Yassine HADDAB

Photo Yassine Haddab

Bâtiment : 4 Rez de jardin

Bureau : 1.46

Téléphone : 04 67 41 85 57

Fax : 04 67 41 85 00

Email : Yassine.Haddab@lirmm.fr

Statut : Permanent

Under construction...

Research

Under construction...

Publications

Main publications

 

Note: You can download my HDR report (Habilitation à Diriger les Recherches) (Habilitation to Conduct Researches) "Contribution à la conception et à la commande des systèmes micromécatroniques - Amélioration des performances par la conception et la commande ", december 2012 -> here.

Book chapters

 

  • Yassine Haddab, Vincent Chalvet and Micky Rakotondrabe, Open-loop control approaches of compliant micromanipulators, in 'Flexible robotics: Applications to Multiscale Manipulations', Wiley - ISTE, ISBN 978-1-84821-520-7, July 2013.
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  • Yassine Haddab, Vincent Chalvet et Micky Rakotondrabe, Approches de commande en boucle ouverte pour les micro-manipulateurs flexibles à base de matériaux actifs', in 'Robotique flexible: manipulation multi-échelle', Hermès Science, ISBN 9782746245099 , Juillet 2013.
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  • Y. Haddab, V. Chalvet, Q. Chen and P. Lutz, Digital Microrobotics Using MEMS Technology, in Advanced Mechatronics and MEMS Devices, Springer, ISBN 978-1-4419-9984-9, available in April 2012 (link).
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  •  Micky Rakotondrabe, Yassine Haddab and Philippe Lutz, 'Modeling and control of stick-slip micropositioning devices', in 'Micro nanosystems & systems on chips: modeling, control and estimation' edited by Alina Voda, Wiley - ISTE, ISBN: 978-1-84821-190-2, January 2010.
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  • Kanty Rabenorosoa, Yassine Haddab, Philippe Lutz, A Low Cost Coarse/Fine Piezoelectrically Actuated Microgripper with Force Measurement Adapted to Eupass Control Structure. In Micro-Assembly Technologies and Applications. IFIP International Federation for Information Processing. Springer Boston. ISBN : 978-0-387-77402-2. Pages : 235-242.
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  • M. Boudaoud, Y. Haddab and Y. Le Gorrec, Kalman filtering applied to weak force measurement and control at the microscale, in “Signal Measurement and Estimation Techniques for Micro and Nanotechnology” Springer, ISBN 978-1-4419-9945-0, available in August 2011.
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  • Nicolas Lafitte, Yassine Haddab, Yann Le Gorrec, Momoko Kumemura, Laurent Jalabert, Christophe Yamahata, Nicolas Chaillet, Dominique Collard and Hiroyuki Fujita, DNA Manipulation Based on Nanotweezers. in Encyclopedia of Nanotechnology, Springer. ISBN 978-90-481-9750-7 (to be published in June 2012).
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Co-edition of special issues

 

  • Co-editor of a special issue on "Control in the Microworld" in JESA revue (Journal Européen des Systèmes Automatisés), Volume 44 - n°6/2010, Hermes - Lavoisier (in french).
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Patents

 

  • Brevet d’invention : Y. Haddab, V. Chalvet, P. Lutz et A. Zarzycki, Micro-robot, procédé de commande, procédé de simulation et programmes d’ordinateur associés. CNRS / Université de Franche-Comté / ENSMM.

Déposé auprès de l’INPI le 3 février 2011. Numéro d’enregistrement : 11 50883.

International (since january 2012): "Microrobot and associated control method, simulation method, and computer programs", WO/2012/104546 - Filing Date: January 2012.

 

Papers in international peer-reviewed journals

 

  • V. Chalvet, Y. Haddab and P. Lutz, Trajectory planning for micromanipulation with a non redundant digital microrobot: shortest path algorithm optimization with a hypercube graph representation, ASME Journal of Mechanisms and Robotics, Vol. 8, No. 2, pp. 021013, 2016.

 

  • H. Hussein, P. Le Moal, G. Bourbon, Y. Haddab and P. Lutz, Modeling and Stress Analysis of a Pre-Shaped Curved Beam: Influence of High Modes of Buckling, International Journal of Applied Mechanics vol. 07, Issue: 4, 1550055. August 2015 [20 pages] DOI: 10.1142/S1758825115500556.

