Design methodologies

Two approaches are developed by the CODE team: optimal design and robust design. They  are quickly described below.

1 - Optimal design of 3D micromechatronic systems


Today, rapid advancing on additive manufacturing - especially 3D printing - offers new perspectives to design innovative micromechatronic systems. These processes allow - for example to design 3D complex monolithic - macro-structures as well as micro-structures. Taking advantage of this advanced technology, this research topic focuses on the design of new 3D micromechatronic architectures associating high-resolution actuation and measurement mechanisms within a compliant structure. Toward this end, the work is interested in develop new optimization methods with a control-oriented view in order to design 3D structures.


To do so, our approach consists to extend the topological optimization method proposed in [1,2,3]. Based on elementary active, passive and sensitive 2D flexible blocks, the method allows designing optimally monolithic 2D structures using evolutionary approach. For this, our objective is to extend the library of the method by 3D blocks and by the way the evolutionary algorithm in order to design optimally 3D structures. This topic aims also to address the feasibility of active material within additive manufacturing process especially 3D printing.


In terms of impact, we aim to cover various application frameworks related, for example, to micromechatronic field.


Samples of publications


Dominique Gendreau, Patrick Rougeot, Abdenbi Mohand Ousaid and Micky Rakotondrabe, '3D-Printing: a promising technology to design three-dimensional microsystems', MARSS, (International Conference on Manipulation, Automation and Robotics at Small Scales), accepted, Paris France, July 2016.


Patrick Rougeot, Abdenbi Mohand Ousaid, Dominique Gendreau and Micky Rakotondrabe, 'Design, modeling and simulation of a three-layers piezoelectric cantilevered actuator with collocated sensor', SPIE - Sensing Technology+Applications; Sensors for Next Generation Robots conference, accepted, Baltimore Maryland USA, April 2016.


Abdenbi Mohand Ousaid, Dominique Gendreau, Patrick Rougeot and Micky Rakotondrabe, 'Design, static modeling and simulation of a 5-DOF precise piezoelectric positioner', SPIE Sensing Technologies / Sensors for Next-Generation Robotics, Baltimore MA USA, accepted, Baltimore Maryland USA, April 2016.


Mathieu Grossard, Christine Rotinat-Libersa, and Nicolas Chaillet, “Redesign of the mmoc microgripper piezo-actuator using a new topological optimization method,” in Advanced intelligent mechatronics,2007 IEEE/ASME international conference on. IEEE, 2007, pp. 1–6.

Mathieu Grossard, Christine Rotinat-Libersa, and Nicolas Chaillet, and Mehdi Boukallel, “Mechanical and control oriented design of a monolithic piezoelectric microgripper using a new topological optimization method,” Mechatronics, IEEE/ASME Transactions on, vol. 14, no. 1, pp. 32–45,2009.


Rouba E. K. Moussa, Mathieu Grossard, Mehdi Boukallel, Nicolas Chaillet, and Arnaud Hubert, “Observation-oriented design of a monolithic piezoelectric micro-actuator with optimally integrated sensor,” in Robotics (ISR), 2010 41st International Symposium on and 2010 6thGerman Conference on Robotics (ROBOTIK), June 2010, pp. 1–8.



2 - Robust design of micromechatronic systems


Interval techniques and related tools have the particularity and advantage to provide “guarantee” in the results. Whilst they are well employed in different domains (control theory, computer and calculation,...), they are not really exploited in structures or systems design. Our works here consist in providing new design methodologies for micromechatronic systems by using interval tools. The principle consists in combining intervals and physical/geometrical modeling, and proposing problem formulations and algorithms, to result in convenient dimensions or systems parameters in order to satisfy some specified performances. If results exist, it is guaranteed that the designed system will satisfy these performances.


Samples of publications

Micky Rakotondrabe and Sofiane Khadraoui, 'Design of piezoelectric actuators with guaranteed performances using the performances inclusion theorem and interval tools', a chapter in 'Smart materials-based actuators at the micro/nano-scale: characterization, control and applications' edited by Micky Rakotondrabe, Springer - Verlag, New York, ISBN 978-1-4614-6683-3, 2013.


Sofiane Khadraoui, Micky Rakotondrabe and Philippe Lutz, ' Optimal design of piezoelectric cantilevered actuators with guaranteed performances by using interval techniques', IEEE/ASME - Transactions on Mechatronics (T-mech), Volume 19, Issue 5, Page 1660-1668, October 2014.



People involved

Nicolas Chaillet, Dominqiue Gendreau, Philippe Lutz, Abdenbi Mohand Ousaid, Micky Rakotondrabe


Abdenbi Mohand Ousaid, abdenbi.mohand 'at' femto-st 'dot' fr (for optimal design)

Micky Rakotondrabe, mrakoton 'at' femto-st 'dot' fr (for robust design)