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Aude Bolopion

Aude Bolopion

AS2M
Equipe : MiNaRoB
CNRS

CNRS researcher (section 7) since 2011 at the FEMTO-ST Institute in Besancon (France), I graduated from a mechanical and electrical engineering school in Nancy (Ecole Nationale Supérieure d'Electricité et de Mécanique: ENSEM), with a major on control theory. I then received a Ph.D. degree in robotics in 2010 from the University of Pierre et Marie Curie, Paris, France under the supervision of Prof. S. Régnier. The research work, conducted in the ISIR Institute was teleoperation and haptic feedback at the nanoscale. I had a temporary position of assistant professor (ATER) in 2010-2011 at University of Pierre et Marie Curie, Paris, France and the ISIR Institute. I then joined the FEMTO-ST Institute in Besançon, France, in 2011. I am currently a member of the Biomedical Micro Nano Robotics team where I conduct research on non contact actuation microrobotic systems.


Non contact robotics is as a promising solution to handle objects of less than 500 micrometers. Due to the small scale, on board actuation or sensing is not possible. Remote actuation, using for example magnetic fields, enables to power these microrobots. Several actuation principles can be used depending on the properties of the objects that should be controlled. However, major challenges, such as the closed loop control of 3D trajectories or the integration of manipulation tools, must still be faced to perform advanced tasks.
Compared to classical approaches where the tools plus the objects should be moved, the use of remote force fields enables moving only the object. At small scales the inertia of the objects decreases drastically, which leads to important accelerations. My research activities focus on exploiting this property to increase the velocity of the displacements of the objects, while maintaining a good precision of the trajectory control. Several challenges must be faced on different topics:

- Modeling: accurate models of the system that can be inverted in real time to perform trajectory control must be defined.
- Design: the actuation platforms must be designed to maximize the force applied on the objects, which introduces important non linearity.
- Fabrication: micrometer size robots must be fabricated in clean room facilities.
- Sensors: high frequency position feedback of the objects is necessary, which can necessitate the use of original position sensors.
- Control: control laws robust to the perturbation must be implemented at high frequency.

More information here

Vous trouverez ici la liste de mes publications. Si vous êtes intéressés par l'une d'entre elles, et ne pouvez pas en obtenir une copie, n'hésitez pas à me contacter

Listes des publications :

