[robotics-worldwide] Open position for PhD student in Autonomous Underwater Grasping
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.
January 2012 would be ideal for the project, but starting as late as
Summer 2012 is possible.
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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