 

  • M. Gaudenzi de Faria, Y. Haddab, Y. Le Gorrec and P. Lutz, Influence of mechanical noise inside a scanning electron microscope,  Rev. Sci. Instrum. 86, 045105 (2015). DOI: 10.1063/1.4917557.

 

  • M. Boudaoud, M. Gaudenzi De Faria, Y. Haddab, S. Haliyo, Y. Le Gorrec, P. Lutz and S. Régnier, Robust Microscale Grasping Through a Multimodel Design: Synthesis and Real Time Implementation. Control Engineering Practice, vol. 39, pp. 12-22, June 2015. DOI: 10.1016/j.conengprac.2014.11.003.

 

  • N. Lafitte, Y. Haddab, Y. Le Gorrec, H. Guillou, M. Kumemura, L. Jalabert, D. Collard, and H. Fujita, Improvement of Silicon Nanotweezers Sensitivity for Mechanical Characterization of Biomolecules Using Closed-Loop Control. IEEE/ASME Transactions on Mechatronics (T-MECH). Vol.20, Issue: 3, pp: 1418-1427. DOI: 10.1109/TMECH.2014.2351415. 

 

  • M. Boudaoud, Y. Le Gorrec, Y. Haddab  and P. Lutz, Gain scheduling control of a nonlinear electrostatic microgripper: design by an eigenstructure assignment with an observer-based structure. IEEE Transactions on control systems technology (T-CST). Vol.23, Issue: 4, pp: 1255-1267. July 2015. DOI: 10.1109/TCST.2014.2362725.

 

  • M. Boudaoud, M. Gaudenzi De Faria, Y. Le Gorrec, Y. Haddab and P. Lutz, An Output feedback LPV control strategy of a nonlinear electrostatic microgripper through a singular implicit modeling, Control Engineering Practice, vol 28, pp. 97 - 111, 2014.

 

  • V. Chalvet, Y. Haddab and P. Lutz, A microfabricated planar digital microrobot for precise positioning based on bistable modules. IEEE - Transactions on Robotics (T-Ro). Vol.29, Issue 3, pp: 641-649. June 2013 DOI: 10.1109/TRO.2013.2240174.

 

  • J. Agnus, N. Chaillet, C. Clévy, K. Rabenorosoa, B. Tamadazte, S. Dembélé, M. Gauthier, Y. Haddab, G. Laurent, P. Lutz, N. Piat and M. Rakotondrabe, Robotic Microassembly and micromanipulation at FEMTO-ST, Journal of Micro-Nano Mechatronics, Vol. 8, Iss. 2, pp. 91-106, 2013.  DOI: 10.1007/s12213-013-0065-5.

 

  • Yassine Haddab, Qiao Chen, Philippe Lutz, Improvement of strain gauges micro-forces measurement using Kalman optimal filtering, International Journal of IFAC Mechatronics. Volume 19, June 2009, Issue 4, 8 pp. 457-462. DOI :10.1016/j.mechatronics.2008.11.012.

 

  • Qiao Chen, Yassine Haddab, Philippe Lutz, Microfabricated bistable module for digital microrobotics. Journal of Micro Nano Mechatronics, JMNM. Springer. (2011) 6:1-12. DOI 10.1007/s12213-010-0025-2

 

  • Micky Rakotondrabe, Yassine Haddab, Philippe Lutz, Voltage/frequency proportional control of stick-slip Microsystems, IEEE - Transactions on Control Systems Technology (T-CST), Vol.16, Issue 6, pp:1316-1322, November 2008.

 

  • Micky Rakotondrabe, Yassine Haddab, Philippe Lutz, Quadrilateral modelling and robust control of a nonlinear piezoelectric cantilever, IEEE - Transactions on Control Systems Technology (T-CST) DOI : 10.1109/TCST.2008.2001151. IEEE Transactions on Control Systems Technology Vol.17, Issue 3, pp:528-539, May 2009.

 

  • Micky Rakotondrabe, Yassine Haddab, Philippe Lutz, Development, Modeling, and Control of a Micro-/Nanopositioning 2-DOF Stick–Slip Device, IEEE - Transactions on Mechatronics (T-mech) DOI : 10.1109/TMECH.2009.2011134. Vol.14, Issue 6, pp:733-745, December 2009.

 

  • M. Boudaoud, Y. Haddab, Y. Le Gorrec and P. Lutz, "Noise characterization in millimeter sized micromanipulation systems". International journal of Mechatronics, IFAC vol 21, pp. 1087-1097, 2011.

