Supervisions

David Folio

David FOLIO’s research work was carried out with the contributions of young researchers whose names are reported here.

I had directly supervised 5 Master (M2) and 6 PhD students. In addition, I also had the opportunity to follow the research works of 3 externals doctoral students. These different students are listed hereafter, as well as the joint publications.

On going

Karim Botros

Date: 04/2021 – 03/2024
Title: Magnetic Micro-robotic Platform Guided by Robotic Ultrasound for Brain Tumor Targeting. Thesis of INSA Centre Val de Loire
References: [1], [5]

Previous supervisions

Doctoral students

Ruipeng Chen

Date: 11/2016 – 07/2020
Title: Design Methodology for Electromagnetic Microrobotic Platforms. Thesis of INSA Centre Val de Loire.
Supervision: 50% with Prof. Antoine Ferreira
References: [2]–[4], [7]–[10]
Situation: Post Doctorate, INSA Centre Val de Loire, Bourges, France.

Lyès Mellal

Date: 10/2013 – 12/2016
Title: Modélisation et commande de microrobots magnétiques pour le traitement ciblé du cancer. Thesis of university of Orléans.
Supervision: 40% with Prof. Antoine Ferreira (30%) and Karim Belharet (30%)
References: [6], [12], [13], [15], [17]–[20]
Situation: Associate Professor INSA Centre Val de Loire, France

Nabil Amari

Date: 10/2011 – 07/2016
Title: Développement et Commande d’une Plateforme Microrobotique pour la Synchronisation d’un Faisceau de Lumière. Thesis of university of Orléans
Supervision: 30% with Prof. Antoine Ferreira
References: [16], [22]–[24], [28], [29]
Situation: Associate Professor HEI, Châteauroux, France

Karim Belharet

Date: 10/2009 – 07/2013
Title: Navigation prédictive d’un microrobot magnétique : Instrumentation, commande et validation. Thesis of university of Orléans
Supervision: 50% with Prof. Antoine Ferreira
References: [25]–[27], [30]–[37]
Situation: Associate Professor HEI, Châteauroux, France

Tao Li

Date: 03/2009 – 02/2013
Title: Commande d’un robot de télé-échographie par asservissement visuel. Thesis of university of Rennes 1
Supervision: 37.5% with Prof. Pierre Vieyres (12.5%), François Chaumette (12.5%) and Alexandre Krupa (37.5%)
References: [14]
Situation: Engineer at Another Brain, Paris, France

Master students (M2)

Oumarou HABOU SOULE

Date: 03/2019 – 09/2019
Title: Suivi de Microrobot par Imagerie Echographique

Hadjila Mahfoufi

Date: 03/2018 – 08/2018
Title: Modélisation, Simulation et Commande de Microrobot Catalytique
Situation: Engineer at Alstom, Paris, France

Bruno Sarkis

Date: 03/2015 – 08/2015
Title: Modélisation des microjets catalytiques dans des canaux micro-fluidiques
References: [11], [21]

Nabil Amari

Date: 03/2011 – 08/2011
Title: Modélisation et Commande d’une plateforme de nano positionnement
Situation: Associate Professor HEI, Châteauroux, France

Kamel Ncir

Date: 03/2010 – 08/2010
Title: Commande robuste pour le nano-positionnement d’une plateforme instrumentale.
Situation: Technician at Jubilant HollisterStier LLC, Montréal, Québec, Canada

References

[1]

Botros K., Alkhatib M., Folio D., and Ferreira A., “USMicroMagSet: Using deep learning analysis to benchmark the performance of microrobots in ultrasound images,” IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3254–3261, June 2023. doi:10.1109/LRA.2023.3264746

[2]

Chen R., Folio D., and Ferreira A., “Optimal design of a multipole-electromagnet robotic platform for ophthalmic surgery,” Micromachines, from Recent Advances in Microrobotics, vol. 14, no. 1, p. 91, December 2022. doi:10.3390/mi14010091

[3]

Chen R. and Folio D., “Electromagnetic actuation microrobotic systems,” Current Robotics Reports, from Nanorobotics and Microrobotics, vol. 3, no. 3, pp. 119–126, September 2022. doi:10.1007/s43154-022-00081-w

[4]

Chen R., Folio D., and Ferreira A., “Analysis and Comparison of Electromagnetic Microrobotic Platforms for Biomedical Applications,” Applied Sciences, from Micro-Robotics, vol. 12, no. 1, p. 456, January 2022. doi:10.3390/app12010456

