Biomedical Microrobots

2018-06-26

2

A C K N O W LE D G M E N T S

Merci

i

C O N T E N T S

Acknowledgments

i

Contents

iii

List of Tables

v

List of Figures

vii

I Activities Backgrounds and Organizations

I.1 Career overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I. 1 . 1 D o c t o r a t e d e g r e e a n d p o s t - d o c t o r a t e . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I. 1 . 2 T e n u r e d a s A s s o c i a t e P r o f e s s o r . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I.2 The Positioning of Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I. 2 . 1 W o r k s B a c k g r o u n d . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I. 2 . 2 P o s i ti o n i n g o f m y R e s e a r c h W o r k s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I. 2 . 2 . 1 C h a l l e n g e s o f t h e m i c r o w o r l d . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I. 2 . 2 . 2 M i c r o r o b o ti c s f o r b i o m e d i c a l a p p l i c a ti o n s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I. 2 . 3 S c i e n ti fi c T o p i c s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I.3 Manuscript Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

II Understanding the Microworld

1 1 1 2

4 4 5 5 6

7

7

9

Appendices A Resume

13

B Personal References

21

A.1 Curriculum Vitae . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.2 Teaching Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.3 Research Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1 Articles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2 Books . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

13 15 18 21 22

B.3 Proceedings in International Conferences (ACT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.4 Oral Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23 25

References

27

Index of terms and notations

29

iv

L IS T O F TA B L E S

A. 1

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in

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3

t h e n o m e n c la t u r e

b y t h e “ Haut Conseil de l’évaluation de la recherche et de l’enseignement supérieur” ( Hcéres) [ ? ] . T h e d e t a i l e d l i s t o f m y p u b l i c a ti o n s a n d t h e n o m e n c l a t u r e a r e g i v e n i n A p p e n d i x B. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T h e d i ff e r e n t Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique, Énergétique ( P R I S M E ) L a b o r a t o r y l o c a ti o n s : O r l é a n s , B o u r g e s , C h a r t r e s , p ro p o s e d

I. 3

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a n d

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d i ff e r e n t l o c a ti o n s .

I. 4

R e p r e s e n t a ti o n m a in

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o f t h e s c a lin g im p o r t a n c e t o w a r d s t h e m ic r o w o r ld . T h e la s t r o w

m o d a l i ti e s r a n g e .

D ia g r a m

A. 1

T e a c h in g lo a d p r o g r e s s e x p r e s s e d in “ e q u iv a le n t T D

r e p r e s e n t a ti v e o f t h e c h a l l e n g e s , s c i e n c e s , b e n e fi t s , a n d

. T h e lin e a t is t h e m in im u m

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6 7

h o u r s ”. M y a v e r a g e t e a c h in g lo a d is a b o u t

b e a c h ie v e d .

vii

5

d e p ic t s t h e

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I. 5

3

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1 7

C H A P T E R

I

A C T IV IT IE S B A C K G R O U N D S A N D

O R G A N IZ A T IO N S

This chapter introduces the various activities that I have conducted since as I have started being involved as researcher-teacher. It first starts in I.1 with an overall overview of my career that sets the background in which my works was carried out. This general view contains several issues, which are synthesized, in order to explain the general structuring of my activities. In fact, as in any faculty position, my works encompass several activities that are mainly related to teaching and research. The organization of these tasks are then presented in I.2. This integrates the structuring of the teaching, research, supervisions and collaborative works in a general framework synergy. This chapter largely refers to the Appendices A and B that include a long version of my resume, and the list of my publications respectively.

I. 1

C A R E E R O V E R V IE W

I.1.1 Doctorate degree and post-doctorate I have defended my Ph. D. in Robotics in 2007 within the Robotics, Action, and Perception (RAP) group of the Laboratory for Analysis and Architecture of Systems1 (LAAS), CNRS2 , under the supervision of Viviane Cadenat, Associate Professor at Paul Sabatier University of Toulouse, France. My Ph. D. thesis dealt with the design of multi-sensor based control strategies allowing a mobile robot to perform vision-based tasks amidst possibly occluding obstacles. We have first proposed techniques able to fulfill simultaneously the mentioned objectives. However, avoiding both collisions and occlusions often overstrained the robotic navigation task, reducing the range of realizable missions. This is the reason why we have developed a second approach which let occurs the loss of the visual features if it is necessary for the task realization. Using the link between vision and motion, we have proposed different methods (analytical and numerical) to compute the visual signal as soon it becomes unavailable. We have then applied them to perform vision-based tasks in cluttered environments, before highlighting their interest to deal with a camera failure during the mission. In addition, during my doctorate degree, I also had the opportunity to perform teaching activities, first as temporary teacher (3 years), and then as teaching assistant, specifically in French “Attaché Temporaire 1. In French Laboratoire d’Analyse et d’Architecture des Systèmes LAAS is a laboratory depending from the CNRS. http ://www.laas.fr

2. Form French National Center for Scientific Research, from French Centre National de la Recherche Scientifique (CNRS), is the largest governmental research organization in France. http ://www.cnrs.fr

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I.1. Career overview

d’Enseignement et de Recherche” (ATER, 1 year), both for the Paul Sabatier University of Toulouse. These global teaching experiences have led to a total volume of 308 hETD3 .

Between 2007 and 2008, I joined the Lagadic team at Inria4 Rennes-Bretagne Atlantique as a postdoctoral fellow on sensory control for unmanned aerial vehicles. My postdoctoral fellow has been supported by Sensory Control for Unmanned Aerial Vehicles (SCUAV) ANR5 project. The main objective was to improve multi-sensor-based servoing tasks for unmanned aerial vehicles. The idea was to design robust control law that combine different sensory data directly at the control level. Especially, I have contributed to the design of a new on-line sensor self-calibration based on the sensor/robot interaction links [ACT2].

I.1.2 Tenured as Associate Professor

Dr aft

In 2008, I was recruited as Associate Professor at the Graduate Engineering School (ENSI) of Bourges, which is now the Institut National des Sciences Appliquée (INSA) Centre Val de Loire6 . Since my tenure, I have been regularly involved in the life of the Institute. In particular, I contribute at a local level to the scientific animations (e.g. organization of laboratory visits), transfer and training-research links. For instance, I regularly attend the international relations division by accompanying, among others, the different delegations of schools and universities partners during their visits. In March 2017, the direction of the INSA Centre Val de Loire given to me the mission of referent “racism and antisemitism”. Figure I.1 shows the relevant events related with my activities since tenured as Associate Professor. As senior lecturer, I am mainly involved in the development of electronics and electrical sciences teaching activities of the institute. In particular, I have contributed to develop all the teaching materials for the electronics and electrical sciences courses and tutorials. Since tenured as associate professor, my average teaching loads is about 280 hETD per year. These duties are varied (see also Figure A.1 in Appendix A.2) depending on the recruitment and the choice of engineering students in the different departments in which I intervene. Moreover, since September 2014, I am in charge of the Nuclear Energy option of the 5th year (engineer’s degree, M2) of the Industrial Risk Control (MRI7 ) department. Finally, in November 2017, I have been elected as member of the council department of the Energy, Risks and Environment (ERE). Further information on my teaching activities and responsibilities are provided in Appendix A.2. Furthermore, I perform my research activities with the PRISME8 Laboratory in the Robotics team of the Images, Robotics, Automatic control and Signal (IRAuS) unit. Since I am an Associate Professor, my 3. “Equivalent TD hours” that is in French “heures équivalentes TD” (hETD), are the reference hours to calculate the teaching duties. The rules for a tenured teacher are as follows : 1 h of course = 1.5 hETD, while the others, e.g. 1 h of tutorial (TD) = 1 h of practical work (TP) = 1 hETD. 4. French Institute for Research in Computer Science and Automation, from French : Institut national de recherche en informatique et en automatique (Inria). https ://www.inria.fr/centre/rennes 5. From French Agence Nationale de la Recherche (Agence Nationale de la Recherche (ANR)), which is the French National Agency for Research. http ://www.agence-nationale-recherche.fr 6. INSA Centre Val de Loire (INSA CVL) was created in 2014 by the merge of École Nationale d’Ingénieurs du Val de Loire (ENIVL) of Blois and École Nationale Supérieur d’Ingénieurs (ENSI) of Bourges. In 2015, the École Nationale Supérieure de la Nature et du Paysage (ENSNP) of Blois is integrated to INSA Centre Val de Loire. http ://www.insacentrevaldeloire.fr

