L'institut
FEMTO-ST
Département AS2M
Joël Abadie
CNRS research ingeneer
Département AS2M
Équipe ROBIMSS
Équipe ROBIMSS
CNRS
- Courriel :
- joel.abadie [at] femto-st.fr
03.81.40.28.07
- Addresse :
-
AS2M (ENSMM)
26 rue de l'Epitaphe
25000 BESANCON
Publications de Joël ABADIE
2025 (1)
- article - Unknown input uncertainty calculation using virtual input shaping and interval analysis
Measurement (Volume 243, feb 2025, Pages :116140 (20))
Hernandez, Sylvain | Piat, Emmanuel | Abadie, Joël | Lesniewska, Eric
2024 (1)
- inproceedings - Estimation of unknown stiffness using electromagnetic force balance and virtual input shaping for uncertainty calculation
International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2024) / Delft, Netherlands (2024, Pages pages 1 - 6)
Hernandez, Sylvain | Abadie, Joël | Lesniewska, Eric | Piat, Nadineressource | doi | bibtex@inproceedings{ae6f6fdb-2a7a-42a8-801f-569b1557d235, title = {Estimation of unknown stiffness using electromagnetic force balance and virtual input shaping for uncertainty calculation}, author = {Hernandez, Sylvain and Abadie, Jo\"el and Lesniewska, Eric and Piat, Nadine}, year = {2024}, address = {Delft, Netherlands}, booktitle = {International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2024)}, editor = {}, month = {jul}, pages = {1 - 6}, url = {https://publiweb.femto-st.fr/tntnet/entries/20737/documents/author/data}, doi = {10.1109/MARSS61851.2024.10612701} }
2023 (1)
- article - Profiling oocytes with neural networks from images and mechanical data
Journal of the Mechanical Behavior of Biomedical Materials (Volume 138, feb 2023, Pages :1 - 8)
Lamont, Samuel | Fropier, Juliette | Abadie, Joël | Piat, Emmanuel | Constantinescu, Andrei | Vernerey, Franck J.
2020 (2)
- inproceedings - Nanoforce Estimation using Interval Observer: Application to Force Sensor based on Diamagnetic Levitation
2021 World Congress (IFAC 2021) / Tokyo, Japan (Volume 53, Issue 2, 2020, Pages pages 8638 - 8643)
Amokrane, Fawzia | Drouot, Adrien | Abadie, Joël | Piat, Emmanuelressource | doi | bibtex@inproceedings{1b847560-b94b-4945-b91d-d15d7ac1af80, title = {Nanoforce Estimation using Interval Observer: Application to Force Sensor based on Diamagnetic Levitation}, author = {Amokrane, Fawzia and Drouot, Adrien and Abadie, Jo\"el and Piat, Emmanuel}, year = {2020}, address = {Tokyo, Japan}, booktitle = {2021 World Congress (IFAC 2021)}, month = {sep}, number = {2}, pages = {8638 - 8643}, url = {https://publiweb.femto-st.fr/tntnet/entries/18688/documents/author/data}, volume = {53}, doi = {10.1016/j.ifacol.2020.12.466} } - article - A Manipulability Criterion for Magnetic Actuation of Miniature Swimmers With Flexible Flagellum
IEEE Robotics and automation letters (Volume 5, Issue (3), jun 2020, Pages :4891 - 4898)
Begey, Jeremy | Etievant, Maxime | Quispe, Johan | Bolopion, Aude | Vedrines, Marc | Abadie, Joël | Regnier, Stéphane | Andreff, Nicolas | Renaud, Pierre
2019 (5)
- inproceedings - State Observation of a Specific Class of Unknown Nonlinear SISO Systems using Linear Kalman Filtering
58th Conference on Decision and Control (CDC 2019) / Nice, France (2019, Pages pages 1595 - 1600)
Amokrane, Fawzia | Piat, Emmanuel | Abadie, Joël | Drouot, Adrien | Escareno, Juan Antonioressource | bibtex@inproceedings{3b607f05-f9e0-4625-b955-4a13c75768a0, title = {State Observation of a Specific Class of Unknown Nonlinear SISO Systems using Linear Kalman Filtering}, author = {Amokrane, Fawzia and Piat, Emmanuel and Abadie, Jo\"el and Drouot, Adrien and Escareno, Juan Antonio}, year = {2019}, address = {Nice, France}, booktitle = {58th Conference on Decision and Control (CDC 2019)}, month = {dec}, pages = {1595 - 1600}, url = {https://publiweb.femto-st.fr/tntnet/entries/16380/documents/author/data} } - inproceedings - Generic Linear ESO for the State Observation of Unknown Nonlinear SISO Systems
