Phd Position F/m Contacts: Control Optimization of

Il y a 6 mois

Strasbourg, France Inria Temps plein

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

  • Mécanique Du Contact

    il y a 3 semaines

    Strasbourg, France UMR CNRS 6283 Temps plein

    **Mécanique du contact**: - Réf **ABG-127328** - Sujet de Thèse- 02/12/2024- Autre financement public- UMR CNRS 6283- Lieu de travail- Strasbourg - Grand Est - France- Intitulé du sujet- Mécanique du contact- Champs scientifiques- Sciences de l’ingénieur - Mots clés- Finite element simulation**Description du sujet**: The MECASOFT project will focus...

  • Scientific Programme Manager

    il y a 1 mois

    Strasbourg, France Council of Europe Temps plein

    **Scientific Programme Manager - Food contact materials or Cosmetics** **European Directorate for the Quality of Medicines & HealthCare (EDQM) **Referen ce**: e059/** **2** **024** **Location: Strasbourg **Publication: 20 November 2024 **Deadline: 11 December 2024** Would you like to contribute to the activities of an international organisation working...

  • Phd Position F/m Collaboration Over a Distributed

    Il y a 6 mois

    Strasbourg, France Inria Temps plein

    Le 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,...

  • Research Engineer in Vision and Control Systems

    Il y a 6 mois

    Strasbourg, France ArcelorMittal Temps plein

    ArcelorMittal 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 160,000 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. You will...

  • Phd Position F/m Users Trust and Legitimacy in

    Il y a 6 mois

    Strasbourg, France Inria Temps plein

    Le 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...

  • System Controls

    Il y a 7 mois

    Strasbourg, France Elutions Temps plein

    Elutions is a premier global provider of **Operational Business Intelligence Solutions **that significantly improve business processes surrounding energy efficiency, critical asset performance and workforce productivity. As a trusted advisor and technology partner to our corporate clients, Elutions creates shareholder value through: - **Centralization** of...

  • Fy25 Intern

    il y a 6 jours

    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...

  • Understand Mechanisms of Oligodendrocyte

    Il y a 4 mois

    Strasbourg, France IGBMC Institut de Génétique et de Biologie Moléculaire et Cellulaire CERBM - GIE Temps plein

    **Understand mechanisms of oligodendrocyte differentiation to treat multiple sclerosis.**: - Réf **ABG-125757** - Stage master 2 / Ingénieur- Durée 6 mois- Salaire net mensuel 600- 10/09/2024- IGBMC Institut de Génétique et de Biologie Moléculaire et Cellulaire CERBM - GIE- Lieu de travail- Strasbourg/Illkirch Grand Est France- Champs scientifiques-...

  • Director of Equal Rights and Dignity

    Il y a 3 mois

    Strasbourg, France Council of Europe Temps plein

    **Director of Equal Rights and Dignity** Directorate General of Democracy and Human Dignity Refer e nce**: e046/2024** **Location: Strasbourg **Publication: 16 September 2024 **Deadline: 07 October 2024** Are you a seasoned leader with extensive experience in standard setting, monitoring and/or technical co-operation in the field of anti-discrimination...

  • Research Engineer

    Il y a 2 mois

    Strasbourg, France Inria Temps plein

    Le descriptif de l’offre ci-dessous est en Anglais_ **Type de contrat **:CDD **Contrat renouvelable **:Oui **Niveau de diplôme exigé **:Bac + 5 ou équivalent **Autre diplôme apprécié **:Master or PhD **Fonction **:Ingénieur scientifique contractuel **Niveau d'expérience souhaité **:Jusqu'à 3 ans **Contexte et atouts du poste**: The...

  • Experimental Study and Instrumentation of

    Il y a 4 mois

    Strasbourg, France ICube Temps plein

    **Experimental study and instrumentation of high-power femtosecond laser process at high repetition rate**: - Réf **ABG-125719** - Sujet de Thèse- 08/09/2024- Cifre- ICube- Lieu de travail- Strasbourg - Grand Est - France- Intitulé du sujet- Experimental study and instrumentation of high-power femtosecond laser process at high repetition rate- Champs...