 

  • M. Boudaoud, Y. Haddab, Y. Le Gorrec and P. Lutz, "Study of thermal and acoustic noise interferences in low stiffness atomic force microscope cantilevers and characterization of their dynamic properties". Review of Scientific Instruments. 83, 013704. 2012. DOI : 10.1063/1.3673637. 

 

  • M. Boudaoud, Y. Haddab, and Y. Le Gorrec, Modeling and optimal force control of a nonlinear electrostatic microgripper. IEEE/ASME Transactions on mechatronics (T-Mech). Vol.18, Issue 3, pp: 1130-1139. June 2013 DOI:10.1109/TMECH.2012.2197216.

 

  • Anne Delettre, Guillaume J. Laurent, Yassine Haddab, and Nadine Le Fort-Piat, Robust control of a planar manipulator for flexible and contactless handling, International journal of Mechatronics, IFAC. vol 22, issue 6, pp. 852-861. Sept. 2012. DOI : 10.1016/j.mechatronics.2012.05.003.

 

Papers in national (french) peer-reviewed journals

 

  • Y. Haddab, Y. Le Gorrec, Une étude sur les spécificités de la commande dans le micromonde, Journal Européen des Systèmes Automatisés (JESA), VOL 44/6 - 2010  - pp.577-601. DOI:10.3166/jesa.44.577-601

 

  •  Y. Haddab, N. Chaillet, G. Cabodevila, Systèmes de micromanipulation en vue d'applications industrielles. Revue des Systèmes, Série "Nano et Micro Technologies", vol. 3, n° 1-2, pp. 155-182, Hermès Sciences, 2003.

 

International conferences

 

 

  • H. Hussein, V. Chalvet, P. Le Moal, G. Bourbon, Y. Haddab, P. Lutz, Design optimization of bistable modules electrothermally actuated for digital microrobotics. Proc. of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), Besançon, France, July 2014.

 

  • M. Boudaoud, M. G. De Faria,Y. Haddab, S. Haliyo, Y. Le Gorrec,  P. Lutz and S. Régnier  “Robust Microscale Gripping Using a Self-Scheduled Dynamic Controller”. Proc. of the IFAC World Congress, Cape Town, South Africa, August 2014.

 

  • N. Lafitte, Y. Haddab, Y. Le Gorrec, H. Guillou, M. Kumemura, L. Jalabert, H. Fujita, D. Collard, Closed-loop Control of Silicon Nanotweezers for Improvement of Sensitivity to Mechanical Stiffness Measurement and Bio-Sensing on DNA Molecules, Proc. of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). November 2013, Tokyo, Japan.

 

  • N. Lafitte, Y. Haddab, Y. Le Gorrec, H. Guillou, M. Kumemura, L. Jalabert, D. Collard and H. Fujita, Active Control of Silicon Nanotweezers Detects Enzymatic Reaction at the Molecular Level, IEEE Transducers. June 2013, Barcelona, Spain.

 

  • M. Boudaoud, Y. Le Gorrec , Y. Haddab, and P. Lutz, Gain scheduled control strategies for a nonlinear electrostatic microgripper: Design and real time implementation. Proc. of the 51st IEEE Annual conference on Decision and Control (CDC), Maui, Hawaii, pp. 3127 - 3132, Dec. 2012.
     Proc. of the 1st European Advanced Technology Workshop on Mechatronics, iMAPS'2005, CD ROM, 24 pages, 17-18-19 janvier 2005, Poitiers, France.

 

  • M. Paris, Y. Haddab, P. Lutz, Microparts feeding systems : a survey. 1st Topical Meeting on Microfactories "Desktop MEMS and Nano Factories", TMMF'2005,  17-19 octobre 2005, Tsukuba, Japan.

 

  • M. Paris, Y. Haddab, P. Lutz, Practical Characterisation of the friction force for the positioning and orientation of micro-components, Proc of the IEEE/RSJ International Conference on Intelligent RObots and Systems, IROS 2008, Nice, France.

 

  • M. Paris, Y. Haddab, P. Lutz, A new approach for a microparts feeding system based on inertial force, 6th International Workshop on Microfactories, IWMF'08. USA (2008).