[5]

Botros K., Alkhatib M., Folio D., and FERREIRA A., “Fully automatic and real-time microrobot detection and tracking based on ultrasound imaging using deep learning,” in IEEE Conference on Robotics and Automation (ICRA), 2022. doi:10.1109/icra46639.2022.9812114

[6]

Mellal L., Folio D., Belharet K., and Ferreira A., “Modeling and characterization of deformable soft magnetic microrobot for targeted therapy,” IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 8293–8300, October 2021. doi:10.1109/lra.2021.3107102

[7]

Chen R., Folio D., and Ferreira A., “Mathematical approach for the design configuration of magnetic system with multiple electromagnets,” Robotics and Autonomous Systems, vol. 135, p. 103674, January 2021. doi:10.1016/j.robot.2020.103674

[8]

Chen R., Folio D., and Ferreira A., “Computational electromagnetics performances of magnetic microrobotics systems,” in IEEE International Conference on Computational Electromagnetics (ICCEM’2019), 2019, pp. 1–3. doi:10.1109/compem.2019.8778897

[9]

Chen R., Folio D., and Ferreira A., “Performance metrics for a robotic actuation system using static and mobile electromagnets,” in International Conference on Robotics and Automation (ICRA’2019), 2019, pp. 2474–2480. doi:10.1109/ICRA.2019.8794092

[10]

Chen R., Folio D., and Ferreira A., “Study of robotized electromagnetic actuation system for magnetic microrobots devoted to minimally invasive ophthalmic surgery,” in International Symposium on Medical Robotics (ISMR’2019), 2019, pp. 1–7. doi:10.1109/ISMR.2019.8710208

[11]

Sarkis B., Folio D., and Ferreira A., “Catalytic tubular microjet navigating in confined microfluidic channels: Modeling and optimization,” Journal of Microelectromechanical Systems, vol. 27, no. 2, pp. 333–343, April 2018. doi:10.1109/JMEMS.2018.2803803

[12]

Mellal L., Folio D., Belharet K., and Ferreira A., “Modeling approach of transcatheter arterial delivery of drug-loaded magnetic nanoparticles,” in The Encyclopedia of Medical Robotics, WORLD SCIENTIFIC, 2018, pp. 207–229. doi:10.1142/9789813232280_0010

[13]

Mellal L., Folio D., Belharet K., and Ferreira A., “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), 2017, pp. 1–6. doi:10.1109/MARSS.2017.8001917

[14]

Krupa A., Folio D., Novales C., Vieyres P., and Li T., “Robotized tele-echography: An assisting visibility tool to support expert diagnostic,” IEEE Systems Journal, vol. 10, no. 3, pp. 974–983, September 2016. doi:10.1109/jsyst.2014.2314773

[15]

Mellal L., Folio D., Belharet K., and Ferreira A., “Modeling of optimal targeted therapies using drug-loaded magnetic nanoparticles for liver cancer,” IEEE Transactions on NanoBioscience, vol. 15, no. 3, pp. 265–274, May 2016. doi:10.1109/tnb.2016.2535380

[16]

Amari N., Folio D., and Ferreira A., “Nanorobotics for synchrotron radiation applications,” in Encyclopedia of Nanotechnology, Second., B. Bhushan, Ed. Dordrecht: Springer Netherlands, 2016, pp. 1–19. doi:10.1007/978-94-007-6178-1009270-1

[17]

Mellal L., Folio D., Belharet K., and Ferreira A., “Optimal control of multiple magnetic microbeads navigating in microfluidic channels,” in IEEE International Conference on Robotics and Automation (ICRA’2016), 2016, pp. 1921–1926. doi:10.1109/icra.2016.7487338

[18]

Mellal L., Folio D., Belharet K., and Ferreira A., “Estimation of interaction forces between two magnetic bolus-like microrobots,” in International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS’2016), 2016, pp. 1–6. doi:10.1109/marss.2016.7561740

[19]

Mellal L., Belharet K., Folio D., and Ferreira A., “Optimal Structure of Particles-Based Superparamagnetic Microrobots: Application to MRI guided targeted drug therapy,” Journal of Nanoparticle Research, vol. 17, no. 2, pp. 1–18, January 2015. doi:10.1007/s11051-014-2733-3

