Research

Research Topics

My research topics...

Robotics

Haptic Systems for Hands-on Training

This research topic has started since early 2011 at AMPERE laboratory.

From Medical Gesture Training to its Assesment

Présentation, lors de la journée scientifique GT1 Robotique et Santé/LABEX CAMI le 9 décembre 2015 à Montpellier: "From Medical gesture Training to its Assesment" des travaux de recherche de l'équipe Robotique Médicale du laboratoire Ampère (INSA de Lyon, CNRS UMR 5005).
"From Medical gesture Training to its Assesment": introduction to research works performed by Medical Robotics team of Ampere research laboratory (located in Lyon, France) during scientific days of french Workgroup Robotics and Health on Dec. 9th, 2015 in Montpellier, France

Robotics Events

Here is a list of Robotics events I intervened or participated in the organization:

28e Entretiens Jacques Cartier - Robotique, Services et Santé

http://colloque-robot.sciencesconf.org/

Synthèse d'une partie du colloque par l'ARDI Rhône Alpes: "Robotique et objets connectés aux Entretiens Jacques Cartier 2015"

Sous l'impulsion du Centre Jacques Cartier, l'INSA Lyon et l'Université Lyon 1, à travers les laboratoires de recherche Ampère, CITI et INL, co-organisent, dans le cadre des 28e entretiens Jacques Cartier, un colloque franco-québécois sur le thème de la Robotique, des Services et de la Santé. Ce colloque se tiendra le lundi 30 novembre et le mardi 1er décembre 2015 dans l’amphithéâtre Émilie de Chatelet à la bibliothèque Marie Curie à l'INSA de Lyon, à Villeurbanne.

Ce colloque abordera trois thématiques :

Robotique de service et interaction en environnement complexe ;
Habitat intelligent en santé ;
Apprentissage et aide au geste pour le personnel médical.

L'objectif de ce colloque est de présenter les avancées de la robotique dans le domaine de l'assistance à la personne et de la santé. Les interventions dans ces thématiques de recherche complémentaires illustreront l'avancée de la robotique au service des personnes, dans différents contextes : le domicile, l'environnement urbain, l'hôpital. Cette complémentarité a pour objectif d'établir des ponts entre les différents acteurs de la robotique centrés sur leurs problématiques.

Les présentations feront intervenir à la fois des praticiens de la santé, pour témoigner des besoins et des avancées dans ce domaine ; des industriels, qui présenteront l’état actuel du marché ainsi que ses perspectives à court terme ; et enfin des chercheurs, pour mettre en lumière les verrous scientifiques dorénavant ouverts, ainsi que les recherches en cours et les avancées qu’elles permettent de prévoir à long terme.

Chaque présentation laissera le temps à des échanges ; nous avons la volonté de créer un colloque interactif et favoriser ainsi les prises de contact entre universitaires, praticiens, industriels et également de rapprocher les équipes françaises et canadiennes.

It was Innorobo 2013 !

Robotics Projects

Here are some Robotics projects I worked for:

2008-2011 PROSIT : Tele-echography Project

I participated to PROSIT ANR project with Philippe Fraisse and Robin Passama from LIRMM on a Work Package consisting in providing a real-time software framework for teleoperation.


PROSIT aimed at developing a light-weight and dedicated multi-DOF robotic system usable for a tele-echography diagnostic application. PROSIT was a 36-month project. It was sponsored by the french Research National Agency (ANR) and coordinated by university of Orleans and its PRISME institute pioneer of the robotised tele-echography application. The objectives were to characterize and integrate a master-slave platform dedicated to a medical ultrasound application, to provide the end-users interactive functionalities for a full deployment of the robotised tele-echography service throughout the medical national & international networks.

2011-2013 Decortiquemax: Pneumatic Robot to work inside a MRI tunnel

I participated to the preparation and the realization of the project Decortiquemax (collaboration with LIRMM and iCube) which was granted by CNRS INSIS (PEPS 2011).

The objective was to study a pneumatic actuation for a robot inserting needles in a MRI environment.

This project led to a communication [BRY 13] and is now suspended.

It implied 6 researchers and 2 students of Master of Research.

2012-2015 INTELO: RObotic Inspection of Train and Road Bridges

INTELO means "INspection TElévisuelle des Ouvrages": Remote Inspection of train and road bridges.
It was a project co-founded by Région Auvergne Rhône Alpes with European funds (FEDER).
It involved the firms

2013- ... SoHappy: Remote Echography Pneumatic Haptic Interface

In 2013, with the help of the PRISME institute, we obtained a grant from CNRS INSIS to design and prototype an haptic interface looking as a traditionnal ultra-sound probe in order to remotely control the remote Echography Robot developed during the PROSIT project. The originality of this system is to use a pneumatic actuator to render the haptic feedback from the real robot applying a real US probe on a patient's skin.
This project has led to several prototypes and is still running today.
6 researchers have worked on this project since the beginning, 1 student applied for a master of research and one student followed an engineer internship on this topic in 2016 (see F. Gatwaza 2016).

