[robotics-worldwide] [jobs] Post doc - Robotic prehensile manipulation of rigid and non-rigid objects

Fanny Ficuciello fanny.ficuciello at unina.it
Wed May 24 22:10:15 PDT 2017


Dear Roboticists around the World,

The PRISMA Lab Group (https://urldefense.proofpoint.com/v2/url?u=http-3A__prisma.dieti.unina.it_&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=p7C6LsI2-JQy-vcG_CC6Aj3o9eadvzLcEW2qMFs-Ryg&e= ) and the ICAROS  
center (https://urldefense.proofpoint.com/v2/url?u=http-3A__www.icaros.unina.it_&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=i1s_RfVJgkshn7gVF02DxIyvmnvV-lvmr8hoq6h52VQ&e= ) both headed by Prof. Bruno  
Siciliano at University of Naples Federico II in Italy, are seeking to  
recruit senior postdoctoral research fellows that will have a key  
research role in the following area: robotic manipulation focused on  
prehensile manipulation of rigid and non-rigid objects.  The  
successful candidates will conduct their research within the MUSHA  
project (www.musha.unina.it).

** Description
The candidate will develop learning and control algorithms for  
rigid/deformable objects grasping and manipulation with  
anthropomorphic hands using visual feedback. One challenge is to  
recognize rigid objects, another challenge is to track and model  
deformable objects. Finally, a further challenge is to merge vision  
and touch information to integrate them in reasoning to execute  
complex manipulation tasks. The observation of the human behaviour  
during the execution of a task is aimed at learning how vision and  
touch information are integrated and used for hand-arm impedance  
modulation, contact force regulation and sensory-motor coordination.

**  We are looking for highly-motivated young scientists with a  
background and PhD in automatic control and/or robotics, preferably  
with at least two years of experience abroad, and a well-established  
publication record. Desired qualifications include:
-Competencies in computer vision and machine learning;
- Sound background and working experience robotic manipulation/control  
system design;
- Competencies in numerical modeling and simulation of rigid and  
deformable systems
- Experience programming (C/C++, ROS) and MATLAB
- Excellent publication record
- Creativity and proactive attitude
- Fluency in both spoken and written English
- Strong team player

** Project idea
MUSHA aims at creating future generations of bio-inspired tools for  
surgery and advanced bio-aware manipulation paradigms toward  
breakthrough mini-invasive surgical instruments for organs  
manipulation and android robotic hands. Bio-inspired mechanical design  
will address the reduction of tools weight and dimension by limiting  
the number of actuators while preserving dexterity and manipulation  
capabilities. Fiber optic sensor will be suitably integrated to  
measure the contact forces exchanged with the environment. The project  
aims at designing an underactuated and sensorized three-fingered hand  
to be used as a surgical tool for manipulation.  But the learning and  
control strategies that MUSHA is willing to develop are of interest  
also for anthropomorphic hands. Besides innovative control design,  
MUSHA  will develop an integrated framework merging vision and touch  
information in reasoning to carry out complex manipulation tasks.  The  
innovation will be linked not only to the mechanical design and  
integrated sensor systems but also to novel planning and control  
algorithms generating intelligent and effective actions. MUSHA will  
integrate contributions from: surgeons, on surgical tool requirements  
definition and on testing in mechanical simulators and surgical  
settings; electronic engineers, on the development, design and  
integration of fiber optic sensors; robotic engineers, on mechanical  
design, on vison-force control development from the observation of  
human sensory-motor coordination and on testing robotic manipulation.  
The synergy of the different competences is the key point to  
accomplish MUSHA objectives.

** Motivation
MUSHA arises from the need to replicate human manipulation  
capabilities in various fields where robotics can help to improve  
life. This includes unstructured environments in which a humanoid  
robot must replace the human being or parts of the body to address  
daily-life tasks, but also minimally invasive robotic surgery where  
the surgeon is unable to use hands to manipulate organs and tissues  
while feeling its anatomy, consistency and temperature. In both cases,  
the lack of knowledge on object or tissue textures, due to missing  
tactile information, entails a loss of performance in task execution  
as well as wrong decisions.  This research field is of worldwide  
interest for several reasons. Many objects we manipulate during our  
daily activities cannot be considered rigid from the manipulation  
point of view. This is the case of products with soft packets that can  
be found, e.g., in a supermarket or in the case of manipulation of  
textiles and clothes. Furthermore, especially in the surgical  
scenario, the manipulated tissues and organs are non-rigid and have  
different consistency and texture.

**About PRISMA Lab
University of Naples Federico II is the third oldest university in  
Italy and the oldest public university in Europe. The School of  
Engineering, with a population of 10,000 students, is the oldest in  
Italy and recently celebrated its second centennial since the  
foundation by King Gioacchino Murat in 1811. The PRISMA team operates  
in the Department of Electrical Engineering and Information  
Technology, where since almost 30 years is conducting research in  
robotics. Current interests include force control, visual servoing,  
dual-arm/hand manipulation, human-robot interaction, service robotics,  
and aerial robotics. The team has gained world-wide recognition and is  
currently engaged in six projects supported by the European Community.  
See www.prisma.unina.it for further information.

