propose a mathematical framework to optimize the TMMC aggregates to improve the steering efficiency in experimental endovascular conditions. The proposed analysis is carried out on various sizes and geometries of microcarrier: spherical, ellipsoid-like and chain-like of microsphere structures. We analyze the magnetophoretic behavior of such designs to exhibit the optimal configuration. Based on the optimal design of the boluses, experimental investigations were carried out in mm-sized fluidic artery phantoms to demonstrate the steerability of the magnetic bolus using a proof-of-concept setup. The experiments demonstrate the steerability of the magnetic bolus under different velocity, shear-stress and trajectory constraints with a laminar viscous fluidic environment. Preliminary experiments with a MRI system confirms the feasibility of the steering of these TMMCs in hepatic artery microchannel phantom.

    @article{2015_jnr_mellal,
      title = {Optimal Structure of Particles-based Superparamagnetic Microrobots: application to MRI guided targeted drug therapy},
      author = {Mellal, Lyès and Belharet, Karim and Folio, David and Ferreira, Antoine},
      year = {2015},
      doi = {10.1007/s11051-014-2733-3},
      eid = {64},
      issn = {1572-896X},
      month = jan,
      number = {2},
      pages = {64--82},
      volume = {17},
      hal = {01112036},
      journal = {Journal of Nanoparticle Research},
      keywords = {Targeted drug delivery, Magnetic steering, Superparamagnetic microrobot, Optimal design}
    }
    Details
  5. Folio D. “Innovation en microrobotique pour le biomédical”, Invited speaker in Colloque "Innovation en microrobotique pour le biomédical", Bourges, France, June-2015.
    @misc{2015_folio,
      title = {Innovation en microrobotique pour le biomédical},
      author = {Folio, David},
      year = {2015},
      howpublished = {Invited speaker in Colloque "Innovation en microrobotique pour le biomédical"},
      month = jun,
      type = {Oral},
      address = {Bourges, France},
      hceres = {INV}
    }
    Details

2014 (7)

  1. Folio D. “Micro/Nano-robots thérapeutique pour le traitement cibler du cancer”, Colloque International: "Quelles nanotechnologies pour la médecine". Invited speaker in Colloque International: "Quelles nanotechnologies pour la médecine", Rabat, Maroc, November-2014.

    Biology has been a key source of inspiration from which we can learn and adapt in nanotechnology. Natural processes are extremely efficient in terms of energy and material usage and provide us with many in spiring and thought provoking designs and principles. This talk discusses biomimetics at the nano scale, where we talk about nanorobotics and its design principles which are inspired by biology nature's way of doing things at that scale. Two approaches will be presented. The "machine nano mimetics" principle meaning the creation of nano-machine components inspired by the equivalent machine component s at the macro-scale and the other is the "bio nano mimetics" principle where biological entities such as proteins and DNA are used to create the nano-machine components. The field of nanorobotics hence encapsulates these two mimetic principles, and inherits their various characteristics, design logic and advantages.This talk focuses on the state of the art in the emerging field of bionanorobotics and it s applications and discusses in brief some of the essential properties and dynamical laws which make this field

    @misc{2014_folio,
      title = {Micro/Nano-robots thérapeutique pour le traitement cibler du cancer},
      author = {Folio, David},
      year = {2014},
      howpublished = {Invited speaker in Colloque International: "Quelles nanotechnologies pour la médecine"},
      month = nov,
      address = {Rabat, Maroc},
      booktitle = {Colloque International: "Quelles nanotechnologies pour la médecine"},
      hceres = {INV}
    }
    Details
  2. Belharet K., Folio D., and Ferreira A. “Vision-Based Forces Characterization of Magnetic Microrobot in a Viscous Environment”, in IEEE International Conference on Robotics and Automation (ICRA'2014), Hong Kong, China, 2014., pp. 2065–2070.

    In this paper we aim to characterize and validate the system's dynamic model of a magnetic microrobot navigating in viscous flow. First, the controlled magnetic forces exerted on the magnetic microrobot was calibrated, validating the magnetic model. Secondly, the external forces were characterized on-line from digital microscope measurements. Especially, unlike common approaches used with microscope where orthographic projection model were used, we have proposed to consider the weak-perspective model. Thus, the proposed vision-based force characterization allows us to retrieve the 3D translational velocities and accelerations of the magnetic microrobot viewed from a digital microscope. Experimental results in two different environments illustrate the efficiency of the proposed method

    @inproceedings{2014_icra_belharet,
      title = {Vision-Based Forces Characterization of Magnetic Microrobot in a Viscous Environment},
      author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA\'2014)},
      year = {2014},
      doi = {10.1109/ICRA.2014.6907133},
      month = may,
      pages = {2065--2070},
      address = {Hong Kong, China},
      hal = {01070673},
      ieeexplore = {6907133},
      keywords = {Microrobot, Vision-Based Force sensing, Magnetic Microrobot Navigating, Coils, Micromagnetics,Viscosity, Viscous flow}
    }
    Details
  3. Belharet K., Folio D., and Ferreira A. “Study on Rotational and Unclogging Motions of Magnetic Chain-Like Microrobot”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2014), Chicago, IL, USA, 2014., pp. 834–839.

    Magnetic microrobotics was nowadays one of the most advanced technique to reach deep locations in human body for future biomedical applications. Different magnetic microrobot designs were proposed, such as bead pulling or microswimmers. In this paper, the use of chain-like of magnetic N-microspheres was investigated to enable new kind of motions and applications. An accurate theoretical model of chain-like magnetic microbeads navigating in viscous fluidic environments is described. Thus, the behavior of such microrobot was analyzed for different number of microspheres (ranging from N = 2 to 5). The efficiency of the proposed technique was demonstrated experimentally in a microfluidic vessel phantom to mimic atherosclerosis disease leading to plaque formation that fully occluded a vasculature

    @inproceedings{2014_iros_belharet,
      title = {Study on Rotational and Unclogging Motions of Magnetic Chain-Like Microrobot},
      author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2014)},
      year = {2014},
      doi = {10.1109/IROS.2014.6942656},
      month = sep,
      pages = {834--839},
      address = {Chicago, IL, USA},
      ieeexplore = {6942656},
      keywords = {Microrobot, Vision-Based Force sensing, Magnetic Microrobot Navigating, Coils, Micromagnetics,Viscosity, Viscous flow}
    }
    Details
  4. Amari N., Folio D., and Ferreira A. “Robust Tracking of a Two-Fingered Micromanipulation System Working Through the Focus of an Optical Beam”, in American Control Conference (ACC'2014), Portland, OR, USA, 2014., pp. 1613–1618.

