Phd Position F/m Contacts: Control Optimization of
Il y a 2 mois
Le descriptif de l’offre ci-dessous est en Anglais_
**Type de contrat **:CDD
**Niveau de diplôme exigé **:Bac + 5 ou équivalent
**Fonction **:Doctorant
**Mission confiée**:
Continuum robots have emerged as promising tools in Minimally Invasive Surgery due to their unique ability to navigate through small incisions or openings, offering flexible and curved access to intricate anatomical structures within the body. Unlike conventional rigid-link robots, continuum robots are characterized by their elongated, elastic structures, which can be robotically controlled to assume continuously curved shapes. This inherent flexibility allows them to navigate through tortuous paths and reach deep areas within the body, significantly enhancing the scope and safety of surgical interventions **[BuRC15]**.
Among the various types of continuum robots, tendon-actuated robots stand out as a commonly employed design, where one or more tendons are attached to the end of an elastic backbone and routed to a motorized base. By manipulating these tendons, the robot can bend and conform to the desired shape, facilitating precise manipulation within the surgical environment. However, achieving precise control of continuum robots presents significant challenges, primarily stemming from their deformable nature and complex interactions with anatomical structures. When deployed in surgical procedures, these robots are often inserted through the working channels of endoscopes, such as in the case of the STRAS robot developed by ICube **[ZNZL18]**. However, the interaction between the bending part of the robot and the channel can pose limitations on its bending capability or introduce friction and hysteresis behavior during rotation.
**Principales activités**:
The project methodology focuses on tackling several critical aspects involved in the development of tendon-actuated continuum robots for robotic endoscopy.
Firstly, there is a focus on modeling of the continuum robots. This entails designing a model incorporating spacer disks connected to a backbone via independent tendons to facilitate bending. We will leverage our experience with the Cosserat theory to propose constraints for coupling the model with the endoscope's external channel. Another key aspect is addressing nonlinear phenomena in robot control. This involves modeling nonlinear friction at robot joints, considering both friction with the environment and internal friction within the robot structure.
Controlling the distal position of the endoscope poses a significant challenge due to the large number of degrees of freedom of the robot. We plan to rely on the inverse Finite Element (iFE) simulation method that we developed previously for needle insertion. However, controlling a continuum robot with iFE simulation raises additional challenges due to the large number of degrees of freedom. In addition, control laws based on the inverse model will be formulated, taking into account discontinuous phenomena such as endoscope contacts and friction. The project also involves exploring advanced control strategies for continuum robots, leveraging their inherent redundancy. An essential aspect of this PhD involves studying the possibility of using simulation-based control to provide robotic commands that account for the hysteresis created by tendon friction along the endoscope. Furthermore, we will develop custom-defined tasks to coordinate the movement of the endoscope and robotized instruments, taking into account environmental constraints, such as the grasping portion required for the dissection during an ESD procedure.
To address these constraints, efficient computation methods are essential for ensuring stability and precision in robot control. The project will devise strategies aimed at accelerating computation times by leveraging features of the model and GPU parallelization, especially for the specific nature of tendon models. Moreover, emphasis will be placed on the significance of advanced numerical models and interaction models to effectively manage various factors, including contact and friction. These factors are crucial for overcoming challenges such as self-collision and interactions with the environment. Furthermore, efforts will be focused on characterizing and parameterizing the chosen model for control purposes through experiments conducted with available robotic experimental setups.
**Compétences**:
Technical skills and level required:
Languages:
Relational skills:
Other valued appreciated:
**Avantages**:
- Subsidized meals
- Partial reimbursement of public transport costs
- Leave: 7 weeks of annual leave + 10 extra days off due to RTT (statutory reduction in working hours) + possibility of exceptional leave (sick children, moving home, etc.)
- Possibility of teleworking (after 6 months of employment) and flexible organization of working hours
- Professional equipment available (videoconferencing, loan of computer equipment, etc.)
- Social, cultural
-
Strasbourg, France INRIA Temps pleinPhD Position F/M CONTACTS: Control Optimization of Nonlinear Tendon-Actuated Continuum roboTs for Surgical applications Le descriptif de l’offre ci-dessous est en Anglais Type de contrat : CDD Niveau de diplôme exigé : Bac + 5 ou équivalent Fonction : Doctorant Mission confiée Continuum robots have emerged as promising...
