Nicolas BOILLOT

- Large scale MEMS robots cooperative map building based on realistic simulation of nano-wireless communications -------------------------------------------------------------------------------------------------------------- ### Nano Communication Networks Elsevier ***Abstract:*** The Claytronics project has produced interesting hardware components like cylindric micro-robots called catoms and software models to enable the concept of programmable matter. One application is the use of several catoms linked together so that they can walk''. These walkers can explore an area and thanks to electromagnetic wireless nano-networks, they can communicate with each other sharing the map of the place to explore. In this paper, we study the different parameters influencing the transmission quality of the map to a sink which uses both traditional wireless and wireless nano-communication networks. [**Download full paper Research Gate (12 MB PDF)**](https://www.researchgate.net/profile/Nicolas_Boillot/publication/272198383_Large_scale_MEMS_robots_cooperative_map_building_based_on_realistic_simulation_of_nano-wireless_communications/links/55b029a408ae32092e06feff.pdf?disableCoverPage=true) [**Download first paper part, pages 1 to 15 (6.2 MB PDF)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a5split1.pdf) [**Download second paper part, pages 15 to 22 (7.1 MB PDF)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a5split2.pdf) - New Applications for MEMS Modular Robots Using Wireless Communications ---------------------------------------------------------------------- ### IEEE System Journal ***Abstract:*** Modular robots need networking for coordination, and it is particularly true for MEMS (Microelectromechanical systems) microrobots. A promising communication technology is nanowireless networking which could be integrated directly into MEMS microrobots—in our case, the catoms of the Claytronics project. We have designed Vouivre, a wireless simulator integrated in Dynamic Physical Rendering Simulator (DPRSim), a modular robot simulator. Using Vouivre and DPRSim, we have developed new applications for MEMS modular robots. This paper describes Vouivre and presents the new applications that we have implemented inside DPRSim. This altogether shows the interest of using wireless communications in modular robots. [**Download full paper (3.2 MB PDF)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a2.pdf) - Going for large scale with nano-wireless simulations ---------------------------------------------------- ### NANOCOM 2015 ***Abstract:*** This material is based on work in progress. With the advance of electronic and Micro Electro Mechanicals Systems (MEMS), swarm of communicating and collaborating micro-robots became very attractive. In this paper, we revisit Vouivre, a nano-wireless simulation library we previously developed. Using the specificities of the Terahertz radio channel as a foundation, we discuss and present an implementation that allows simulation of a larger number of concurrent transmissions between an even larger number of individual elements. [**Download full paper (0.2 MB PDF)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a6.pdf) - Parameter study and characterization of wireless nanonetworks through simulation -------------------------------------------------------------------------------- ### Communications and Networking (BlackSeaCom), 2014 IEEE International Black Sea Conference on (pp. 43-47). IEEE. ***Abstract:*** Nanowireless electro-magnetic communication networks in the Terahertz band have raised interest in the networking community these very last years. However, if detailed studies have been published on analytical modelling of these networks, no simulation have been run to study in detail the characteristics of the transmission medium. We have designed Vouivre, a standalone nanowireless simulator, which is interfaced with two micro-robots simulator DPRSim and VisibleSim. This paper describes briefly Vouivre and presents first metrics of the communication channel using a communication paradigm called TS-OOK (Time Spread On-Off Keying). [**Download full paper (PDF 1.1 MB)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a4.pdf) - Using Nano-wireless Communications in Micro-Robots Applications --------------------------------------------------------------- ### NANOCOM 2014, 1st ACM Int. Conf. on Nanoscale Computing and Communication, pages 1–9, Atlanta Georgia USA, May, 2014 ***Abstract:*** The emergence of nano-electromagnetic communications based on graphene nano-antennas has opened new perspectives for communications between small things, referred as to the internet of micro-things or even as the internet of nano-things. However, these antennas make use of the Terahertz band which raises many problems like the absorption of entire range of the available bandwidth by any molecule. Meanwhile, recent advances have been made in the design and fabrication of micro-robots enabling formation of