Topic: Singularity Analysis of Sensor-based Controllers
Place: Laboratory of Digital Sciences of Nantes (LS2N), Ecole Centrale de Nantes, France
Salary: around 1900 euros net per month (Fixed term for one year, potential extension for a second year)
Closing Date: December 31st, 2017
Interview Date: January 2018 (job cannot start later than March 1st, 2018)
This postdoctoral position topic is part of the project PROMPT, a collaborative project between LS2N and IRISA. PROMPT aims at drastically increasing the performance for the new industrial robots during the achievement of non-repetitive tasks requiring an adaption to the environment. One of the research axes is to have a better understanding of the sensor-based controller behavior, in particular their singularity cases.
Recently, we introduced a concept named the «hidden robot». This concept was first used to determine the singularity cases of a vision-based controller dedicated to parallel robots and was later extended to deal with the singularity cases of more general controllers. The idea is to understand that the equations used in many interaction models of sensor-based controllers are the same as the kinematic equations of a virtual parallel robot and thus, their singularities are identical.
The studied kinematic equations for the interaction models are algebraic equations, and the singularities of the controllers are the singularities of these systems of algebraic equations. We need to find the virtual robot geometric configurations for which singularities exist.
Therefore we are expecting to recruit a Postdoctoral Fellow with a strong experience in kinematics of parallel robots with skills in algebraic methods (especially Groebner bases) for solving systems of polynomials OR a Postdoctoral Fellow working in advanced algebraic methods but with strong interest in transferring her/his knowledge to physical application cases.
The candidate should also show abilities to quickly integrate a team composed of 5 researchers (Sébastien Briot, François Chaumette, Abdelhamid Chriette, Olivier Kermorgant and Philippe Martinet) and 2 PhD students working on the proposed field. Obviously, classical skills for graduated doctors (list non exhaustive: autonomy, leadership on their fields, ability to write papers, student supervision) are also expected.
Informal enquiries about the post can be made to Dr Sébastien Briot