[robotics-worldwide] [jobs] PhD Openings in Advanced Robotic Manipulators

Luca Carbonari l.carbonari at univpm.it
Wed Jun 3 02:36:03 PDT 2015


PhD Openings in Advanced Robotic Manipulators

Advanced Industrial Automation Lab (AIAL)

Department of Advanced Robotics (ADVR)

Istituto Italiano di Tecnologia (IIT)

The IIT is an English language Research Institute founded on 2003 on the 
model of international technological centres, placed in Genoa. Its aim 
is to promote excellence in both basic and applied research and to 
facilitate the economic development at national level. The Institute has 
a staff of about 1400 people with about 85% of personnel dedicated to 
research. 44% of the researchers come from abroad, 28% are scientists 
from more than 50 countries and 16% are Italian researchers who have 
come back to Italy after a professional experience abroad. The average 
age of the IIT staff is less than 34 years, with a gender distribution 
of 41% women and 59% men. IIT has produced about 5000 publications and 
more than 150 inventions resulting in 300 patent applications. Its 
research activity led to the creation of 10 start-ups, with additional 
13 start-ups currently being 
launched(http://www.iit.it/images/stories/scientific_plan/IIT-8-year-eng-final.pdf).

The AIAL-Advanced Industrial Automation Lab 
(http://www.iit.it/it/advr-labs/advanced-industrial-automation.html) has 
a number of fully funded PhD openings (starting in November 2015). Young 
scientists with excellent First/Master degrees (in Computer Science, 
Mechanical/Electrical Engineering or other related fields) and strong 
competencies and interest in one or more of the followings areas 
(physical system modelling/rigid body dynamics, reconfigurable 
mechanism, robot control, mechanism design, mechanical/mechatronic 
engineer or robotics, MATLAB and C/C++ programming) are invited to apply 
for admission.

The successful candidates will be involved in basic/applied Research 
Projects based on the Virtual Prototyping Design Method 
(http://www.iit.it/it/virtual-prototyping-design.html) that permits to 
build very detailed numerical models of the robots and then to improve 
strongly their performances and design. They will closely interact with 
all the other Advanced Robotics Labs and Groups as well as the R&D of 
Large Enterprises (http://www.iit.it/it/aia-projects.html) and abroad 
Research Centres thanks to the projects and collaborations 
(http://www.iit.it/it/aia-research.html).

The PhD call details of the two themes are in the following:

1)Development of Reconfigurable and Module Robotic Software for Novel 
Robotic Manipulator

Tutor: Dr. Ferdinando Cannella, Prof. Darwin Caldwell

Description: Nowadays the manufacturing is facing an urgent demand on 
automation upgrade to meet the requirements from various types of 
manufacturing industry. However, the current robotic man

manufacturing system is still not flexible and adaptive to high mix low 
volume manufacturing. One of the challenges is to study and solve how to 
quickly deploy the robotic software and hardware suitable and adaptive 
to robotic manufacturing changes, which may include multiple robots, 
sensors (vision, force) and related machines. As a consequence, it is 
very important to design novel module and reconfigurable software 
framework to manage multiple types of robots and robotic systems. Goal 
of this PhD is to study, design and build novel industry-level software 
based on ROS or ROS-Industry which is modular, reconfigurable, adaptive, 
easy to use to integrate and control various robotic systems. It means 
the system should be able to detect, communicate and control almost 
every current existed robotic systems or communication styles. Meanwhile 
also build a reconfigurable robotic manipulator so as to test the 
developed software. The manipulator design will be based on the 
experience obtained from previous projects, but also is inspired from 
the nature of human beings hands or other similar bio-mechanisms. Since 
it is very complicated to design a bio-inspired robotic mechanism, the 
virtual prototyping development (co-simulation that involves multi-body 
and finite element and control) is required as a basic skill.

Moreover the research is carried out within the ADVR that concentrates 
on an innovative, multidisciplinary approach to humanoid design and 
control, and the development of novel robotic components and 
technologies. This encompasses activities from both the hard and soft 
systems areas of robotics. Thus the industrial developments exploit 
these advances that permit to design the humanoid-like robots suitable 
for the industrial plants.

This work will be under supervision of Dr. Fei Chen, Dr. Carlo Canali

Requirements: this position is open to a PhD candidate with strong 
interesting in reconfigurable mechanism and skill in computer science. 
The background must be in robotics. The ideal competencies should be in 
computer science with strong programing skill, especially program using 
C++ under Linux. Required technical skills: 80% computer science, 20% 
Mechanism

Reference: Fei Chen, Ferdinando Cannella, Carlo Canali, Traveler 
Hauptman, Giuseppe Sofia, Darwin G. Caldwell, ''In-Hand Precise Twisting 
and Positioning by a Novel Dexterous Robotic Gripper for Industrial 
High-Speed Assembly'', IEEE International Conference on Robotics and 
Automation (ICRA 2014), Hong Kong, China, May 2014.

Carlo Canali Cannella, Ferdinando; Fei Chen , Sofia, Giuseppe; Eytan, 
Amit; Caldwell, G. Darwin, "An automatic assembly parts detection and 
grasping system for industrial manufacturing," Automation Science and 
Engineering (CASE), 2014 IEEE International Conference on , vol., no., 
pp.215,220, 18-22 Aug. 2014. doi: 10.1109/CoASE.2014.6899329

Fei Chen, Ferdinando Cannella, Horonobu Sasaki, Carlo Canali, Toshio 
Fukuda, ``Error Recovery Strategies for Electronic Connectors Mating in 
Robotic Fault-tolerant Assembly System'', IEEE/ASME 10th International 
Conference on Mechatronic and Embedded Systems and Applications (MESA 
2014), Senigallia, Italy, pp. 1-6, September 2014.