micro-robots networks. Nano-antennas are an interesting way of communicating between micro-robots. We envision two types of benefits using integrated nano-antennas in micro-robots. First, nano-wireless communications could enhance existing applications enabling a greater communication distance in an ensemble and broadcasting facilities. Second, nano-wireless communications can create new usage and new applications. This article presents a simulation framework for micro-robots using nano-wireless communications and an application being developed within our simulator. [**Download full paper (PDF 3.3 MB)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a3.pdf) - Efficient simulation environment of wireless radio communications in MEMS modular robots ---------------------------------------------------------------------------------------- ### iThings 2013, IEEE Int. Conf. on Internet of Things, Beijing, China, pages 638--645, August 2013. ***Abstract:*** Modular robots needs networking for coordination and it is particularly true for MEMS microrobots. A promising communication technology is nanowireless networking which could be integrated directly into MEMS microrobots, in our case, the catoms of the Claytronics project. A first step towards this objective is to design a wireless simulator able to deal with modular robots. This simulator called Vouivre is integrated in DPRSim a modular robot simulator developed by Intel Research. This paper describes Vouivre and its integration in DPRSim which is an interesting case of integrating different timelines in one simulator. Experiments validate our design and show the interest of using wireless communication in modular robots. [**Download full paper (PDF 3.9 MB)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a1.pdf) Other publications : -------------------- - [DISC (Département d'Informatique des Systèmes Complexes / Department of Computer Science for Complex Systems) / Publications of Nicolas BOILLOT](http://lifc.univ-fcomte.fr/%7Epublis/papers/Author/BOILLOT-N.html) - [Carnegie MELLON University / Claytronics Group Publications ](http://www.cs.cmu.edu/%7Eclaytronics/publications/index.html) - [Archive ouverte pluridisciplinaire HAL / CCSd (Centre pour la communication scientifique directe) CNRS](http://hal.archives-ouvertes.fr/autlab/BOILLOT/femto-st/) - [Research Gate Nicolas BOILLOT](https://www.researchgate.net/profile/Nicolas_Boillot) - [Academia Nicolas BOILLOT](https://femto-st.academia.edu/NicolasBOILLOT/Papers)

- Large scale MEMS robots cooperative map building based on realistic simulation of nano-wireless communications -------------------------------------------------------------------------------------------------------------- ### Nano Communication Networks Elsevier ***Abstract:*** The Claytronics project has produced interesting hardware components like cylindric micro-robots called catoms and software models to enable the concept of programmable matter. One application is the use of several catoms linked together so that they can walk''. These walkers can explore an area and thanks to electromagnetic wireless nano-networks, they can communicate with each other sharing the map of the place to explore. In this paper, we study the different parameters influencing the transmission quality of the map to a sink which uses both traditional wireless and wireless nano-communication networks. [**Download full paper Research Gate (12 MB PDF)**](https://www.researchgate.net/profile/Nicolas_Boillot/publication/272198383_Large_scale_MEMS_robots_cooperative_map_building_based_on_realistic_simulation_of_nano-wireless_communications/links/55b029a408ae32092e06feff.pdf?disableCoverPage=true) [**Download first paper part, pages 1 to 15 (6.2 MB PDF)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a5split1.pdf) [**Download second paper part, pages 15 to 22 (7.1 MB PDF)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a5split2.pdf) - New Applications for MEMS Modular Robots Using Wireless Communications ---------------------------------------------------------------------- ### IEEE System Journal ***Abstract:*** Modular robots need networking for coordination, and it is particularly true for MEMS (Microelectromechanical systems) microrobots. A promising communication technology is nanowireless networking which could be integrated directly into MEMS microrobots—in our case, the catoms of the Claytronics project. We have designed Vouivre, a wireless simulator integrated in Dynamic Physical Rendering Simulator (DPRSim), a modular robot simulator. Using Vouivre and DPRSim, we have developed new applications for MEMS modular robots. This paper describes Vouivre and presents the new applications that we have implemented inside DPRSim. This altogether shows the interest of using wireless communications in modular robots. [**Download full paper (3.2 MB PDF)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a2.pdf) - Going for large scale with nano-wireless simulations ---------------------------------------------------- ### NANOCOM 