2013-2016 SAGA: Simulator for the Hands-on Training of Birth Gestures

I participated to the work-package "Haptic System" of the SAGA project, granted by the ANR, 2012 Numerical Models program.
It consisted in designing and prototyping a birth simulator with the foetus head moving out with several degrees of freedom according to a real-time numerical model computing the parturient-foetus interactions.

2015-... PERISIM: Simulator of Epidural Needle Insertion

Research Project
Objective: Study, Design and Prototyping of an Epidural Anaesthesia Simulator

Keywords: Haptics, Hands-on Training, Simulation, Anaesthetics, Medical Robotics

Students: Pierre-Jean ALES-ROUX (MSc 2015), Thibaut SENAC (MSc 2016) and (PhD)

In collaboration with: Richard MOREAU

Period: 2015-2019

Financed by IDEFI SAMSEI

Communications:

  • Pierre-Jean Alès Roux, Nicolas Herzig, Arnaud Lelevé, Richard Moreau, Christian Bauer. 3D Haptic Rendering of Tissues for Epidural Needle Insertion using an Electro-Pneumatic 7 Degrees of Freedom Device. Oct 2016, Daejeon, South Korea. IEEE, 2016, Proc. of the IEEE International Conference on Intelligent Robots and Systems.. hal-01340723
  • Thibaut Senac, Arnaud Lelevé, Richard Moreau. Control laws for pneumatic cylinder in order to emulate the Loss Of Resistance principle. IFAC 2017 World Congress, Jul 2017, Toulouse, France. IFAC, 2017, Proc. of the 20th World Congress of the International Federation of Automatic Control. hal-01506823

2016-2020 Sparte

Research Project
Objective: Study, Design and Prototyping of a training simulator for needle insertion under ultrasonography in Rheumatology

Keywords: Haptics, Hands-on Training, Simulation, Rheumatology, Medical Robotics, Needle Insertion, Ultrasonography

In collaboration with: Richard MOREAU

Financed by IDEFI SAMSEI

Period: 2015-2019

2015-2017 LAPAROSim : training simulator for basic laparoscopic gesture training

Research Project
Objective: Study, design and prototyping of a training simulator to basic gestures in Laparoscopy

Keywords: Haptics, Hands-on Training, Simulation, Laparoscopy, Medical Robotics, Gesture, Objective Assessment

In collaboration with: Richard MOREAU

Period: 2015-2017

Financed by IDEFI SAMSEI

Students: Oscar PIVARD (Final Year Project 2016) and Charles BARNOUIN (MSc).

Communication:
Charles Barnouin, Benjamin De Witte, Richard Moreau, Arnaud Lelevé, Xavier Martin. Cost-Efficient Laparoscopic Haptic Trainer based on Affine Velocity Analysis. Surgetica 2017, Nov 2017, Strasbourg, France. 2017, hal-01563262

2016-... RACES : Robot Assisted Catheterization in Endovascular Surgery

2017-2020 Green Shield : Pesticide Free Robotized Pest Control in Agriculture

This project has just been granted by ANR. It officially starts in October 2017.
It involves Ampère, BF2I, FEMTO-ST and INL laboratories and Green Shield Technology (GST) start-up.
It aims at designing and prototyping a mobile robot to detect and kill pests in fields during 42 months.

The use of pesticides appears natural and exclusive to us because our civilization has relied on them since antiquity. Pest damage results in economic production losses to the agricultural industry, estimated from 28 to 50% (in Africa and Asia) of annual productions. Therefore, the European Union uses approximately 360 million kg of pesticides per year for
agricultural and horticultural tasks. However, pesticide application methods are inefficient (only 0.3% of sprayed pesticides from aerial application comes in contact with the target pest). All this led to alarming consequences in public health, the environment, and economically. In 2003, environmental and economic costs associated with pesticide use were
estimated to total approximately 10 billion dollars per year in the US.
In its “Ecophyto” plan, French government has decided to reduce by 50% the use of pesticides by 2018. Unfortunately, alternatives to pesticides being too scarce, the objective has been postponed to 2025. So far, no purely technological and versatile method has been developed to replace pesticides. Detection techniques still do not take advantage of spectral techniques to detect pests (they detect sick plants, so too late). For instance, in 2012, some robots have collaborated with humans in vineyards to decide where to spray with various levels of autonomy. Results showed 90% accuracy of grape cluster detection leading to 30% reduction in the use of pesticides [1] . Some studies introduce ways to detect pests on leaves
with a camera, but due to the challenges of on-site detection, most of them relied on scanning under highly controlled light conditions.

Greenshield Project aims at reducing the use of pesticides by developing a robotic module to be embedded on a terrestrial vehicle (mobile robot, farming tractor, ...) to fight against crop pests (invertebrates, diseases, weeds). This module will autonomously detect pests and destroy them with a laser. When mounted on mobile robots patrolling
through crop fields, it will scan the plants and collect accurate data regarding pests that will be used to optimize the action of robots. This new means of fighting will settle a new sustainable paradigm of pest control to better combat them.