International Conference on MechatrOnics, Robotics, and System Engineering (MoRSE 2019) / Bali, Indonesia (2019, Pages pages 6)
Amokrane, Fawzia | Piat, Emmanuel | Abadie, Joël | Drouot, Adrien | Escareno, Juan Antonioressource | bibtex@inproceedings{347bf46c-7f80-4c0f-940e-49e58edcf306, title = {Generic Linear ESO for the State Observation of Unknown Nonlinear SISO Systems}, author = {Amokrane, Fawzia and Piat, Emmanuel and Abadie, Jo\"el and Drouot, Adrien and Escareno, Juan Antonio}, year = {2019}, address = {Bali, Indonesia}, booktitle = {International Conference on MechatrOnics, Robotics, and System Engineering (MoRSE 2019)}, month = {dec}, pages = {6}, url = {https://publiweb.femto-st.fr/tntnet/entries/16382/documents/author/data} } - article - State observation of unknown nonlinear SISO systems based on virtual input estimation
International Journal of Control (Volume 1, oct 2019, Pages :14)
Amokrane, Fawzia | Piat, Emmanuel | Abadie, Joël | Drouot, Adrien | Escareno, Juan Antonio - article - Robust micro-positionnig control of a 2DOF piezocantilever based on an extended-state LKF
Mechatronics (Volume 58, apr 2019, Pages :82 - 92)
Escareno, Juan Antonio | Abadie, Joël | Piat, Emmanuel | Rakotondrabe, Micky - article - "Separating the contributions of zona pellucida and cytoplasm in the viscoelastic response of human oocytes"
Acta Biomaterialia (Volume 85, feb 2019, Pages :253 - 262)
Tong Shen | Benet, Eduard | Shankar Lalitha Sridhar | Abadie, Joël | Piat, Emmanuel | Vernerey, Franck J.
2018 (2)
- misc - Dispositif pour la caractérisation mécanique d’un élément d’intérêt par exemple un ovocyte
(sep 2018)
Abadie, Joël | Gana, Racha | Piat, Emmanuelbibtex@misc{096de288-f8a2-4096-bc65-45b8759cf157, title = {Dispositif pour la caract\'erisation m\'ecanique d'un \'el\'ement d'int\'er\^et par exemple un ovocyte}, author = {Abadie, Jo\"el and Gana, Racha and Piat, Emmanuel}, year = {2018}, month = {sep}, url = {https://publiweb.femto-st.fr/tntnet/entries/15015/documents/author/data} } - article - Smallest microhouse in the world, assembled on the facet of an optical fiber by origamiand welded in the μRobotex nanofactory
Journal of Vacuum Science & Technology A: Vacuum, Surfaces, and Films (JVSTA) (Volume 36, Issue (4), may 2018, Pages :041601 (9))
Rauch, Jean-Yves | Lehmann, Olivier | Rougeot, Patrick | Abadie, Joël | Agnus, Joel | Suarez Sanabria, Miguel Angel
2017 (4)
- article - A novel force sensing platform using passive magnetic springs for mechanical characterisation of human oocytes
Sensors and Actuators A: Physical (Volume 262, aug 2017, Pages :114 - 122)
Gana, Racha | Abadie, Joël | Piat, Emmanuel | Roux, Christophe | Amiot, Clotilde | Pieralli, Christian | Wacogne, Bruno - inproceedings - New generation of nanofactories
2017 EuroNano Forum (2017) / Malte, Malta (2017)
Rauch, Jean-Yves | Lehmann, Olivier | Abadie, Joël | Agnus, Joel | Rougeot, Patrick | Laurent, Guillaume | Suarez Sanabria, Miguel Angelressource | bibtex@inproceedings{71737622-5e7d-40f1-a7be-1d5b35320e26, title = {New generation of nanofactories}, author = {Rauch, Jean-Yves and Lehmann, Olivier and Abadie, Jo\"el and Agnus, Joel and Rougeot, Patrick and Laurent, Guillaume and Suarez, Miguel Angel}, year = {2017}, address = {Malte, Malta}, booktitle = {2017 EuroNano Forum (2017)}, month = {jun}, url = {https://publiweb.femto-st.fr/tntnet/entries/14846/documents/author/data}, organization = {SURFOCAP - International workshop on functionnalized surfaces for sensor applications} } - inproceedings - Functionalized patterned sensors on top of optical fibers