Chen, Fei; Sekiyama, K.; Cannella, Ferdinando; Fukuda, Toshio, "Optimal 
Subtask Allocation for Human and Robot Collaboration Within Hybrid 
Assembly System," Automation Science and Engineering, IEEE Transactions 
on , vol.PP, no.99, pp.1,11, 0, doi: 10.1109/TASE.2013.2274099

2)Design and Development of Non-Rigid Lightweight Dexterous Robot 
Manipulator

Tutor: Dr. Ferdinando Cannella, Prof. Darwin Caldwell

Description: Currently the compliance of the robots is given by the 
flexible joint and the precision is guaranteed by the rigid link. The 
results is an heavy robot with high accuracy but low speed performances. 
The using of elastic link to reduce the weight and to extend the 
flexibility from the joints to whole robot is a non-new idea, but it is 
still an open challenge for many issues: the precise position control is 
affected by the deflection, long lasting oscillations prolong the 
settling time, and so on. Solving these problems means to improve the 
potentiality of the robots: e.g. reducing the weight and then the power 
for moving them (that means more autonomy and higher performances), the 
elastic deformation can be stored and realised to harvest energy, these 
results can be applied to similar design (fire-rescue turntable ladders 
as well as cherry pickers, etc.).

So the goal of this PhD is to design and build novel robot with elastic 
link, to go further the current state of art (e.g. TUDOR project) 
improving the design part which takes in account the structure 
behaviour. Then this behaviour will be implemented in the force control 
to exploit the link elasticity for the compliance interaction between 
robot and environment, i.e. impulsive interaction with environment.

Moreover the research is carried out within the ADVR that concentrates 
on an innovative, multidisciplinary approach to humanoid design and 
control, and the development of novel robotic components and 
technologies. This encompasses activities from both the hard and soft 
systems areas of robotics that are suitable also for industrial 
applications.

This work will be under supervision of Dr. Carlo Canali, Dr. Fei Chen

Requirements: this position is open to a PhD candidate with strong 
interesting in reconfigurable mechanism and skill in mechanics. The 
background must be in mechanical/mechatronic engineer or robotics. The 
ideal competencies should be in multibody simulation/finite element 
analysis and robot dynamics and control. Required technical skills: 70% 
mechanics, 30% control

Reference:

Fei Chen, Ferdinando Cannella, Carlo Canali, Traveler Hauptman, Giuseppe 
Sofia, Darwin G. Caldwell, ''In-Hand Precise Twisting and Positioning by 
a Novel Dexterous Robotic Gripper for Industrial High-Speed Assembly'', 
IEEE International Conference on Robotics and Automation (ICRA 2014), 
Hong Kong, China, May 2014.

Carlo Canali, Ferdinando Cannella, Fei Chen, Traveler Hauptman, Giuseppe 
Sofia, Amit A. Eytan, Darwin G. Caldwell "High Reconfigurable 
Self-Adaptive Robotic Gripper for Flexible Assembly" in Proceedings of 
the ASME 2014 International Design and Engineering Technical Conferences 
& Computers and Information in Engineering Conference, IDETC/CIE 2014, 
August 17-20, 2014, Buffalo, NY

Mariapaola D’Imperio ,Ferdinando Cannella, Fei Chen, Daniele Catelani, 
Claudio Semini and Darwin G. Caldwell “Modelling Legged Robot Multi-Body 
Dynamics Using Hierarchical Virtual Prototype Design” -Proceedings of 
Living Machines'14 Proceedings of the Second international conference on 
Biomimetic and Biohybrid Systems.

Ferdinando Cannella, Alberto Garinei, Mariapaola D’Imperio and Gianluca 
Rossi, “A Novel Method For The Design Of Prostheses Based On 
Thermoelastic Stress Analysis And Finite Element Analysis” Journal Of 
Mechanics In Medicine And Biology Vol. 14, No. 5 (2014) 1450064, World 
Scientific Publishing Company, Doi: 10.1142/S021951941450064.

Application Enquiries:

For any enquiries concerning the above research themes, please contact 
ferdinando.cannella at iit.it <mailto:ferdinando.cannella at iit.it>, 
carlo.canali at iit.it <mailto:carlo.canali at iit.it>, fei.chen at iit.it 
<mailto:fei.chen at iit.it>.

More information can be also  found in 
http://www.iit.it/images/phd-xxxi/RES.THEMES.ADVANDHUM.pdf 
<http://www.iit.it/images/phd-xxxi/RES.THEMES.ADVANDHUM.pdf>.

Application Requirements:

The applicants should fill the online application at: 
(http://www.studenti.unige.it/postlaurea/dottorati/XXXI/IT) and upload 
the necessary application documents following the application procedures 
which can be found at: 
(http://phd.dibris.unige.it/biorob/index.php/how-to-apply) strictly no 
later than the 10th of June 2015, NOON, Italy time (Local time: GMT+2). 
International applications are encouraged and will receive logistic 
support with visa issues, etc. In addition, to apply, please send a 
detailed CV, a statement of motivation, at least 2 reference letters, 
degree certificates, grade of transcripts and any additional support 
material to Ferdinando Cannella (ferdinando.cannella at iit.it 
<mailto:ferdinando.cannella at iit.it>) with email Subject: “AIAL PhD 
Position Application”

-- 
Luca Carbonari
Dipartimento di Ingegneria Industriale e Scienze Matematiche
Università Politecnica delle Marche
Tel. +39 071 220 4418
Fax. +39 071 220 4801



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