In this project, the method of targeting pests for detection and destruction has been patented by the firm Green Shield Technology which will industrialize the results of this project.

External information:

Telerobotics

History

This activity started in 1996 :

This research activity drastically slowed down between 2001 and 2011 as I was working on E-Laboratories in ICTT and afterwards in LIESP laboratories, both dealing with e-learning research topics.

Since early 2011, this topic is restarting at AMPERE laboratory and in collaboration with LIRMM robotics team.

Introduction to teleoperation

There are situations when firms or laboratories have to resort to remote manipulation. Such cases appear when dangerous objects have to be handled [1] or/and when the environment is too aggressive for humans. Typical applications belong to the nuclear domain (for instance in the dismantling of a nuclear plant), deep-sea domain (work on underwater structures of oil rigs) and spatial domain (exploration of distant planets).

Teleoperation has the supplementary advantage of giving the possibility of sharing an experiment between several operators located in distinct places. This way, heavy outdoor experimentations could be easily shared between several laboratories and costs could be reduced as much. However, long distance control of a remote system requires the use of different transmission media which causes two main technical problems in teleoperation: limited bandwidth and transmission delays due to the propagation, packetisation and many other events digital links may inflict on data [2]. Moreover bandwidth and delays may vary according to events occurring all along the transmission lines. In acoustic transmission, round-trip delays greater than 10s and bit-rates smaller than 10kbits/s are common.

These technical constraints result in one hand in difficulties for the operator to securely control the remote system and, in the other hand, make classical controls unstable. Many researches have proposed solutions when delays are small or constant (for instance [3]), but when delays go beyond a few seconds and vary a lot as over long distances asynchronous links, solutions not based on teleprogramation [4] are fewer because such delays make master and slave asynchronous and the control unstable.

Work done

We worked on a low-level teleoperation technique when transmissions go through asynchronous computer networks such as local IP networks and the Internet when necessary. This architecture provides constant delays and synchronous data transmission when network delays have jitter. It also features a prediction/estimation function located on the master in order to compensate for delayed feedback. As soon as this low level layer gets into steady state, an higher level teleoperation scheme can be used (Position Error Based, 4 channel, wave transformations, ... ) such as in [3].

This work has been applied on an enhanced mobile manipulator (see [1])

A small piece of bibliography related to this topic

  1. A. LELEVÉ, P. FRAISSE, P. DAUCHEZ & F. PIERROT, "An enhanced mobile manipulator”, Proc. of the 4th World Automation Congress (WAC 2K), Maui, Hawaii, USA, 2000.
  2. R. OBOE, P. FIORINI, "Internet-based telerobotics: problems and approaches", Proc Intl. Conf. on Advanced Robotics (ICAR’97), Monterey (CA - USA), July 1997, pp. 765—770.
  3. G. NIEMEYER & J-J. E. SLOTINE, “Designing Force Reflecting Teleoperators with Large Time Delays to Appear as Virtual Tools”, Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA’97), pp. 2212—2218.
  4. P. G. BACKES, K. S. TUO, J. S. NORRIS, G. K. THARP, J. T. SLOSTAD, R. G. BONITZ & K. S. ALI, “Internet-Based Operations for the Mars Polar Lander Mission”, Proc. of the IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics, September 1999, pp. 317—322.

Control of a teleoperation system actuated by low-cost pneumatic on/off valves

Taxonomy upgrade extras: 

Networked Robots slides

AttachmentSize
PDF icon ARC2011-slides.pdf7.08 MB
Image icon robot team coin purse.jpg72.13 KB


Slides (in french) from presentation given at 4th ARC meeting of ARC workgroup of GDR Macs on April 1st 2011

Towards Delayed Teleoperation with Pneumatic Master and Slave for MRI

Taxonomy upgrade extras: 

E-Learning

E-Laboratories

History

 

I have been working on this research activity since 2002 but I am progressively slowing it down since early 2011 as I moved from LIESP laboratory to AMPERE.

 

This research deals with computer aided hands-on laboratories (e-laboratories) in the more general context of E-Learning.

 

My publication on this topic

 

Here is the list of publications related to this research topic.

 

Dissemination of knowledge

Participation to Thesis jury

I was "Examinateur" in the PhD thesis jury of:

  • Imad Chalfoun, « Conception et déploiement des Systèmes de Production Reconfigurables et Agiles (SPRA) », defended on the 26th of Sept. 2014 in 'Institut Pascal de Clermont-Ferrand (UMR 6602 CNRS/UBP/IFMA)

Projects with industrialists

This list illustrates projects conducted at Ampere lab, in response and/or in collaboration with industrialists.

Year Company Description
2016 Green Shield Technology (GST) This project aimed at designing a bench of Proof of Concept to demonstrate the viability of the process proposed by GST to detect and kill pests in fields.
2014
2016
Ferme Urbaine Lyonnaise (FUL) 2 projects:
  • 2014: Automating hydroponic cultures in urban greenhouses
  • 2016: Optimisation for industrialization of an automated vertical conveyor
2012
2016
Enfrasys GTIE (Caluire 69) Design and development of an operative part simulator (Matlab) for the PLC managing the ventilation of the Croix Rousse (Lyon) tunnels (internship)

...

