[robotics-worldwide] Proposal for PhD position at FEMTO-ST, France

Philippe Lutz philippe.lutz at femto-st.fr
Thu Jun 28 08:13:08 PDT 2012

*Phd subject:* Robust Control for Manipulation in SEM (Scanning Electron 
Microscope) environment

Supervisors : *Y. Haddab, P. Lutz, Y. Le Gorrec***
Contacts: *yassine.haddab at femto-st.fr ou philippe.lutz at femto-st.fr***
Research Institute: *AS2M department of FEMTO-ST Institute (Besançon, 

The aimof the thesis is the development of advanced control, adapted to 
control systems in an SEM for manipulation and characterization of 
micro/nano-objects. The planned work can be divided into two parts: the 
first one will focus on the characterization and modelling of noise 
inside a SEM and the second will involve the control of microrobots end 
effectors to perform micromanipulation tasks on delicate components with 
small sizes (some dimensions may be as small as 100 nanometers or less). 
Theseend effectors can be either microgrippers or tools developed at 
UPMC / ISIR and Femto-ST.

The thesis is part of the ANR project "NANOROBUST" bringing Femto-ST in 
Besançon, the ISIR in Paris, the LPN in Marcoussis and IRISA in Rennes. 
Thales Research Technologies is also involved in this work. The overall 
objective of NANOROBUST is to provide a robotic platform for 
nanomanipulation and physical characterization by scanning electron 

The control ofmicrorobots and microsystems faces many difficulties 
related to the miniaturization. These difficulties are due on the one 
hand in researchinghigh performance in terms of resolution and accuracy, 
and partly to the high sensitivity of these systems to environmental 
conditions (temperature, humidity, etc.) and noise. Moreover, in these 
dimensional scales, the signal/noise ratios are unfavorable because of 
very low amplitudes of the useful signals. The actuation in micro/nano 
world is mostly done with active materials (piezoelectric, shape memory 
alloys, etc.) or deformable structures associated with a physical effect 
(electrostatic actuators, etc.). Controlling the interaction force 
between the gripping tools and the nano-objects is essential to perform 
nanomanipulation and characterization. Dynamic modelling of noise is an 
essential step to enable ultra precise control needed for handling and 
characterizing nano-objects.

*Skills expected:* The candidate should havegood knowledge of control 
and signal processing. Knowledge to use will be adapted based on the 
evolution of the thesis but a good starting point would be : state 
representation and state feedback control, observers and estimators 
synthesis, robust control, sensitivity analysis, noise filtering, 
optimal filtering (Kalman, etc.) Fourier analysis and digital signal 
processing using MATLAB and SIMULINK. Of course, some of these skills 
may be acquired during the thesis through training. Furthermore, a first 
experience in micro/nano systems is welcome but not essential.

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