Mehdi Boukallel

Commissariat à l'Énergie Atomique et aux Énergies Alternatives

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Trends

Author Order

Document Type

Co-Authors

Margarita Anastassova

Commissariat à l'Énergie Atomique et aux Énergies Alternatives

Mathieu Grossard

Commissariat à l'Énergie Atomique et aux Énergies Alternatives

Sylvie Lamy-Perbal

Commissariat à l'Énergie Atomique et aux Énergies Alternatives

Maxence Bobin

University of Zurich

Maxime Girot

Centre d'Études et de Recherches sur les Qualifications

Arnaud Hubert

Centre Hospitalier Universitaire de Rennes

Stéphane Régnier

Institut Systèmes Intelligents et de Robotique

Roba El Khoury Moussa

Commissariat à l'Énergie Atomique et aux Énergies Alternatives

Mehdi Ammi

Université Paris 8

Christine Rotinat-Libersa

Commissariat à l'Énergie Atomique et aux Énergies Alternatives

Cooperative Institutions

Centre National de la Recherche Scientifique

Commissariat à l'Énergie Atomique et aux Énergies Alternatives

CEA LIST

CEA Paris-Saclay - Etablissement de Fontenay-aux-roses

Franche-Comté Électronique Mécanique Thermique et Optique - Sciences et Technologies

Institut Systèmes Intelligents et de Robotique

Sorbonne Université

University of Luxembourg

Université Paris-Saclay

École Nationale Supérieure de Mécanique et des Microtechniques

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Field

Actuation means for the mechanical stimulation of living cells via microelectromechanical systems: A critical review

Journal of Biomechanics (2011)

Denis Desmaële Mehdi Boukallel Stéphane Régnier

Living cell

10.1016/j.jbiomech.2011.02.085

Cite

Citations (56)

Tactile sensing for dexterous in-hand manipulation in robotics—A review

Sensors and Actuators A Physical (2011)

Hanna Yousef Mehdi Boukallel Kaspar Althoefer

Tactile sensor

Robotic hand

10.1016/j.sna.2011.02.038

Cite

Citations (707)

Dual-Stage Attention-Based model for rehabilitation activity recognition using data from wearable sensors

IEEE Internet of Things Journal (2024)

Youness El Marhraoui Oumaïma Bounhar Mehdi Boukallel Margarita Anastassova Stéphane Bouilland

10.1109/jiot.2024.3519225

Cite

Citations (0)

Optimal observability-based modelling, design and characterization of piezoelectric microactuators

Smart Materials and Structures (2013)

Roba El Khoury Moussa Mathieu Grossard Mehdi Boukallel Arnaud Hubert Nicolas Chaillet

This paper deals with the optimal design of monolithic piezoelectric microactuators with integrated proprioceptive sensors.Dedicated to the microrobotic and micromechatronic elds, these works detail the modelling and the characterization of compliant structures with integrated actuating and sensing elements.The proposed optimal design procedure adresses not only static criteria but also dynamic ones.This leads to microdevices which are more performant with regards to mechanical (displacement, force...) and control (dynamics, stability, precision) characteristics.Ecient design of such devices is achieved using a exible building block method.A topological optimization method combined with an evolutionary algorithm is used to optimize the design of truss-like planar structure.This method chooses the best location among the dierent piezoelectric elements.Dierent mechanical, actuation or sensing elements are accordingly chosen from a data bank.From the control point of view, optimisation criteria are considered to enforce the observability of the vibrational dominant modes of the structure.Therefore, control and observation Gramians are exploited in the optimal design to shape the open loop frequency response of both, actuation and sensing functions of the integrated device.In the last part of the paper, based on these results, the optimal design and manufacturing of an innovative piezoelectric exible microgripper is proposed.The prototype is manufactured from a monolithic piezoelectric material (PIC 151).Its reduced size (15 mm x 18 mm) ts the requirement of both microrobotics and micromechatronics applications, which is suitable for micromanipulation tasks.The characterization and the performance of this integrated microactuator nally close the paper and the eciency of the optimal design procedure for micromechatronics applications is shown.

