PhD Position F/M Forming carbon fiber fabrics by visual servoing
Responder al anuncioPhD Position F/M Forming carbon fiber fabrics by visual servoing
Level of qualifications required: Graduate degree or equivalent
Other valued qualifications: Research Master2
Function: PhD Position
About the research centre or Inria department
The Inria Centre at Rennes University is one of Inria's nine centres and has more than thirty research teams. The Inria Centre is a major and recognized player in the field of digital sciences.
Context
As part of the PERFORM program, IRT Jules Verne and the Rainbow team of the Inria centre at Rennes University are offering a PhD thesis entitled “Forming carbon fiber fabrics using visual servoing”.
Thesis location: The thesis work will take place in Rennes, within the Rainbow team of the Inria centre at Rennes University.
Supervisors: Alexandre Krupa (Inria, Rainbow team), Benyamine Allouche (IRT Jules Verne, ROC team)
Contract:
- The selected candidate will be employed by IRT Jules Verne (3-year fixed-term contract).
- The remuneration proposed by the IRT for the 3-year thesis is as follows:
- 1st and 2nd year: €31, 125 per year, i. e. €2, 593. 75 per month
- 3rd year: €32, 816 per year, i. e. €2, 734. 66 per month
- the PhD student will also receive lunch vouchers worth 9. 8€ / day worked, of which 5. 88€ will be paid by the IRT.
Assignment
Description:
The main objective of this PhD thesis is to develop a robotic control approach to manipulate a flexible planar object (a carbon fiber fabric) to apply a desired shape curvature to it. The general idea is to use visual feedback provided by a camera to estimate and track in real-time the deformations of the object of interest and to develop a visual servoing control approach to control multiple robotic manipulators to autonomously apply a desired deformation to the object.
To control the deformation of a soft object, it is necessary to understand how the movements of the robotic manipulators translate into deformation of the manipulated object. This relationship can be estimated from previous visual observations using data-driven approaches or expressed by a physical model of the object.
Another aspect of the thesis work will involve the development of an image processing method to track in real-time the deformation of the fiber fabric from the data stream provided by one or more RGB-D camera(s).
Main activities
- Produce a state-of-the-art report on the manipulation of deformable objects.
- Implement a strategy for interaction and manipulation of deformable objects.
- Model object deformation as a function of grasping point displacements.
- Develop a visual deformation tracking algorithm based on RGB-D camera data.
- Develop a visual servo-control method to apply a desired deformation to the object.
- Define an experimental protocol, acquire data and reconstruct/model deformable objects using meshes.
- Validate results on a use case defined by IRT Jules Verne.
- Present work progress at the annual PERFORM seminar organized by IRT Jules Verne.
- Write scientific articles and thesis manuscript.
- Thesis defense.
Skills
Skills required:
- In-depth knowledge in control theory, robotics and computer vision.
- Solid experience in C++, Python and ROS.
- Experience in visual servoing and 3D visual perception with RGB-D camera would be appreciated.
- Proficiency in one of the CAD tools.
- English level B2 spoken and written.
Know-how:
- Rigorous analysis.
- Ability to synthesize.
- Good scientific writing and communication skills.
Personal skills:
- The person recruited must be dynamic, curious, open-minded, autonomous, have initiative and be a team player.
- A keen interest in robotic experimentation.
Benefits package
- Partial reimbursement of public transport costs
- Possibility of teleworking (90 days per year) and flexible organization of working hours
- Partial payment of insurance costs
Instruction to apply
Please submit online: your resume, cover letter and letters of recommendation eventually.
Defence Security:
This position is likely to be situated in a restricted area (ZRR), as defined in Decree No. 2011-1425 relating to the protection of national scientific and technical potential (PPST).
Recruitment Policy:
As part of its diversity policy, all Inria positions are accessible to people with disabilities.
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