7. From French Maîtrise des Risques Industriels (MRI) 8. Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique, Énergétique (PRISME) is from University of Orléans and from INSA Centre Val de Loire (EA 4229). http ://www.univ-orleans.fr/PRISME © 2018, .

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Chap. I. Activities Backgrounds and Organizations

[PHC1] PROCOPE

3

[PHC2] PROCORE

[LP1] Nano-IRM [ANR3] PIANHO [ANR2] PROTEUS [ANR1] PROSIT

[LP2] MicroRob

[LP3] APR-IA

[EU1]NANOMA (FP7-224594)

2011

2012

2013

2014

2015

2016

2017

2018

"racism"

Referent

NE option

In charge of

of INSA CVL

creation

Foundation

PEDR grant [SUP4] PhD. [SUP1] PhD. K. Belharet R. Cheng [SUP2] PhD. N. Amari [SUP3] PhD. L. Mellal ENSIB joins

tenure

Professor

Associate

2010

ERE Dept.

2009

postdoc fellow

INSA Group

2008

8 7 6 5

3

2 1 0

4

3

4 3

Dr aft

Figure I.1: Timeline of main events and activities (projects and supervisions) since tenure. Further information on the different projects, and the supervisions are given in Appendices A.3.1 and A.3.2 respectively.

2

1

1

2010

2011

3

2

2012

1

2013

2

2

2

2014

3

1

2015

1

2016

COM INV ACT OS DO ACN ACL

1

1

2017

2018

(4) (3) (20) (2) (1) (1) (13)

Figure I.2: Personal references progress since tenure. The listed publications follow the nomenclature proposed by the “Haut Conseil de l’évaluation de la recherche et de l’enseignement supérieur” (Hcéres) [ ? ]. The detailed list of my publications and the nomenclature are given in Appendix B.

research interests mainly deal with the modeling and control for nano and micro-robotics in a biomedical context. It can be noticed that, since my Ph. D. degree, I had to apply a slight change on my research topics to address the specificities of the microworld. Indeed, in a first time, my research activities have been mainly related with the European project NANOMA9 . This project consisted of designing microrobotic system for targeted drug delivery through the cardiovascular system. In parallel, I have also contributed to the development of micromanipulation activities of the laboratory. Firstly, the micromanipulation tasks have been devoted for intra­cytoplasmic applications [ACT4] [ACL4]. Next, this research activities have evolved to object micromanipulation to be placed in the focus of a light beam within the ANR project PIANHO. The different projects in which I have been involved are reported in the Figure I.1, and detailed in Appendix A.3.1. In addition, I have directly co-supervised the works of 4 Ph. D. students (with one still ongoing), with their names also reported in the Figure I.1. I also had the opportunity to follow the research works of 5 external Ph. D. students. Further information about these supervisions are given in the Appendix A.3.2. 9. Nano-Actuators and Nano-Sensors for Medical Applications (NANOMA).

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I.2. The Positioning of Activities

Since tenured in 2008, these various scientific activities have led, to 43 publications, including10 13 articles (ACL), 1 guest editorial (DO), 2 books chapter (OS) and 20 proceedings (ACT). Figure I.1 illustrates the timeline progress of my publishing activities and the detailed list of my publications are given in the Appendix B. As of 2018, I had an H-index of 12 based on Google Scholar Citations11 .

T H E P O S IT IO N IN G

O F A C T IV IT IE S

As any associate professor my works encompass two main components that are teaching and research activities. My teaching activities are presented in Appendix A.2. Specifically, the main part of this manuscript is principally devoted to describe my scientific research works. Thus, in the following sections the context in which my works have been carried out are introduced.

I.2.1 Works Background As stated, my research activities are realized as a member of the Robotic team of the PRISME laboratory. The INSA Centre Val de Loire and University of Orléans are jointly responsible for PRISME laboratory (EPRES 4229). The laboratory also has hosting agreement with the HEI12 private engineering school located in Châteauroux, Indre, France. PRISME laboratory seeks to carry out multidisciplinary research in the general domain of engineering sciences over a broad range of subject areas, including combustion in engines, energy engineering, aerodynamics, the mechanics of materials, image and signal processing, automatic control and robotics. For this purpose, the laboratory is divided into 2 units : i) Fluids, Mechanics, Materials, Energy (F2ME) and ii) Images, Robotics, Automatic control and Signal (IRAuS). The overall staff of the laboratory is about 150 peoples (90 researchers, around 50 Ph. D. students, and 10 engineers/technicians/administratives staffs). One of the specificity of the PRISME laboratory is that it is spread over 3 departments of the administrative Region Centre Val de Loire, within 7 campuses as illustrated in Figure I.3.

Dr aft

I. 2

Within the IRAuS unit, the Robotic team is mainly involved in robotics for biomedical and healthcare applications. Specifically, the Robotic team contributes to the development of methods, tools and techniques for the design and control of innovative robotics systems. To achieve these goals, as of 2018, the team comprised 13 tenured researchers (3 Professors, 1 Associate Professor with HDR13 , 7 Associates Professors, and 2 teachers-researchers who are with HEI). The members of the team are spread over 3 locations : Bourges (10), Châteauroux (2) and Orléans (1), also shown in Figure I.3. The Robotic team research topics are divided in 2 main thematic objectives, which are : A) “interaction and mechatronics design” : designing and optimizing innovative mechatronics structures ; and developing dedicated control methodologies for robotic platforms ; B) “micro/nano-robotics” : dealing with aspects related to the modeling and control of robotic structures at the micro and nanoscale. 10. The bibliography categories follow the nomenclature proposed by the Haut Conseil de l’évaluation de la recherche et de l’enseignement supérieur (Hcéres) [ ? ]. Hcéres is the High Council for Evaluation of Research and Higher Education, and it is an independent administrative authority. http ://www.hceres.fr 11. See also my Google Scholar profile : http ://scholar.google.com/citations ?user=XQVc6JMAAAAJ 12. Hautes Études d’Ingénieur (HEI) (French for School of High Studies in Engineering) is a private school of engineering. 13. In France, the Habilitation à Diriger des Recherches (HDR) award is a general requirement for supervising Ph. D. students and applying for Professeur position.. © 2018, .

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Chap. I. Activities Backgrounds and Organizations

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5

Paris

Chartres Orléans Université, Polytech Blois Tours

Issoudun

Bourges IUT, INSA CVL

Châteauroux 100km

100km

Région Centre Val de Loire

Dr aft

Figure I.3: The different PRISME Laboratory locations : Orléans, Bourges, Chartres, Châteauroux and Issoudun. The disk size illustrates the importance of the staff over the different locations.