Category article
2017
  • Closed loop control of a magnetic particle at the air/liquid interface
    IEEE Transactions on Automation Science and Engineering (Volume 14, Issue (3), jul 2017, Pages :1387 - 1399)
    Dkhil, Mohamed | Kharboutly, Mohamed | Bolopion, Aude | Régnier, Stéphane | Gauthier, Michaël
    pdf | doi | bibtex
  • Laser-induced thermocapillary convective flows: A new approach for non-contact actuation at microscale at the fluid/gas interface
    IEEE transactions on mechatronics (Volume 22, Issue (2), apr 2017, Pages :1 - 11)
    Terrazas, Ronald | Bolopion, Aude | Beugnot, Jean-Charles | Lambert, Pierre | Gauthier, Michaël
    pdf | doi | bibtex
  • Optimizing the speed of single infrared-laser-induced thermocapillary flows micromanipulation by using design of experiments
    Journal of Micro-Bio Robotics (jan 2017)
    Muñoz Elvin | Quispe Johan | Lambert, Pierre | Bolopion, Aude | Terrazas, Ronald | Régnier, Stéphane | Vela Emir
    doi | bibtex
  • Analysis of the influence of inertia for non-contact micromanipulation
    Journal of Micro-Bio Robotics (jan 2017, Pages pp 1 - 12)
    Dkhil, Mohamed | Bolopion, Aude | Stéphane Regnier | Gauthier, Michaël
    doi | bibtex
  • Analytical Formulation of the Electric Field Induced by Electrode Arrays: Towards Automated Dielectrophoretic Cell Sorting
    Micromachines (Volume 8, Issue (253), aug 2017)
    Gauthier, Vladimir | Bolopion, Aude | Gauthier, Michaël
    pdf | doi | bibtex
2013
  • A Review of Haptic Feedback Teleoperation Systems for Micromanipulation and Microassembly
    IEEE Transactions on Automation Science and Engineering (Volume 10, Issue (3), jul 2013, Pages :496 - 502)
    Bolopion, Aude | Régnier, Stéphane
    pdf | doi | bibtex
2012
  • An overview of multiple DoF magnetic actuated micro-robots.
    Journal of Micro-Nano Mechatronics (Volume 7, Issue (4), Nov 2012, Pages :97-113)
    Bouchebout, Soukeyna | Bolopion, Aude | Abrahamians, Jean-Ochin | Régnier, Stéphane
    bibtex
  • Asynchronous Event-based visual shape tracking for stable haptic feedback in Microrobotics
    IEEE Transactions on Robotics (Volume 28, Issue (5), oct 2012, Pages :1081 - 1089)
    Ni, Zhenjiang | Bolopion, Aude | Agnus, Joel | Benosman, Ryad | Régnier, Stéphane
    pdf | doi | bibtex
  • Vision-based haptic feedback for remote micromanipulation in-SEM environment.
    International Journal of Optomechatronics (Volume 6, Issue (3), 2012, Pages :236-252)
    Bolopion, Aude | Dahmen, Christian | Stolle, Christian | Haliyo, Sinan | Régnier, Stéphane | Fatikow, Sergej
    pdf | bibtex
  • Asynchronous event-based visual shape tracking for stable haptic feedback in microrobotics
    IEEE Transactions on Robotics (Volume 28, Issue (1), oct 2012, Pages :1081 - 1089)
    Ni, Zhenjiang | Bolopion, Aude | Agnus, Joel | Benosman, Ryad | Régnier, Stéphane
    pdf | doi | bibtex
Category incollection
2013
  • Haptic feedback in teleoperation in Micro-and Nano-Worlds.
    Reviews of Human Factors and Ergonomics. (Publisher : SAGE / , Editor : David B. Kaber, Volume 9, Issue 1, Edition : SAGE, Series , Chapter 2, 2013, Pages 57-93, )
    Bolopion, Aude | Millet, Guillaume | Pacoret, Cécile | Régnier, Stéphane
    pdf | bibtex
Category inproceedings
2016
  • Modeling and 1D Control of a non Contact Magnetic Actuation Platform at the Air/Liquid Interface for Micrometer Scale Applications
    / Paris, France (2016, Pages pages 1 - 6 )
    Dkhil, Mohamed | Bolopion, Aude | Régnier, Stéphane | Gauthier, Michaël
    pdf | doi | bibtex
2014
  • Stability and Transparency Analysis of a Teleoperation Chain For Microscale Interaction.
    IEEE International Conference on Robotics and Automation (ICRA'14) / Hong Kong (CHINE) (Publisher : IEEE, 2014, Pages pages 5946-5951)
    Ousaid, A. Mohand | Bolopion, Aude | Haliyo, Sinan | Régnier, Stéphane | Hayward, V.
    pdf | doi | bibtex
  • Position control of a ferromagnetic micro-particle in a dry environment.
    IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'14) / Besançon - France (Publisher : IEEE, 2014, Pages pages 1-6)
    Bouchebout, Soukeyna | Bolopion, Aude | Gauthier, Michaël | Régnier, Stéphane
    doi | bibtex
  • Optimization of the size of a magnetic microrobot for high throughput handling of micro-objects.
    IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'14) / Besançon - France (Publisher : IEEE, 2014, Pages pages 372-377)
    Dkhil, Mohamed | Bolopion, Aude | Régnier, Stéphane | Gauthier, Michaël
    pdf | doi | bibtex
  • Modeling and experiments of high speed magnetic micromanipulation at the air/liquid interface
    IEEE International Conference on Intelligent RObots and Systems, IROS'14. (2014, Pages pages 4649 - 4655)
    Dkhil, Mohamed | Bolopion, Aude | Régnier, Stéphane | Gauthier, Michaël
    pdf | doi | bibtex
2013
  • Simulation and Experiments on Magnetic MicroForces for Magnetic MicroRobots Applications.
    The Third International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2013. (2013, Pages pages 1-6)
    Wang, Lefeng | Dkhil, Mohamed | Bolopion, Aude | Rougeot, Patrick | Régnier, Stéphane | Gauthier, Michaël
    pdf | bibtex
2012
  • Stable haptic feedback based on a Dynamic Vision Sensor for Microrobotics
    Intelligent Robots and Systems / Vilamoura, Algarve, Portugal (Volume sur CD ROM, 2012, Pages pages 3203-3208)
    Bolopion, Aude | Ni, Zhenjiang | Agnus, Joel | Benosman, Ryad | Régnier, Stéphane
    pdf | bibtex
  • Design and first experiments on MagPieR, the magnetic microrobot.
    Symposium on OptoMechatronic Technologies. / Paris, France (2012, Pages pages 1-2)
    Bouchebout, Soukeyna | Bolopion, Aude | Kharboutly, Mohamed | IVAN, Ioan Alexandru | Agnus, Joel | Régnier, Stéphane
    pdf | bibtex
  • 2D robotic control of a planar dielectrophoresis-based system.
    Manipulation, Manufacturing and Measurement on the Nanoscale. / Xi'an, Chine (Volume sur CD ROM, 2012, Pages pages 6 pages)
    Kharboutly, Mohamed | Melis, Alexandre | Bolopion, Aude | Chaillet, Nicolas | Gauthier, Michaël
    pdf | bibtex
  • haptic teleoperation for 3D microassembly of spherical objects
    (Volume 17, Issue 1, 2012, Pages pages 116 - 127)
    Bolopion, Aude | Xie, H. | Haliyo, Sinan | Régnier, Stéphane
    doi | bibtex