    This paper reports a control strategy of two AFM gripper for manipulation on analysis Beam, using dual micro/nano manipulators in order to grippe a micro spherical ball and tacking-maintain on the focus of laser beam. The main idea is to control and drive AFM gripper to expose micro samples in the laser beam by localization of the maximum intensity laser beam given by a four-quadrant photodiode. The focalization of analysis Beam used for microhandling is few micrometer that making the intensity measurement sensitive at the externals variations and positioning of the four-quadrant photodiode affecting the control of the gripper and position the sample far of the focalization of laser beam. To overcome this problem, the Particle Filter (PF) algorithm is used to estimate the position of laser beam.The dual manipulators is controlled by combine different performance dynamics (micro manipulator and nano manipulator) to track a laser beam with high precision

    @inproceedings{2014_acc_amari,
      title = {Robust Tracking of a Two-Fingered Micromanipulation System Working Through the Focus of an Optical Beam},
      author = {Amari, Nabil and Folio, David and Ferreira, Antoine},
      booktitle = {American Control Conference (ACC\'2014)},
      year = {2014},
      doi = {10.1109/ACC.2014.6859244},
      month = jun,
      pages = {1613--1618},
      address = {Portland, OR, USA},
      hal = {01070678},
      ieeexplore = {6859244},
      issn = {0743-1619},
      keywords = {Micromanipulation, Micro/nanomanipulator, Robust control, Laser Beam}
    }
    Details
  5. Amari N., Folio D., and Ferreira A. “Motion of a Micro/Nanomanipulator using a Laser Beam Tracking System”, International Journal of Optomechatronics, vol. 8, no. 1, pp. 30–46, April 2014.

    This paper presents a study of the control problem of a laser beam illuminating and focusing a microobject subjected to dynamic disturbances using light intensity for feedback only. The main idea is to guide and track the beam with a hybrid micro/nanomanipulator which is driven by a control signal generated by processing the beam intensity sensed by a four-quadrant photodiode. Since the pointing location of the beam depends on real-time control issues related to temperature variation, vibrations, output intensity control, and collimation of the light output, the 2-D beam location to the photodiode sensor measurement output is estimated in real-time. We use the Kalman filter (KF) algorithm for estimating the state of the linear system necessary for implementing the proposed track-following control approach. To do so a robust master/slave control strategy for dual-stage micro/nanomanipulator is presented based on sensitivity function decoupling design methodology. The decoupled feedback controller is synthesized and implemented in a 6 dof micro/nanomanipulator capable of nanometer resolution through several hundreds micrometer range. A case study relevant to tracking a laser-beam for imaging purposes is presented

    @article{2014_ijo_amari,
      title = {Motion of a Micro/Nanomanipulator using a Laser Beam Tracking System},
      author = {Amari, Nabil and Folio, David and Ferreira, Antoine},
      year = {2014},
      doi = {10.1080/15599612.2014.890813},
      month = apr,
      number = {1},
      pages = {30--46},
      volume = {8},
      hal = {00977949},
      journal = {International Journal of Optomechatronics},
      keywords = {micromanipulation, micro/nanomanipulator, robust control, laser beam},
      publisher = {Taylor \& Francis}
    }
    Details
  6. Amari N., Folio D., and Ferreira A. “Robust Nanomanipulation Control based on Laser Beam Feedback”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2014), Chicago, IL, USA, 2014., pp. 4674–4679.

    This paper reports a control strategy of two AFM gripper for manipulation on analysis Beam, using dual micro/nano manipulators in order to grippe a micro spherical ball and tacking-maintain on the focus of laser beam. The main idea is to control and drive AFM gripper to expose micro samples in the laser beam by localization of the maximum intensity laser beam given by a four-quadrant photodiode. The focalization of analysis Beam used for microhandling is few micrometer that making the intensity measurement sensitive at the externals variations and positioning of the four-quadrant photodiode affecting the control of the gripper and position the sample far of the focalization of laser beam. To overcome this problem, the Particle Filter (PF) algorithm is used to estimate the position of laser beam.The dual manipulators is controlled by combine different performance dynamics (micro manipulator and nano manipulator) to track a laser beam with high precision

    @inproceedings{2014_iros_amari,
      title = {Robust Nanomanipulation Control based on Laser Beam Feedback},
      author = {Amari, Nabil and Folio, David and Ferreira, Antoine},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2014)},
      year = {2014},
      doi = {10.1109/IROS.2014.6943226},
      month = sep,
      pages = {4674--4679},
      address = {Chicago, IL, USA},
      hal = {01070682},
      ieeexplore = {6943226},
      keywords = {Micromanipulation, Micro/nanomanipulator, Robust control, Laser Beam}
    }
    Details
  7. Banerjee A., Folio D., Misra S., and Zhou Q., Editors “Special Issue: Design, Fabrication, Control, and Planning of Multiple Mobile Microrobots”, in International Journal of Advanced Robotic Systems, 2014.
    @incollection{2014_do_folio,
      title = {Special Issue: Design, Fabrication, Control, and Planning of Multiple Mobile Microrobots},
      booktitle = {International Journal of Advanced Robotic Systems},
      editor = {Banerjee, Ashis and Folio, David and Misra, Sarthak and Zhou, Quan},
      year = {2014},
      doi = {10.5772/1},
      hceres = {DO},
      review = {The proposed special issue (SI) focuses on new approaches and future directions on developing microrobotic systems where multiple mobile robots operate in parallel to perform complex manipulations. Such manipulations are increasingly playing a major role in biology and medicine as for example by realizing targeted drug therapy. They are also bringing about a new paradigm in the manufacturing of miniature devices by enabling microassembly of heterogeneous components in three dimensions.
      The microrobots can be actuated in a variety of ways ranging from electrical and magnetic to mechanical, optical, and even acoustic or chemical. Design and fabrication of the robots depends a lot on the actuation technique, and becomes quite challenging for autonomous operations within constrained workspaces across large distances (orders of magnitudes more than their characteristic dimensions) and for significant time durations (minutes or more). Furthermore, controlling and planning their motions provide additional challenges, particularly to generate collision-free trajectories independently for each robot with the aim of achieving coordinated behaviors to maximize the overall operation efficiency and reliability. While significant progress has been achieved over the past few years, we are still quite far off from deploying such autonomous microrobot groups in clinical laboratories or industrial manufacturing facilities.}
    }
    Details

2013 (4)

  1. Belharet K., Folio D., and Ferreira A. “Simulation and Planning of a Magnetically Actuated Microrobot Navigating in Arteries”, IEEE Transactions on Biomedical Engineering, vol. 60, no. 4, pp. 994–1001, April 2013.

    This work presents a preoperative microrobotic surgical simulation and planning application. The main contribution is to support computer-aided minimally invasive surgery (MIS) procedure using untethered microrobots that have to navigate within the arterial networks. We first propose a fast interactive application (with endovascular tissues) able to simulate the blood flow and microrobot interaction. Secondly, we also propose a microrobotic surgical planning framework, based on the anisotropic Fast Marching Method (FMM), that provides a feasible pathway robust to biomedical navigation constraints. We demonstrate the framework performance in a case study of the treatment of peripheral arterial diseases (PAD)

    @article{2013_tbme_belharet,
      title = {Simulation and Planning of a Magnetically Actuated Microrobot Navigating in Arteries},
      author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
      year = {2013},
      doi = {10.1109/TBME.2012.2236092},
      month = apr,
      number = {4},
      pages = {994--1001},
      volume = {60},
      hal = {00767787},
      journal = {IEEE Transactions on Biomedical Engineering},
      keywords = {microrobotics, minimally invasive surgery, blood flow simulation, anisotropic path planning, blood, computational modeling, force, magnetic anisotropy, navigation, planning, surgery}
    }
    Details
  2. Belharet K., Chunbo Y., Folio D., and Ferreira A. “Model Characterization of Magnetic Microrobot Navigating in Viscous Environment”, in International Symposium on Optomechatronic Technologies (ISOT'2013), Jeju Island, Korea, 2013.