Although my activities fall broadly into these two scientific areas, I am more notably involved in the latter theme B. Indeed, most of my research works are devoted to the modeling and control of robotic systems to act/interact at the microworld level. In the same way as the theme A, the overall objectives are to contribute to develop reliable and innovative (micro)robotic systems ; but, here, the scientific approach basically differs due to the physical specificity of the microworld. Hence, this manuscript widely focuses on my research activities in the field of micro/nano-robotics that are introduced hereafter.

I.2.2 Positioning of my Research Works I.2.2.1 Challenges of the microworld

Since few decades, the societal, industrial and scientific issues related to more and more miniaturize objects or systems are of significant interests. These interests concern various domains such as healthcare, biotechnologies, manufacturing, space, environment, power and so on. This is made possible thanks to the advances in micro/nano-scale sciences and technologies allowing creating tiny tools able to operate in very small spaces (such as within the human body or microfluidic chip) ; and to control or interact with micro/nano-scale entities efficiently. Such smart small tools, which are referred as microrobots, enable a way to evolve directly in the microworld ; that is not conceivable with common macroscale robots or any human skills. These microrobots allow considering many new applications such as innovation for diagnostics or therapies (e.g. from within the human body) ; microfluidic systems for reliable biotechnological tools ; micromanufacturing enhancement ; environmental and health monitoring… Furthermore, the considered size together with the advance in the fabrication process and materials design, enable low-cost manufacturing in large numbers. Figure I.4 illustrates these contexts and the significant elements of the microworld. The abilities for the microrobots to manipulate or deal directly with micro/nano-sized objects are very promising, but still remains challenging. Important issues are related to the understanding of the physics of the microworld, the microrobots design and control strategies. Hence, microrobotic is © 2018, .

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I.2. The Positioning of Activities

Microworld

Nanoworld

Meso/Macro-world

Micromanipula�on MOEMS MEMS

1mm

Virus (HIV)

∅150nm

100µm 10µm

Transistors CNT

1µm

Oocytes ∅200µm

1nm AFM/STM

Bacteria (E. coli) ∅2µm

Red blood cells ∅10µm

Prosthesis (auditory)

∅10mm

∅3mm

Microsurgery (da Vinci®)

Microfluidic lab-on-a-chip

Medical Imaging

Op�cal Microscope

Dr aft

∅3nm

Op�cal limit

10nm

DNA

Capsule endoscopy

100nm

∅2-25nm

5mm

(CT, MRI, US...)

SEM

Figure I.4: Representation of the scaling importance towards the microworld. The last row depicts the main vision modalities range.

strongly multidisciplinary research fields that include sciences from robotics, microtechnologies, control, mechanical engineering (solid and/or fluid), thermodynamic, electromagnetic, computer engineering, artificial intelligence, and so on. Obviously, all thing experience the same physical forces and are governed by the same laws. However, as many dynamics usually rely on size/length of the entities, their magnitudes and importance change significantly with the scale. The issue is then to study systems whose characteristic dimensions are less than a millimeter, as illustrated in Figure I.4. The objectives are then to understand and deal with the microworld specific dynamics. Figure I.5 shows an overview of the challenges, sciences, benefits, and potential applications, adapted from [ ? ]. Secondly, the search for microrobotic systems that must always be smaller, smarter, more versatile with more functionalities… still remains complex to achieve and control. This requires the use of proper models (i.e. that come from different physics), and advanced control strategies (e.g. non-linear, robust, optimal control schemes, etc.). Moreover, such microrobots require efficient power supply, computational capabilities, tools and features allowing manipulating and interact with the microworld. These various challenges, objectives and problems associated with the lack of knowledge and tools to achieve them are the main motivations of my research works towards the study and the realization of advanced microrobotic tasks. Our original approach, developed later in this manuscript, aims to propose a framework for : from the understanding of the microrobotic system to the definition of their navigation strategies, with a particular attention to biomedical applications.

I.2.2.2 Microrobotics for biomedical applications Since the 1980’s with the first surgical guidance robots, the use of robotic systems in medicine and biomedical applications are growing, giving birth to medical robotics fields [ ? ] [ ? ]. The motivations © 2018, .

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Chap. I. Activities Backgrounds and Organizations

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Challenges

7

Sciences/Engineering

• Non-intui�ve physics/dynamics;

• Limited power, actua�on, sensing, computa�on, etc.; • Difficult percep�on, localiza�on, monitoring, etc.

• • • • •

Robo�cs; Control; Mechanics(solid and/or fluidic); Chemistry; Electromagne�c; Computer sciences, ar�ficial intelligence, etc.

MICROROBOTICS Applica�ons • • • • •

Healthcare, medicine; Biothecholgogies, nanotechnologies; Microfludics lab on chip; Manufacturing; Power, environments, etc.

Benefits • Non-invasive, small space access, • Low-cost; • Innova�ve technologies;

Figure I.5: Diagram representative of the challenges, sciences, benefits, and applications of microrobotics, adapted from [ ? ].

Dr aft

are mainly to reduce trauma, infection risk, postoperative pain, and to improve the quality of healthcare by introducing the latest technological tools from computer science and robotics in biomedical engineering [ ? ]. Resulting in reduced recovery time these advantages have made medical robotics desirable for many types of medical procedures [ ? ]. A significant number of medical robotic system, aimed at augmenting the practitioner capabilities and reducing evasiveness, have been developed up to now [ ? ] [ ? ]. For example, there are the well-known da Vinci® surgical assistance robots by Intuitive Surgical14 which improves the surgeon technical skills. Historically, such medical robotics topic is the main concern of the Robotic team from the PRISME Laboratory. They have developed solutions such as robotized tele-echography to provide skilled medical care to isolated patients [ ? ] [ ? ]. These various medical solutions have helped to improve the acceptance of the use of robotics systems in clinical practices. In the wake, microrobotic has also emerged as an attractive technology to introduce microscopic helpers to further reduce trauma, to create new diagnoses tools and therapeutic procedures. For example, untethered microscopic devices may navigate within the body for targeted therapies [ ? ]. Another opportunity relies on the design of microfluidic lab-on-a-chip for point-of-care testing diagnostic systems [ ? ]. This interest has been even more enhanced as some biomedical mini-robotic solutions are already commercialized. Aforetime, microrobotic contributes to enhance biomedical operations, such as cells manipulation (e.g. in vitro fertilization), genetic analysis, or intracellular injection of genes, DNA or drugs [ ? ]. Similarly, swallowable endoscopic capsules are also available clinically [ ? ]. Current research aims to explore different technologies to extend these capabilities of such mini-devices to the entire human body [ ? ]. It is in this scientific context that my research works firstly take place.

I.2.3 Scientific Topics

I. 3

M A N U S C R IP T O V E R V IE W

14. Intuitive Surgical Inc. https ://www.intuitivesurgical.com, http ://www.davincisurgery.com/ © 2018, .

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C H A P T E R

II U N D E R S T A N D IN G

9

T H E M IC R O W O R L D

A P P E N D IC E S

A P P E N D IX

A R E S U M E

D B o rn

FOLIO o n

F re n c h

th e 1 7 th

INSA Centre Val de Loire, Université d’Orléans, PRISME EA 4229

S e p te m b e r 1 9 7 9 ,

n a ti o n a l i t y

Associate Professor (tenured) Robotic and Micro/Nano-robotic for biomedical and health-care applications.