/ Agadir, Morocco (2017)
Rauch, Jean-Yves | Lehmann, Olivier | Abadie, Joël | Agnus, Joel | Rougeot, Patrick | Laurent, Guillaume | Suarez Sanabria, Miguel Angelressource | bibtex@inproceedings{b4b3ba7e-9ca7-40c0-9ff2-1a627ad1e2ff, title = {Functionalized patterned sensors on top of optical fibers}, author = {Rauch, Jean-Yves and Lehmann, Olivier and Abadie, Jo\"el and Agnus, Joel and Rougeot, Patrick and Laurent, Guillaume and Suarez, Miguel Angel}, year = {2017}, address = {Agadir, Morocco}, month = {may}, url = {https://publiweb.femto-st.fr/tntnet/entries/14845/documents/author/data}, organization = {SURFOCAP - International workshop on functionnalized surfaces for sensor applications} } - misc - Dispositif pour la caractérisation mécanique d'un élément d’intérêt par exemple un ovocyte"
(mar 2017)
Abadie, Joëlbibtex@misc{7acda34b-3161-4e92-ab23-ade8dc182bea, title = {Dispositif pour la caract\'erisation m\'ecanique d'un \'el\'ement d'int\'er\^et par exemple un ovocyte"}, author = {Abadie, Jo\"el}, year = {2017}, month = {mar} }
2016 (3)
- inproceedings - Nanoforce sensing with magnetic springs using differential approach to compensate external mechanical disturbances.
IEEE International Conference on Robotics and Automation (ICRA 2016) / Stockolm, Sweden (2016, Pages pages 1-6)
Billot, Margot | Piat, Emmanuel | Abadie, Joël | Agnus, Joel | Stempflé, Philipperessource | bibtex@inproceedings{5c20b863-7a7f-4025-839f-ecb2cd572fc4, title = {Nanoforce sensing with magnetic springs using differential approach to compensate external mechanical disturbances.}, author = {Billot, Margot and Piat, Emmanuel and Abadie, Jo\"el and Agnus, Joel and Stempfle, Philippe}, year = {2016}, address = {Stockolm, Sweden}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2016)}, month = {may}, pages = {1-6}, url = {https://publiweb.femto-st.fr/tntnet/entries/12553/documents/author/data} } - article - External mechanical disturbances compensation with a passive differential measurement principle in nanoforce sensing using diamagnetic levitation.
Sensors and Actuators A: Physical (Volume 238, feb 2016, Pages :266-275)
Billot, Margot | Piat, Emmanuel | Abadie, Joël | Stempflé, Philippe - incollection - Dealing with Redundancy of a Multiple Mobile Coil Magnetic Manipulator
Advance in Robot Kinematic (Volume 4, Series Springer Proceedings in Advanced Robotics (SPAR), jan 2016, Pages 201 - 208)
Veron, Baptiste | Hubert, Arnaud | Abadie, Joël | Andreff, Nicolasressource | bibtex@incollection{b55b3c78-8e9e-4bb4-a4a6-8b462a611ac1, title = {Dealing with Redundancy of a Multiple Mobile Coil Magnetic Manipulator}, author = {Veron, Baptiste and Hubert, Arnaud and Abadie, Jo\"el and Andreff, Nicolas}, year = {2016}, booktitle = {Advance in Robot Kinematic}, month = {jan}, pages = {201 - 208}, url = {https://publiweb.femto-st.fr/tntnet/entries/14044/documents/author/data}, volume = {4}, doi = {10.1007/978-3-319-56802-7_21}, organization = {A 3RPR Magnetic Parallel Kinematics Manipulator Advances in Robot Kinematics 2016}, series = {Springer Proceedings in Advanced Robotics (SPAR)} }
2015 (2)
- inproceedings - Micro-positioning of 2DOF Piezocantilever: LKF compensation of parasitic disturbances.
