[robotics-worldwide] PhD scholarship about control in marin robotics - University Montpellier 2 - France

chemori Ahmed.Chemori at lirmm.fr
Thu May 16 09:11:30 PDT 2013


*Source of funding:* Industrial scholarship (CIFRE)*Laboratory: *LIRMM (UMR
5506 CNRS / Université Montpellier 2)*Keywords: *marine robotics, control,
signal processing, mechanics*Duration: *3 years, from October 1st,
2013*Contacts:* Ahmed Chemori (+33(0)4.67.41.85.62 -
Ahmed.Chemori at lirmm.fr)Marc Gouttefarde (+33(0)4.67.41.85.59 -
gouttefarde at lirmm.fr)Vincent Creuze (+33(0)4.67.41.85.14 -
creuze at lirmm.fr)*Abstract:* This thesis subject deals with the automatic
control of a flotilla of robotized surface vehicles for towing of wrecks,
icebergs, platforms or large dimension flotsams.The work to be achieved
consists in modeling the system composed of the vehicle(s), the cable(s) and
the load(s), defining some optimal reference trajectories (energy
minimization and obstacle avoidance), and proposing control schemes for
trajectory tracking. Furthermore, in order to avoid degradation in the
performance of the controlled system during the task, the vehicle is
expected to possess self tuning abilities and in order to compensate for
different kinds of disturbances and variable operating conditions.
Therefore, the PhD candidate should propose and implement not only the
environmental parameters’ estimations (intensity and frequency of waves,
intensity and direction of wind, etc), but also the adaptive control schemes
that enable reference trajectories tracking despite a wide range of
variation of the towed load. The effect of the cables on the system will
also be taken into account in this study by means of accurate modeling of
their dynamics.Once the control schemes are implemented, they will first be
validated in simulation (Matlab/Simulink software environment) and then in
real-time on an experimental platform to show their effectiveness and
robustness.The candidate should have a master degree (or equivalent) in
automatic control, in robotics, or in a closely related area, preferably
with a focus in automatic control and robotics. She/He is expected to have
good skills in control and robotics as well as in simulation and programming
(Matlab, Simulink, C/C++, etc). A good background in mechanics, marine
robotics, and signal processing would be greatly appreciated.Application:
Interested individuals should submit a detailed CV, a motivation letter and
possibly recommendation letters to the contact persons indicated above.



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