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Institute of Movement Sciences, UMR 6233


Marseilles' Calanque
OCTAVE Robot Copyright Hubert Raguet


Biorobotics Research Group in January 2006

Franck RUFFIER

Researcher in Biorobotics
Postal Address:
Biorobotics, Institute of Movement Sciences
CP938, 163 av. de Luminy
F-13288 Marseille Cedex 09
Tél. (+33) 4 91 82 83 66
Fax. (+33) 4 91 82 83 75

franck.ruffier at univmed.fr
Visiting Address :
Biorobotics, Institute of Movement Sciences
Bât IRPHE - IOA
163 av. de Luminy
13009 Marseille France


Master Thesis available in Neurosciences and Robotics ( 2008 - ... )
- Visual guidance on Honeybees
- Modeling, simulation, and robotics

We welcome any application for Master thesis or PhD thesis : please, send us a CV and a cover letter.


Education - Current projects - Publications - Previous works at the Biorobotics department Team Research Lines (in French) - Access Map using Public Transportation

Book Chapters - Journal Papers - Peer-reviewed Proceedings - Other Communications

Last update : November 2008

Education

  • October 2005: CNRS Permanent Researcher at the Biorobotics dept., Institute of Movement Sciences, Marseilles

  • 2004 / 2005: Postdoc position at the Biorobotics dept., Motion and Perception Lab.

  • November, 1st 2000 / September, 6th 2004 : PhD at the Biorobotics research group (Nicolas Franceschini), Motion and Perception Lab. Marseilles

  • August 1999 / August 2000 : Exchange student year in Lund (Sweden) with the automatic control department

  • 1999 / 2000 : Master Research Degree (DEA in French) in Automatic Control at ENSIEG / INP Grenoble done in Lund

  • 1995 / 2000 : ESISAR / INP Grenoble Engineering Degree in electronics, automatic control and computer sciences

  • 1995 : High School diploma with dominants in Maths and Physics in "Lycée du val de Saône", Trévoux near Lyons

    • CV (pdf)

     


    Current Projects
    - LORA robot with Julien Serres

    - Honeybee visual navigation with Julien Serres and Geoffrey Portelli

    - Optic flow regulation and OCTAVE robot


    Copyright Hubert Raguet
    Terrain Following ; Take-off and landing manoeuvers ; Wind reaction
    Video of OCTAVE robot (Divx)
    Publications
    Book Chapters
    N. Franceschini, F. Ruffier, J. Serres (2009) In press
    Optic flow based autopilots : speed control and obstacle avoidance
    in: Flying Insects and Robots
    D. Floreano, J.-C. Zufferey, C. Ellington, M.V. Srinivasan, Eds., Springer, Vienna

    F. Aubépart, J. Serres, A. Dilly, F. Ruffier, N. Franceschini (2008)
    Field Programmable Gate Array (FPGA) for Bio-inspired visuo-motor control systems applied to Micro-Air Vehicles
    in: Intelligent Aerial Vehicles, In-Tech, Vienna

    Nicolas Franceschini, Franck Ruffier, Julien Serres, Stéphane Viollet (2008)
    Optic flow based visual guidance: from flying insects to miniature aerial vehicles
    in: Intelligent Aerial Vehicles, In-Tech, Vienna

    Franceschini, N., Viollet, S, Ruffier, F., Serres J. (2008)
    Insect Visually-guided Behavior: Optronics, Neuronics and Nanomechatronics
    in: New nanomaterials generation inspired by insects (In Japanese)
    Following The Sendai Symposium on Insect Mimetics and Nano Materials
    Masatsugu Shimomura, Tateo Shimozawa (Ed.), ISBN 978-4-86043-198-3, Tokyo: NTS Inc., pp. 1-18

    F. Ruffier, N. Franceschini (2007)
    Un régulateur de flux optique pour le pilotage autonome des micro-aéronefs
    Objets volants miniatures - Modélisation et Commande embarquée -, Pages 329-359, sous la direction Rogelio LOZANO, ISBN: 978-2-7462-1466-8

    Journal Papers
    J. Serres, G. P. Masson, F. Ruffier and N. Franceschini (2008)
    A bee in the corridor: centering and wall-following
    Naturwissenschaften, Springer, Volume 95, Number 12 / December 2008, pp. 1181-1187

    Nicolas Franceschini, Stéphane Viollet, Franck Ruffier, Julien Serres (2008)
    Neuromimetic Robots inspired by Insect Vision
    Mining Smartness from Nature, Advances in Science and Technology Vol. 58 (Sept. 2008), ISBN: 3-908158-24-9, pp 127-136
    Trans Tech Publications , Switzerland