 

  • Boudaoud M., Haddab Y., Le Gorrec Y. Modelling of a MEMS-based microgripper : application to dexterous micromanipulation. Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'10., Taïwan (2010)

 

  • Chen Q., Haddab Y., Lutz P. Characterization and control of a monolithically fabricated bistable module for microrobotic applications. Proc. Of IROS'10. - IEEE/RSJ International Conference on Intelligent Robots and Systems, Taïwan, (2010).

 

  • Chen Q., Haddab Y., Lutz P. Digital microrobotics based on bistable modules : Design of compliant bistable structures. Proc. of IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA'08.  China (2008)

 

  • Haddab Y., Chen Q., Lutz P., Munz G. A low cost coarse/fine piezoelectrically actuated microgripper with force measurement. Proc. of the 7th International Conference and 9th Annual General Meeting of the European Society for Precision Engineering and Nanotechnology, EUSPEN'2007, Germany (2007)

 

  • Micky Rakotondrabe, Yassine Haddab and Philippe Lutz, 'Modelling and H-inf force control of a nonlinear piezoelectric cantilever', IEEE/RSJ - IROS, (International Conference on Intelligent Robots and Systems), pp:3131-3136, San Diego CA USA, Oct-Nov 2007.

 

  • Micky Rakotondrabe, Yassine Haddab and Philippe Lutz, 'High-stroke motion modelling and voltage/frequency proportional control of a stick-slip microsystem', IEEE - ICRA, (International Conference on Robotics and Automation), pp:4490-4496, Roma Italy, April 2007.

 

  • Micky Rakotondrabe, Yassine Haddab and Philippe Lutz, 'Plurilinear modeling and discrete µ-synthesis control of a hysteretic and creeped unimorph piezoelectric cantilever', IEEE - ICARCV, (International Conference on Automation, Robotics, Control and Vision), pp:57-64, Singapour, December 2006.
     Finalist for the best paper award.

 

  • Micky Rakotondrabe, Yassine Haddab and Philippe Lutz, 'Nonlinear modelling and estimation of force in a piezoelectric cantilever', IEEE/ASME - AIM, (International Conference on Advanced Intelligent Mechatronics), Zurich Switzerland, Sept 2007.

 

  • Micky Rakotondrabe, Yassine Haddab and Philippe Lutz, 'Design, development and experiments of a high stroke-precision 2DoF (linear-angular) microsystem', IEEE - ICRA, (International Conference on Robotics and Automation), pp:669-674, Orlando FL USA, May 2006.

 

  • Micky Rakotondrabe, Yassine Haddab and Philippe Lutz, 'Step modelling of a high precision 2DoF (linear-angular) microsystem', IEEE - ICRA, (International Conference on Robotics and Automation), pp:151-157, Barcelona Spain, April 2005.

 

  • Micky Rakotondrabe, Yassine Haddab and Philippe Lutz, 'Results on the closed-loop control of the TRING-module dedicated to a modular micromanipulation station', IWMF, (International Workshop on MicroFactory), Besançon, October 2006.

 

  • Micky Rakotondrabe, Yassine Haddab and Philippe Lutz, 'TRING-module : a high-range and high-precision 2DoF microsystem dedicated to a modular micromanipulation station', IWMF, (International Workshop on MicroFactory), Besançon, October 2006.

 

  • Micky Rakotondrabe, Yassine Haddab and Philippe Lutz, 'Modelling and control of a highly modular microassembly system', IWMF, (International Workshop on MicroFactory), pp:140-145, Shanghai China, October 2004.

 

  • Y. Haddab, N. Chaillet, A. Bourjault. A Microgripper Using Smart Piezoelectric Actuators. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'2000, 30 octobre-5 novembre 2000, Kagawa University, Takamatsu, Japon.

 

  • Y. Haddab, N. Chaillet, G. Cabodevila, A. Bourjault. Devices for a Micromanipulation System. International Mechanical Engineering Congress and Exposition IMECE’2000, Symposium on Microrobotics, 5-10 novembre 2000, Orlando, Floride, Etats-Unis.

 

  • Y. Haddab, M. Arous, M. Hoummady, N, Chaillet, A. Bourjault.

    Survey on Micromanipulation : Comparison between Physical Principles and Considerations on Future Micromanipulation Systems. Proc. of the 4th Japan-France, 2nd Asia-Europe Congress on Mechatronics, 6-8 octobre 1998, Kitakyushu, Japon.