RSJ International Conference on Intelligent Robots and Systems (IROS 2015) / Hamburg, Germany (2015, Pages pages 6026-6032)
Escareno, Juan Antonio | Abadie, Joël | Piat, Emmanuel | Rakotondrabe, Mickyressource | doi | bibtex@inproceedings{13316074-4343-4230-aa18-caf0c8dc7414, title = {Micro-positioning of 2DOF Piezocantilever: LKF compensation of parasitic disturbances.}, author = {Escareno, Juan Antonio and Abadie, Jo\"el and Piat, Emmanuel and Rakotondrabe, Micky}, year = {2015}, address = {Hamburg, Germany}, booktitle = {RSJ International Conference on Intelligent Robots and Systems (IROS 2015)}, month = {sep}, pages = {6026-6032}, url = {https://publiweb.femto-st.fr/tntnet/entries/11876/documents/author/data}, doi = {10.1109/IROS.2015.7354235} } - unpublished - Micro and nano assembly in the µ-robotex ( 2015)
Rauch, Jean-Yves | Lehmann, Olivier | Abadie, Joël | Rougeot, Patrick | Beluche, Julie | Fernier, Théo | Laurent, Guillaumebibtex@unpublished{6e3669b1-7902-4385-a48f-933ee7918f2a, title = {Micro and nano assembly in the µ-robotex}, author = {Rauch, Jean-Yves and Lehmann, Olivier and Abadie, Jo\"el and Rougeot, Patrick and Beluche, Julie and FERNIER, Théo and Laurent, Guillaume}, year = {2015}, url = {https://publiweb.femto-st.fr/tntnet/entries/13771/documents/author/data} }
2014 (3)
- inproceedings - Hybrid electromagnet model for multiple mobile coil magnetic manipulation.
4th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery / Genoa, Italy (2014, Pages pages 32-34)
Veron, Baptiste | Hubert, Arnaud | Abadie, Joël | Andreff, Nicolasressource | bibtex@inproceedings{efbb60ca-8085-4f71-8bf9-99bb48e853f3, title = {Hybrid electromagnet model for multiple mobile coil magnetic manipulation.}, author = {Veron, Baptiste and Hubert, Arnaud and Abadie, Jo\"el and Andreff, Nicolas}, year = {2014}, address = {Genoa, Italy}, booktitle = {4th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery }, month = {oct}, pages = {32-34}, url = {https://publiweb.femto-st.fr/tntnet/entries/8779/documents/author/data} } - inproceedings - H1-based Position Control of a 2DOF Piezocantilever Using Magnetic Sensors
IEEE / ASME International Conference on Advanced Intelligent Mechatronics, AIM'14. / Besançon, Australia (2014, Pages pages 1676 - 1682)
Escareno, Juan Antonio | Abadie, Joël | Rakotondrabe, Micky | Piat, Emmanuelressource | doi | bibtex@inproceedings{339381de-14a8-4f47-bd4b-0bfec24c3853, title = {H1-based Position Control of a 2DOF Piezocantilever Using Magnetic Sensors}, author = {Escareno, Juan Antonio and Abadie, Jo\"el and Rakotondrabe, Micky and Piat, Emmanuel}, year = {2014}, address = {Besan\c{c}on, Australia}, booktitle = {IEEE / ASME International Conference on Advanced Intelligent Mechatronics, AIM'14.}, month = {jul}, pages = {1676 - 1682}, url = {https://publiweb.femto-st.fr/tntnet/entries/8856/documents/author/data}, doi = {10.1109/AIM.2014.6878325 }, organization = {IEEE} } - article - Experimental Measurement of Human Oocyte Mechanical Properties on a Micro and Nanoforce Sensing Platform Based on Magnetic Springs.