-
Phd Position F/m Robotics Whole-body Planning
il y a 2 semaines
Strasbourg, France Inria Temps pleinLe descriptif de l’offre ci-dessous est en Anglais_ **Type de contrat **:CDD **Niveau de diplôme exigé **:Bac + 5 ou équivalent **Fonction **:Doctorant **Niveau d'expérience souhaité **:Jeune diplômé **Contexte et atouts du poste**: LARSEN is a robotics team, located in Inria Nancy / Loria, that develops human-centered technologies, at the...
-
Phd Position F/m Quantitative Analysis of X-ray
il y a 1 mois
Strasbourg, France Inria Temps pleinLe descriptif de l’offre ci-dessous est en Anglais_ **Type de contrat **:CDD **Niveau de diplôme exigé **:Bac + 5 ou équivalent **Fonction **:Doctorant **Niveau d'expérience souhaité **:Jeune diplômé **Contexte et atouts du poste**: Ischemic stroke is a major cause of disability and death worldwide. The occlusion of blood vessels results in a...
-
Phd in Polymer Chemistry
il y a 1 heure
Strasbourg, France Institut de Science et d'Ingénierie Supramoléculaires (ISIS) Temps plein**PhD in Polymer Chemistry**: - Réf - **ABG-115121** - Sujet de Thèse- 08/06/2023- Contrat doctoral- Institut de Science et d'Ingénierie Supramoléculaires (ISIS)- Lieu de travail- Strasbourg - Grand Est - France- Intitulé du sujet- PhD in Polymer Chemistry- Champs scientifiques- Chimie - Mots clés- Polymer chemistry, Polymerization, Sequences,...
-
Phd Position F/m Security Mechanisms for
il y a 2 semaines
Strasbourg, France Inria Temps pleinLe descriptif de l’offre ci-dessous est en Anglais_ **Type de contrat **:CDD **Niveau de diplôme exigé **:Bac + 5 ou équivalent **Fonction **:Doctorant **Contexte et atouts du poste**: This PhD thesis will take place in team COAST and will be supervised by Claudia-Lavinia Ignat, HDR, CRCN Inria, Inria center of Lorraine University and Olivier...
-
Phd Position F/m Neural Implicit Representation and
il y a 4 semaines
Strasbourg, France Inria Temps pleinLe descriptif de l’offre ci-dessous est en Anglais_ **Type de contrat **:CDD **Niveau de diplôme exigé **:Bac + 5 ou équivalent **Fonction **:Doctorant **Contexte et atouts du poste**: **Location**: The PhD will be hosted at the University of Strabourg in the city center and founded by the project PDE-IA of the PEPR IA. Since this is a...
-
Phd Position F/m Collaboration Over a Distributed
il y a 2 semaines
Strasbourg, France Inria Temps pleinLe descriptif de l’offre ci-dessous est en Anglais_ **Type de contrat **:CDD **Niveau de diplôme exigé **:Bac + 5 ou équivalent **Fonction **:Doctorant **Contexte et atouts du poste**: This PhD thesis will take place in team COAST, under the supervision of Claudia-Lavinia Ignat, HDR, CRCN Inria, Inria center of Lorraine University and Gérald Oster,...
-
Compiler Engineering
il y a 4 semaines
Strasbourg, France Qualcomm Temps plein**Company**: Qualcomm France S.A.R.L. **Job Area**: Interns Group, Interns Group > Interim Intern General Summary: Qualcomm has proprietary implementation of key large language model (LLM) transformers that achieves leading performance on target architectures via advanced optimisation techniques including polyhedral compilation. As an intern, you will have...
-
Post-doctoral Research Visit F/m Postdoc Position
il y a 2 jours
Strasbourg, France Inria Temps pleinLe descriptif de l’offre ci-dessous est en Anglais_ **Type de contrat **:CDD **Contrat renouvelable **:Oui **Niveau de diplôme exigé **:Thèse ou équivalent **Fonction **:Post-Doctorant **Contexte et atouts du poste**: **Team** **Contacts** **Mission confiée**: Context This position in a subproject in the team Gamble. The central theme of this...
-
Phd Position F/m Users Trust and Legitimacy in
il y a 4 semaines
Strasbourg, France Inria Temps pleinLe descriptif de l’offre ci-dessous est en Anglais_ **Type de contrat **:CDD **Niveau de diplôme exigé **:Bac + 5 ou équivalent **Fonction **:Doctorant **Contexte et atouts du poste**: This PhD thesis will be supervised by Claudia-Lavinia Ignat, researcher at Inria center of Lorraine University and co-supervised by Léo Joubert, assistant professor...