    In this paper we aim to characterize and validate the system's dynamic model of a magnetic microrobot navigating in viscous flow. First, the controlled magnetic forces exerted on the magnetic microrobot was calibrated, validating the magnetic model. Secondly, the external forces were characterized on-line from digital microscope measurements. Especially, unlike common approaches used with microscope where orthographic projection model were used, we have proposed to consider the weak-perspective model. Thus, the proposed vision-based force characterization allows us to retrieve the 3D translational velocities and accelerations of the magnetic microrobot viewed from a digital microscope. Experimental results in two different environments illustrate the efficiency of the proposed method

    @inproceedings{2013_isot_belharet,
      title = {Model Characterization of Magnetic Microrobot Navigating in Viscous Environment},
      author = {Belharet, Karim and Chunbo, Yang and Folio, David and Ferreira, Antoine},
      booktitle = {International Symposium on Optomechatronic Technologies (ISOT\'2013)},
      year = {2013},
      month = oct,
      address = {Jeju Island, Korea},
      hal = {00864770},
      keywords = {Microrobot, Vision-Based Force sensing, Magnetic Microrobot Navigating, Coils, Micromagnetics,Viscosity, Viscous flow}
    }
    Details
  3. Amari N., Folio D., and Ferreira A. “Robust Laser Beam Tracking Control using Micro/Nano Dual-Stage Manipulators”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2013), Tokyo Big Sight, Japan, 2013., pp. 1543–1548.

    This paper presents a study of the control problem of a laser beam illuminating and focusing a microobject subjected to dynamic disturbances using light intensity for feedback only. The main idea is to guide and track the beam with a hybrid micro/nanomanipulator which is driven by a control signal generated by processing the beam intensity sensed by a four-quadrant photodiode. Since the pointing location of the beam depends on real-time control issues related to temperature variation, vibrations, output intensity control, and collimation of the light output, the 2-D beam location to the photodiode sensor measurement output is estimated in real-time. We use the Kalman filter (KF) algorithm for estimating the state of the linear system necessary for implementing the proposed track-following control approach. To do so a robust master/slave control strategy for dual-stage micro/nanomanipulator is presented based on sensitivity function decoupling design methodology. The decoupled feedback controller is synthesized and implemented in a 6 dof micro/nanomanipulator capable of nanometer resolution through several hundreds micrometer range. A case study relevant to tracking a laser-beam for imaging purposes is presented

    @inproceedings{2013_iros_amari,
      title = {Robust Laser Beam Tracking Control using Micro/Nano Dual-Stage Manipulators},
      author = {Amari, Nabil and Folio, David and Ferreira, Antoine},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2013)},
      year = {2013},
      doi = {10.1109/IROS.2013.6696554},
      month = nov,
      pages = {1543--1548},
      address = {Tokyo Big Sight, Japan},
      hal = {00864776},
      ieeexplore = {6696554},
      keywords = {Micromanipulation, Micro/nanomanipulator, Robust control, Laser Beam}
    }
    Details
  4. Amari N., Folio D., Belharet K., and Ferreira A. “Motion of a Micro/Nanomanipulator using a Laser Beam Tracking System”, in International Symposium on Optomechatronic Technologies (ISOT'2013), Jeju Island, Korea, 2013.

    This paper presents a study of the control problem of a laser beam illuminating and focusing a microobject subjected to dynamic disturbances using light intensity for feedback only. The main idea is to guide and track the beam with a hybrid micro/nanomanipulator which is driven by a control signal generated by processing the beam intensity sensed by a four-quadrant photodiode. Since the pointing location of the beam depends on real-time control issues related to temperature variation, vibrations, output intensity control, and collimation of the light output, the 2-D beam location to the photodiode sensor measurement output is estimated in real-time. We use the Kalman filter (KF) algorithm for estimating the state of the linear system necessary for implementing the proposed track-following control approach. To do so a robust master/slave control strategy for dual-stage micro/nanomanipulator is presented based on sensitivity function decoupling design methodology. The decoupled feedback controller is synthesized and implemented in a 6 dof micro/nanomanipulator capable of nanometer resolution through several hundreds micrometer range. A case study relevant to tracking a laser-beam for imaging purposes is presented

    @inproceedings{2013_isot_amari,
      title = {Motion of a Micro/Nanomanipulator using a Laser Beam Tracking System},
      author = {Amari, Nabil and Folio, David and Belharet, Karim and Ferreira, Antoine},
      booktitle = {International Symposium on Optomechatronic Technologies (ISOT\'2013)},
      year = {2013},
      month = oct,
      address = {Jeju Island, Korea},
      hal = {00943322},
      keywords = {Micromanipulation, Micro/nanomanipulator, Robust control, Laser Beam}
    }
    Details

2012 (8)

  1. Kim J., Ladjal H., Folio D., Ferreira A., and Kim J. “Evaluation of Telerobotic Shared Control Strategy for Efficient Single-Cell Manipulation”, IEEE Transactions on Automation Science and Engineering, vol. 9, no. 2, pp. 402–406, April 2012.

    Microinjection is a method for the delivery of exogenous materials into cells and is widely used in biomedical research areas such as transgenics and genomics. However, this direct injection is a time-consuming and laborious task, resulting in low throughput and poor reproducibility. Here, we describe a telerobotic shared control framework for microinjection, in which a micromanipulator is controlled by the shared motion commands of both the human operator and the autonomous controller. To determine the weightings between the operator and the controller, we proposed a quantitative evaluation method using a model of speed/accuracy trade-offs in human movement. The results showed that a 40%–60% weighting on the human operator (or the controller) produced the best performance for both speed and accuracy of guiding and targeting task in microinjection suggesting that some level of both automation and human involvement is important for microinjection tasks

    @article{2012_tase_kim,
      title = {Evaluation of Telerobotic Shared Control Strategy for Efficient Single-Cell Manipulation},
      author = {Kim, Jungsik and Ladjal, Hamid and Folio, David and Ferreira, Antoine and Kim, Jung},
      year = {2012},
      doi = {10.1109/TASE.2011.2174357},
      issn = {1545-5955},
      month = apr,
      number = {2},
      pages = {402--406},
      volume = {9},
      hal = {00643166},
      ieeexplore = {6081961},
      journal = {IEEE Transactions on Automation Science and Engineering},
      keywords = {microrobotic control, single-cell microinjection, telerobotic shared control}
    }
    Details
  2. Folio D. and Ferreira A. “Endovascular Navigation of Magnetic Microcarriers Using a MRI System”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2012). Presented in the Workshop on Magnetically Actuated Multiscale Medical Robots, Vilamoura, Algarve, Portugal, October-2012.