Sensors and Actuators B: Chemical (Volume 190, jan 2014, Pages :429-438)
Abadie, Joël | Roux, Christophe | Piat, Emmanuel | Filiatre, C. | Amiot, Clotilde
2013 (1)
- inproceedings - Geometric analysis of the singularities of a magnetic manipulation system with several mobile coils
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'13. / Tokyo, Japan (2013, Pages pages 4996 - 5001)
Veron, Baptiste | Hubert, Arnaud | Abadie, Joël | Andreff, Nicolasressource | doi | bibtex@inproceedings{50f0889e-140c-4eba-974a-c2f1fd2a7e8d, title = {Geometric analysis of the singularities of a magnetic manipulation system with several mobile coils}, author = {Veron, Baptiste and Hubert, Arnaud and Abadie, Jo\"el and Andreff, Nicolas}, year = {2013}, address = {Tokyo, Japan}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'13.}, month = {nov}, pages = {4996 - 5001}, url = {https://publiweb.femto-st.fr/tntnet/entries/5747/documents/author/data}, doi = {10.1109/IROS.2013.6697078}, organization = {IEEE} }
2012 (4)
- article - Nanoforce estimation based on Kalman filtering and applied to a force sensor using diamagnetic levitation
Sensors and Actuators A: Physical (Volume 179, jun 2012, Pages :223–236)
Piat, Emmanuel | Abadie, Joël | Oster, Stéphane - article - Modeling and experimentation of a passive low frequency nanoforce sensor based on diamagnetic levitation.
Sensors and Actuators A: Physical (Volume 173, 2012, Pages :227-237)
Abadie, Joël | Piat, Emmanuel | Oster, Stéphane | Boukallel, Mehdi - incollection - Magnetic manipulation with several mobile coils towards gastrointestinal capsular endoscopy.
New Trends in Mechanism and Machine Science. Theory and Applications in Engineering. (Publisher : Engineering Applications of Artificial Intelligence, Editor : Fernando Viadero, Marco Ceccarelli, Sep 2012, Pages 681-690)
Veron, Baptiste | Abadie, Joël | Hubert, Arnaud | Andreff, Nicolasressource | bibtex@incollection{veron:hal-00772408, title = {Magnetic manipulation with several mobile coils towards gastrointestinal capsular endoscopy.}, author = {Veron, Baptiste and Abadie, Jo\"el and Hubert, Arnaud and Andreff, Nicolas}, year = {2012}, booktitle = {New Trends in Mechanism and Machine Science. Theory and Applications in Engineering.}, editor = {Fernando Viadero, Marco Ceccarelli}, month = {Sep}, pages = {681-690}, url = {https://publiweb.femto-st.fr/tntnet/entries/1541/documents/author/data}, doi = {10.1007/978-94-007-4902-3}, publisher = {Engineering Applications of Artificial Intelligence} } - inproceedings - Advocacy for Multi Mobile Coil Magnetic Manipulation in Active Digestive Endoscopy.
Workshop on Magnetically Actuated Multiscale Medical Robots, International Conference on Intelligent Robots and Systems. / Vilamoura, Algarve, Portugal (Volume sur CD, 2012, Pages pages 2 pages.)
Veron, Baptiste | Hubert, Arnaud | Abadie, Joël | Andreff, Nicolas | Renaud, Pierreressource | bibtex@inproceedings{veron:hal-00768481, title = {Advocacy for Multi Mobile Coil Magnetic Manipulation in Active Digestive Endoscopy.}, author = {Veron, Baptiste and Hubert, Arnaud and Abadie, Jo\"el and Andreff, Nicolas and Renaud, Pierre}, year = {2012}, address = {Vilamoura, Algarve, Portugal}, booktitle = {Workshop on Magnetically Actuated Multiscale Medical Robots, International Conference on Intelligent Robots and Systems.}, editor = {IEEE}, pages = {2 pages.}, url = {https://publiweb.femto-st.fr/tntnet/entries/1538/documents/author/data}, volume = {sur CD} }
2011 (2)
- article - Magneto-thermo-mechanical modeling of a Magnetic Shape Memory Alloy Ni-Mn-Ga single crystal
Annals of Solid and Structural Mechanics (Volume 2, Issue (1), mar 2011, Pages :19 - 31)
Gauthier, Jean-Marie | Lexcellent, Christian | Hubert, Arnaud | Abadie, Joël | Chaillet, Nicolas - inproceedings - Analyse d'une description énergétique de l'actionnement pour le calcul du mouvement des masses.