-
Positions in immunology available
Il y a 2 mois
Strasbourg, France IGBMC Temps pleinNew postdoc and doctoral positions available in the laboratory of Romeo Ricci at the IGBMC in Strasbourg, France (; ). Our institute is a leading research institution in Europe currently hosting 46 teams with researchers from all over the world. It is a facility-driven institute with state-of-the-art equipment and core expertise covering all experimental...
-
Development of a Selected Laser Sintering Process
il y a 2 semaines
Strasbourg, France ICube Laboratory Temps plein**Development of a selected laser sintering process and its numerical model for lunar dust simulants**: - Réf - **ABG-111538** - Sujet de Thèse- 28/02/2023- Financement public/privé- ICube Laboratory- Lieu de travail- Strasbourg - Grand Est - France- Intitulé du sujet- Development of a selected laser sintering process and its numerical model for lunar...
-
Synthesis of Antibacterial and Thermoresponsive
il y a 1 mois
Strasbourg, France CNRS - Institut Charles Sadron Temps plein**Synthesis of antibacterial and thermoresponsive polymers used as coatings for the release of a healing agent on chronic wounds**: - Réf - **ABG-111539** - Sujet de Thèse- 28/02/2023- Autre financement public- CNRS - Institut Charles Sadron- Lieu de travail- Strasbourg - Grand Est - France- Intitulé du sujet- Synthesis of antibacterial and...
-
Research Engineer in The Field of
il y a 1 mois
Strasbourg, France ArcelorMittal Temps pleinArcelorMittal is the world’s largest steel producer. We use the most innovative technology to create the steels tomorrow’s world will be made of. Every day over 190,000 of our talented people, located in over 60 countries, push the boundaries of digitalization and use advanced technology to create a world that is stronger, faster and smarter. To help...
-
Research Engineer in The Field of
il y a 1 mois
Strasbourg, France ArcelorMittal Temps pleinArcelorMittal is the world’s largest steel producer. We use the most innovative technology to create the steels tomorrow’s world will be made of. Every day over 190,000 of our talented people, located in over 60 countries, push the boundaries of digitalization and use advanced technology to create a world that is stronger, faster and smarter. To help...
-
Optical Properties of Helical Multilayered
il y a 1 mois
Strasbourg, France Institut Charles Sadron Temps plein**Optical properties of helical multilayered nanocellulose-based assemblies**: - Réf - **ABG-112593** - Sujet de Thèse- 28/03/2023- Contrat doctoral- Institut Charles Sadron- Lieu de travail- Strasbourg - Grand Est - France- Intitulé du sujet- Optical properties of helical multilayered nanocellulose-based assemblies- Champs scientifiques- Chimie - Mots...
-
Senior C++ Engineer
il y a 1 mois
Strasbourg, France Scandit Temps pleinWhat You Will Do Optimize and extend our in-house computer vision library and deep learning inference engine Enhance the scheduling of computer vision tasks on heterogeneous architectures (CPU/GPU/TPU) for different use-cases Improve the accuracy and capabilities of our on-device performance profiling system Design and refine APIs and the...
-
Senior C++ Engineer
il y a 2 jours
Strasbourg, France Scandit Temps pleinWhat You Will Do Optimize and extend our in-house computer vision library and deep learning inference engine Enhance the scheduling of computer vision tasks on heterogeneous architectures (CPU/GPU/TPU) for different use-cases Improve the accuracy and capabilities of our on-device performance profiling system Design and refine APIs and the...
-
Research Engineer in Computer Vision
il y a 1 mois
Strasbourg, France ArcelorMittal Temps pleinArcelorMittal is the world’s largest steel producer. We use the most innovative technology to create the steels tomorrow’s world will be made of. Every day over 190,000 of our talented people, located in over 60 countries, push the boundaries of digitalization and use advanced technology to create a world that is stronger, faster and smarter. To help...
-
Project Manager Junior in Organic Chemistry
il y a 1 semaine
Strasbourg, France NovAliX Temps pleinStarting date: ASAP Type of contract: Temporary Location: Strasbourg, FRANCE Job offer: Project manager junior in organic chemistry Job description You will be working in the chemistry department under the responsibility of a team leader or a project manager senior. Your work will consist in: - Conducting chemistry programs for the delivery of new...