Observability

Microactuator

Optimal design

Characterization

Integrated design

10.1088/0964-1726/22/7/075036

Cite

Citations (5)

A case study on sensors and techniques for pedestrian inertial navigation

Alexandre Patarot Mehdi Boukallel Sylvie Lamy-Perbal

The interest in location based services is growing in several applications. The literature exhibits a wide spectrum of technology to complement the well-knwon limitations of satellite based positioning systems in constrained environments such as indoors or urban canyons. This paper focuses on inertial sensors and systems to locate pedestrians indoor without infrastructure. The theoretical background of a recently developped belt-mounted inertial navigation system (INS) is carefully depicted here. The approach aims to facilitate the equipment and the mobility of the users while maintaining repeatable performance. Therefore, a comparison of the performance in realistic conditions is carried out between foot-mounted and belt-mounted techniques given an inertial measurement unit (IMU) commercialized by XSens. Then, this commercial IMU and an IMU based on ADXL345 and ITG3200 were compared, given the belt-mounted algorithm, in terms of positioning performance. The results, supported by dozens of experiments involving different participants, show that the belt-mounted technique is as efficient as the foot-mounted one since the average error in position is less than 2% of the travelled distance about 200m. Whereas their costs are very different, the commercial and the integrated IMU reach a similar accuracy. The belt-mounted device achieve repeatable and efficient pedestrian indoor positioning in real-time with low-cost inertial sensors.

Units of measurement

Dead reckoning

Position (finance)

10.1109/isiss.2014.6782527

Cite

Citations (17)

A new topological optimization method for the mechanical and control-oriented design of compliant piezoelectric devices.

HAL (Le Centre pour la Communication Scientifique Directe) (2009)

Mathieu Grossard Christine Rotinat-Libersa Mehdi Boukallel Nicolas Chaillet

This paper presents a new method developed for the optimal design of piezoactive compliant mechanisms. It is based on a flexible building blocks method, called FlexIn, which uses an evolutionary approach, to optimize a truss-like structure made of passive and active piezoelectric buiding blocks. An electromechanical approach, based on a mixed finite element method, is used to establish the model of the piezoelectric block. A planar monolithic compliant micro-actuator is synthesized by the optimization method, based on the specifications drawn from both mechanical and innovative control-oriented considerations. In particular, these last criteria have been drawn here to optimize modal controllability and observability of the system, which is particularly interesting when considering identification and control of flexible structures.

Observability

Topology optimization

Source

Cite

Citations (0)

ANR-CPLAY : Outil de rééducation fonctionnelle du membre supérieur pour l'enfant atteint de paralysie cérébrale et troubles afférents

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

Youness El Marhraoui Hamdi Amroun Mehdi Boukallel S. Bouchigny Sabrina Panëels

Source

Cite

Citations (0)

Modeling and control of a piezoelectric microactuator with proprioceptive sensing capabilities

Mechatronics (2014)

Roba El Khoury Moussa Mathieu Grossard Mehdi Boukallel Arnaud Hubert Nicolas Chaillet

Observability

Microactuator

Observer (physics)

10.1016/j.mechatronics.2013.12.002

Cite

Citations (13)

Force feedback in micro-manipulation and single cell applications

HAL (Le Centre pour la Communication Scientifique Directe) (2006)

Sinan Haliyo Mehdi Boukallel Jean-Claude Régnier

Source

Cite

Citations (0)

Towards a non-destructive in vitro biomechanical characterization

Maxime Girot Mehdi Boukallel Stéphane Régnier

This paper presents a fully automated micro-robotic system based on force/vision referenced control designed for cell mechanical characterization. The design of the prototype combines Scanning Probe Microscopy (SPM) techniques with advanced robotics approaches. As a result, accurate and non-destructive mechanical characterization based on soft contact interactions mechanics are achieved. The in vitro working conditions are supported by the experimental setup so that mechanical characterizations can be performed in biological environmental requirements as well as in cyclical operating mode during several hours. The design and calibration of the different modules which compose the experimental setup are detailed. Experimentation on the mechanical cell characterization under in vitro conditions on human adherent cervix Epithelial Hela cells are presented to demonstrate the viability and effectiveness of the proposed setup

Characterization

Soft Robotics

10.1109/bmn.2006.330935

Cite

Citations (4)