    J. Serres, D. Dray, F. Ruffier and N. Franceschini (2008)
    A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance
    Autonomous Robots, Springer, Volume 25, Numbers 1-2 / August 2008, pp. 103-122

    N. Franceschini, F. Ruffier, J. Serres (2007)
    A bio-inspired flying robot sheds light on insect piloting abilities
    Current biology Volume 17, Issue 4, 20 February 2007, pp. 329-335

    M. Pudas, S. Viollet, F. Ruffier, A. Kruusing, S. Amic, S. Leppävuori, N. Franceschini (2007)
    A miniature bio-inspired optic flow sensor based on low temperature co-fired ceramics (LTCC) technology
    Sensors and Actuators A: Physical, Volume 133, Issue 1, 8 January 2007, Pages 88-95

    N. Franceschini, F. Ruffier, J. Serres (2007)
    Optic flow based autopilot: From insects to rotorcraft and back
    Comparative Biochemistry and Physiology - Part A: Molecular & Integrative Physiology, Volume 146, Issue 4, Supplement 1, April 2007, Page S133
    Abstracts of the Annual Main Meeting of the Society for Experimental Biology, Glasgow, Scotland, 31st March - 4th April, 2007

    J. Serres, F. Ruffier, S. Viollet and N. Franceschini (2006)
    Toward optic flow regulation for wall-following and centring behaviours
    International Journal of Avanced Robotic Systems, Volume 3, Number 2, June 2006, Page 147?154

    F. Ruffier, N. Franceschini (2005)
    Optic flow regulation: the key to aircraft automatic guidance
    Robotics and Autonomous Systems, Vol. 50, No 4, 31 March 2005, pp. 177-194

    F. Ruffier, S. Viollet, N. Franceschini (2004)
    Visual control of two aerial micro-robots by insect-based autopilots
    Advanced Robotics, Vol. 18, No 8, pp. 771-786
    Published jointly by VSP and the Robotics Society of Japan.
    Peer-reviewed Proceedings
    F. Ruffier, T. Mukai, H. Nakashima, J. Serres, N. Franceschini (2008) In Press
    Combining Sound and Optic Flow Cues to Reach a Sound Source Despite Lateral Obstacles
    2008 IEEE International Symposium on System Integration, Nagoya, Decenber 4th

    G. Portelli, J. Serres, F. Ruffier, N. Franceschini (2008)
    A 3D Insect-Inspired Visual Autopilot for Corridor-Following
    Second IEEE RAS / EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE BioRob 2008, pp. 19-26., 19-22 Octobre 2008, Scottsdale, Arizona, USA

    F. Ruffier, N. Franceschini (2008)
    Aerial Robot Piloted in Steep Relief by Optic Flow Sensors
    IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems , IEEE IROS 2008, pp. 1266-1273, September, 22-26, 2008, Nice, France

    N. Franceschini, S. Viollet, F. Ruffier, J. Serres (2008)
    Neuromimetic Robots inspired by Insect Vision
    Paper E-4.2: IL03, CIMTEC 2008 3rd International Conference 'Smart Materials, Structures and Systems', Acireale, Sicily, Italy, June 8-13, 2008

    Serres, J., Ruffier, F. and N. Franceschini (2006)
    Two optic flow regulators for speed control and obstacle avoidance
    Paper n°284, In proceedings of the fist IEEE Int. Conference on Biomedical Robotics and Biomechatronics (BIOROB 2006), Pisa, Italy, Feb. 20-22

    J. Serres, F. Ruffier and N. Franceschini (2005)
    Biomimetic visual navigation in a corridor: to centre or not to centre?
    International Mediterranean Modeling Multiconference (Marseille, France, Oct. 20-22), pp 91-97

    F. Ruffier, J. Serres, N. Franceschini (2005)
    Automatic landing and take off at constant slope without terrestrial aids
    Proceeding of the 31th European Rotorcraft Forum (ERF'05), CEAS, Firenze, Italie

    F. Ruffier, N. Franceschini (2004)
    Optic flow based AFCS for rotorcraft automatic manoeuvring (terrain following, take-off and landing)
    Proceeding of the 30th European Rotorcraft Forum (ERF'04), pp. 71.1-71.9, AAAF/CEAS, September 14-16 2004, Marseille

    F. Ruffier, N. Franceschini (2004)
    Visually guided Micro-Aerial Vehicle : automatic take off, terrain following, landing and wind reaction
    Proceeding of the IEEE International Conference on Robotics and Automation (ICRA 2004), pp. 2339-2346, New Orleans, USA.
    IEEE ICRA 2004 Best vision paper finalist

    S. Viollet, F. Ruffier, N. Franceschini (2004)
    Visual stabilisation and guidance of micro aerial robots : a biomimetic approach
    Proceeding of the 35th International Symposium on Robotics (ISR 2004) Ref:THS31-4, Paris