A. 1

C U R R IC U L U M

Campus de Bourges, 88 bd Lahitolle CS 60013 F-18022 Bourges cedex ; France T +33(0)2 48 48 40 75 t +33(0)2 48 48 40 50 k [email protected]

V IT A E

A.1.1 Current position and responsibilities Since 2008 Associate Professor (maître de conférences), 61st CNU1 section Affiliation INSA Centre Val de Loire, University of Orléans, PRISME Laboratory EA4229, Bourges, France. Teaching member of the teaching team of the Industrial Risk Control (MRI2 , of the Energy, Risks, and Environment (ERE), and of the Sciences and Techniques for Engineers (STPI3 ) departments. Research member of the Robotic team of the Images, Robotics, Automatic control and Signal (IRAuS) unit of the PRISME Laboratory. Since 2014 in charge of the Nuclear Energy option of the 5th year (engineer’s degree) of the Industrial Risk Control (MRI) department. Since 2017 • referent of “racism and antisemitism”. – elected member of the council of the Energy, Risks and Environment (ERE) department. 1. The National Council of Universities, that is from French “Conseil national des universités” (CNU), comprises 57 sections covering different scientific disciplines. http ://www.cpcnu.fr 2. From French Maîtrise des Risques Industriels (MRI). The MRI speciality is defined by a systemic risk approach (cindynics, or risk analysis). http ://www.insa-centrevaldeloire.fr/en/training/industrial-risk-control 3. From French Science et Technique pour l’Ingénieur, (STPI). The STPI department teaches a core syllabus for the first two years so as to equip future engineering students with the necessary fundamentals for continuing their studies. http ://www.insacentrevaldeloire.fr/en/training/engineering-science-and-technology

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A.1. Curriculum Vitae

A.1.2 Experience and Graduate Educations Oct.2007 Post-Doctorate at Inria de Rennes Bretagne Atlantique4 , Rennes, France. Aug.2008 Research on sensory control for unmanned aerial vehicles conducted in Lagadic team, supervised by François Chaumette. Feb.2007 Teaching assistant, in French Attaché Temporaire d’Enseignement et de Recherche Aug.2007 (ATER), at Paul Sabatier University of Toulouse, France. Feb.2004 Doctorate degree at LAAS-CNRS, Toulouse, France. Aug.2007 Ph. D. thesis in Robotic control, directed by Viviane Cadenat, entitled “Multi-sensor-based control strategies and visual signal loss management for mobile robots navigation”. 2003–2004 Master of Science (DESS) on Intelligent Systems at Paul Sabatier University of Toulouse, France. 2002–2003 Master of Advanced Studies (DEA) on Computer Sciences at Paul Sabatier University of Toulouse, France.

Dr aft

1999–2002 Scholarship (IUP5 , L2-M1) on Intelligent Systems at Paul Sabatier University of Toulouse, France. 1997–1999 Bachelor’s degree in Science and Technology for the Engineer, at University of Reunion Island, France.

A.1.3 Professional Activities

Since 2015 Member of the program committee of the International Conference on Robotics, Manipulation, and Automation at Small Scales (MARSS) Since 2013 Editorial Board member of the International Journal of Advanced Robotic Systems (IJARS). Since 2005 IEEE member (SM’05, AM’08, M’12).

Regular • IEEE Transactions on Robotics (TRO) ; Reviewer • IEEE Transactions on Biomedical Engineering (TBME) ; • IEEE/ASME Transactions on Mechatronics (TMECH) ; • IEEE Transactions on Automation Science and Engineering (TASE) ; • International Journal of Advanced Robotic Systems (IJARS) ; • IEEE International Conference on Robotics and Automation (ICRA) ; • IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; • IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) ; Awards French outstanding research award (PEDR 2014–2018)

4. French Institute for Research in Computer Science and Automation, from French : Institut national de recherche en informatique et en automatique (Inria). https ://www.inria.fr/centre/rennes 5. From French Institut Universitaire Professionnalisé (IUP)

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App. A. Resume

A. 2

T E A C H IN G

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A C T IV IT IE S

A.2.1 Teaching My overall teaching activities have been solely related with the 61st CNU section which regroups scientific disciplines from control, computer engineering and signal processing. I taught these teaching as a temporary teacher (3 years), teaching assistant (ATER, 1 year), and then as associate professor (10 years). These different experiences are presented in the following.

A.2.1.1 Before tenure I have started teaching as a temporary teacher at the Paul Sabatier University of Toulouse, France, during my doctorate (2004–2006). Next, I have pursued as teaching assistant, specifically in French Attaché Temporaire d’Enseignement et de Recherche (ATER, 2007) for the Paul Sabatier University of Toulouse. My teachings were then mainly in the fields of robotics, control theory, image processing and real-time systems for students from bachelor’s to master’s degrees. These global teaching experiences have led to a total volume of 308 hETD6 .

A.2.1.2 Since tenured

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These activities were my first experience in high-graduate education. Those opportunities highlighted my interest in the scientific knowledge transmission. They also allowed me to be familiarized with the different forms of teachings. Indeed, I had then the opportunity to supervise not only tutorials (TD), practical work (TP), and long-term projects (BE) ; but also few courses. Especially, I also helped the teaching team by writing some TP contents, and in the students evaluation. This first experience confirmed my interest in teaching, leading me logically to apply for an associate professor position. I was recruited as Associate Professor in September 2008 for the 61st CNU section. Until now, my teaching activities have been mainly held at INSA Centre Val de Loire on the Bourges campus. The INSA Centre Val de Loire was established in 2014 following the merger of the Val de Loire National Engineering School (ENI) and Bourges Graduate Engineering School (ENSI). With 200 members of staff (teachers, research professors, administrative and technical staff) the Institute trains 1500 students on its two campuses in Blois and Bourges, France. The Institute awards four engineering degrees : 1. Industrial Risk Control (MRI) in Bourges ; 2. Information Technology and Cybersecurity (STI) in Bourges ; 3. Energy, Risk and the Environment (ERE) together with the Cher Chamber of Commerce and Industry (CCI) Hubert Curien CFSA (Apprentice Further Training Centre) in Bourges ; 4. Industrial Systems Engineering (GSI) in Blois The Institute was extended in 2015 when it absorbed the National Graduate School for Nature and Landscape, which has now become the “School for Nature and Landscape” department. Like all of the INSA engineering schools, the first two years, that are common to each engineering degrees, is embedded in the Sciences and Techniques for Engineers (STPI) department. It can been noticed, that the ERE department trains engineers through apprenticeship training This program is based on a partnership between the INSA Centre Val de Loire and Hubert Curien CFSA (Apprentice Further Training Centre), which has been an expert in delivering apprenticeship-based training for over 20 years. 6. Equivalent TD hours, in French heures équivalentes TD (hETD) is the reference hour to calculate the teaching duties. The rules are as follows : 1 h of course = 1.5 hETD, while the others, e.g., 1 h of tutorial (TD) = 1 h of practical work (TP) = 1 hETD.

