[robotics-worldwide] [jobs] PhD Thesis position in marine robotics at IFREMER and LIRMM , France, October 2015

Vincent Creuze vincent.creuze at lirmm.fr
Mon Mar 9 09:27:11 PDT 2015


PhD Thesis position

Title: Subject: Coordinated Control of Two Robotic Arms for Underwater
Manipulation of Deformable Biological Specimens
Duration & dates: 3 years, from 2015/10/01 to 2018/09/30
Laboratory: Co-advising from
IFREMER, Service Positionnement Robotique Acoustique et Optique PRAO,
Unité des Systèmes Sous-marins, La Seyne sur mer, France. Main location.
LIRMM, Laboratoire d'Informatique de Robotique et de Microélectronique
de Montpellier, CNRS / Université de Montpellier, France. Secondary
location.

Subject description:
The objective of this research program is to introduce and develop new
coordination control schemes to improve the specification and the
execution of complex manipulation tasks performed by an underwater
vehicle. Ultimately the rate of success in the collection of biological
specimens from the seabed can be significantly improved if the vehicle
and its manipulator arms are simultaneously controlled to perform the
task. This in turns represents a shift forward from the traditional
approach and leads to considering the vehicle and its actuators as a
unique and complex robotic system characterized by several degrees of
freedom.
The design of an optimal trajectory to be tracked to reach the target
object in order to accomplish the task should take into consideration
both the kinematics and the dynamics of this resulting complex system.
In addition, throughout the execution of the different phases of the
operation, such as object grasping, collection and retrieval, the
vehicle and its manipulator arms need to be controlled in a coordinated
manner in order to avoid mutual collisions, instability and interference
with the environment.
The Ifremer’s new underwater vehicle HROV, equipped with two electric
manipulator arms, will be used as an experimental testbed to validate
the proposed control schemes within the scope of this thesis.

Requirements:
The candidate should have a master degree (or equivalent) in automatic
control, robotics or a closely related area. 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 marine biology (bio-mechanics) would be
greatly appreciated.

How to apply?
Applicants should send a motivation letter, a detailed CV and
recommendation letters to:
Lorenzo.Brignone at ifremer.fr  ,  vincent.creuze at lirmm.fr  and
Ahmed.Chemori at lirmm.fr


-- 
Vincent CREUZE
Associate Professor / Maître de Conférences

LIRMM  (CNRS / Univ. Montpellier)
Campus St Priest - BAT 5 - CC 05016
860 rue de St Priest
34095 Montpellier cedex 5 - France

phone : +33.467.418.514
email: vincent.creuze at lirmm.fr
https://www.lirmm.fr/lirmm_eng/users/utilisateurs-lirmm/vincent-creuze





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