    This study presents the first steps of design, modeling, simulation and development of a drug delivery microrobotic system (consisting of nanoActuators and nanoSensors) for the propulsion and navigation of ferromagnetic microcapsules in the cardiovascular system controlled by a clinical Magnetic Resonance Imaging (MRI). Engineered micro-/nano-devices may be successful vehicles for transporting, delivering and targeting drugs. The integration of ferromagnetic particles allows potential MR-tracking and automatic delivery of the biocarriers through induced forces generated by magnetic gradients. MRI systems a level of flexibility, provide concentration and tracking information, real-time interventional capabilities and are already widespread in hospitals. Automatic delivery of these biocarriers to specific regions of the tumor through the lymphatic vessels is of special interest at early cancer diagnostics. In this presentation we present computational studies and experimental data on controlled navigable microcapsules which are steered by magnetic gradients generated by the MRI system. The navigation modeling, control and implementation were studied for future development of nanocapsules designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system (from aortato- capillary networks). Third, different modeling methodologies and simulations have been developed for robust control in-vivo navigation in the cardiovascular system

    @misc{2012_iros_folio,
      title = {Endovascular Navigation of Magnetic Microcarriers Using a MRI System},
      author = {Folio, David and Ferreira, Antoine},
      year = {2012},
      howpublished = {Presented in the Workshop on Magnetically Actuated Multiscale Medical Robots},
      month = oct,
      address = {Vilamoura, Algarve, Portugal},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2012)},
      hceres = {COM}
    }
    Details
  3. Folio D. “Bio-NanoRobotics: A Reality for tomorrow?”, International R&D Symposium: "BIOLOGY AND COMMUNICATIONS". Invited keynote speaker in International R&D Symposium: "biology and communications", Madrid, Spain, March-2012.

    Biology has been a key source of inspiration from which we can learn and adapt in nanotechnology. Natural processes are extremely efficient in terms of energy and material usage and provide us with many in spiring and thought provoking designs and principles. This talk discusses biomimetics at the nano scale, where we talk about nanorobotics and its design principles which are inspired by biology nature's way of doing things at that scale. Two approaches will be presented. The "machine nano mimetics" principle meaning the creation of nano-machine components inspired by the equivalent machine component s at the macro-scale and the other is the "bio nano mimetics" principle where biological entities such as proteins and DNA are used to create the nano-machine components. The field of nanorobotics hence encapsulates these two mimetic principles, and inherits their various characteristics, design logic and advantages.This talk focuses on the state of the art in the emerging field of bionanorobotics and it s applications and discusses in brief some of the essential properties and dynamical laws which make this field

    @misc{2012_folio,
      title = {Bio-NanoRobotics: A Reality for tomorrow?},
      author = {Folio, David},
      year = {2012},
      howpublished = {Invited keynote speaker in International R\&D Symposium: "biology and communications"},
      month = mar,
      note = {Fundación Ramón Areces},
      address = {Madrid, Spain},
      booktitle = {International R\&D Symposium: "BIOLOGY AND COMMUNICATIONS"},
      hceres = {INV}
    }
    Details
  4. Dahmen C., Folio D., Wortmann T., Kluge A., Ferreira A., and Fatikow S. “Evaluation of a MRI based Propulsion/Control System Aiming at Targeted Micro/Nano-capsule Therapeutics”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2012), Vilamoura, Algarve, Portugal, 2012., pp. 2565–2570.

    MRI based nano- and microrobotics show good potential for new targeted therapies tackling e.g. cancer. In this paper, a system developed for the propulsion and navigation of small ferromagnetic objects only using clinical MRI systems is evaluated in experiments. The experiments include propulsion of an untethered ferromagnetic object against a pulsatile flow in a pipe system, navigation of an untethered object filled with ferromagnetic nanoparticles around obstacles in a free environment, and the choosing of a branch in a closed flow-less channel system when propelling an untethered ferromagnetic object. The system is found to deal with the tasks efficiently

    @inproceedings{2012_iros_dahmen,
      title = {Evaluation of a MRI based Propulsion/Control System Aiming at Targeted Micro/Nano-capsule Therapeutics},
      author = {Dahmen, Christian and Folio, David and Wortmann, Tim and Kluge, Alexander and Ferreira, Antoine and Fatikow, Sergej},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2012)},
      year = {2012},
      doi = {10.1109/IROS.2012.6386244},
      month = oct,
      pages = {2565--2570},
      address = {Vilamoura, Algarve, Portugal},
      hal = {00714333},
      ieeexplore = {638624},
      issn = {2153-0858},
      keywords = {Magnetic resonance imaging, Navigation, Planning, Sensors, Target tracking, Uncertainty, Magnetic resonance imaging,Propulsion}
    }
    Details
  5. Cadenat V., Folio D., and Durand A. “A comparison of two sequencing techniques to perform a vision-based navigation task in a cluttered environment”, Advanced Robotics, vol. 26, no. 5-6, pp. 487–514, March 2012.

    We address the problem of multi-sensor-based navigation in a cluttered environment for a non-holonomic robot. To perform such a successful and safe navigation, three controllers realizing, respectively, nominal vision-based navigation, obstacle bypassing and occlusion avoidance have been designed using the task function approach. Then it suffices to sequence them to realize the complete mission. To guarantee the control continuity when switching between two successive controllers, two sequencing approaches have been used and compared. Simulation results validate our work

    @article{2012_advrob_cadenat,
      title = {A comparison of two sequencing techniques to perform a vision-based navigation task in a cluttered environment},
      author = {Cadenat, Viviane and Folio, David and Durand, Adrien},
      year = {2012},
      doi = {10.1163/156855311X617470},
      eprint = {http://www.tandfonline.com/doi/pdf/10.1163/156855311X617470},
      month = mar,
      number = {5-6},
      pages = {487--514},
      volume = {26},
      hal = {00678670},
      journal = {Advanced Robotics},
      keywords = {visual servoing, redundant task, obstacle avoidance, occlusion avoidance, task sequencing},
      publisher = {Taylor \& Francis}
    }
    Details
  6. Belharet K., Folio D., and Ferreira A. “Real-time software platform for in vivo navigation of magnetic micro-carriers using MRI system”, in Medical robotics: Minimally invasive surgery, no. 51, P. Gomes, Ed. Cambridge: Woodhead Publishing, 2012.
    @inbook{2012_book_belharet,
      title = {Real-time software platform for in vivo navigation of magnetic micro-carriers using MRI system},
      author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
      booktitle = {Medical robotics: Minimally invasive surgery},
      year = {2012},
      chapter = {11},
      editor = {Gomes, Paula},
      isbn = {9780857091307},
      number = {51},
      publisher = {Woodhead Publishing},
      series = {Biomaterials},
      address = {Cambridge},
      keywords = {MICROROBOT, GRADIENT CONTROLLED MOTION, ENDOVASCULAR NAVIGATION},
      month = oct
    }
    Details
  7. Belharet K., Folio D., and Ferreira A. “Control of a Magnetic Microrobot Navigating in Microfluidic Arterial Bifurcations through Pulsatile and Viscous Flow”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2012), Vilamoura, Algarve, Portugal, 2012., pp. 2559–2564.

    Navigating in bodily fluids to perform targeted diagnosis and therapy has recently raised the problem of robust control of magnetic microrobots under real endovascular conditions. Various control approaches have been proposed in the literature but few of them have been experimentally validated. In this paper, we point out the problem of navigation controllability of magnetic microrobots in high viscous fluids and under pulsatile flow for endovascular applications. We consider the experimental navigation along a desired trajectory, in a simplified millimeter-sized arterial bifurcation, operating in fluids at the low-Reynolds-number regime where viscous drag significantly dominates over inertia. Different viscosity environments are tested (ranging from 100% water-to-100% glycerol) under a systolic pulsatile flow compatible with heart beating. The control performances in terms tracking, robustness and stability are then experimentally demonstrated

    @inproceedings{2012_iros_belharet,
      title = {Control of a Magnetic Microrobot Navigating in Microfluidic Arterial Bifurcations through Pulsatile and Viscous Flow},
      author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2012)},
      year = {2012},
      doi = {10.1109/IROS.2012.6386030},
      month = oct,
      pages = {2559--2564},
      address = {Vilamoura, Algarve, Portugal},
      hal = {00714370},
      ieeexplore = {6386030},
      issn = {2153-0858},
      keywords = {Microrobot, Magnetic gradient control, Navigation, Predictive Control, Pulsatile flow, Blood, Coils, Magnetic resonance imaging, Micromagnetics,Viscosity}
    }
    Details
  8. Belharet K., Folio D., and Ferreira A. “Untethered microrobot control in fluidic environment using magnetic gradients”, in International Symposium on Optomechatronic Technologies (ISOT'2012), 2012., pp. 1–5.