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A.2. Teaching Activities

As member of the teaching team on the campus in Bourges of the INSA Centre Val de Loire, I am mainly involved in the students formation of the Industrial Risk Control (MRI), of the Energy, Risk and the Environment (ERE), and of the Sciences and Techniques for Engineers (STPI) departments. Specifically, after having started with teaching of electronics and electrical engineering, I have participated or organized lessons on signal processing, sensors, control and robotics. These various teaching experiences imply very different pedagogical tasks. Especially, those tasks are depending on the type of intervention : courses (C), tutorials (TD), practical works (TP), tutored projects (P), long- term project team work (BE) ; but also according to the different degrees of scientific maturity and specialization of the concerned students, from bachelor’s to master’s degrees level. illustrates a synthetic overview of my different teaching discipline showing the degree, the number of students, and the face-time hours. In particular, I am especially involved in the implementation of the teachings materials, and to support the teaching assistants for the disciplines for which I am in charge. Table A.1 : Overview of the various learned discipline since tenured as Associate Professor.

LMD

Students

Electrokinetics Analog. electro Analog. electro Elect. Eng. Elect. Eng. Control Sign. Process. Diagnostics Sensors Robotic SA project SI project

L1 L2 L3 L3 M1 M1 M1 M1 L3 M2 M1 M1

100 80 70 70 78 78 20 20 70 20 2 10

C

TD

18h00 8h00 10h40 10h40 8h00 6h00 10h40 10h40

24h00 32h00 10h40 10h40 14h00 10h00 10h40 10h40 10h40

TP

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Discipline

4h00

P/BE

Dept.

Resp.

5h20 14h20

STPI STPI MRI MRI ERE ERE MRI MRI MRI MARS MRI MRI

Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes

6h00

LMD The bachelor’s, master’s, doctorate system (in French License-Master-Doctorat) designed by the Bologna Process, with • L1-L3 : from the 1 to the 3 year bachelor’s degree ; • M1-M2 : from the 1 to the 2 year master’s degree ; Students are the average number of students. C, TD, TP, P refer to face time hours for courses (C), tutorials (TD), practical works (TP), tutored projects (P). Dept. refers to the department of INSA, that is Sciences and Techniques for Engineers (STPI), Industrial Risk Control (MRI), Energy, Risks and the Environment (ERE). . Resp. specifies the case where I am in charge of the discipline, especially with the implementation of the teaching materials. SA and SI refer to the Advanced Systems (SA) advanced module, and the Industrial System (SI) projects project in the 4 year (M1).

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App. A. Resume

336hETD 288hETD 240hETD

Responsabilities Follow-up of internships and projects Master’s degree Bachelor’s degree 224h40

234h40

17

331h00 305h20

302h30 298h30 248h10

250h40

205h15

196h06

192hETD 144hETD 96hETD 48hETD

2008

9

-200

0

-201 2009

1 -201

2010

7 5 4 6 3 8 2 -201 -201 -201 -201 -201 -201 012-201 2011 2016 2014 2013 2015 2 2017

Figure A.1: Teaching load progress expressed in “equivalent TD hours”. My average teaching load is about . The line at is the minimum teaching duty to be achieved.

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Since tenured as associate professor, my average teaching load is about 280 hETD. This activity load is varied depending on the recruitment and the choice of engineering students in the different departments in which I intervene. In particular, the hours performed in tutorials (TD), practical works (TP) or projects (P) depend on the number of groups (from 2 to 4 groups), especially for the bachelor’s degrees (L1–L3). A.1 presents my teaching duty timeline evolution expressed in since tenured as Associate Professor. Furthermore, some key events in the life of the Institute have also influenced my teaching loads (see also Figure I.1). For instance, from 2011, following the integration of the former ENSI Bourges in the INSA group, I took part in the electronics training for the new preparatory cycle. In parallel, since 2011, after the ERE department creation, I have also started to form the apprentices engineers to electrical engineering. In addition, various responsibilities entrusted to me have also influenced my teaching duties, and are presented hereafter.

A.2.2 Responsibilities In addition to teaching tasks, different obligations are related to the mission of teaching-researchers in France. Thus, I am involved in the life of the Institute. Especially, I contribute at a local level to the scientific animations (e.g. organization of laboratory visits), transfer and training-research links. Furthermore, since my tenure, I participate in the juries of our engineering students. Similarly, since our establishment have joint the INSA group, I also contribute to select and interview the applying students (about 15 students/year). Between 2009 and 2013, I have been member of the Hygiene and Security committee of the of Bourges. Since September 2014, I am in charge of the Nuclear Energy option of the 5 year (engineer’s degree) of the Industrial Risk Control (MRI) department. As such, I coordinate the specific lessons of the option by selecting and recruiting external professional contractors. I also organize visits (power station, simulator, etc.) for the engineering students of the option. In March 2017, the direction of the INSA Centre Val de Loire given to me the mission of referent “racism and antisemitism”. Finally, since November 2017, I am an elected member of the ERE department council. © 2018, .

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A. 3

R E S E A R C H

A.3. Research Activities

A C T IV IT IE S

A.3.1 Scientific Projects My research activities regularly lead me to collaborate in various scientific projects. In particular, these projects aim to obtain funds to either recruit students, to design or improve experimental testbeds, as well as to help some scientific cooperation. The different projects in which I have been involved are listed below, specifying my role and the obtained funding. Let us notice that all of these projects have been subject to a process with a deep scientific reviews.

A.3.1.1 European Union (EU) and National Funding (ANR) Projects

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NANOMA Nano-Actuators and Nano-Sensors for Medical Applications Date 06/2008 – 10/2011 Funding 3.3M€, supported by the European Commission Summary The NANOMA project is an European project funded under FP7 ICT 2007.3.6, Micro/nanosystems, coordinated by Professor Antoine Ferreira, University of Orléans, PRISME Laboratory. The NANOMA project aims at proposing novel controlled nanorobotic delivery systems which will be designed to improve the administration of drugs in the treatment and diagnosis of breast cancer. Role co-responsible of the workpackage WP4 : ”Object Tracking, Planning and Control in MRI. PROSIT Robotic Platform for an Interactive Tele-echographic Systems Date 01/2009 – 09/2012 Funding 230k€, supported by French national funding (ANR7 ) Summary The PROSIT project is an ANR Contint program (2008) project, coordinated by Professor Pierre Vieyres, University of Orléans, PRISME Laboratory. The goal is to develop an interactive and complex master-slave robotic platform for a medical diagnosis application (i.e. tele-echography) based on a well-defined modular control architecture. Role co-responsible of the workpackage WP5 : “Visual Servoing”. PROTEUS Robotic Platform to facilitate transfer between industries Date 12/2009 – 12/2013 Funding 2.1M€, supported by French national funding (ANR) Summary The PROTEUS project is an ANR ARPEGE program (2009) project. This project motivation was to help to organize interactions between academic and industrial partners of the french robotic community by providing suitable tools and models. Especially, one goal is to create a portal for the French robotic community as embodied by the GDR Robotique and its affiliated industrial partners, in order to facilitate transfer of knowledge and problems among this community. To achieve the PROTEUS project 12 partners have been involved. Role co-responsible of the workpackage : “Young Challenge”. PIANHO Innovative Haptic Instrumental platform for 3D Nano-manipulation Date 03/2010 – 03/2014 Funding 761k€, supported by French national funding (ANR) 7. From French Agence Nationale de la Recherche (ANR), which is the French National Agency for Research. http ://www.agence-nationale-recherche.fr

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Summary The PIANHO project is an ANR P3N (2009) project. The motivation of this project is to create a nanomanipulation platform capable of pick, hold and place nano-objects in the synchrotron radiation beam of the ESRF (Grenoble, France) via tuneable tool-object interaction. Role co-responsible of the workpackage : “Control of a Two-Fingered AFM-based Nanomanipulation System”.