  • Program leader Innovation

    Il y a 7 mois

    Strasbourg, France PolyPeptide Temps plein

    Program leader Innovation Senior Process/Chemical Engineer Mission Development of new technologies and improvement of existing practices related to the development and manufacturing of synthetic peptides & oligonucleotides and associated intermediates, starting materials and reagents. This position is part of the innovation...

  • R&d Chemical Engineer

    Il y a 7 mois

    Strasbourg, France BASF France S.A.S. Temps plein

    The PIT Lab, a new BASF unit located on the WEurope platform, is an R&D laboratory on a human scale that brings production workshops closer to the BASF Group's global research force. As an R&D engineer, you will join a small team of 10 people and your mission will be to optimize adipic acid production technologies and processes. To do this, you will work in...

  • Project Manager in Mass Spectrometry

    Il y a 7 mois

    Strasbourg, France NovAliX Temps plein

    NovAliX is a contract research organization (CRO) of 400+ employees providing expert driven innovative outsourcing and insourcing research services for drug discovery. NovAliX offers to the pharmaceutical industry a complete range of services spanning In vitro Pharmacology, Biophysics, Biochemistry, Structural Biology, Chemistry & Drug Discovery. The...

  • Development, Deployment and Maintenance of Research

    Il y a 6 mois

    Strasbourg, France Inria Temps plein

    Le descriptif de l’offre ci-dessous est en Anglais_ **Type de contrat **:CDD**Niveau de diplôme exigé **:Bac + 5 ou équivalent**Autre diplôme apprécié **:PhD**Fonction **:Ingénieur scientifique contractuel**Niveau d'expérience souhaité **:De 5 à 12 ansContexte et atouts du poste **Team** Mission confiée **Context** In the context of a...

  • Junior IT Security Officer

    Il y a 2 mois

    Strasbourg, France Council of Europe Temps plein

    Junior Professional Programme **Junior IT Security Officer** **Directorate General of Administration** **Directorate of Information Technology** Reference**:e053/2024** **Location: Strasbourg **Publication**:17/10/2024 **Deadline: 07/11/2024** Are you a young graduate motivated and aspiring Junior IT Security Officer interested in joining the dynamic...

  • Post-doctoral research position in the team “Transcriptional regulation of neural and immune development” of the IGBMC

    Il y a 7 mois

    Strasbourg, France IGBMC Temps plein

    The team Transcriptional regulation of neural and immune development at the IGBMC (Institut de génétique et de biologie moléculaire et cellulaire) in Strasbourg is recruiting a postdoctoral researcher to study the cross-talk between the macrophages and the intestine epithelium during enteric infection using the model Drosophila melanogaster. The project...

  • Menuisier Poseur

    Il y a 6 mois

    Strasbourg, France F&M Temps plein

    **Une entreprise à taille humaine et un fort esprit d'équipe** Depuis 29 ans, **le groupe FMS est spécialisé en fermetures et menuiseries **:Une équipe professionnelle unie**, dédiée et **expérimentée **passant au crible chaque étape de votre projet, conception, fabrication, pose et service après-vente avec** toujours la qualité comme objectif...

  • Apprenticeship Payroll Officer – Fluent English

    Il y a 2 mois

    Strasbourg, France Technology & Strategy Temps plein

    Job Description You have a taste for numbers and languages, and are looking for an Internship in an international environment ? Youre in the right place ! Day-to-day : Attached to the German Payroll Department and under the supervision of Sara, your main tasks will include: Monitoring, tracking, and managing leaves Performing all...

  • Alternance ContrÔle de Gestion

    Il y a 6 mois

    Strasbourg, France PUMA Temps plein

    **YOUR TALENT**: YOUR TALENT Ta base ? Nous t’accueillons dans le quartier d’affaire Européen du Wacken, à 2 pas du cœur de Strasbourg, dans un tout nouveau Siège depuis 2020 : plus de collaboration, plus de transversalité, plus de convivialité. L’intelligence collective y est mise à l’honneur ! Les clés du succès ? Une personnalité...