2015 ***Abstract:*** This material is based on work in progress. With the advance of electronic and Micro Electro Mechanicals Systems (MEMS), swarm of communicating and collaborating micro-robots became very attractive. In this paper, we revisit Vouivre, a nano-wireless simulation library we previously developed. Using the specificities of the Terahertz radio channel as a foundation, we discuss and present an implementation that allows simulation of a larger number of concurrent transmissions between an even larger number of individual elements. [**Download full paper (0.2 MB PDF)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a6.pdf) - Parameter study and characterization of wireless nanonetworks through simulation -------------------------------------------------------------------------------- ### Communications and Networking (BlackSeaCom), 2014 IEEE International Black Sea Conference on (pp. 43-47). IEEE. ***Abstract:*** Nanowireless electro-magnetic communication networks in the Terahertz band have raised interest in the networking community these very last years. However, if detailed studies have been published on analytical modelling of these networks, no simulation have been run to study in detail the characteristics of the transmission medium. We have designed Vouivre, a standalone nanowireless simulator, which is interfaced with two micro-robots simulator DPRSim and VisibleSim. This paper describes briefly Vouivre and presents first metrics of the communication channel using a communication paradigm called TS-OOK (Time Spread On-Off Keying). [**Download full paper (PDF 1.1 MB)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a4.pdf) - Using Nano-wireless Communications in Micro-Robots Applications --------------------------------------------------------------- ### NANOCOM 2014, 1st ACM Int. Conf. on Nanoscale Computing and Communication, pages 1–9, Atlanta Georgia USA, May, 2014 ***Abstract:*** The emergence of nano-electromagnetic communications based on graphene nano-antennas has opened new perspectives for communications between small things, referred as to the internet of micro-things or even as the internet of nano-things. However, these antennas make use of the Terahertz band which raises many problems like the absorption of entire range of the available bandwidth by any molecule. Meanwhile, recent advances have been made in the design and fabrication of micro-robots enabling formation of micro-robots networks. Nano-antennas are an interesting way of communicating between micro-robots. We envision two types of benefits using integrated nano-antennas in micro-robots. First, nano-wireless communications could enhance existing applications enabling a greater communication distance in an ensemble and broadcasting facilities. Second, nano-wireless communications can create new usage and new applications. This article presents a simulation framework for micro-robots using nano-wireless communications and an application being developed within our simulator. [**Download full paper (PDF 3.3 MB)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a3.pdf) - Efficient simulation environment of wireless radio communications in MEMS modular robots ---------------------------------------------------------------------------------------- ### iThings 2013, IEEE Int. Conf. on Internet of Things, Beijing, China, pages 638--645, August 2013. ***Abstract:*** Modular robots needs networking for coordination and it is particularly true for MEMS microrobots. A promising communication technology is nanowireless networking which could be integrated directly into MEMS microrobots, in our case, the catoms of the Claytronics project. A first step towards this objective is to design a wireless simulator able to deal with modular robots. This simulator called Vouivre is integrated in DPRSim a modular robot simulator developed by Intel Research. This paper describes Vouivre and its integration in DPRSim which is an interesting case of integrating different timelines in one simulator. Experiments validate our design and show the interest of using wireless communication in modular robots. [**Download full paper (PDF 3.9 MB)**](http://members.femto-st.fr/sites/femto-st.fr.nicolas-boillot/files/content/articles/a1.pdf) Other publications : -------------------- - [DISC (Département d'Informatique des Systèmes Complexes / Department of Computer Science for Complex Systems) / Publications of Nicolas BOILLOT](http://lifc.univ-fcomte.fr/%7Epublis/papers/Author/BOILLOT-N.html) - [Carnegie MELLON University / Claytronics Group Publications ](http://www.cs.cmu.edu/%7Eclaytronics/publications/index.html) - [Archive ouverte pluridisciplinaire HAL / CCSd (Centre pour la communication scientifique directe) CNRS](http://hal.archives-ouvertes.fr/autlab/BOILLOT/femto-st/) - [Research Gate Nicolas BOILLOT](https://www.researchgate.net/profile/Nicolas_Boillot) - [Academia Nicolas BOILLOT](https://femto-st.academia.edu/NicolasBOILLOT/Papers)