[20]

Mellal L., Folio D., Belharet K., and Ferreira A., “Magnetic microbot design framework for antiangiogenic tumor therapy,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2015), 2015, pp. 1397–1402. doi:10.1109/IROS.2015.7353550

[21]

Sarkis B., Folio D., and Ferreira A., “Catalytic tubular microjet propulsion model for endovascular navigation,” in IEEE International Conference on Robotics and Automation (ICRA’2015), 2015, pp. 3537–3542. doi:10.1109/ICRA.2015.7139689

[22]

Amari N., Folio D., and Ferreira A., “Motion of a micro/nanomanipulator using a laser beam tracking system,” International Journal of Optomechatronics, vol. 8, no. 1, pp. 30–46, May 2014. doi:10.1080/15599612.2014.890813

[23]

Amari N., Folio D., and Ferreira A., “Robust tracking of a two-fingered micromanipulation system working through the focus of an optical beam,” in American Control Conference (ACC’2014), 2014, pp. 1613–1618. doi:10.1109/acc.2014.6859244

[24]

Amari N., Folio D., and Ferreira A., “Robust nanomanipulation control based on laser beam feedback,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2014), 2014, pp. 4674–4679. doi:10.1109/iros.2014.6943226

[25]

Belharet K., Folio D., and Ferreira A., “Vision-based force sensing of a magnetic microrobot in a viscous flow,” in IEEE International Conference on Robotics and Automation (ICRA’2014), 2014, pp. 2065–2070. doi:10.1109/icra.2014.6907133

[26]

Belharet K., Folio D., and Ferreira A., “Study on rotational and unclogging motions of magnetic chain-like microrobot,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2014), 2014, pp. 834–839. doi:10.1109/iros.2014.6942656

[27]

Belharet K., Folio D., and Ferreira A., “Simulation and planning of a magnetically actuated microrobot navigating in arteries,” IEEE Transactions on Biomedical Engineering, vol. 60, no. 4, pp. 994–1001, April 2013. doi:10.1109/TBME.2012.2236092

[28]

Amari N., Folio D., Belharet K., and Ferreira A., “Motion of a Micro/Nanomanipulator using a laser beam tracking system,” in International Symposium on Optomechatronic Technologies (ISOT’2013), 2013. doi:10.1080/15599612.2014.890813

[29]

Amari N., Folio D., and Ferreira A., “Robust laser beam tracking control using Micro/Nano dual-stage manipulators,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2013), 2013, pp. 1543–1548. doi:10.1109/IROS.2013.6696554

[30]

Belharet K., Chunbo Y., Folio D., and Ferreira A., “Model characterization of magnetic microrobot navigating in viscous environment,” in International Symposium on Optomechatronic Technologies (ISOT’2013), 2013.

[31]

Belharet K., Folio D., and Ferreira A., “Real-time software platform for in vivo navigation of magnetic micro-carriers using MRI system,” in Medical Robotics: Minimally Invasive Surgery, from Biomaterials, P. Gomes, Ed. Cambridge: Woodhead Publishing, 2012.

[32]

Belharet K., Folio D., and Ferreira A., “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), 2012, pp. 2559–2564. doi:10.1109/IROS.2012.6386030

[33]

Belharet K., Folio D., and Ferreira A., “Untethered microrobot control in fluidic environment using magnetic gradients,” in International Symposium on Optomechatronic Technologies (ISOT’2012), 2012, pp. 1–5. doi:10.1109/isot.2012.6403290

[34]

Belharet K., Folio D., and Ferreira A., “Three-dimensional controlled motion of a microrobot using magnetic gradients,” Advanced Robotics, vol. 25, no. 8, pp. 1069–1083, January 2011. doi:10.1163/016918611X568657

[35]

Belharet K., Folio D., and Ferreira A., “MRI-Based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules,” Minimally Invasive Therapy & Allied Technologies, vol. 19, no. 3, pp. 157–169, June 2010. doi:10.3109/13645706.2010.481402

[36]

Belharet K., Folio D., and Ferreira A., “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), 2010, pp. 808–813. doi:10.1109/biorob.2010.5628063

[37]

Belharet K., Folio D., and Ferreira A., “Endovascular navigation of a ferromagnetic microrobot using MRI-Based predictive control,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2010), 2010, pp. 2804–2809. doi:10.1109/IROS.2010.5650803

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