    Navigating in bodily fluids to perform targeted diagnosis and therapy has recently raised the problem of robust control of magnetic microrobots under real endovascular conditions. Various control approaches have been proposed in the literature but few of them have been experimentally validated. In this paper, we point out the problem of navigation controllability of magnetic microrobots in high viscous fluids and under pulsatile flow for endovascular applications. We consider the experimental navigation along a desired trajectory, in a simplified millimeter-sized arterial bifurcation, operating in fluids at the low-Reynolds-number regime where viscous drag significantly dominates over inertia. Different viscosity environments are tested (ranging from 100% water-to-100% glycerol) under a systolic pulsatile flow compatible with heart beating. The control performances in terms tracking, robustness and stability are then experimentally demonstrated

    @inproceedings{2012_isot_belharet,
      title = {Untethered microrobot control in fluidic environment using magnetic gradients},
      author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
      booktitle = {International Symposium on Optomechatronic Technologies (ISOT\'2012)},
      year = {2012},
      month = oct,
      pages = {1--5},
      hal = {0771178},
      ieeexplore = {6403290},
      keywords = {Microrobot, Magnetic gradient control, Navigation, Predictive Control, Pulsatile flow, Blood, Coils, Magnetic resonance imaging, Micromagnetics,Viscosity}
    }
    Details

2011 (4)

  1. Kim J., Chang D., Ladjal H., Folio D., and Kim A. F. J. “Evaluation of Telerobotic Shared Control for Efficient Manipulation of Single Cells in Microinjection”, in IEEE International Conference on Robotics and Automation (ICRA'2011), Shanghai, China, 2011., pp. 3382–3387.

    Microinjection is the highly efficient delivery method of exogenous materials into cells, and it has been widely used in biomedical research areas such as transgenics and genomics. However, this direct injection task is time consuming and laborious, resulting in low throughput and poor reproducibility. This paper describes a telerobotic shared control (TSC) framework for the microinjection with high manipulation efficiencies, in which a micromanipulator is controlled by the shared motion commands of both the human operator (direct manipulation) and the autonomous controller. To determine the optimal gains between the operator and the controller, we proposed a quantitative evaluation method using Fitts' and steering laws. The results showed that a 40%-60% weighting on the human operator produced better performance for both speed and accuracy of task completion, and suggested that some level of automation or human involvement is important for microinjection tasks

    @inproceedings{2011_icra_kim,
      title = {Evaluation of Telerobotic Shared Control for Efficient Manipulation of Single Cells in Microinjection},
      author = {Kim, Jungsik and Chang, Dongjune and Ladjal, Hamid and Folio, David and Kim, Antoine Ferreiraand Jung},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA\'2011)},
      year = {2011},
      doi = {10.1109/ICRA.2011.5979868},
      month = may,
      pages = {3382--3387},
      address = {Shanghai, China},
      hal = {00624922},
      issn = {1050-4729},
      keywords = {cellular biophysics,drug delivery systems,medical robotics,micromanipulators,motion control,autonomous controller,microinjection,shared motion commands,cell manipulation,telerobotic shared control,}
    }
    Details
  2. Folio D., Christian D., Wortmann T., Zeeshan M. A., Shou K., Pane S., Nelson B. J., Ferreira A., and Fatikow S. “MRI magnetic signature imaging, tracking and navigation for targeted micro/nano-capsule therapeutics”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011), San Fransisco, CA, USA, 2011., pp. 1297–1303.

    The propulsion of nano-ferromagnetic objects by means of MRI gradients is a promising approach to enable new forms of therapy. In this work, necessary techniques are presented to make this approach work. This includes path planning algorithms working on MRI data, ferromagnetic artifact imaging and a tracking algorithm which delivers position feedback for the microdevice and a propulsion sequence to enable interleaved magnetic propulsion and imaging. Using a dedicated software environment integrating path-planning methods and real-time tracking, a clinical MRI system is adapted to provide this new functionality for potential controlled interventional targeted therapeutic applications. Through MRI-based sensing analysis, this paper aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in human body. The proposed approaches are validated with different experiments

    @inproceedings{2011_iros_folio,
      title = {MRI magnetic signature imaging, tracking and navigation for targeted micro/nano-capsule therapeutics},
      author = {Folio, David and Christian, Dahmen and Wortmann, Tim and Zeeshan, M. Arif and Shou, Kaiyu and Pane, Salvador and Nelson, Bradley J. and Ferreira, Antoine and Fatikow, Sergej},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2011)},
      year = {2011},
      doi = {10.1109/IROS.2011.6048651},
      month = sep,
      pages = {1297--1303},
      address = {San Fransisco, CA, USA},
      hal = {00643169},
      ieeexplore = {6048651},
      issn = {2153-0858},
      keywords = {Magnetic resonance imaging, Navigation, Planning, Sensors, Target tracking, Uncertainty }
    }
    Details
  3. Belharet K., Folio D., and Ferreira A. “Three-Dimensional Controlled Motion of a Microrobot using Magnetic Gradients”, Advanced Robotics, vol. 25, no. 8, pp. 1069–1083(15), May 2011.

    This paper presents the endovascular navigation of a ferromagnetic microdevice using magnetic resonance imaging (MRI)-based predictive control. The concept was studied for the future development of microrobots designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow three-dimensional (3-D) navigation of a microdevice in blood vessels, namely: (i) vessel path extraction, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the navigation path of the microrobot into the blood vessel is extracted using the Fast Marching Method from the pre-operation images (3-D MRI imaging) to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a Model Predictive Controller is proposed for robust time-multiplexed navigation along a 3-D path in the presence of pulsative flow. The simulation results suggest the validation of the proposed image processing and control algorithms

    @article{2011_advrob_belharet,
      title = {Three-Dimensional Controlled Motion of a Microrobot using Magnetic Gradients},
      author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
      year = {2011},
      doi = {10.1163/016918611X568657},
      eprint = {http://www.tandfonline.com/doi/pdf/10.1163/016918611X568657},
      month = may,
      note = {In 2013 one of the Advanced Robotics\' most cited articles from 2011 publication},
      number = {8},
      pages = {1069--1083(15)},
      volume = {25},
      annotate = {Cordless Technology for Milli/Micro/Nano Robots Guest Editors: Fumihito Arai and Lixin Dong},
      hal = {00619080},
      journal = {Advanced Robotics},
      keywords = {microrobot, gradient controlled motion, endovascular navigation},
      publisher = {Taylor \& Francis}
    }
    Details
  4. Amari N., Folio D., and Ferreira A. “Robust tracking of a two-fingered nanomanipulation system working through the focus of a X-Ray beam”, IEEE Conference on Automation Science and Engineering (CASE'2011). Presented in the Workshop on Automation of Assembly and Packaging at the Micro/Nano-scale, Trieste, Italy, August-2011.