A.3.1.2 Cooperation Projects

PROCOPE PROCOPE Franco-Germain Hubert Curien8 partnership Date 2010 – 2011 Summary Supervision and Control of an Improved Platform for Targeted Administration of Therapeutic Nanorobots. Partnership Division Microrobotics and Control Engineering (AMiR9 )

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PROCORE PROCORE France–Hong-Kong Hubert Curien partnership Date 2014 – 2015 Summary Design, fabrication and characterization of the swim of enhanced helical microrobots. to organize Partnership Department of Mechanical and Automation Engineering (MAE10 )

A.3.1.3 Local Project (LP)

Nano-IRM Date 09/2009 – 08/2012 Funding 110k€, supported by Région Centre Val de Loire11 , the Cher (18) departmental councils and the agglomeration comity of Bourges. Summary Supervision and Control of an Improved Platform for Targeted Administration of Therapeutic Nanorobots. This project supports the above project NANOMA, by providing the funding for the Ph. D. thesis of Karim Belharet. Role co-supervision of the Ph. D. thesis of Karim Belharet. MicroRob Date 10/2013 – 09/2016 Funding 110k€, supported by Région Centre Val de Loire and the agglomeration comity of Bourges. Summary Modeling and control of magnetic microcarrier for targeted cancer therapy. Role co-supervision of the Ph. D. thesis of Lyes Mellal. US-Probe High Definition Echograph Date 03/2017 – 03/2018 Funding 50k€, supported by Région Centre Val de Loire Summary Design of novel microrobotic platform with ultrasound probe vision. Role Principal Investigator (PI). 8. PHC, from French Partenariats Hubert Curien, provides support for international scientific and technological exchange of the Ministry of Foreign Affairs. https ://www.campusfrance.org 9. AMiR, that is from German Abteilung für Mikrorobotik und Regelungstechnik, is a department of the University of Oldenburg, Germany, headed by Prof. Dr.-Ing. Sergej Fatikov. http ://www.amir.uni-oldenburg.de 10. MAE is a department of the Chinese University of Hong Kong, with A.Prof. Li Zhang. http ://www.mae.cuhk.edu.hk 11. AMiR, that is from German Abteilung für Mikrorobotik und Regelungstechnik, is a department of the University of Oldenburg, Germany, headed by Prof. Dr.-Ing. Sergej Fatikov. http ://www.amir.uni-oldenburg.de © 2018, .

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A.3.2 Students Supervisions My research activities as associate professor led to the supervision of graduate school students from master’s to doctoral degrees. Specifically, I had directly supervised 4 doctorates (3 defended theses and 1 ongoing) and 2 master theses. In addition, I also had the opportunity to follow the research works of 5 externals Ph. D. students. The different students that I have supervised or followed their works are listed below.

A.3.2.1 Students Thesis in progress Ruipeng Cheng Date since 11/2016 Title Predictive navigation of a magnetic microrobot : instrumentation, control and validation. Supervision 50% with the Prof. Antoine Ferreira (INSA Centre Val de Loire). Defended theses

A.3.2.2 Masters Students

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A.3.3 Scientific Collaborations

My research work have led to various international and national collaborations. These cooperation have made possible to investigate complementary approaches to those I have studied, helping to benefit from supplementary skills. These exchange were interesting and important in view of the strong multidisciplinary of the achieved works, the many physical principles used, the many technologies involved or of the scientific scope. Hereafter are listed scientific cooperative works that have led to publications.

A.3.4 Scientific Dissemination and Impact

The appreciation of my research works have been effective through various actions. First, I was invited to be the board member for the recruitment of the following associate professor positions :

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A P P E N D IX

B P E R S O N A L R E F E R E N C E S

My research activities have led to scientific publications that are listed in this appendix. The names of people’s that I have supervised their works are underlined. Furthermore, the publications list here follows the Hcéres1 proposed nomenclature [ ? ].

B. 1

A R T IC L E S

B.1.1 Articles in International peer-reviewed and referenced journals (ACL) [A C L 1 ] Karim Belharet, David Folio, and Antoine Ferreira. MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules. Minimally Invasive Therapy & Allied Technologies, 19(3) :pp. 157–169, June 2010. doi : 10.3109/13645706.2010.481402 [A C L 2 ] Karim Belharet, David Folio, and Antoine Ferreira. Three-dimensional controlled motion of a microrobot using magnetic gradients. Advanced Robotics, 25(8) :pp. 1069–1083(15), May 2011. doi : 10.1163/016918611X568657. In 2013 one of the Advanced Robotics’ most cited articles from 2011 publications.

[A C L 3 ] Viviane Cadenat, David Folio, and Adrien Durand. A comparison of two sequencing techniques to perform a vision-based navigation task in a cluttered environment. Advanced Robotics, 26 (5-6) :pp. 487–514, March 2012. doi : 10.1163/156855311X617470 [A C L 4 ] Jungsik Kim, Hamid Ladjal, David Folio, Antoine Ferreira, and Jung Kim. Evaluation of telerobotic shared control strategy for efficient single-cell manipulation. IEEE Transactions on Automation Science and Engineering, 9(2) :pp. 402–406, April 2012. ISSN :1545-5955. doi : 10.1109/TASE.2011.2174357 [A C L 5 ] Karim Belharet, David Folio, and Antoine Ferreira. Simulation and planning of a magnetically actuated microrobot navigating in arteries. IEEE Transactions on Biomedical Engineering, 60 (4) :pp. 994–1001, April 2013. doi : 10.1109/TBME.2012.2236092 [A C L 6 ] Nabil Amari, David Folio, and Antoine Ferreira. Motion of a micro/nanomanipulator using a laser beam tracking system. International Journal of Optomechatronics, 8(1) :pp. 30–46, April 2014. doi : 10.1080/15599612.2014.890813 1. From French Haut Conseil de l’évaluation de la recherche et de l’enseignement supérieur (Hcéres) which is the High Council for Evaluation of Research and Higher Education an independent administrative authority. http ://www.hceres.fr 21

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B.2. Books

[A C L 7 ] Alexandre Krupa, David Folio, Cyril Novales, Pierre Vieyres, and Tao Li. Robotized teleechography : an assisting visibility tool to support expert diagnostic. IEEE Systems Journal, 10 (3) :pp. 974–983, April 2014. ISSN :1932-8184. doi : 10.1109/JSYST.2014.2314773 [A C L 8 ] Lyes Mellal, Karim Belharet, David Folio, and Antoine Ferreira. Optimal structure of particlesbased superparamagnetic microrobots : application to MRI guided targeted drug therapy. Journal of Nanoparticle Research, 17(2) :, February 2015. ISSN :1572-896X. doi : 10.1007/s11051014-2733-3

[A C L 9 ] Bumjin Jang, Wei Wang, Samuel Wiget, Andrew Petruska, Xiangzhong Chen, Chengzhi Hu, Ayoung Hong, David Folio, Antoine Ferreira, Salvador Pané, and Bradley Nelson. Catalytic locomotion of core-shell nanowire motors. ACS Nano, 10(11) :pp. 9983–9991, November 2016. doi : 10.1021/acsnano.6b04224 [A C L 1 0 ] David Folio, Christian Dahmen, Antoine Ferreira, and Sergej Fatikow. MRI-based dynamic tracking of an untethered ferromagnetic microcapsule navigating in liquid. International Journal of Optomechatronics, 10(2) :pp. 73–96, April 2016. doi : 10.1080/15599612.2016.1166305