2014 & 2016 FUL1 & FUL2

I participated to the preparation, the coordination and the supervision (for mechatronic tasks) of 2 projects (in collaboration with BF2I, Bio Sciences department, Lyon Center of Energetics and Thermics (CETHIL) and Mechanical Engineering Department:

  • 2014: Automating hydroponic cultures in urban greenhouses (4 students)
  • 2016: Optimisation for industrialization of an automated vertical conveyor (3 students)

2016 Greenshield Proof Of Concept

This project aimed at designing a bench of Proof of Concept to demonstrate the viability of the process proposed by Green Shield Technology (GST) company to detect and kill pests in fields. It permitted to conclude positively and led to the ANR Greenshield project starting in 2017.

I participated to the setting up and to the realization of this project.

In collaboration with BF2I, FEMTO-ST and INL laboratories.

6 researchers, 1 research engineer, 1 technician and 1 postdoct student (see {PostDoc 2016 Bentaleb} were involved from June to December 2016.

R&D Student Project Supervision

2012 Design and Control of an Inspection Robotic Arm for Train Infrastructure Inspection

R&D Student Project Supervision

French title: Conception et pilotage d’un bras d’inspection photographique pour le contrôle des ouvrages d’art de la ligne TGV Paris Bordeaux

Team: Kelly HEUZE et Nicolas BARRET

Supervised with : Minh Tu PHAM

Industrial Partner: Structure et Réhabilitation

Related granted Research Project : INTELO

2012 Realization of a Computer Based Simulation for Validating PLC Programming for Smoke Extraction in case of Tunnel Fire

R&D Student Project Supervision
Title: Realization of a Computer Based Simulation for Validating PLC Programming for Smoke Extraction in case of Tunnel Fire

Title: Mise en œuvre d’un outil de simulation numérique pour la validation des programmes automates de désenfumage des tunnels en cas d’incendie

Supervised with : Xavier BRUN

Project: : GTIE

Team: Nicolas GALLAND, Andy PAJANI

Principal: Enfrasys GTIE

2013 Design and Validation by Simulation of Photo Shooting Strategies for Automated Infrastructure Scanning

R&D Student Project Supervision

French title: Conception et validation par la simulation de stratégies de prises de vue automatisées d'intrados d'ouvrages d'arts,

Team: Emilien HAMEAU , Laurent KOFFEL

Principal: Structure et Réhabilitation

Related granted Research Project : INTELO

2014 Design of Industrial Automation of Urban Farm FUL

Title: Design of Industrial Automation of Urban Farm FUL

French title: Conception des automatismes d'une ferme urbaine

Team: Marie MOULIN, Arthur NAULIN

Supervised with : Minh Tu PHAM

Industrial Partner: Ferme FUL

Associated Project: FUL1 & 2

2014 MRI Teleoperation Needle Insertion Device

R&D Student Project Supervision

Title: MRI Teleoperation Needle Insertion Device

Student: Deanne DURWARD from University of Guelph, Ontario, Canada

Supervised with : Minh Tu PHAM

2015 Development of exercizes with Haptic Feedback in Virtual Environments to train the Cognitive Functions of Medical Students

R&D Student Project Supervision

Title: Development of exercizes with Haptic Feedback in Virtual Environments to train the Cognitive Functions of Medical Students

Student: Nemanja BABIC from Ottawa University, Ontario, Canada

Principal: SAMSEI

2015 Robot Assisted Rehabilitation of the Lower Limb using an Haptic Interface

R&D Student Project Supervision

French title: Développement d’un banc pour entraînement aux procédures laparoscopiques avec retour haptique

Team: Maëlle AGBALE

Supervised with : Minh Tu PHAM and Mahdi TAVAKOLI (from Telerobotic and Biorobotic Systems Lab - University of Alberta, Edmonton, Canada)

2016 Brain-Computer Interface in Robotics

R&D Student Project Supervision
Title: Brain-Computer Interface in Robotics

Team: Alexandru DJAISIBAEV from University of Bacau, Romania

Supervised with /strong>: Minh Tu PHAM

2016 Design of a Hands-on Training Haptic Simulator for Laparoscopic Gesture Learning

R&D Student Project Supervision

French title: Développement d’un banc pour entraînement aux procédures laparoscopiques avec retour haptique

Team: Oscar PIVARD

Supervised with : Richard MOREAU

Principal: SAMSEI

Project:: LAPAROSim

2016 Prototyping for the FUL: Ferme Urbaine Lyonnaise

R&D Student Project Supervision
Title: Prototyping for the Lyon Urban Farm

Team: 8 students, 5 supervisors from various INSA Teaching Departments and Research Laboratories

Principal: Ferme FUL

Associated Project: FUL1 & 2

2016 Stiffness Control of a Pneumatic Remote Echography Probe

R&D Student Project Supervision
Title: Stiffness Control of a Pneumatic Remote Echography Probe

French title: Commande en raideur d'une sonde de télé-échographie pneumatique

Student: Fabrice GATWAZA from Polytech Orléans

Supervised with : Xavier BRUN

Associated Project: SoHappy

Research Laboratories

The laboratories I work(ed) with:

1997-2000 LIRMM

LIRMM

LIRMM means, in french Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier and in english Montpellier Laboratory of Informatics, Robotics, and Microelectronics

Robotics Department

  • from 1997 to 2001: for MsC and PhD in telerobotics
  • from 2001 to 2011: at distance and punctually

2001-2006 ICTT

ICTT meant, in french, Interactions Collaboratives, Téléformation, Téléenseignement and, in english, Interactive Collaborations, Distance Learnning, Distance Working.