    The main objectives of this work is to characterize intrinsic properties of materials through a X-ray beam. By nanorobotic manipulation, it is meant that nano-objects are localized, positioned, and placed by controlling external forces with sensorial feedback. The actual dual tele-nanomanipulation system is shown in Figure 1. Each atomic force microscope (AFM) probe is able to scan the surface in order to localize precisely the object before its manipulation but also to measure the nature and the intensity of the interaction between the tip and the object in order to tune the grabbing force to avoid sample damage. The force control is based on the measurement of the AFM cantilever due to the tip-surface interaction. In this presentation, we study the robust control issues of the dual AFM micro/nano manipulators motions to ensure tracking of the X-ray (or laser- ray) with micro/nanometric resolution. Robust control strategies for piezoelectric-stack actuated nanomanipulators are implemented to deal with uncertainties (modeling errors, sensor limitations...) and environment noise. Then, efficient robust algorithms are proposed to track the handling position variations due to beam exposition (electrostatic forces, Brownian motion, scattering...) based on Kalman filtering and particle filtering

    @misc{2011_case_folio,
      title = {Robust tracking of a two-fingered nanomanipulation system working through the focus of a X-Ray beam},
      author = {Amari, Nabil and Folio, David and Ferreira, Antoine},
      year = {2011},
      howpublished = {Presented in the Workshop on Automation of Assembly and Packaging at the Micro/Nano-scale},
      month = aug,
      address = {Trieste, Italy},
      booktitle = {IEEE Conference on Automation Science and Engineering (CASE\'2011)},
      hceres = {COM}
    }
    Details

2010 (4)

  1. Kermorgant O., Folio D., and Chaumette F. “A new sensor self-calibration framework from velocity measurements”, in IEEE International Conference on Robotics and Automation (ICRA'2010), Anchorage, Alaska, 2010., pp. 1524–1529.

    In this paper we propose a new on-line sensor self-calibration framework. The approach is to consider the sensor/robot interaction that links the sensor signal variations to the robot velocity. By on-line calibration, we mean only the actual measurements are used to perform calibration under the condition that the interaction matrix is analytically known. This allows us to propose a very simple and versatile formulation of sensor parameter calibration. Various sensors can be considered, and calibration from different sensory data may be considered within the same process. Intrinsic and extrinsic parameters estimation are formulated as a non-linear minimization problem the Jacobian of which can be expressed analytically from the sensor model. Simulations and experiments are presented for a camera observing four points, showing good results in the case of separated intrinsic and extrinsic calibration, and illustrating the possible limitations in the caseof simultaneous estimation

    @inproceedings{2010_icra_kermorgant,
      title = {A new sensor self-calibration framework from velocity measurements},
      author = {Kermorgant, Olivier and Folio, David and Chaumette, François},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA\'2010)},
      year = {2010},
      doi = {10.1109/ROBOT.2010.5509219},
      month = may,
      pages = {1524--1529},
      address = {Anchorage, Alaska},
      hal = {0544787/},
      ieeexplore = {5509219},
      issn = {1050-4729},
      keywords = {extrinsic calibration, intrinsic calibration, nonlinear minimization problem, robot velocity, sensor parameter calibration, sensor self-calibration framework, sensor-robot interaction, velocity measurements, calibration, cameras, minimisation, motion control, nonlinear programming, parameter estimation, robots, sensors, velocity control}
    }
    Details
  2. Belharet K., Folio D., and Ferreira A. “3D MRI-based predictive control of a ferromagnetic microrobot navigating in blood vessels”, in IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob'2010), Tokyo, Japan, 2010., pp. 808–813.

    This paper presents an endovascular navigation of a ferromagnetic microdevice using a MRI-based predictive control. The concept was studied for future development of microrobot designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow 3D navigation of a microdevice in blood vessels, namely: (i) vessel path extraction, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the navigation path of the microrobot into the blood vessel is extracted using Fast Marching Method (FMM) from the pre-operation images (3D MRI imaging) to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a Model Predictive Controller (MPC) is proposed for robust navigation along a 3D path. The simulation results suggest the validation of the proposed image processing and control algorithms

    @inproceedings{2010_biorob_belharet,
      title = {3D MRI-based predictive control of a ferromagnetic microrobot navigating in blood vessels},
      author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
      booktitle = {IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob\'2010)},
      year = {2010},
      doi = {10.1109/BIOROB.2010.5628063},
      month = sep,
      pages = {808--813},
      address = {Tokyo, Japan},
      hal = {00635334},
      ieeexplore = {5628063},
      issn = {2155-1774},
      keywords = {Microrobot, Magnetic Gradient Control, Navigation, Predictive Control,Coils, Micromagnetics}
    }
    Details
  3. Belharet K., Folio D., and Ferreira A. “Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2010), Taipei, Taiwan, 2010., pp. 2804–2809.

    This paper presents real-time MRI-based control of a ferromagnetic microcapsule for endovascular navigation. The concept was studied for future development of microdevices designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow navigation of a microdevice in blood vessels, namely: (i) vessel path planner, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the position recognition of the microrobot into the blood vessel is extracted using Frangi vesselness filtering from the pre-operation images. Then, a set of minimal trajectory is predefined, using FMM, to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a GPC is proposed for robust time-multiplexed navigation along a 2D path in presence of pulsative flow. The simulation results suggest the validation of the proposed image processing and control algorithms. A series of disturbances introduced in the presence and absence of closed-loop control affirms the robustness and effectiveness of this predictive control system

    @inproceedings{2010_iros_belharet,
      title = {Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control},
      author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2010)},
      year = {2010},
      doi = {10.1109/IROS.2010.5650803},
      month = oct,
      pages = {2804--2809},
      address = {Taipei, Taiwan},
      hal = {00635340},
      ieeexplore = {5650803},
      issn = {2153-0858},
      keywords = {Microrobot, Magnetic Gradient Control, Navigation, Predictive Control,Coils, Micromagnetics}
    }
    Details
  4. Belharet K., Folio D., and Ferreira A. “MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules”, Minimally Invasive Therapy & Allied Technologies, vol. 19, no. 3, pp. 157–169, June 2010.

    This paper presents real-time MRI-based control of a ferromagnetic microcapsule for endovascular navigation. The concept was studied for future development of microdevices designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow 3-D navigation of a microdevice in blood vessels, namely: (i) vessel path planner, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the position recognition of the microrobot into the blood vessel is extracted using Frangi vesselness filtering from the pre-operation images (3-D MRI imaging). Then, a set of minimal trajectories is predefined, using path-planning algorithms, to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a Generalized Predictive Controller (GPC) is proposed for robust time-multiplexed navigation along a two-dimensional (2D) path in presence of pulsative flow

    @article{2010_mitat_belharet,
      title = {MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules},
      author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
      year = {2010},
      doi = {10.3109/13645706.2010.481402},
      eprint = {http://informahealthcare.com/doi/pdf/10.3109/13645706.2010.481402},
      month = jun,
      number = {3},
      pages = {157--169},
      volume = {19},
      hal = {00619086},
      journal = {Minimally Invasive Therapy & Allied Technologies},
      keywords = {Blood vessels, magnetic resonance imaging, minimally invasive interventions, real-time control}
    }
    Details

2008 (3)

  1. Folio D. and Cadenat V. “Dealing with visual features loss during a vision-based task for a mobile robot”, International Journal of Optomechatronics, vol. 2, no. 3, pp. 185–204, 2008.