Congrès Français de Mécanique / Besançon, France (Volume sur CD ROM, 2011, Pages pages 1-6)
Abadie, Joël | Lexcellent, Christianressource | bibtex@inproceedings{abadie:hal-00631810, title = {Analyse d'une description \'energ\'etique de l'actionnement pour le calcul du mouvement des masses.}, author = {Abadie, Jo\"el and Lexcellent, Christian}, year = {2011}, address = {Besan\c{c}on, France}, booktitle = {Congr\`es Fran\c{c}ais de M\'ecanique}, pages = {1-6}, url = {https://publiweb.femto-st.fr/tntnet/entries/1417/documents/author/data}, volume = {sur CD ROM} }
2010 (4)
- article - Estimation robuste par synthèse H2 de micro-et nanoforce à l'aide de ressorts magnétiques actifs
Journal européen des systèmes automatisés (JESA) (Volume 44, Issue (6), jul 2010, Pages :631 - 659)
Cherry, Ali | Piat, Emmanuel | Abadie, Joël - inproceedings - Development of a new nanotribometer with multi asperity contact.
NordTrib 2010 / Storforsen, Suède (2010, Pages pages 1-9)
Dejeu, Jérôme | Abadie, Joël | Piat, Emmanuel | Rougeot, Patrick | Oster, Stéphane | Stempflé, Philippe | Takadoum, Jamalressource | bibtex@inproceedings{dejeu:hal-00503945, title = {Development of a new nanotribometer with multi asperity contact.}, author = {Dejeu, J\'er\^ome and Abadie, Jo\"el and Piat, Emmanuel and Rougeot, Patrick and Oster, St\'ephane and Stempfl\'e, Philippe and Takadoum, Jamal}, year = {2010}, address = {Storforsen, Su\`ede}, booktitle = {NordTrib 2010}, month = {jun}, pages = {1-9}, url = {https://publiweb.femto-st.fr/tntnet/entries/1337/documents/author/data} } - inproceedings - Development of a New Nanotribometer with Multi Asperity Contact
(2010)
Dejeu, Jérôme | Abadie, Joël | Piat, Emmanuel | Rougeot, Patrick | Oster, Stéphane | Stempflé, Philippe | Takadoum, Jamalressource | bibtex@inproceedings{86c6fb13-f883-46b8-a0ee-d438b1022035, title = {Development of a New Nanotribometer with Multi Asperity Contact}, author = {Dejeu, J\'er\^ome and Abadie, Jo\"el and Piat, Emmanuel and Rougeot, Patrick and Oster, St\'ephane and Stempfl\'e, Philippe and Takadoum, Jamal}, year = {2010}, month = {jun}, url = {https://publiweb.femto-st.fr/tntnet/entries/10835/documents/author/data}, organization = {14th Nordic Symposium on Tribology} } - inproceedings - Ni-Mn-Ga single crystal shape memory alloy magneto-thermo-mechanical modeling.
Conference on Experimental Mechanics. / Poitiers, France (Volume sur CD ROM, 2010, Pages pages 7 pages)
Gauthier, Jean-Marie | Lexcellent, Christian | Hubert, Arnaud | Abadie, Joël | Chaillet, Nicolasressource | doi | bibtex@inproceedings{gauthier:hal-00585487, title = {Ni-Mn-Ga single crystal shape memory alloy magneto-thermo-mechanical modeling.}, author = {Gauthier, Jean-Marie and Lexcellent, Christian and Hubert, Arnaud and Abadie, Jo\"el and Chaillet, Nicolas}, year = {2010}, address = {Poitiers, France}, booktitle = {Conference on Experimental Mechanics.}, pages = {7 pages}, url = {https://publiweb.femto-st.fr/tntnet/entries/1346/documents/author/data}, volume = {sur CD ROM}, doi = {10.1051/epjconf/20100629003} }
2009 (1)
- article - Modeling of a new SMA micro-actuator for active endoscopy applications
Mechatronics (Volume 19, Issue (4), jun 2009, Pages :437 - 442)
Abadie, Joël | Chaillet, Nicolas | Lexcellent, Christian
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INGÉNIERIE
Sciences informatiques