  • from 2001 to 2006, I worked as Associate Professor in the E-Learning team of this laboratory
  • In 2007, ICTT merged with another research laboratory and became Mediated collaborative interaction team of LIESP laboratory.

2007-2010 LIESP

LIESP meant, in french Laboratoire d’Informatique pour l’Entreprise et les Systèmes de Production and in english Laboratory on Computer Science for Enterprise and Production Systems

Mediated collaborative interaction team

  • This team members were ICTT computer scientists.
  • From 2007 to end of 2010, I worked as Associate Professor in this team.
  • Early 2011, LIESP disappeared. I joined Ampère laboratory.

2011-... Ampère

Ampère

Ampère Lab is associated with french CNRS (UMR 5005). Its objectives of research concern efficient management and development of energy in systems in relation with their environment

MIS Department

MIS means, in French Méthodes pour l’ingénierie des systèmes and in English Methods for System Engineering
The objective of this department is the development of analysis and synthesis methodologies for mastered design of multi-physics systems dived into their environment, featuring constraints of command, fiability and tracking.

Research Projects

Period Project Name Description
2017-2020 Green Shield: Pesticide Free Robotized Pest Control in Agriculture This project aims at designing and prototyping a mobile robot to detect and kill pests in fields.
2015-2017 PERISim
( IDEFI SAMSEI )
This project aims at designing and prototyping an needle insertion training simulator for epidural anaesthesia.
2015-2017 LAPAROSim
( IDEFI SAMSEI )
This project aimed at designing and prototyping a training simulator concerning basic gestures in Laparoscopy.
2013-2017 SoHappy
(PEPS CNRS INSIS)
In collaboration with PRISME institute, this project aims at prototyping remote ultrasonography haptic probes using pneumatic actuators.
2012-2015 INTELO
(FEDER Région Rhône Alpes with European funds)

This project aimed at designing and prototyping a mobile robot to inspect the underneath of railway and road bridges.

2013-2016 SAGA
(ANR Modèles Numériques)

This project consisted of enhancing and extending BirthSIM simulator.
2011-2013 Decortiquemax
(PEPS CNRS INSIS)
This project aimed at studying a pneumatic actuating for a needle insertion robot compliant with MRI scanners.
2008-2011 PROSIT Teleoperation work-package
(ANR)
As a collaborator of LIRMM laboratory, I participated to the study of the teleoperation over Internet and a satellite connection of the remote ultrasonography robot developed by the partners during this project.

Reviews for scientific conferences and journals

A sum-up of the reviews performed since 2011 is visible on my PUBLONS profile.

MSc / PhD / PostDoc Supervision

2003-2007 PhD: ICTT@Lab: a software environment for the generation and execution of Remote Laboratory Scenarios

Student: Dr Hacen Benmohamed

French title: ICTT@Lab: un environnement informatique pour la génération et l’exécution de scénarios de téléTP

Summary (in French)
Ces travaux de thèse s'inscrivent dans le domaine de la e-formation, et concernent la conception d'un environnement générique de téléTP en sciences de l'ingénierie, accompagné d'une méthodologie de mise à distance de dispositifs technologiques. Jusqu'alors la e-formation se limitait aux domaines où l'enseignement théorique prime sur l'enseignement pratique et les manipulations. Pour faire de la e-formation un outil viable et largement utilisé, les téléTP doivent y avoir une place centrale car ils répondent à un besoin reconnu d'activités pratiques dans les disciplines scientifiques et techniques. Cette intégration doit s'accompagner des mêmes facilités d'édition, d'utilisation et de réutilisabilité que les autres contenus, plus conceptuels (téléCours, téléTD, téléProjet, ...). Dans ce contexte, nous proposons un framework, nommé ICTT@Lab (generIC framework for remoTe and virTu@l Laboratory integration), s'intégrant dans une plate-forme d'e-formation aux côtés d'un LMS compatible avec la spécification IMS-LD et fournissant les services nécessaires et spécifiques à l'édition et à la réalisation de téléTP. En se basant sur des ontologies spécifiant composants et fonctionnalités classiques d'un dispositif technologique, les auteurs de scénarios peuvent désormais éditer leurs scénarios pédagogiques au format IMS-LD et les lier à une classe de dispositifs technologiques (réels ou virtuels). Ils les rendent ainsi compatibles avec n'importe quel dispositif associé à la même classe, autorisant de fait, la réutilisation de leur production sur d'autres plates-formes de téléTP. L'ensemble de cette architecture est accompagné d'une chaîne d'édition complète dédiée au téléTP. La sécurité du dispositif (point sensible à distance) donne lieu à une analyse AMDEC et une interprétation de cet aspect dans nos modèles. Une expérimentation située dans un plan d'expériences (Tagushi) a été réalisée sur un téléTP d'automatique.