    In this article, we address the problem of computing the image features when they become temporarily unavailable during a vision-based navigation task. The method consists in analytically integrating the relation between the visual features motion in the image and the camera motion. Then, we use this approach to design sensor-based control laws that are able to tolerate the complete loss of the visual data during a vision-based navigation task in an unknown environment. Simulation and experimentation results demonstrate the validity and the interest of our method.

    @article{2008_ijo_folio,
      title = {Dealing with visual features loss during a vision-based task for a mobile robot},
      author = {Folio, David and Cadenat, Viviane},
      year = {2008},
      doi = {10.1080/15599610802301110},
      eprint = {http://www.tandfonline.com/doi/pdf/10.1080/15599610802301110},
      issue = {3},
      note = {Special issue on Visual Servoing},
      pages = {185--204},
      volume = {2},
      journal = {International Journal of Optomechatronics},
      rapportlaas = {07501}
    }
    Details
  2. Folio D. and Cadenat V. “Treating Image Loss by using the Vision/Motion Link: Generic Framework”, in Computer Vision, X. Zhihui, Ed. Vienna, Austria: I-Tech, 2008., p. 538 [Online]. Available at: http://www.intechopen.com/articles/show/title/treating_image_loss_by_using_the_vision_motion_link_
    @inbook{2008_intech_folio,
      title = {Treating Image Loss by using the Vision/Motion Link: Generic Framework},
      author = {Folio, David and Cadenat, Viviane},
      booktitle = {Computer Vision},
      year = {2008},
      chapter = {4},
      editor = {Zhihui, Xiong},
      eprint = {http://www.intechopen.com/source/pdfs/5225/InTech-Treating_image_loss_by_using_the_vision_motion_link_.pdf},
      isbn = {978-953-7619-21-3},
      pages = {538},
      publisher = {I-Tech},
      url = {http://www.intechopen.com/articles/show/title/treating_image_loss_by_using_the_vision_motion_link_},
      address = {Vienna, Austria},
      month = nov
    }
    Details
  3. Folio D. and Cadenat V. “A sensor-based controller able to treat total image loss and to guarantee non-collision during a vision-based navigation task”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2008), Nice, France, 2008., pp. 3052–3057.

    This paper deal with the problem of executing a vision-based task in an unknown environment. During such a task, two unexpected events may occur: the image data loss due to a camera occlusion and the robot collision with obstacles. We first propose a method allowing to compute the visual data when they are totally lost, before addressing the obstacle avoidance problem. Then, we design a sensor-based control strategy to perform safely vision-based tasks despite complete loss of the image. Simulation and experimental results validate our work.

    @inproceedings{2008_iros_folio,
      title = {A sensor-based controller able to treat total image loss and to guarantee non-collision during a vision-based navigation task},
      author = {Folio, David and Cadenat, Viviane},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2008)},
      year = {2008},
      doi = {10.1109/IROS.2008.4650743},
      month = sep,
      pages = {3052--3057},
      address = {Nice, France},
      keywords = {camera occlusion,obstacle avoidance, robot collision, sensor-based controller, total image loss, vision-based navigation task, collision avoidance, image sensors, robot vision}
    }
    Details

2007 (4)

  1. Folio D. and Cadenat V. “A new controller to perform safe vision-based navigation tasks amidst possibly occluding obstacles”, in European Control Conference (ECC’07), 2007.

    This paper provides a new method allowing to safely perform a vision-based task amidst possibly occluding obstacles. Our objective is to fulfill the following two requirements: first, the robot safety by guaranteeing noncollision; second, the ability of keeping on realizing the vision-based task despite possible target occlusions or loss. To this aim, several controllers have been designed and then merged depending on the risks of collisions and occlusions. The presented simulation results validate the proposed approach.

    @inproceedings{2007_ecc_folio,
      title = {A new controller to perform safe vision-based navigation tasks amidst possibly occluding obstacles},
      author = {Folio, David and Cadenat, Viviane},
      booktitle = {European Control Conference (ECC'07)},
      year = {2007},
      month = jul,
      keywords = {visual features estimation, visual servoing, collision avoidance.}
    }
    Details
  2. Folio D. and Cadenat V. “Dealing with visual features occlusions and collisions during a vision-based navigation task in cluttered environments”, 8th International Workshop on Electronics, Control, Modelling, Measurement and Signals (ECMS’2007), Liberec, Czech Republic, May-2007.
    @misc{2007_ecms_folio,
      title = {Dealing with visual features occlusions and collisions during a vision-based navigation task in cluttered environments},
      author = {Folio, David and Cadenat, Viviane},
      year = {2007},
      howpublished = {8th International Workshop on Electronics, Control, Modelling, Measurement and Signals (ECMS'2007)},
      month = may,
      address = {Liberec, Czech Republic},
      hceres = {COM}
    }
    Details
  3. Folio D. and Cadenat V. “Using simple numerical schemes to compute visual features whenever unavailable”, in IFAC International Conference on Informatics in Control, Automation and Robotics (ICINCO’07), 2007.

    In this paper, we address the problem of estimating image features whenever they become unavailable during a vision-based task. The method consists in using numerical algorithm to compute the lacking data and allows to treat both partial and total visual features loss. Simulation and experimental results validate our work for two different visual-servoing navigation tasks. A comparative analysis allows to select the most efficient algorithm.

    @inproceedings{2007_icinco_folio,
      title = {Using simple numerical schemes to compute visual features whenever unavailable},
      author = {Folio, David and Cadenat, Viviane},
      booktitle = {IFAC International Conference on Informatics in Control, Automation and Robotics (ICINCO'07)},
      year = {2007},
      month = may,
      keywords = {visual features estimation, visual servoing, collision avoidance.}
    }
    Details
  4. Folio D. “Stratégies de commande référencées multi-capteurs et gestion de la perte du signal visuel pour la navigation d’un robot mobile”, PhD thesis, Paul Sabatier University of Toulouse, LAAS-CNRS, Toulouse, France, 2007.
    @phdthesis{2007_thesis_folio,
      title = {Stratégies de commande référencées multi-capteurs et gestion de la perte du signal visuel pour la navigation d'un robot mobile},
      author = {Folio, David},
      year = {2007},
      month = jul,
      address = {Toulouse, France},
      school = {Paul Sabatier University of Toulouse, LAAS-CNRS}
    }
    Details

2006 (1)

  1. Folio D. and Cadenat V. “A redundancy-based scheme to perform safe vision-based tasks amidst obstacles”, in IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO’06), Kunming, Yunnan, Chine, 2006., pp. 13–18.

    This paper presents a redundancy-based scheme allowing to avoid both occlusions and obstacles for a mobile robot performing a vision-based task in a cluttered environment. We consider the model of a cart-like robot equipped with ultrasonic sensors and a camera mounted on a pan-platform. The proposed method relies on the continuous switch between several controllers depending on the environment. Experimental results validating this approach are given at the end of the paper.