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[A C L 1 1 ] Lyes Mellal, David Folio, Karim Belharet, and Antoine Ferreira. Modeling of optimal targeted therapies using drug-loaded magnetic nanoparticles for the liver cancer. IEEE Transactions on Nano-Bioscience, 15(3) :pp. 265–274, April 2016. ISSN :1536-1241. doi : 10.1109/TNB.2016.2535380 [A C L 1 2 ] David Folio and Antoine Ferreira. 2D robust magnetic resonance navigation of a ferromagnetic microrobot using pareto optimality. IEEE Transactions on Robotics, 33(3) :pp. 583–593, 2017. ISSN :1552-3098. doi : 10.1109/TRO.2016.2638446 [A C L 1 3 ] Bruno Sarkis, David Folio and Antoine Ferreira. Catalytic Tubular Microjet Navigating in Confined Microfluidic Channels : Modeling and Optimization. IEEE/ASME Journal of Microelectromechanical Systems, 99(9) :pp. 1–11, 2018. doi : 10.1109/JMEMS.2018.2803803

B.1.2 Articles in unreferenced journals (ACLN) [A C L N 1 ] David Folio. Les innovations en microrobotique pour le biomédical. Prospective et Stratégie, APORS Éditions, 7(1) :pp. 69–78, 2017. doi : 10.3917/pstrat.007.0069

B. 2

B O O K S

B.2.1 Guest Editor (DO) [D

O 1

© 2018, .

] Ashis Banerjee, David Folio, Sarthak Misra and Quan Zhou. Guest editors of the Special Issue : ”Design, Fabrication, Control, and Planning of Multiple Mobile Microrobots”. International Journal of Advanced Robotic Systems, 2014. ISSN :1729-8806. doi : 10.5772/1

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App. B. Personal References

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B.2.2 Book Chapter (OS) S 1

[O

S 2

] Karim Belharet, David Folio, and Antoine Ferreira. Real-time software platform for in vivo navigation of magnetic micro-carriers using MRI system, chapter 11. Number 51 in Biomaterials. Woodhead Publishing, Cambridge, October 2012. ISBN :780857091307. ] Nabil Amari, David Folio, and Antoine Ferreira. Encyclopedia of Nanotechnology, chapter Nanorobotics for Synchrotron Radiation Applications, pp. 1–19. Springer Netherlands, Dordrecht, 2nd edition, 2016. doi : 10.1007/978-94-007-6178-0_100927-1

P R O C E E D IN G S IN

IN T E R N A T IO N A L C O N F E R E N C E S (A C T )

[A C T 1 ] Karim Belharet, David Folio, and Antoine Ferreira. 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), pp. 808–813, Tokyo, Japan, September 2010. doi : 10.1109/BIOROB.2010.5628063 [A C T 2 ] Olivier Kermorgant, David Folio, and François Chaumette. A new sensor self-calibration framework from velocity measurements. In IEEE International Conference on Robotics and Automation(ICRA’2010),pp. 1524–1529, Anchorage, Alaska, May 2010. doi :

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B. 3

[O

10.1109/ROBOT.2010.5509219

[A C T 3 ] Karim Belharet, David Folio, and Antoine Ferreira. Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2010), pp. 2804–2809, Taipei, Taiwan, October 2010. doi : 10.1109/IROS.2010.5650803 [A C T 4 ] Jungsik Kim, Dongjune Chang, Hamid Ladjal, David Folio, and Antoine Ferreira and Jung Kim. Evaluation of telerobotic shared control for efficient manipulation of single cells in microinjection. In IEEE International Conference on Robotics and Automation (ICRA’2011), pp. 3382–3387, Shanghai, China, May 2011. doi : 10.1109/ICRA.2011.5979868 [A C T 5 ] David Folio, Christian Dahmen, Tim Wortmann, M. Arif Zeeshan, Kaiyu Shou, Salvador Pane, Bradley J. Nelson, Antoine Ferreira, and Sergej Fatikow. 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), pp. 1297–1303, San Fransisco, CA, USA, September 2011. doi : 10.1109/IROS.2011.6048651 [A C T 6 ] Karim Belharet, David Folio, and Antoine Ferreira. 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), pp. 2559–2564, Vilamoura, Algarve, Portugal, October 2012. doi : 10.1109/IROS.2012.6386030 [A C T 7 ] Christian Dahmen, David Folio, Tim Wortmann, Alexander Kluge, Antoine Ferreira, and Sergej Fatikow. 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), pp. 2565–2570, Vilamoura, Algarve, Portugal, October 2012. doi : 10.1109/IROS.2012.6386244 © 2018, .

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B.3. Proceedings in International Conferences (ACT)

[A C T 8 ] Karim Belharet, David Folio, and Antoine Ferreira. Untethered microrobot control in fluidic environment using magnetic gradients. In International Symposium on Optomechatronic Technologies (ISOT’2012), pp. 1–5, October 2012. [A C T 9 ] Nabil Amari, David Folio, and Antoine Ferreira. Robust laser beam tracking control using micro/nano dual-stage manipulators. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2013), pp. 1543–1548, Tokyo Big Sight, Japan, November 2013. doi : 10.1109/IROS.2013.6696554 [A C T 1 0 ] Nabil Amari, David Folio, Karim Belharet, and Antoine Ferreira. Motion of a micro/nanomanipulator using a laser beam tracking system. In International Symposium on Optomechatronic Technologies (ISOT’2013), Jeju Island, Korea, October 2013. [A C T 1 1 ] Karim Belharet, Yang Chunbo, David Folio, and Antoine Ferreira. Model characterization of magnetic microrobot navigating in viscous environment. In International Symposium on Optomechatronic Technologies (ISOT’2013), Jeju Island, Korea, October 2013.

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[A C T 1 2 ] Nabil Amari, David Folio, and Antoine Ferreira. Robust tracking of a two-fingered micromanipulation system working through the focus of an optical beam. In American Control Conference (ACC’2014), pp. 1613–1618, Portland, OR, USA, June 2014. doi : 10.1109/ACC.2014.6859244 [A C T 1 3 ] Karim Belharet, David Folio, and Antoine Ferreira. Vision-based forces characterization of magnetic microrobot in a viscous environment. In IEEE International Conference on Robotics and Automation (ICRA’2014), pp. 2065–2070, Hong Kong, China, May 2014. doi : 10.1109/ICRA.2014.6907133 [A C T 1 4 ] Nabil Amari, David Folio, and Antoine Ferreira. Robust nanomanipulation control based on laser beam feedback. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2014), pp. 4674–4679, Chicago, IL, USA, September 2014. doi : 10.1109/IROS.2014.6943226

[A C T 1 5 ] Karim Belharet, David Folio, and Antoine Ferreira. Study on rotational and unclogging motions of magnetic chain-like microrobot. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2014), pp. 834–839, Chicago, IL, USA, September 2014. doi : 10.1109/IROS.2014.6942656

[A C T 1 6 ] Bruno Sarkis, David Folio, and Antoine Ferreira. Catalytic tubular microjet propulsion model for endovascular navigation. In IEEE International Conference on Robotics and Automation (ICRA’2015), pp. 3537–3542, Seattle, Washington, USA, May 2015. doi : 10.1109/ICRA.2015.7139689

[A C T 1 7 ] Lyes Mellal, David Folio, Karim Belharet, and Antoine Ferreira. Magnetic microbot design framework for antiangiogenic tumor therapy. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2015), pp. 1397–1402, Hamburg, Germany, September 2015. doi : 10.1109/IROS.2015.7353550 [A C T 1 8 ] Lyes Mellal, David Folio, Karim Belharet, and Antoine Ferreira. Optimal control of multiple magnetic microbeads navigating in microfluidic channels. In IEEE International Conference on Robotics and Automation (ICRA’2016), pp. 1921–1926, Stockholm, Sweden, May 2016. doi : 10.1109/ICRA.2016.7487338 © 2018, .

