[robotics-worldwide] Open position for PhD student in Autonomous Underwater Grasping

jeff trinkle trinkle at gmail.com
Mon Oct 17 16:49:08 PDT 2011

1 funded PhD position is immediately available in the CS Robotics Lab
(http://www.cs.rpi.edu/twiki/view/RoboticsWeb/WebHome/) in the
Department Computer Science (http://www.cs.rpi.edu/) at Rensselaer
Polytechnic Institute, in Troy NY, USA.

Autonomous Underwater Grasping:
The goal of this research project is to develop techniques for
reliable grasping and retrieval of partially known objects lying on
the sea floor.  To eliminate the ill-effects of unplanned object
movement on grasping success, we will develop a Bayesian method to
track the state of the object in real-time during grasping attempts.
Important model parameters (such as body dimensions and effective
friction coefficients) will be simultaneously estimated.  The method
will combine predictions made by a model of multibody dynamics of the
hand/object system and corrections deduced from observation data from
visual, tactile, and proprioceptive sensors.

Applicants for this position should have a Bachelor’s or Master’s
degree in Computer Science, Computer Engineering, or closely related
field (for example, control engineering and systems engineering) with
a solid foundation in continuous and discrete mathematics.  Very good
English and software engineering skills are required.  Hands-on
experience with real-time control (especially through Matlab/Simulink)
or active sensory perception is desirable.  Complementary knowledge of
robot dynamics and experience with hardware-in-the-loop simulation
would be valuable, although not required.  Women, underrepresented
minorities, and individuals with disabilities are especially
encouraged to apply.

Start date:
January 2012 would be ideal for the project, but starting as late as
Summer 2012 is possible.

To apply:
Send your resume and statement of interest to:
Jeff Trinkle, Professor of Computer Science and
Director of the Computer Science Robotics Laboratory
Rensselaer Polytechnic Institute, Troy NY, USA  12180
trink at cs.rpi.edu    ….   http://www.cs.rpi.edu/~trink

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