    F. Ruffier, S. Viollet, N. Franceschini (June 2003)
    OSCAR and OCTAVE : Two bio-inspired visually guided aerial micro-robots
    Proceeding of the 11th IEEE Int Conference on Advanced Robotics (ICAR 2003), pp. 726-732, Coimbra, Portugal.
    IEEE ICAR 2003 Outstanding paper award

    F. Ruffier, N. Franceschini (May 2003)
    OCTAVE, a bioinspired visuo-motor control system for the guidance of Micro-Air Vehicles
    SPIE proceeding, Vol. 5119, pp.1-12.
    Conference on Bioengineered and Bioinspired Systems
    Edited by Rodriguez-Vazquez, A.; Abbott, D.; Carmona, R.; Bellingham, U.S.A..

    F. Ruffier, S. Viollet, S. Amic, N. Franceschini (May 2003)
    Bio-inspired optic flow circuits for the visual guidance of micro-air vehicles
    Proceeding of IEEE Int Symposium on Circuits and Systems (ISCAS 2003), Vol. III, pp.846-849, Bangkok, Thailand.
    Abstracts in international conferences
    G. Portelli, J. Serres, F. Ruffier, N.Franceschini (2008)
    3D Navigation with an insect-inspired autopilot
    Second french conference on Computational Neuroscience, Neurocomp08, pp. 143-146, 8-11 octobre 2008, Marseille

    Julien Serres, Franck Ruffier, Nicolas Franceschini (2008)
    A bio-inspired optic flow based autopilot for guiding a miniature hovercraft in corridors
    Workshop "Visual guidance systems for small autonomous aerial vehicles" during IEEE IROS 2008 Conference, September 22, 2008, Nice

    Julien Serres, Franck Ruffier, Guillaume P. Masson, Nicolas Franceschini (2008)
    A bee in the corridor: centering and wall-following
    Second International Conference on Invertebrate Vision August 1 - 8, 2008
    Bäckaskog Castel, Sweden

    Portelli G., Ogier M., Ruffier F., Serres J., Franceschini N. (2007)
    A Bee in the Corridor: Regulating Lateral OF by Side Control
    Flying insects and Robots, August 12 - 17, 2007
    Ascona Switzerland

    F. Ruffier, J. Serres, G.P. Masson and N. Franceschini (2007)
    A bee in the corridor: regulating the optic flow on one side
    Abstract n°T14-7B, 31st Göttingen Neurobiology Conference

    J. Serres, F. Ruffier, GP. Masson and N. Franceschini (2007)
    A bee in the corridor: centring or wall-following ?
    Abstract n°T14-8B, 31st Göttingen Neurobiology Conference

    Invited conferences
    Nicolas Franceschini, Franck Ruffier, Julien Serres (2008)
    From insects to robots and back
    Second International Conference on Invertebrate Vision August 1 - 8, 2008
    Bäckaskog Castel, Sweden

    Franck Ruffier, Nicolas Franceschini (2008)
    Optic flow-based autopilot for navigation in steep relief
    Second International Conference on Invertebrate Vision August 1 - 8, 2008
    Bäckaskog Castel, Sweden

    N. Franceschini, F. Ruffier, J. Serres (2007)
    Insects as Pilots: Optic Flow Regulation for Vertical and Horizontal Guidance
    Flying inscets and Robots, August 12 - 17, 2007
    Ascona Switzerland

    F. Ruffier, N. Franceschini, J. Serres (2007)
    Vision based autopilot in flies
    Visual Processing in Insects: From Anatomy to Behavior April 29 - May 2, 2007
    Janelia Farm Research Campus, Howard Hughes Medical Institute

    N. Franceschini, F. Ruffier (2004)
    Biomimetic autopilot based on fly vision
    Symposia "INSECTS AS MACHINES: Biomechanics, Functional Morphology, Sensory Systems & Robotic Applications" (Organisateurs: R. Wootton, M. Srinivasan) at the International Congress of Entomology, August 15 - 21, 2004, Brisbane, Australia

    N. Franceschini, S. Viollet, F. Ruffier (2004)
    Insect based autopilots for micro-air vehicles
    International Conference on "Insect Sensors and Robotics" (Organisateurs: M. Srinivasan, R. Wootton, M. Whitten) , August 23-26, 2004, Brisbanne, Australia
    Domestic conferences
    J. Serres, D. Dray, F. Ruffier, N. Franceschini (2008)
    Pilote automatique bio-inspiré basé sur la vision du mouvement
    Conférence MajecSTIC Marseille 2008, 29-31 octobre 2008, Manifestation des Jeunes Chercheurs en Sciences et Technologies de l'Information et de la Communication