Keywords: E-Labs, Remote Laboratories, E-Learning, System Engineering, Learning Management System

Report (in French) available in PDF here

Supervised by Dr Arnaud Lelevé and Prof. Patrick Prévot.

Started in end of 2003, defended in January 2007

Communications: [LEL-02, LEL-03, BEN-04, LEL-04a, LEL-04b, BEN-05, LEL-05, BEN-06a, BEN-06b, GRA-06, COQ 07, BEN 08]

Publications: [LEL 08, COQ 08]

2007-2014 PhD: Generic Design of a e-TP configuration tool

Student: Dr Saher ARNOUS

Summary
Powered by the technological advances of the “Information and communication sciences and technologies”, the Electronic Laboratory for practical training “ELab” (also known as ELab hands-on training) became an insisting teaching mode especially in the technical and scientific disciplines. However, several ELab modes were emerged, led by the pedagogical variety in engineering sciences: virtual ELab, remote ELab, Local Elab, etc. the two last ELab modes require the use of hardware devices (pedagogical models, measuring devices, robots, etc.). Almost in most cases, those devices need to be reconfigured according to pedagogical objectives. For complex systems, like Automated Production Systems, this reconfiguration process requires technical skills which the instructor does not have systematically. This imposes that a technician should be available, or the usage of the pedagogical platform will be limited to certain number of skilled instructors.

Accordingly, this research aims to facilitate the reconfiguration process of complex systems (particularly the APS) under ELabs. For that, a first survey designated to the users of «AIP-Priméca-RAO», located at the INSA de Lyon, had specified the needs and constraints related to a platform encountering this problem. It has been found that beyond the (re)configuration, a time wasting for the users was detected due to the absence of a common tool for pedagogical resources management. This work fed the design of software tool managing an editorial chain aiming at simplifying creation, edition, assembling, organization, reuse of different resources that can be exploited in an ELab session. This tool is intended as well to improve the autonomy of the instructor during the preparation of an ELab session, by reducing the required time to configure this session. This implies to automate the reconfiguration process of an APS supporting the ELab, and publishing the pedagogical learning scenarios on a Learning Management System (LMS).

In order to validate this design, a prototype has been developed and tested on real cases ELabs.
Subsequently, this tool could be made more generic so that it can serve Elabs of different
disciplines

Keywords: E-Labs, E-Learning, System Engineering, Learning Management System, Authoring System, Automated Production System

Report (in French) available in PDF here

Supervised by Dr Arnaud Lelevé and Prof. Patrick Prévot.

Started in 2007, defended in Sept 2014

Communications: [ARN1-09a, ARN-09b, LEL-09, ARN-11, ARN-12]

2011 MSc: Sliding-Mode Control of Pneumatic Actuators for Robots and Telerobots

Title: Sliding-Mode Control of Pneumatic Actuators for Robots and Telerobots

Keywords: Haptics, Teleoperation, Pneumatics, Automatic Control

Student: Sean HODGSON

School: University of Alberta, Edmonton, Alberta, Canada

Period: Feb to July 2011

Followed by : a position in a company in Canada

2012 MSc: Control of a teleoperated haptic pneumatic interface with long hoses

Title: Control of a teleoperated haptic pneumatic interface with long hoses

Keywords: Haptics, Medical Robotics, Pneumatics, Teleoperation

Supervised with : Minh Tu PHAM

Student: Anais BRYGO

Period: Feb to July 2012

Followed by a PhD at Robotics Lab@IIT (Istituto Italiano di Tecnologia) in Gena, Italy

2012 MSc: Design and Control of a Multi-degree-of-freedom Pneumatic Robot

Title: Design and Control of a Multi-degree-of-freedom Pneumatic Robot

Keywords: Medical Robotics, Pneumatics

Student: Julio SANDOVAL

Supervised with : Minh Tu PHAM

Period: Feb to July 2012

Followed by : a position in Adeneo as Mecatronics Engineer

2013 MSc: Dual User Haptic Training System

Title: Dual User Haptic Training System

Keywords: Haptics, Hands-on Training, Simulation, , Medical Robotics

Student: Fei LIU

Period: Feb to July 2013

Financed by China Scholarship Council (CSC)

Followed by : 2013-2016 PhD: Dual-user Haptic Training System

2013-2016 PhD: Dual-user Haptic Training System

Student: Dr Fei LIU

Summary
More particularly in the medical field, gesture quality is primordial. Professionals have to follow hands-on trainings to acquire a sufficient level of skills in the call of duty. For a decade, computer based simulators have helped the learners in numerous learnings, but these simulations still have to be associated with hands-on trainings on manikins, animals or cadavers, even if they do not always provide a sufficient level of realism and they are costly in the long term. Therefore, their training period has to finish on real patients, which is risky.

