Cedric Clevy - Academia.edu (original) (raw)

Papers by Cedric Clevy

HAL (Le Centre pour la Communication Scientifique Directe), Oct 11, 2018

International audienc

Recently, high resolution visual methods based on direct-phase measurement of periodic patterns h... more Recently, high resolution visual methods based on direct-phase measurement of periodic patterns has been proposed with successful applications to microrobotics. This paper proposes a new implementation of direct-phase measurement methods to achieve 3-DoF (degrees of freedom) visual servoing. The proposed algorithm relies on a single frequency tracking rather than a complete 2D discrete Fourier transform that was required in previous works. The method does not require any calibration step and has many advantages such as high subpixelic resolution, high robustness and short computation time. Several experimental validations (in favorable and unfavorable conditions of use) were performed using a XYθ microrobotic platform. The obtained results demonstrate the efficiency of the frequency-based controller, this in term of accuracy (micrometric error), convergence rate (30 iterations in nominal conditions) and robustness.

Lithium niobate (LiN bO3) microresonators have attracted much interest over the last decade, due ... more Lithium niobate (LiN bO3) microresonators have attracted much interest over the last decade, due to the electrooptical, acousto-optic and non-linear properties of the material, that can advantageously be employed in combination with thin resonances of optical microcavities for applications as varied as integrated gyrometers, spectrometers or dynamic filters. However the integration of micrometer scale cavities with an input/output waveguide is still a critical issue. Here we propose an innovative approach, allowing low insertion losses and easy pigtailing with SMF fibers. The approach consists in producing and optimizing separately a membrane-based LiNbO3 waveguide with Spot-Size Converters, and a thin microdisk. The two elements are dynamically assembled and fixed in a second step. Additionally to the proposed integrated microresonator, this approach opens the way to the production of 3D hybrid photonic systems.

HAL (Le Centre pour la Communication Scientifique Directe), May 17, 2021

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Composites Part A-applied Science and Manufacturing, Aug 1, 2022

HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific re... more HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

Advanced micro & nanosystems, Nov 25, 2015

$Research paper thumbnail of Measurement of microfibril angle in plant fibres: Comparison between X-ray diffraction, second harmonic generation and transmission ellipsometry microscopies$

Composites Part C: Open Access, Jul 1, 2023

Kluwer Academic Publishers eBooks, Aug 16, 2006

This paper presents the design, fabrication and characterization of a device able to exchange the... more This paper presents the design, fabrication and characterization of a device able to exchange the tip part (so-called the tools) of a two fingered microgripper. The principle of this tool changer is based on the use of a thermal glue whose state (liquid or solid) is changed by heating or cooling. Several kinds of pairs of tools have been designed. The suitable pair of tools can be chosen according to the size, shape and material of the object to manipulate. The tool changer enables one to perform a sequence of elementary micromanipulation tasks (i.e. an assembly sequence) by using only one gripper mounted on only one manipulator. The tool changer has been automated and successfully tested in air and in the vacuum chamber of a Scanning Electron Microscope (SEM). It brings flexibility to the micromanipulation cell and contributes to reduce the costs, the used space and experimentations time for micromanipulations in the SEM. The assembly of a ball bearing (the balls are 200 pm in diameter) has been successfully tested using the microgripper equipped with the tool changer in a SEM. This tool changer has been designed for a microgripper but can be easily adapted to lots of other kinds of systems.

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

HAL (Le Centre pour la Communication Scientifique Directe), 2021

La microrobotique est un secteur en plein developpement, dont les technologies sont maintenant su... more La microrobotique est un secteur en plein developpement, dont les technologies sont maintenant suffisamment matures pour etre utilisees dans un certain nombre de domaines comme la biologie, l'instrumentation, la medecine, la micromecanique ou les microsystemes. Cet article montre comment des performances jusque-la inaccessibles avec les techniques classiques sont atteintes par la microrobotique qui permet notamment la manipulation d'objets plus petits, biologiques ou artificiels, de maniere plus rapide et avec une meilleure precision. Cet article decrit brievement les techniques de manipulation les plus utilisees, qu'elles soient avec contact comme des micropinces ou utilisant des champs de force a distance comme des forces magnetiques, et dresse un panorama des applications de la microrobotique.