    Julien Serres, Franck Ruffier, et Nicolas Franceschini (2007)
    Guidage visuel d'un aéroglisseur miniature dans un corridor
    Journées Nationales de la Recherche en Robotique JNRR'07 (Obernai, France, Oct 9-12),

    J. Serres, F. Ruffier and N. Franceschini (2005)
    Réguler le flux optique latéral pour naviger dans un corridor
    Journées Nationales de la Recherche en Robotique JNRR'05 (Guidel, France, Oct 5-7), pp 289-290

    F. Ruffier, N. Franceschini (2005)
    Décollage, Vol de croisière, Réaction au vent et Atterrissage automatiques d'un robot aérien doté de vision
    OPTRO 2005, mai 2005, Min. de la Recherche, Paris 5ème, Colloque internat. organisé par AAAF et EOS.

    F. Ruffier, S. Viollet, S. Amic, N. Franceschini (2003)
    Circuit et guidage visuels bio-inspirés pour mini-robot aérien
    2èmes journées du RTP microrobotique, 3- 4 Décembre 2003, Bourges, ENSI de Bourges

    F. Ruffier, N. Franceschini (2003) [Slides in english]
    OCTAVE, un système visuel de contrôle automatique de l’altitude pour microdrone
    Journées Microdrone 2003, 1 – 3 octobre 2003, Toulouse

    F. Ruffier, N. Franceschini (2002)
    OCTAVE, système de contrôle bio-inspiré de l'altitude d'un micro-aéronef
    1ères journées du RTP microrobotique, 6 et 7 novembre 2002, Rennes, Irisa et ENS Cachan, Antenne de Bretagne

    F. Ruffier, N. Franceschini (2002)
    Pilotage visuel d’un micro-aéronef
    16èmes Journées des Jeunes Chercheurs en Robotique (JJCR’16), Villeurbanne - INSA Lyon

    N. Franceschini, T. Netter, S. Viollet, F. Ruffier, F. Aubepart (2002)
    Projet européen sur les micro-aéronefs : un défi transdisciplinaire, scientifique et technologique
    Journées du programme interdisciplinaire ROBEA, LAAS, Toulouse, oct. 2002

    N. Franceschini, T. Netter, S. Viollet, F. Ruffier, F. Aubepart (2002)
    Micro-drones biomimétiques,
    Journées CNRS/DGA, Arcueil, nov. 2002
    French patent and global extension pending
    Scientific awards
    "ICAR Outstanding paper award" at IEEE ICAR 2003, Coimbra, Portugal
    "ICRA Best vision paper finalist" at IEEE ICRA 2004, New Orleans, USA
    "Prix La Recherche 2005" (french speaking scientist award), N. Franceschini, S. Viollet, F. Ruffier
    Thesis
    Control of a High Voltage Supply for a Traveling Wave Tube Transmitter Master thesis project done in Lund for Ericsson Microwave System (Mölndal, Sweden)
    Pilote automatique biomimétique - Système générique inspiré du contrôle visuomoteur des insectes pour : le décollage, le suivi de terrain, la réaction au vent et l'atterrissage automatiques d'un micro-aéronef - , PhD thesis at INP Grenoble defended in september 2004
    Other conferences I attended to
  • Topical meeting, "Computational Neuroscience", Nov. 5th 2004, Organizer : A. Riehle (INCM), Marseille
  • Colloque E. J. Marey, "De la Chronophotographie à l'analyse du mouvement humain en réalité virtuelle", 21 octobre 2004, Marseille
  • Microdrone 2002, Toulouse, 18 – 20 septembre 2002
  • AMIRE 2001, 1st International Conference on Autonomous Minirobots for Research and Edutainment, in Paderborn, Germany, October 22 - 24, 2001
  • 3rd Conference on Sensorimotor Controls in Men and Machines, Le Pharo, Marseille, France, Oct 5 - Oct 6, 2001
  • International Conference on Invertebrate Vision, Bäckaskog Castle, Sweden, August 7 - August 12, 2001
    •
    Previous works at the Biorobotics department

    Elementary Motion Detector circuit (EMD)
    • Appareil visuel élémentaire pour la navigation à vue d'un robot mobile autonome
      • in French (18Mo)
      Master thesis in Neurosciences (DEA in French), Christian BLANES, June 1986, Univ. Aix-Marseille II,
      "Realisation of Elementary Motion Detector (EMD) electronic circuit" (in French), title of Chapter VI, pp. 25 (thesis pagination) or pp. 30 (pagination in pdf file)
      EMD circuit schematics, pp. -34.1- (thesis pagination) or pp. 40 (pagination in pdf file)

    Robot-Fly (robot-mouche) (De la Mouche au Robot Divx Movies in French)