Haptic simulators (furnishing an effort feeling) are becoming a more appropriated solution as they can reproduce realist efforts applied by organs onto the tools and they can provide countless prerecorded use cases. However, learning alone on a simulator is not always efficient compared to a fellowship training (or supervised training) where the instructor and the trainee manipulate together the same tools.

Thus, this study introduces an haptic system for supervised hands-on training: the instructor and the trainee interoperate through their own haptic interface. They collaborate either with a real tool dived into a real environment (the tool is handled by a robotic arm), or with a virtual tool/environment. An energetic approach, using in particular the port-Hamiltonian modelling, has been used to ensure the stability and the robustness of the system.

This system has been designed and validated experimentally on a one degree of freedom haptic interface. A comparative study with two other dual-user haptic systems (in simulation) showed the interest of this new architecture for hands-on training. In order to use this system when both users are away from each other, this study proposes some enhancements to cope with constant communication time delays, but they are not optimized yet.

Keywords: Haptics, Simulation, Fellowship Training, Hands-on Training, Dual-User System, Passivity, Comparative Study, Communication Delay, Port-Hamiltonian Modelling

Report available in PDF here

Supervised by Damien Ébérard, Tanneguy Redarce and Arnaud Lelevé

Period: started in October 2013 and defended on 09/22/2016

Financed by China Scholarship Council (CSC)

Realized after: 2013 MSc: Dual User Haptic Training System

Communications: [LIU1-15, LIU2-15, LIU-16]

2014 MSc: Integration of a pneumatic cylinder into a teleoperation chain

Title: Integration of a pneumatic cylinder into a teleoperation chain

Keywords: Haptics, Remote Echography, Medical Robotics

Student: Ibrahim ABDALLAH

Supervised with: Xavier BRUN

Period: Feb to July 2014

2015 MSc: Study and Design of an Epidural Anaesthesia Simulator

Title: Study and Design of a Epidural Anaesthesia Simulator

Keywords: Haptics, Hands-on Training, Simulation, Anaesthetics, Medical Robotics

Student: Pierre-Jean ALES-ROUX

Supervised with: Richard MOREAU

Research project: PERISIM

Period: Feb to July 2015

Financed by IDEFI SAMSEI

Communication:
Pierre-Jean Alès Roux, Nicolas Herzig, Arnaud Lelevé, Richard Moreau, Christian Bauer. 3D Haptic Rendering of Tissues for Epidural Needle Insertion using an Electro-Pneumatic 7 Degrees of Freedom Device. Oct 2016, Daejeon, South Korea. IEEE, 2016, Proc. of the IEEE International Conference on Intelligent Robots and Systems.. hal-01340723

2016 MSc: Design of Control Laws for a Bimanual Haptic Training Simulator of Epidural Needle Insertion

MSc Internship Supervision

Keywords: Haptics, Hands-on Training, Simulation, Anaesthetics, Medical Robotics

Student: Thibaut SENAC

Supervised with: Richard MOREAU

Research project: PERISIM

Period: Feb to July 2016

Financed by IDEFI SAMSEI

Communication:
Thibaut Senac, Arnaud Lelevé, Richard Moreau. Control laws for pneumatic cylinder in order to emulate the Loss Of Resistance principle. Proc. of the 20th World Congress of the International Federation of Automatic Control (IFAC, 2017), Toulouse, France. hal-01506823

2016 MSc: Haptic System Control for a Laparoscopy Simulator

Title: Haptic System Control for a Laparoscopy Simulator

Keywords: Haptics, Hands-on Training, Simulation, Laparoscopy, Medical Robotics

Student: Charles BARNOUIN

Supervised with: Richard MOREAU

Project:: LAPAROSim

Period: Feb to July 2016

Financed by IDEFI SAMSEI

Remarks: Charles has next continued with a PhD Thesis at LIRIS laboratory with Florence Zara and Fabrice Jaillet.

Communication:
Charles Barnouin, Benjamin De Witte, Richard Moreau, Arnaud Lelevé, Xavier Martin. Cost-Efficient Laparoscopic Haptic Trainer based on Affine Velocity Analysis. Surgetica 2017, Nov 2017, Strasbourg, France. 2017, hal-01563262

2016 PostDoc: Design and Realisation of a Proof of Concept Bench for Greenshield Project

Title: Design and Realization of a Proof of Concept Bench for Greenshield Project

Keywords: Robotics, Spectrometry

Student: Toufik BENTALEB

Supervised with: Bruno MASENELLI from INL lab (Lyon Institute of Nanotechnology ).

