Grégory Mermoud

Learn More
This paper describes a novel method to fabricate polymer MEMS based on the inkjet printing of SU-8, with a special emphasis on integrated micro-optical lens arrays. Inkjet control parameters are optimized in order to enable a stable and reproducible ejection of SU-8 drops in both continuous and drop-on-demand (DOD) modes. Arbitrary patterns of single and(More)
In this paper, we propose a centralized electric vehicles (EVs) recharge scheduling system for parking lots using a realistic vehicular mobility/parking pattern focusing on individual parking lots. We consider two different types of EV based on their mobility/parking patterns: 1) regular EVs; and 2) irregular EVs. An extensive trace-based vehicular mobility(More)
We propose two contrasting approaches to the scalable distributed control of a swarm of self-assembling miniaturized robots, specifically the formation of chains of a desired length: (1) a deterministic controller in which robots communicate with each other in order to directly limit the size of each chain, and (2) a probabilistic controller where the(More)
We investigate and model the dynamics of two-dimensional stochastic self-assembly of intelligent micro-systems with minimal requirements in terms of sensing, actuation, and control. A microscopic agent-based model accounts for spatiality and serves as a baseline for assessing the accuracy of models at higher abstraction level. Spatiality is relaxed in Monte(More)
In this contribution, we describe a hardware platform for evolving a fuzzy system by using Fuzzy CoCo — a cooperative coevolutionary methodology for fuzzy system design — in order to speed up both evolution and execution. Reconfigurable hardware arises between hardware and software solutions providing a trade-off between flexibility and performance. We(More)
We present the M<sup>3</sup> framework, a formal and generic computational framework for modeling and controlling stochastic distributed systems of purely reactive robots in an automated and real-time fashion. Based on the trajectories of the robots, the framework builds up an internal microscopic representation of the system, which then serves as a(More)
In this paper, we present a quantitative, trajectory-based method for calibrating stochastic motion models of water-floating robots. Our calibration method is based on the Correlated Random Walk (CRW) model, and consists in minimizing the Kolmogorov-Smirnov (KS) distance between the step length and step angle distributions of real and simulated trajectories(More)
A wealth of current research in microengineering aims at fabricating devices of increasing complexity, notably by (self-)assembling elementary components into heterogeneous functional systems. At the same time, a large body of robotic research called swarm robotics is concerned with the design and the control of large ensembles of robots of decreasing size(More)
Model-based synthesis of distributed controllers for multi-robot systems is commonly approached in either a top-down or bottom-up fashion. In this paper, we investigate the experimental challenges of both approaches, with a special emphasis on resource-constrained miniature robots. We make our comparison through a case study in which a group of 2-cm-sized(More)