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Abdenbi Mohand ousaid

Abdenbi Mohand ousaid
Institut FEMTO-ST | FEMTO ST · Department of Automatic Control and Micro-Mechatronic Systems (AS2M)

Doctor of Engineering

About

36
Publications
7,895
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276
Citations
Introduction
Abdenbi Mohand-Ousaid received the BSc and the Engineer degree in automation from the École nationale préparatoire aux études d'ingénieur (ENPEI) and École nationale polytechnique, Algeria in 2005 and 2008, respectively. He obtained a MSc degree in Automation Signal and Images Processing from Paris 11 University in 2009 and a Ph.D. degree in Robotics in 2013 from the University of Pierre & Marie Currie, France. In 2014/2015, he was a Temporary Assistant Professor at the University of Versailles, physics department, France. Since 2015, he is associate professor at the University of Franche-Comté/AS2M department/FEMTO-ST institute. His research interests are focused on the topology optimization micro-mechatronic systems, additive manufacturing and programmable matter.
Additional affiliations
September 2012 - September 2014
Sorbonne Université
Position
  • PostDoc Position

Publications

Publications (36)
Article
Full-text available
Piezoelectric materials based actuators are highly recognized for the development of microrobotic systems thanks to their high bandwidth, high resolution and high force density. However, one of their main drawback is the low relative stroke (0.1% of actuator's size) that limits the actuator motion range. Overcoming this limitation is challenging bu...
Article
Full-text available
In this paper, two separate topology optimization MATLAB codes are proposed for a piezoelectric plate in actuation and energy harvesting. The codes are written for one layer piezoelectric plate based on 2D finite element modeling. As such, all forces and displacements are confined in the plane of the piezoelectric plate. For the material interpolat...
Article
Full-text available
In this paper, the location of masses and of a piezoelectric patch for energy harvesting reported onto a vibrating cantilever beam is studied and optimized. To this aim, a genetic algorithm is adapted and utilized to optimize the voltage amplitude generated by the piezoelectric patches by choosing attachment mass, attachment mass moment of inertia,...
Article
Full-text available
Nowadays, the concept of programmable matter paves the way for promising applications such as reshaping an object to test different configurations, modeling or rapid prototyping. Based on elementary modules, such matter can be arranged and disassembled easily according to the needs of the designers. Several solutions have been proposed to implement...
Article
Full-text available
In this paper, the goal is to design a two degrees of freedom piezoelectric plate energy harvester which can harvest the energy from external in-plane harmonic force coming from different directions. The most challenging problem in this case is the charge cancellation due to combination of tension and compression in different parts of the plate. Th...
Article
Full-text available
Micro-teleoperated interaction with biological cells is of special interest. The low fidelity of previous systems aimed at such small scale tasks prompted the design of a novel manual bilateral cell injection system. This systems employed the coupling of a null-displacement active force sensor with a haptic device having negligible effective inerti...
Article
In this paper, piezoelectric plate energy harvesters are designed by using topology optimization algorithm to harvest the excitation from different directions. The goal is to minimize the volume and weight of the whole structure so the harvesters can be used in small scale applications. To this aim, the profile of polarization is optimized by the t...
Conference Paper
Full-text available
In this paper, the goal is to optimize the electrical power of a rectangular piezoelectric plate which is under application of external in-plan force. The most challenging problem for in-plane force is the charge cancellation which is due to combination of tension and compression in different parts of the plate resulted by the external force. To re...
Article
Full-text available
Active force sensors are based on the principle of force balancing using a feedback control. They allow, unlike passive sensors, the static characterization of forces without interference of the sensor mechanical properties on the estimated stiffness of the object to be studied. This capability is fundamental when dealing with the mechanical charac...
Article
Full-text available
Controlling multidegrees of freedom (DOF) micropositioning systems always represents a great challenge because of the high sensitivity to the environment at this scale and the cross-coupling effects present between the different axes. A robust Luenberger observer-based state feedback design using interval analysis and the regional pole assignment t...
Poster
Full-text available
Objectives • It is desired to harvest the vibrational energy of an external harmonic force with known excitation frequency. • A bimorph piezoelectric cantilever has been chosen for the purpose of energy harvesting which is highly effective in this case. • By matching one of the natural frequencies of the bimorph to the excitation frequency, the def...
Article
Full-text available
This paper reports a compliant monolithic multistable actuator which is able to switch its moving part between several stable positions linearly in one dimensional direction. The number of stable positions can be increased by extending the range of displacement of the moving part. The transition in each step of displacement is made between two adja...
Article
Full-text available
This paper presents the mechanical structure optimization of a piezoelectric energy harvesters devoted to supply embedded animal tracking devices. The harvester mechanical structure being a bilayer unimorph piezoelectric cantilever is composed of two elements: a piezoelectric layer and a non-piezoelectric layer (i.e, active and passive layers). The...
Article
This paper describes a haptic interface that has a uniform response over the entire human tactile frequency range. Structural mechanics makes it very difficult to implement articulated mechanical systems that can transmit high frequency signals. Here, we separated the frequency range into two frequency bands. The lower band is within the first stru...
Chapter
Direct, manual interaction with the micro/nano scales is not straightforward because the objects at this scale obey unituitive physics. For instance, in ambient conditions at the micro-scale, capillary forces dominate over many other forces.When the scale becomes smaller, Brownian motion becomes pervasive. Haptic interfaces give us the option to br...
Conference Paper
Full-text available
Today, the rapid advance of additive manufacturing, namely 3D printing, gives options and capabilities to simplify the fabrication of three-dimensional complex structures. In fact, such technology brings a real rupture comparing to conventional technologies in terms of design and manufacturing. Taking those advantages, this paper presents the desig...
Conference Paper
This paper presents the design, the static modeling and the performances simulation of a five degrees of freedom precise positioner. Based on piezoelectric stack actuators, the positioner is able to perform high resolution x-y-z linear motions and angular motions about x and about y axes. After presenting the design, the static modeling is carried...
Conference Paper
A new piezoelectric actuator with collocated sensor is designed, modeled and simulated. The structure has three piezoelectric layers where the two external layers serve for the actuation by a convenient application of electrical potentials, and the middle layer serves as the sensor. After presenting the principle of the structure, a model is develo...
Article
Full-text available
Scaled force feedback teleoperation is a promising approach to assist an operator engaged in a microscale task. Several systems were previously described to achieve such purpose, but much room was left for improvement, especially with regard to the specificities of bilateral coupling with very large scaling coefficients. Here, the objective is to r...
Conference Paper
Full-text available
In this paper, the conception and optimization of a new dual-stage haptic device is described. A particular attention is given to the choice of encoder. Compact, consumer grade, but low resolution encoders are particularly used. An issue arising from this particularity is the deterioration of the velocity measurement when Finite Difference method i...
Article
Full-text available
We describe a manually operated, bilateral mechanical scaling instrument that simultaneously magnifies microscopic forces and reduces displacements with quasi-perfect transparency. In contrast with existing micro-teleoperation designs, the system is unconditionally stable for any scaling gains and interaction curves. In the present realization, the...
Conference Paper
Full-text available
Microscale teleoperation with haptic feedback re-quires scaling gains in the order of 10^4 − 10^7 . These high gains impose a trade-off between stability and transparency. Due to the conservative approach used in most designs, transparency is reduced since damping is added to the system to guarantee stability. Starting from the fact that series, ne...
Conference Paper
Full-text available
This paper describes a micro-force sensing device where a H-infinity control scheme is used to actively balance the external force and provide the measurement. The force sensing principle is based on the active control of the electrostatic bipolar actuator (comb-drive) within the sensor. An external load force acts on the sensor and displaces the p...
Conference Paper
Full-text available
This article describes an active force sensor with an accuracy of 0.4 μN over a large range [-400 to 400] μN. The mechanical structure, through a fiber suspension arrangement, provides exactly one degree of freedom. This design allows for a precise displacement sensing by a laser optical lever. The force sensing principle is based on the active con...
Article
Direct user interaction in microrobotics is a challenge because of the scale of treated objects, the complexity of the physical phenomena and the high impact of environmental conditions. Teleoperation in this case is a promising approach to supplement human perception. Its success requires a control scheme guaranteeing transparency and stability, t...
Thesis
Full-text available
Direct user interaction in microrobotics is a challenge because of the scale of treated objects, the complexity of the physical phenomena and the high impact of environmental conditions. Teleoperation in this case is a promising approach to supplement human perception. Its success requires a control scheme guaranteeing transparency and stability, t...
Article
Full-text available
Electromagnetic drives are subjected to an inherent inertia–torque tradeoff that fundamentally limits transparency: the higher the torque, the higher the inertia. We describe a dual-stage design that is not subjected to this tradeoff and that is able to approach perfect transparency for human users. It comprises a large, proximal motor and a small,...
Conference Paper
In this paper, a new control scheme is proposed based on an Extended Kalman Filter (EKF) used as an observer to estimate both state and variable gain of a Hammerstein system. The nonlinear Hammerstein system consists of a static nonlinearity followed by a dynamic linear part, where we consider the static nonlinearity as a variable gain. Then, an ad...

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Projects

Projects (2)
Project
Within the national ANR CODE-Track project, the works in this phd position will consist in exploiting control theory tools in order to optimal and robust design piezoelectric energy harvester to recuperate vibrational energy from natural movement in animals, in particular from flapping wings of birds. The challenge is to maximize the harvested energy within limited space. For that, combined with the theory aspects, 3D structure design is also considered. This permits to maximize the active structure within the limited space.