Period: July to October 2016

Financed by Green Shield Technologies (GST)

2016-2019 PhD: Design of a training simulator for epidural insertion practice

PhD supervision

Student: Thibaut SENAC

Titre français: développement d'un simulateur d'apprentissage d'un geste d'anesthésiste : la péridurale,

Keywords:: Haptics, Simulation, Hands-on Training, Pneumatic Control

Research project: PERISIM

PhD Director Laurent KRAHENBUHL (École Centrale de Lyon)
Supervisors Richard MOREAU (INSA Lyon) and Arnaud LELEVE

Period: started in September 2016, to be defended in 2019

Financed by Ecole Doctorale EEA Lyon

Summary: Context  : the training of epidural procedure requires numerous trials before being mastered: the success rate is about 80% after 90 attempts, which is not sufficient to perform the gesture on a patient. Yet, the medical students do not have so many opportunities to train on this gesture. Moreover, manikins, animals and cadavers are not sufficiently realistic to train oneself effectively.
The objective of this PhD work is to design an haptic simulator reproducing the "Loss of Resistance" (LOR) mechanism which helps the anesthetist to know whether the needle is arrived at the rigth place (i.e. epidural space) before injecting some anesthetics or realizing a biopsy.
Method : we will control simultaneously an haptic interface which will guide the needle, considering a fictive patient parameters, to reproduce the needle insertion, and also a pneumatic cylinder which will reproduce the feelings provided by the LOR syringe. Various control laws will be tested (position and stiffness backstepping, sliding mode, hybrid system, ...) in order to reproduce the real operation as faithfully as possible.

Publications:

  • Thibaut Senac, Arnaud Lelevé, Richard Moreau. Control laws for pneumatic cylinder in order to emulate the Loss Of Resistance principle. IFAC 2017 World Congress, Jul 2017, Toulouse, France. IFAC, 2017, Proc. of the 20th World Congress of the International Federation of Automatic Control. hal-01506823

2017 MSc: Robot Assisted Catheterization in Endovascular Surgery

Keywords: Endovascular Surgery, Medical Robotics

Student: Iris NAUDIN

Supervised with: Richard MOREAU

Master: Surgical Sciences

Project:: RACES

Period: 2016-2017

Remarks: Iris won the award Antonin Poncet 2016-17 for this work.

2017-2020 PhD: Collaborative Hands-on Training on haptic simulators

Student: Angel LICONA

Keywords:: Haptics, Simulation, Hands-on Training, Dual-User

Supervised with Minh Tu PHAM (director)

Period: started in January 2017, to be defended in 2020

Financed by CONACYT Mexico

Summary :
Medical staffs require continuing hands-on training on ever evolving medical methods. For instance, Minimally Invasive Surgery (MIS) procedures have brought much comfort to the patient but has complicated the task of surgeons as they now manipulate their tools through trocars by way of a 2D camera visualization.
During their education, they usually train on black boxes, cadavers or animals (when available), and more recently passive and active simulators, before training on real patients. It has been proven that computer based haptic training simulators lead to an efficient training for advanced tasks (see [Panait09]).
However, in general, the trainee is alone in front of the simulator and cannot take benefit of a supervised training. Hence, in supervised hands-on training, the trainer takes the hands of the trainee in his own hands in order to guide him and to perform difficult gestures. While the hands' motion is driven by the trainer, they both share the haptic feedback derived from the manipulated tools.
Therefore it is difficult for the trainer to dose his forces and for the trainee to feel the right level of forces to apply.
Dual-user systems permit this : each one directly manipulates a different haptic interface acting as a common fake tool while the real tool is actuated by the slave part of the system. This slave part can also be a virtual tool in a virtual environment. They have been introduced by Nudehi et al. in [Nudehi05] and some variations have been studied in [Ghorbanian13], [Khademian11] and
[Razi14]. The common concept is that the interfaces provide force feedback to both master users (trainer and trainee) according to a dominance factor (alpha in [0,1]). When alpha=1 (resp. 0), the trainer (resp. trainee) has full authority on the trainee's (resp. trainer's) device and on the slave. When 0 < alpha < 1, both users share the slave control with a dominance (over the other user) which is function of alpha. This control authority, shared between both users, is chosen according to their relative level of skills and experience. It determines the extent to which the motion of the slave tool depends on their individual commands.
For four years, the Medical Robotics team of Ampere research laboratory has focused on such dual-user simulators (see [Liu15a] and [Liu15b]). An energetic modeling approach has been successfully used to control this architecture in presence of small delays between the three devices for one degree-of-freedom.
However, to be completely useful, the manipulation must be performed with multiple degrees of freedom. Moreover, one has to take into account that communication may have limitations: low bandwidth, packet drops, disconnections, ... as the trainee and the trainer will likely be located in different locations (resp. university and hospital). At last, medical trainers would appreciate a system which enables an automatic evaluation of the quality of the trainee gestures and their evolution.

The outcomes of this PHD project will consist in developing strategies to overcome the network connection defects and provide by the way a robust architecture enabling an effective hands-on training with its automatic evaluation.
To do so, the applicant will have to enhance and extend the model of the current dual-user training system. The current passivity controller will have to be enhanced to take into account multiple degrees of freedom and some defects such as varying delays and packets drops. He/She will also apply and enhance the gesture analysis methods developed by the team [Cifuentes14] but not yet applied on such a training system. Simulations and then experimentations will have to be conducted in order to validate the stability, the transparency, the robustness and the usability by medical students.

References: