- 1 Synthesis of robust control laws for high endurance and low cost drones (publication date: August 16, 2017)
- 2 Internship for Master students (2nd year) in medical images processing (OCT)
- 3 Two PhD Positions in Computer Vision / Artificial Intelligence within project CAMMA
- 4 Open Research Engineer Position in Computer Vision within Project CAMMA
- 5 Open Internship Positions within Project CAMMA
Synthesis of robust control laws for high endurance and low cost drones (publication date: August 16, 2017)
- Context of the project
The thesis will be carried out within the framework of the Franco-German ELCOD project involving at one side the INSA of Strasbourg and the ICube laboratory and at the other side the Offenburg Hochschule. Its main objective is to develop low-cost, wide-range drones with low-emission propulsion, for different types of missions (measurements of atmospheric pollutants, monitoring, transport of payloads). This project benefits from European funding. These drones, with a maximum weight of 25 kg, can travel several hundred kilometers with variable onboard loads. Two types of engines will be compared: one with brushless motors fueled by fuel cells; the other with an engine with optimized carburation.
- Research work
Your research work concerns the development of a methodology for the synthesis of controllers and robustness analysis taking into account both uncertainties and flexible modes. The first part of the work will be to evaluate the aerodynamic behavior of the drone on using available simulation tools such as projects XFOIL [XFOIL] and XFLR5 [XFLR5].
Different control approaches will then be considered with increasing complexity, starting with usual linear techniques which limitation in terms of working area will be emphasized. Indeed, the behavior of the drone depends strongly on the speed, the altitude and the angle of attack. Robust synthesis techniques will allow to extend the available working space. Available tools for synthesis of structured controllers based on non-smooth optimization [AN06].
The main research axis concerns the use of control methods based on linear parameter-dependent (LPV) models [HLB14]. An LPV model will be first obtained as a good approximation of the nonlinear simulation model. Methods for model identification from experimental data can also be implemented [VMP16]. These techniques will be compared with the more usual techniques of gain scheduling [FTL17]. Finally, in a more exploratory way, an extension to LPV models of event-based control techniques is envisaged, in the aim of reducing energy consumption [MDG13]. The different approaches will be tested in simulation and then experimentally on the prototype drone.
Besides the scientific part of the thesis which will focus on development of the control, the candidate will participate with the team in the general design of the drone.
- [AN06] P. Apkarian and D. Noll, « Nonsmooth H∞ synthesis », IEEE Transactions on Automatic Control, vol. 51, no. 1, p. 71-86, Jan. 2006.
- [MDG13] N. Marchand, S. Durand, J. Guerrero-Castellanos, « A General Formula for Event-Based Stabilization of Nonlinear Systems », IEEE Transactions on Automatic Control, Vol. 58, no 5, p. 1332-1337, 2013.
- [FTL17] S. Fleischmann, S. Theodoulis, E. Laroche, E. Wallner, J-P. Harcaut, « Controller design point selection for linearized gain scheduling », American Control Conference, Seatle (WA), United States, mai 2017
- [HLB14] H. Halalchi, E. Laroche, G. Bara, « Flexible-Link Robot Control Using a Linear Parameter Varying Systems Methodology », International Journal of Advanced Robotic Systems, p. 1-12, Volume 11, n° 46, mars 2014
- [SLE08] F. Santoso, M. Liu and G. Egan, "H2 and H-infinity robust autopilot synthesis for longitudinal flight of a special unmanned aerial vehicle: a comparative study," IET Control Theory & Applications, vol. 2, no. 7, pp. 583-594, July 2008.
- [VMP16] D. Vizer, G. Mercere, O. Prot, E. Laroche, « H-infinity-norm-based optimization for the determination of gray-box LTI state-space model parameters », Systems & Control Letters, Elsevier, p. 34-41, 2016
Drone design and control, robust control
- Candidate profile
Graduate of a Master's Degree in Science or Engineering with a specialization in Control, Robotics or Mechatronics, you have an experience showing your abilities to invest in a research or development project. Your general scientific knowledge and your ease with mathematical tools allow you to assimilate new theoretical concepts. You are comfortable with programming, which will allow you to program the embedded computer and develop simulation and analysis codes. You have good teamwork skills and good communication skills in English. Experience in the design or piloting of UAVs or models or other robotic and mechatronic systems will be appreciated.
- Advising commitee
The research work will be supervised by Edouard Laroche, professor at the University of Strasbourg and specialized in the field of robust control and by Sylvain Durand, associate professor at the INSA in Strasbourg and specializing in event-based control. You will also have strong interactions with Renaud Kiefer, associate professor at the INSA in Strasbourg and responsible for the project as well as with the other members of the project.
Kick-off date: October 2017
- Location and dates
The thesis will start at the end of 2017. The work will take place on the Illkirch campus of the ICube laboratory and at the INSA in Strasbourg located in the city center.
You will send your application by e-mail before September 17, 2017 to firstname.lastname@example.org and email@example.com in the form of a single pdf file entitled ELCOD-PhD-NOM-PRENOM.pdf which will contain your resume, your cover letter and transcripts of the last two years. A recommendation letter and a list of people that can recommend you are welcome.
Internship for Master students (2nd year) in medical images processing (OCT)
- Dates: From 4 to 6 months between januaray and december 2017 (more convenient between february and august)
- Keywords: Optical Coherence Tomography (OCT), Images processing, Real-time processing, medical robotics
- Detailed offer in pdf format can be obtained HERE
- For applying, send an email with CV, cover letter, Master syllabus and grades to Florent Nageotte : Nageotte@unistra.fr
Two PhD Positions in Computer Vision / Artificial Intelligence within project CAMMA
The operating room is a high-tech environment in which the equipment generates a lot of data about the underlying surgical activities. Our research group aims at making use of this large amount of multi-modal data coming from both cameras and surgical devices to develop an artificial intelligence system that can assist the clinicians and staff in the surgical workflow. In this scope, we currently have two open PhD positions that will focus on developing new machine learning and computer vision methods to detect, recognize and analyze human activities. The successful candidates will have the rare opportunity to apply their work on large RGB-D and endoscopic video datasets captured during real procedures using the state-of-the-art facilities of our clinical partners. If interested, they will also have the exceptional possibility to collaborate with engineers and clinicians to implement real-time clinical demonstrators of their research, thereby contributing to the development of real-world AI-based solutions for the OR.
More information is available here.
Open Research Engineer Position in Computer Vision within Project CAMMA
We are looking for an engineer in Computer Vision to join the development of our clinical prototypes aiming at monitoring safety during image-guided interventions. The project involves the perception of the Operating Room through a set of RGB-D cameras mounted on the ceiling as well as the recognition of surgical activities using both RGB-D and endoscopic videos. More information is available here.
Open Internship Positions within Project CAMMA
We are looking for motivated and talented students with knowledge in computer vision, machine learning and/or augmented reality who can contribute to the development of our computer vision system for the operating room.
Please feel free to contact Nicolas Padoy if you are interested to do your master's thesis or an internship with us (funding of ~500Euros/month will be provided during 3 to 6 months). The successful candidates will be part of a dynamic research group hosted within the IRCAD institute at the University Hospital of Strasbourg. They will thereby have direct contact with clinicians, industrial partners and also have access to an exceptional research environment. The CAMMA project is supported by the laboratory of excellence CAMI, the IdEx Unistra and the MixSurg Institute.
- Multi-view Human Body Tracking for the Operating Room
- Deep Learning for the Analysis of Large Surgical Video Databases
- RGBD Camera Tracking in a Cluttered Operating Room
- 3D Simulation and Visualization of X-ray Radiations for Radiation Safety Analysis
- IHU Strasbourg / MIX-Surg Institute: http://www.ihu-strasbourg.eu/ihu/en/institut/presentation/
- IRCAD: http://www.ircad.fr/?lng=en
- AVR group: http://icube-avr.unistra.fr/en/index.php/Main_Page
- LabEx CAMI: http://cami-labex.fr/