 

  • Y. Haddab, J.C. Ravassard, S. Dembélé, P. Le Moal, A. Bourjault. HAMRO : a Holonomic Autonomous Mobile Robot for Precise Positioning. Proc. of the 4th Japan-France, 2nd Asia-Europe Congress on Mechatronics, 6-8 octobre 1998, Kitakyushu, Japon.

 

  • J. Agnus, A. Bonvilain, N. Chaillet,  Y. Haddab, P. Rougeot. Study and development of a station for micromanipulation tasks in the microworld. Proc. of SPIE Microrobotics and Microassembly Symposium, 21-22 septembre 1999, Boston, Etats-Unis.

 

  • N. Chaillet, J. Agnus, Y. Haddab, P. Rougeot, A. Bourjault. Components for the development of a station for manipulation tasks in the microworld. Proc of the 3rd International Workshop on Microrobotics and Systems, IARP, Moscou, Russie.

 

National (french) conferences

 

  • Y. Haddab, B. Uccheddu, Commande robuste d'une pince microfabriquée à actionnement électrostatique, Conférence Internationale Francophone d'Automatique, CIFA'08, Bucarest, Roumanie (2008).

 

Educational papers

 

  • Y. Haddab, B. Lang et G. Laurent, Matlab/Simulink pour l’analyse et la commande de systèmes, collection des Techniques de l’Ingénieur, date de publication : mars 2010

 

Tutorials in international conferences

 

  • Y. Haddab and Stéphane Régnier, Issues and specificities at the micro/nano world, in Dynamics, characterization and control at the micro/nano scale tutorial, IEEE - ICRA, (International Conference on Robotics and Automation), Shanghai, China, May 2011.

 

  • Y. Haddab and M. Boudaoud, Noise characterization, modeling and reduction in micromanipulation systems, in Dynamics, characterization and control at the micro/nano scale tutorial, IEEE - ICRA, (International Conference on Robotics and Automation), Shanghai, China, May 2011.

 

Reports of scientific expertise

 

  • A. Ferreira, Y. Haddab, P. Lutz and C. Prelle, rapport sur la recherche et le développement de micro-usines au Japon. Août 2003. Rapport de l'expertise disponible à l'ADIT et à l'adresse suivante : http://www.bulletins-electroniques.com/japon/rapports/SMM03_056

Associates

This research was conducted in close collaboration with PhD and MSc students that I have supervised or co-supervised and that I would like to thank for their motivation and enthusiasm.

PhD Theses

  • Micky Rakotondrabe, Développement et commande modulaire d'une station de micro-assemblage. PhD Thesis, 2006. (Position: Asso. Professor at Univ. de Franche-Comté, Besançon, France).

 

  • Mickaël Paris, Conception et commande de systèmes d'alimentation en composants de petites tailles pour micro-usine d'assemblage de haute précision. PhD Thesis, 2008. (Position: Post-Doc at CEA, Fontenay-aux-roses, France).

 

  • Qiao Chen, Microrobotique numérique fondée sur l'utilisation de modules bistables : conception fabrication et commande de modules monolithiques. PhD Thesis, 2010. (Position: Manager at Jinshan Science and Technology, China).

 

  • Mokrane Boudaoud, Caractérisation dynamique des bruits à l'échelle nanométrique et commande robuste LPV de systèmes de micromanipulation, PhD Thesis,  2012 (Position: Post-Doc at ISIR, UPMC, Université Pierre et Marie Curie, Paris, France).

 

  • Vincent Chalvet, Conception, réalisation et commande d'un microrobot numérique planaire, non redondant et en technologie MEMS, PhD Thesis, 2013 (Position: Post-Doc at FEMTO-ST, Besançon, France).

 

  • Nicolas Lafitte, Caractérisation et commande de micropinces en silicium pour l’amélioration de la sensibilité paramétrique d’expériences biologiques sur des molécules d’ADN. PhD Thesis, 2012 (Position: Post-Doc at IIS, University of Tokyo, Japan). (collaboration with LIMMS / IIS University of Tokyo).

 

  • Hussein Hussein,Contribution to digital microrobotics: modeling, design and fabrication of curved beams, U-shaped actuators and multistable microrobots, PhD Thesis 2015.

 

  • Marcelo Gaudenzi De Faria,Robust control for manipulation inside a scanning electron microscope,  PhD Thesis, 2016.

Teaching

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Dernière mise à jour le 07/03/2017