26 rue de l'Epitaphe
Currently a doctoral student at the FEMTO-ST research institute in Besançon,
I graduated from a mechanical engineering school (French Institute of Advanced Mechanics, 2017) and also has a master's degree in robotics (Clermont-Auvergne University, 2017).
My thesis subject is in the framework of the collaborative research project MULTIFLAG, supported by the French National Research Agency, in which ISIR (Paris), FEMTO-ST (Besançon) and ICube (Strasbourg) are associated. The MULTIFLAG project aims to develop a new micro-robots generation for biomedical applications, in fluid medium like the spinal cord, with a magnetic field control of these devices.
Constraints of integration and the "in vivo" context make the development of mobile micro-robots autonomous very complex, both in decision-making and energy. Instead, several authors propose to design the micro-robot as a passive system controlled by a remote magnetic field. The energy sources can be external and simply based on the use of permanent magnets or coils, generating a variable magnetic field passing through the organs allowing to actuate the micro-robot. The solutions currently proposed in the robotic community for contactless magnetic handling in fluid field are based on robot "swimmers", equipped with a single flagella, curvilinear or helical.
This work focuses on the problematic of magnetic field control of these micro-robots by using magnetic field sources of variable intensities. The objective of this thesis is to develop and experimentally validate robotic control algorithms allowing to handle several flagellated micro-swimmers, destined in the long term to biomedical operations in vivo.