Autonomously clearing obstacles
: The successful candidate will work on developing autonomous locomotion capabilities for a tracked mobile robot equipped with a 5-dof arm when crossing uneven ground surfaces (stairs, rocks, ...). This includes on-line optimization of the robot traction and stability and collision avoidance(mainly between arm and the environment). In the beginning, the path will be assumed given by the operator and the control has to adjust the forward velocity, the arm configuration and the flipper angle. The successful candidate has to work closely with other project partners who will provide 3D surface mapping and 6D pose estimation. Interested candidates should have a strong background in control and robotics and proven skills in working with embedded systems using Linux. Strong C/C++ programming skills are required for this position. To apply, please send an email to Faiz Ben-Amar (email@example.com) with your cv including references, a brief introduction of your research background and plans.
The position is available for 1 - 2 years and is expected to start in the first quarter of 2012.
UPMC - CNRS - ISIR
4, place jussieu 75252
Paris Cedex 05 - France
Tel : +33 1 44 27 63 42
Sensor fusion and sensor-based control for teleoperation of mini-drones
Description : Research on VTOL (Vertical Take-Off and Landing) drones is currently very active due to emerging applications such as monitoring or remote inspection of structures (dams, bridges, electric lines, etc). A major issue in this field is to develop robotic systems with autonomy capabilities, allowing the realization of observation missions with limited/simplified operator intervention. This is based primarily on the ability to merge information from various onboard sensors (inertial measurement units (IMUs), GPS, cameras, etc.) in order to provide the inputs to feedback control laws that have been designed for a specific fully/semi autonomous mission. For some applications, these inputs correspond to the cartesian configuration of the vehicle : pose (position and orientation), linear and angular velocity and all this information has to be extracted from the sensor data. For other applications, especially when moving in cluttered environments, it is more convenient to express the feedback law directly in term of sensors signals outputs. This is the so-called sensor-based control framework.
While sensor data processing may appear of lesser importance in this latter case, it can still be quite challenging.
The objective of this post-doc is to develop sensor data fusion and sensor-based control algorithms in the context of VTOL UAVs, with a particular emphasis on teleoperation applications. Regarding sensors fusion, the post-doc will focus primarily on data fusion of inertial sensors with exteroceptive sensors like proximeters (e.g., lasers) or cameras, which can provide information about the pose relative to the environment. In this context, a challenge is to develop algorithms sufficiently robust and efficient (especially in terms of computing load) to allow for real-time implementation on a mini-UAV. Design of sensor-based controls will rely on existing work on feedback control of VTOLs.
Applications to automatic hovering and structures following (walls, lines, etc) will be addressed.
Context : The post-doc will be part of the recent chair ”autonomous mini-UAVs” of UPMC (University Pierre et Marie Curie), supported by the french company RTE. This will be an opportunity for the candidate to involve himself/herself in a new activity of the lab, with dedicated human and experimental resources. The candidate will be hosted by the ISIR laboratory, located on the university campus in Paris.
Pre-requisites/ duration : The candidate should have a Ph.D. in signal processing (vision processing, inertial sensors, etc) in the context of mobile robotics. Practical experiences on robotic device and strong interest for applications are also most important for this position which will involve a strong experimental component. The position is opened for 2 years.
4 Place Jussieu, 75005 Paris
Tel : 01 44 27 88 09
Post-doctoral position opening on VR & Haptics for micro/nanomanipulation
A post-doc post is available at the Institut des Systèmes Intelligents et Robotique (ISIR), see http://www.isir.upmc.fr, of the Université Pierre et Marie Curie - Paris 6. The project is in the area of micro/nano robotics. It involves the use of haptic feedback and virtual reality techniques for micro and nano manipulation in a project is funded by the Agence Nationale de la Recherche (ANR). The aim is to investigate how micro and nano scales physics can be made accessible to the human scale. There are three sub-projects on which the prospective post-doc may work on according to her/his interests and qualifications.
Perception of micro/nano scale phenomena through virtual and augmented reality;
Design of a novel high fidelity haptic interface specific to micro/nano scales, including mechanics and control;
Bilateral control schemes for force feedback teleoperation through a VR/AR environment.
The candidate should have a Ph.D. in electrical or mechanical engineering, automatic control, applied physics, experimental psychology, human factors, or other relevant topics. Some experience with virtual reality systems would be a plus.
The position is available immediately. It is for one year and is renewable for a second.
Interested candidates should send a CV, selected publications and the names and addresses of three references
ISIR - Institut des Systèmes Intelligents et Robotique
18 rue du Panorama
Boîte Postale 61
92265 Fontenay aux Roses