Your job alert was successfully created.
LabEx IMobS3
PhD Position - Coordinated control of a mobile manipulator carrying out dynamical work in natural environments
LabEx IMobS3
IMobS3 specificity is based on the implementation of solutions for sustainable mobility involving cooperative approaches crossing various disciplines and combining training, education and research aspects.
Visit employer page
JOB DETAILS
Published: 4 months ago
Application deadline: Unspecified
Location: AUBIERE, France
Please mention that you found this job on Academic Positions when applying.
SHARE THIS JOB

PhD Position - Coordinated control of a mobile manipulator carrying out dynamical work in natural environments

In the framework of the research project “Innovative systems and services for transport and production” IDEX/I-SITE CAP 20-25 (Challenge 2 – Theme : AgroTechnologies) and the LabEx IMobS3, TSCF-Irstea and Institut Pascal are offering a PhD position for highly motivated candidates interested in completing a PhD thesis on robotics.

Subject

Coordinated control of a mobile manipulator carrying out dynamical work in natural environments

Context of the project

Mobile manipulators are of great interest to perform tedious and repetitive tasks on large areas. Several studies have set the first principles to synchronize the different degrees of freedom provided by the mobile platform and the robotic arm, as well as to control the nonholonomic motions of the mobile base.

However, most of these studies focus on the displacements of the robot on rigid soils within structured and controlled environments, and consider quite often quasi-static work, i.e. the manipulator arm operates when the mobile base is stopped. However, for productivity purposes, in particular in agriculture, it becomes necessary to consider the coordination and a close coupling of the movements of the robot including in dynamical conditions, in particular in the case where the manipulation is used to  carry and displace the monitoring and intervention tools (e.g. for diseases detection, spraying) with respect to a flexible target.

Scientific project and objectives

This thesis deals with mobile manipulators operating in natural environments. It will consider the development of strategies enabling the accurate control of the treatment body, carried by the manipulator arm, relatively to flexible target plants, and this in a dynamical context. First, the aim will be to ensure the accurate control of the 3D position/orientation of the sensors mounted on the robot end-effector while synchronizing the motions of the mobile base at low speed. Second, the thesis will develop perception and control algorithms for the mobile manipulator taking into account the specific phenomena and perturbations encountered in off-road conditions. Deep learning techniques could be evaluated in that way. The objective will be next to couple the motions of the base and the manipulator to ensure the efficiency of the task at potentially high speed, requiring to manage in particular the 3D motions (pitch, roll) inherent to displacements in off-road conditions.

This thesis will be based on several work already initiated on this thematic and will extend the principles of adaptive and predictive controls to ensure the efficiency and accuracy of the work in an agricultural context.

Requirements

  • A Master degree in Computer Science, Electrical Engineering, Mechanical Engineering, Mechatronics or other related areas.
  • Strong background in mathematics and programming, specially in C++.
  • Excellent oral and written communication skills in English.

Desired experience

  • Previous experience and knowledge in one or more of the following areas: robotics, machine learning, control theory and computer vision.
  • Previous experience on programming in ROS (Robot Operating System) software and using Linux operating system.
  • Previous experience on programming with OpenCV and PCL libraries.

Contacts

The candidates should send their candidatures via email at youcef.mezouar@sigma-clermont.fr and Christophe.cariou@irstea.fr, including: (1) their CVs, (2) motivation letter, (3) transcripts of previous university degrees (unofficial are enough now), (4) previous research publications (if existing) and (5) contact information of 2 or 3 people who could serve as references.

Continue reading
Apply now

APPLY FOR THIS JOB

Personal details
Upload your CV and attachments
The file format must be a .doc, .pdf, or .rtf, and the file cannot exceed 2 MB in size.
The file format must be a .doc, .pdf, or .rtf, and the file cannot exceed 2 MB in size.

By applying for a job listed on Academic Positions you agree to our terms and conditions and privacy policy.

4 JOBS FROM THIS EMPLOYER

LabEx IMobS3
LabEx IMobS3
Location: AUBIERE, France
PHD POSITION - Enumeration of Interesting Substructures
In the framework of the research project “Innovative systems and services for transport and production” IDEX/I-SITE CAP 20-25 (Challenge 2) and the LabEx IMobS3, LIMOS-CNRS laboratory (https://limos.isima.fr/) proposes a 3 year funding (2077 euros brut monthly) for a PhD in...
LabEx IMobS3
LabEx IMobS3
Location: AUBIERE, France
PhD Position - Modelling, designing and prototyping a Very Safe Four-wheeled terrestrial Robot for rolling at high speed On uneven Grounds
 In the framework of the research project “Innovative systems and services for transport and production” IDEX/I-SITE CAP 20-25 (Challenge 2) and the LabEx IMobS3, Institut Pascal, TSCF-Irstea and LIMOS laboratories are offering a 3-year PhD grant for highly motivated...
LabEx IMobS3
LabEx IMobS3
Location: AUBIERE, France
PhD Position - Synchronous Management (Planning, Scheduling and Routing) of a heterogenous vehicle fleet which carries on urban or industrial logistics tasks, and of the local renewable energy production process which feeds the vehicles in either electric
In the framework of the research project “Innovative systems and services for transport and production” IDEX/I-SITE CAP 20-25 (Challenge 2) and the LabEx IMobS3, LIMOS-CNRS laboratory proposes a 3 year funding (2077 euros brut monthly) for a PhD in Computer...
LabEx IMobS3
LabEx IMobS3
Location: AUBIERE, France
Post-doctoral Position - Robotization of tasks involved in tire manufacturing
In the framework of the research project “Innovative systems and services for transport and production” IDEX/I-SITE CAP 20-25 (Challenge 2 – Theme : Industry of the Future) and the LabEx IMobS3, the Institut Pascal and the joint laboratory with the MICHELIN manufacture...

CAREER ADVICE

France has a strong academic tradition and is committed to investing in research and education. Here's what French academics make.

By Academic Positions
Posted Jul 06, 2018 at 08:00am

When applying for a postdoc position, fellowship, or grant you will often be asked to submit a research proposal as part of your application.

By Academic Positions
Posted Aug 07, 2018 at 08:00am

Interested in working in the Netherlands? Here's how much PhD students, postdocs, and professors earn there.

By Academic Positions
Posted Oct 09, 2018 at 08:00am