We report on a LiNbO3 microresonator integrated in a low-loss free-suspended waveguide. The photo... more We report on a LiNbO3 microresonator integrated in a low-loss free-suspended waveguide. The photonic elements are made by optical-grade dicing, and are assembled dynamically. This method opens the way to new 3D photonic architectures.

HAL (Le Centre pour la Communication Scientifique Directe), Jul 11, 2012

Accuracy is very important criterion for micromanipulation systems, especially for microassembly.... more Accuracy is very important criterion for micromanipulation systems, especially for microassembly. In this paper, we propose a full procedure of kinematic calibration and validation for XY Θ micropositioners, which are used as coarse positioning in our microassembly platform. Based on vision, two methods (self-calibration and classical calibration) are presented, implemented, tested and compared. The differential evolution (DE) algorithm is applied to identify the kinematic parameters. After calibrations, we perform tests of accuracy and repeatability through controlling the micropositioners via inverse kinematics.

International Journal of Optomechatronics, Jul 25, 2015

Microassembly is an innovative alternative to the microfabrication process of MOEMS which is quit... more Microassembly is an innovative alternative to the microfabrication process of MOEMS which is quite complex. It usually implies the use of microrobots controlled by an operator. The reliability of this approach has been already confirmed for the micro-optical technologies. However, the characterization of assemblies has shown that the operator is the main source of inaccuracies in the teleoperated microassembly. Therefore, there is a great interest in automating the microassembly process. One of the constraints of automation in microscale is the lack of high precision sensors capable to provide the full information about the object position. Thus, the usage of visual-based feedback represents a very promising approach allowing to automate the microassembly process. The purpose of this paper is to characterize the techniques of object position estimation based on the visual data, i.e. visual tracking techniques from the ViSP library. These algorithms allows to get the 3D object pose using a single view of the scene and the CAD model of the object. The performance of three main types of model-based trackers is analyzed and quantified: edge-based, texture-based and hybrid tracker. The problems of visual tracking in microscale are discussed. The control of the micromanipulation station used in the framework of our project is performed using a new Simulink block set. Experimental results are shown and demonstrate the possibility to obtain the repeatability below 1 µm.

HAL (Le Centre pour la Communication Scientifique Directe), 2023

$Research paper thumbnail of Automating Robotic Micro-Assembly of Fluidic Chips and Single Fiber Compression Tests Based-on <math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>X</mi><mi>Y</mi><mi mathvariant="normal">Θ</mi></mrow><annotation encoding="application/x-tex">XY\Theta</annotation></semantics></math>XYΘ Visual Measurement With High-Precision Fiducial Markers$

IEEE Transactions on Automation Science and Engineering, 2022

Using pseudo-periodic patterns on the observed target releases usual computervision constraints b... more Using pseudo-periodic patterns on the observed target releases usual computervision constraints by allowing subpixelic resolutions together with supra field-of-observation absolute measurement ranges. The allowed range of working distances is also tremendously extended using digital holography.

This paper studies the fabrication of hybrid microcomponents through automated robotic microassem... more This paper studies the fabrication of hybrid microcomponents through automated robotic microassembly. The robotic station used for the microassembly is presented in this paper and its use for the assembly of flexible optical microcomponents is done as a case study. Fully automated microassembly is done for better repeatability and accuracy of the tasks and to reduce the time cycle. For this reason, two complementary techniques are proposed and presented in this paper. The first technique consists of automated manipulation and insertion tasks using stereovision CAD-model based visual tracking. The second technique has been performed using hybrid force/position control and enable to perform grasping, guiding and releasing tasks in less than 1 s despite microscale specificities. These specificities are mainly manifested by the predominance of surface forces, the difficulty of integration sensors at this scale, the very small inertia of microcomponents and their high dynamics and the lack of precise models.

HAL (Le Centre pour la Communication Scientifique Directe), May 30, 2021

HAL (Le Centre pour la Communication Scientifique Directe), Jul 12, 2021