    @inproceedings{2006_robio_folio,
      title = {A redundancy-based scheme to perform safe vision-based tasks amidst obstacles},
      author = {Folio, David and Cadenat, Viviane},
      booktitle = {IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO'06)},
      year = {2006},
      doi = {10.1109/ROBIO.2006.340252},
      month = dec,
      note = {Finalist to the T.J. Tarn best paper in Robotics},
      pages = {13--18},
      address = {Kunming, Yunnan, Chine},
      keywords = {cart-like robots, cluttered environments;continuous switch;mobile robots;redundancy-based scheme;ultrasonic sensors;vision-based task;vision-based tasks;collision avoidance;mobile robots;robot vision;ultrasonic transducers;}
    }
    Details

2005 (6)

  1. Folio D. and Cadenat V. “A controller to avoid both occlusions and obstacles during a vision-based navigation task in a cluttered environment”, in European Control Conference (ECC’05), Seville, Espagne, 2005., pp. 3898–3903.

    This paper presents a sensor-based controller allowing to visually drive a mobile robot towards a target while avoiding visual features occlusions and obstacle collisions. We consider the model of a cart-like robot equipped with proximetric sensors and a camera mounted on a pan-platform. The proposed method relies on the continuous switch between three controllers realizing respectively the nominal vision-based task, the obstacle bypassing and the occlusion avoidance.Simulationresults are given at the end of the paper.

    @inproceedings{2005_ecc_folio,
      title = {A controller to avoid both occlusions and obstacles during a vision-based navigation task in a cluttered environment},
      author = {Folio, David and Cadenat, Viviane},
      booktitle = {European Control Conference (ECC'05)},
      year = {2005},
      doi = {10.1109/CDC.2005.1582770},
      month = dec,
      pages = {3898--3903},
      address = {Seville, Espagne},
      ieeexplore = {1582770},
      keywords = {Visual servoing, Redundant task, Obstacle avoidance, Occlusion avoidance}
    }
    Details
  2. Folio D. and Cadenat V. “Using redundancy to avoid simultaneously occlusions and collisions while performing a vision-based task amidst obstacles”, in European Conference on Mobile Robots (ECMR’05), Ancône, Italie, 2005.

    This article presents a redundancy-based control strategy allowing a mobile robot to avoid simultaneously occlusions and obstacles while performing a vision-based task. The proposed method relies on the continuous switch between two controllers realizing respectively the nominal vision-based task and the occlusion and obstacle avoidance. Simulation results validating our approach are presented at the end of the paper.

    @inproceedings{2005_ecmr_folio,
      title = {Using redundancy to avoid simultaneously occlusions and collisions while performing a vision-based task amidst obstacles},
      author = {Folio, David and Cadenat, Viviane},
      booktitle = {European Conference on Mobile Robots (ECMR'05)},
      year = {2005},
      month = sep,
      address = {Ancône, Italie},
      keywords = {Visual servoing, Redundant task, Obstacle avoidance, Occlusion avoidance}
    }
    Details
  3. Folio D. and Cadenat V. “A method to safely perform a visually guided navigation task amidst occluding obstacles”, 7th International Workshop on Electronics, Control, Modelling, Measurement and Signals (ECMS’2005), Toulouse, France, May-2005.

    This paper presents a method allowing to perform safely a vision-based navigation task amidst obstacles. The proposed technique is therefore expected to guarantee both collision and occlusion avoidance. The idea is to use visual servoing techniques together with classical path following control law to avoid occlusion and collision whenever they may occur. Simulation results validating our approach are given at the end of the paper.

    @misc{2005_ecms_folio,
      title = {A method to safely perform a visually guided navigation task amidst occluding obstacles},
      author = {Folio, David and Cadenat, Viviane},
      year = {2005},
      howpublished = {7th International Workshop on Electronics, Control, Modelling, Measurement and Signals (ECMS'2005)},
      month = may,
      address = {Toulouse, France},
      hceres = {COM},
      keywords = {Visual servoing, Redundant task, Obstacle avoidance, Occlusion avoidance}
    }
    Details
  4. Folio D. and Cadenat V. “Gestion des problèmes d’occultation et de collision durant une âche référencée vision”, Poster présenté lors des Journées Nationales de la Recherche en Robotique (JNRR’05), Guidel, France, October-2005.
    @misc{2005_jnrr_folio,
      title = {Gestion des problèmes d'occultation et de collision durant une âche référencée vision},
      author = {Folio, David and Cadenat, Viviane},
      year = {2005},
      howpublished = {Poster présenté lors des Journées Nationales de la Recherche en Robotique (JNRR'05)},
      month = oct,
      address = {Guidel, France},
      hceres = {POSTER}
    }
    Details
  5. Folio D. “Evitement d’obstacles et gestion des occultations durant une tâche de navigation référencée vision”, 6ème Congrès des doctorants EDSYS (EDSYS’05) . Paul Sabatier University of Toulouse, LAAS-CNRS, Toulouse, France, May-2005.
    @misc{2005_edsys_folio,
      title = {Evitement d'obstacles et gestion des occultations durant une tâche de navigation référencée vision},
      author = {Folio, David},
      year = {2005},
      month = may,
      address = {Paul Sabatier University of Toulouse, LAAS-CNRS, Toulouse, France},
      booktitle = {6ème Congrès des doctorants EDSYS (EDSYS'05) },
      hceres = {COM}
    }
    Details
  6. Argentieri S., Barone P., Cadenat V., Celebrini S., Chaumette F., Chiron P., Danés P., Folio D., Fourquet J., Gao B., Mansard N., Padois V., Soueres P., Taïx M., and Trotter Y. “Enchaînement de tâches pour l’exécution de mouvement complexe en robotique mobile : second rapport d’avancement du projet Robea EGOCENTRE”, Actes des journées ROBEA, Montpellier, France, March-2005.
    @misc{2005_robea,
      title = {Enchaînement de tâches pour l'exécution de mouvement complexe en robotique mobile : second rapport d'avancement du projet Robea EGOCENTRE},
      author = {Argentieri, S. and Barone, P. and Cadenat, V. and Celebrini, S. and Chaumette, F. and Chiron, P. and Danés, P. and Folio, D. and Fourquet, J. and Gao, B. and Mansard, N. and Padois, V. and Soueres, P. and Taïx, M. and Trotter, Y.},
      year = {2005},
      howpublished = {Actes des journées ROBEA},
      month = mar,
      address = {Montpellier, France}
    }
    Details

2004 (1)

  1. Folio D. “Navigation d’un robot mobile par tâches référencées capteurs en milieu encombré”, Master Thesis, Paul Sabatier University of Toulouse, LAAS-CNRS, Toulouse, France, 2004.
    @mastersthesis{2004_master_folio,
      title = {Navigation d'un robot mobile par tâches référencées capteurs en milieu encombré},
      author = {Folio, D.},
      year = {2004},
      month = sep,
      type = {Master Thesis},
      address = {LAAS-CNRS, Toulouse, France},
      school = {Paul Sabatier University of Toulouse}
    }
    Details

2003 (1)

  1. Folio D. “Navigation par enchaînement de tâches référencées multi-capteurs”, Master Thesis, Paul Sabatier University of Toulouse, LAAS-CNRS, Toulouse, France, 2003.
    @mastersthesis{2003_master_folio,
      title = {Navigation par enchaînement de tâches référencées multi-capteurs},
      author = {Folio, David},
      year = {2003},
      month = jun,
      type = {Master Thesis},
      address = {LAAS-CNRS, Toulouse, France},
      school = {Paul Sabatier University of Toulouse}
    }
    Details