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App. B. Personal References

25

[A C T 1 9 ] Lyes Mellal, David Folio, Karim Belharet, and Antoine Ferreira. Estimation of interaction forces between two magnetic bolus-like microrobots. In International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS’2016), pp. 1–6, Paris, France, July 2016. doi : 10.1109/MARSS.2016.7561740 [A C T 2 0 ] Lyes Mellal, David Folio, Karim Belharet, and Antoine Ferreira. 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), pp. 1–6, Montreal, QC, Canada, July 2017. doi : 10.1109/MARSS.2017.8001917

B. 4

O R A L C O M M U N IC A T IO N S

B.4.1 Invited Speaker in International or National Conferences (INV) V 1

[I N

V 2

[I N

V 3

] David Folio. Bio-nanorobotics : A reality for tomorrow ? Invited speaker in International R&D Symposium : ”biology and communications”, Madrid, Spain, March 2012. Fundación Ramón Areces.

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[I N

] David Folio. Micro/nano-robots thérapeutique pour le traitement cibler du cancer. Invited speaker in Colloque International : ”Quelles nanotechnologies pour la médecine ”, Rabat, Morocco, November 2014. ] David Folio. Innovation en microrobotique pour le biomédical. Invited speaker in Colloque ”les futurs de l’innovation ”, Bourges, France, June 2015. Prospective et Stratégie.

B.4.2 Communications in International or National Conferences (COM) [C O

M 1

[C O

M 2

[C O

M 3

[C O

M 4

] Nabil Amari, David Folio, and Antoine Ferreira. Robust tracking of a two-fingered nanomanipulation system working through the focus of a X-ray beam. Presented in the Workshop on Automation of Assembly and Packaging at the Micro/Nano-scale, Trieste, Italy, August 2011. ] David Folio and Antoine Ferreira. Endovascular navigation of magnetic microcarriers using a MRI system. Presented in the Workshop on Magnetically Actuated Multiscale Medical Robots, Vilamoura, Algarve, Portugal, October 2012. ] Lyes Mellal, David Folio, Karim Belharet, and Antoine Ferreira. Modélisation et Commande d’un injecteur microrobotique pour le traitement du cancer. Presented in Journée de jeunes chercheurs organisée par le laboratoire PRISME , Blois, France, June 2015. ] Lyes Mellal, David Folio, Karim Belharet, and Antoine Ferreira. 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, France, June 2016.

© 2018, .

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B IB L IO G R A P H Y

[] Bibliothèque nationale de France. (2018) Cadre de classement. able : http ://production-scientifique.bnf.fr/Annexe/cadre-de-classement

[Online].

Avail-

[] M. Sitti, Mobile Microrobotics, ser. Intelligent Robotics and Autonomous Agents. MIT Press, Jun. 2017. [] P. Gomes, Ed., Medical Robotics : Minimally Invasive Surgery, ser. Woodhead Publishing Series in Biomaterials. Cambridge : Elsevier Science, Oct. 2012, no. 51. [] J. Troccaz, Ed., Medical Robotics, ser. ISTE.

Wiley-Blackwell, Mar. 2013.

[] M. Kroh and S. Chalikonda, Eds., Essentials of robotic surgery. Springer International Publishing, 2015. [] R. H. Taylor, A. Menciassi, G. Fichtinger, P. Fiorini, and P. Dario, “Medical robotics and computerintegrated surgery,” in Springer handbook of robotics, B. Siciliano and O. Khatib, Eds. Cham : Springer International Publishing, 2016, pp. 1657–1684. [] F. Courreges, P. Vieyres, and G. Poisson, “Robotized tele-echography,” in Teleradiology. Berlin, Heidelberg : Springer International Publishing, 2008, pp. 139–154. [] S. Kumar and E. Krupinski, Teleradiology.

Springer Berlin Heidelberg, 2008.

[] B. J. Nelson, I. K. Kaliakatsos, and J. J. Abbott, “Microrobots for minimally invasive medicine,” Annual Review of Biomedical Engineering, vol. 12, no. 1, pp. 55–85, 2010. [] W. Jung, J. Han, J.-W. Choi, and C. H. Ahn, “Point-of-care testing (POCT) diagnostic systems using microfluidic lab-on-a-chip technologies,” Microelectronic Engineering, vol. 132, pp. 46–57, 2015. [] T. Fukuda, F. Arai, and M. Nakajima, Micro-nanorobotic manipulation systems and their applications. Berlin Heidelberg : Springer-Verlag & Business Media, 2013. [] G. Ciuti, A. Menciassi, and P. Dario, “Capsule endoscopy : from current achievements to open challenges,” IEEE reviews in biomedical engineering, vol. 4, pp. 59–72, 2011.

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R E F E R E N C E S

29

IN D E X O F T E R M S A N D

N O T A T IO N S

A C R O N Y M S

ANR Agence Nationale de la Recherche HDR Habilitation à Diriger des Recherches HEI Hautes Études d’Ingénieur INSA Institut National des Sciences Appliquée NANOMA Nano-Actuators and Nano-Sensors for Medical Applications PRISME Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique, Énergétique

G LO S S A R Y

HDR

In France, the Habilitation à Diriger des Recherches award is a general requirement for supervising Ph. D. students and applying for Professeur position.

HEI

École des Hautes Études d’Ingénieur (French for School of High Studies in Engineering) is a private school of engineering. INSA Centre Val de Loire The INSA Centre Val de Loire was established on 1 January 2014 following the merger of the Val de Loire ENI (National Engineering School) and Bourges ENSI (Graduate Engineering School). On the Bourges campus two engineering courses are available to students with the Industrial Risk Control (MRI) and Information Technology and Cybersecurity (STI) departments, and one apprenticeship-training course, Energy Risks and the Environment (ERE), is taught together with the Cher Chamber of Commerce and Industry (CCI) Hubert Curien CFSA (Apprentice Further Training Centre) in Bourges.

31

Index of terms and notations

NANOMA project The NANOMA project is an European project funded under FP7 ICT 2007.3.6, Micro/nanosystems, coordinated by Professor Antoine Ferreira, University of Orléans , PRISME Laboratory. The NANOMA project aims at proposing novel controlled nanorobotic delivery systems which will be designed to improve the administration of drugs in the treatment and diagnosis of breast cancer. PRISME Laboratory The PRISME Laboratory is from University of Orléans and INSA Centre Val de Loire (EPRES 4229), http ://www.univ-orleans.fr/PRISME. The PRISME laboratory seeks to carry out multidisciplinary research in the general domain of engineering sciences over a broad range of subject areas, including combustion in engines, energy engineering, aerodynamics, the mechanics of materials, image and signal processing, automatic control and robotics. The laboratory is splited in 2 units : i) Fluids, Mechanics, Materials, Energy (F2ME) and ii) Images, Robotics, Automatic control and Signal (IRAuS). There are about 170 research professors, engineers, technicians and Ph. D. students working for this laboratory across several sites in Bourges, Orléans, Chartres, and Châteauroux.

32

It consists of two paragraphs.