** About ICAROS center
The ICAROS center (Interdepartmental Center for Advances in Robotic  
Surgery) of the University of Naples Federico II was founded in March  
2016 by the will of prof. Vincenzo Mirone of the School of Medicine  
and Surgery and prof. Bruno Siciliano of the School of Engineering and  
Basic Sciences, who is the Director of the center. The center aims at  
creating synergies between clinical and surgical practice and research  
on new technologies for computer/robot assisted surgery.

**About Naples
Naples is the third largest city in Italy, and is the capital of the  
Campania region. World-known for its rich history, art, culture,  
architecture, music, and gastronomy, Naples is a lively, exciting and  
bustling city situated on the southwest coast in a gorgeous gulf, and  
is surrounded by attractive tourist and archaeological sites such as  
Capri, Ischia, Amalfi Coast, Pompei, Ercolano, Mount Vesuvius. See  
https://urldefense.proofpoint.com/v2/url?u=http-3A__en.wikipedia.org_wiki_Naples&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=djetrFF2IFO_lH7q4jQIdC1urj1y3Nl9k8eKz15foJE&e=  for further information.

**Salary and Duration
The positions are full time and will be paid according to the current  
Italian scheme. Salary will be determined depending on the level of  
experience and research seniority of the individual candidate.
Positions are available immediately and will remain open until a  
suitable number of strongly qualified candidates are selected.

** Qualified potential applicants holding a PhD degree should provide  
the following material:
      1) Cover letter briefly describing their background and career plans

      2) CV

      3) Link to their research web-site

      4) List of publications

      5) Date of availability

      6) Names and contact information of at least two references

All documents should be submitted via email as a single compressed/pdf  
file to Prof. Bruno Siciliano,  bruno.siciliano at unina.it and Dr. Fanny  
Ficuciello fanny.ficuciello at unina.it  with the subject: POSTDOC  
CANDIDATE MUSHA.

For more information, please contact

Dr. Fanny Ficuciello
Principal Investigator of MUSHA Project
URL: https://urldefense.proofpoint.com/v2/url?u=http-3A__www.musha.unina.it_&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=4A6ZS87oVdLKrSta9NOZSdYreKWR-ZVkRivPkDAK_l4&e= 
Member of PRISMA Lab & ICAROS center
https://urldefense.proofpoint.com/v2/url?u=http-3A__prisma.dieti.unina.it_&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=p7C6LsI2-JQy-vcG_CC6Aj3o9eadvzLcEW2qMFs-Ryg&e= 
https://urldefense.proofpoint.com/v2/url?u=http-3A__www.icaros.unina.it_&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=i1s_RfVJgkshn7gVF02DxIyvmnvV-lvmr8hoq6h52VQ&e= 
Department of Electrical Engineering and Information Technology
University of Naples Federico II
via Claudio 21, 80125, Naples, Italy
phone: +39 081 7683916
fanny.ficuciello at unina.it
https://urldefense.proofpoint.com/v2/url?u=http-3A__wpage.unina.it_fanny.ficuciello&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=0NtCfa_09xPb0Wf4BM1j3BhagYZmRyzDBkqBnaciDFU&e= 






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PhD. Eng. Fanny Ficuciello
Principal Investigator of MUSHA Project
URL: https://urldefense.proofpoint.com/v2/url?u=http-3A__www.musha.unina.it_&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=4A6ZS87oVdLKrSta9NOZSdYreKWR-ZVkRivPkDAK_l4&e= 
Member of PRISMA Lab & ICAROS center
https://urldefense.proofpoint.com/v2/url?u=http-3A__prisma.dieti.unina.it_&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=p7C6LsI2-JQy-vcG_CC6Aj3o9eadvzLcEW2qMFs-Ryg&e= 
https://urldefense.proofpoint.com/v2/url?u=http-3A__www.icaros.unina.it_&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=i1s_RfVJgkshn7gVF02DxIyvmnvV-lvmr8hoq6h52VQ&e= 
Dipartimento di Ingegneria Elettrica e
Tecnologie dell'Informazione
Università di Napoli Federico II
Via Claudio 21, 80125 Napoli, ITALY
Tel: +39 0817683186
e-mail: fanny.ficuciello at unina.it
Skype: fficuciello
URL: https://urldefense.proofpoint.com/v2/url?u=http-3A__wpage.unina.it_fanny.ficuciello_&d=DwIDAw&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=D1zi-8tQGDELMkD6IiGs5gehwk2Q1tC62UU4FOcMnig&s=ke_s9dU_eCC5KNLom5yJ_07didv1FtC6iIlmS95diU4&e= 
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