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Open PhD Position in Robotics

Preparation of a certified module to solve the forward kinematics model of parallel robots in real time for its

implementaion in controls. Application to the planar 3RPR and the general 6-6 Gough platform.

PhD Position

Are you an engineering or computer science with a keen interest in expanding your knowledge

into the area of Robotics kinematics?

One fully funded PhD student position is now available in the newly started Parallel Robotics Lab

at Memorial University of Newfounland, Canada.

The project offers a competitive yearly bursary of 16 500 Canadian dollars if the applicant is

recognized as a level A student by our Office of Graduate Studies pursuant to an application to

the University's School of Graduate Studies. If the student bring his own scholarship, bursary or

funding, this amount can then be increased as much. The student will also be allowed to

undertake teachings assistanceships and apply for special excellence scholarships which can also

increase his salary.

The PhD student will be working under the supervision of Dr. Luc Rolland.

Research Area

From the time of his PhD until now, Dr. Luc Rolland has worked on the implementation of various methods to solve the forward kinematics problem of the parallel manipulators. Many methods ranging from numerical algorithms implementing Bisection, Secant and Newton, algebraic algorithms such as dyalitic elimination, resultants, Groebner bases, and finally evolutionary computations with genetic algorithms, etc provide advantages but also limitations in terms of either performance of reliability. The exact methods require polynomials and lead long computation times. Numerical methods feature very fast response but may have convergence problems. Evolutionary computations can be developed to find the solution but the modeling is very critical for exactness.

The next challenge remains calculating the FKP in a robotic controller meaning in real-time with the required accuracy. The major problem remains the certification of the result.

The actual project seek to design, develop, test and demonstrate a software module which will solve the FKP of the general parallel manipulator in real-time with emphasis on control. This

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module will eventually be offered to major robotics companies to apply to their parallel robot controllers.

Description of Work

The PhD student enrolled on this position will perform research in the field of parallel robot

kinematics according to the objectives of the project, i.e. in the context of one controlling a

parallel robot in any material handling tasks.

The student is expected to develop techniques that are both theoretically well founded, and

experimentally validated on simulations and later on real robots. She or he will take part in

several simulations and demonstrations of the system. The project will be performed at the

Parallel Robotics Lab at the University in Newfoundland. This research is expected to lead to the

attainment of a PhD degree.

Prerequisites

The candidate must have the equivalent of a Masters degree in Robotics, Computer Science, Computer Engineering or Applied Mathematics, and an excellent study curriculum. Candidates with a Masters degree in a related area (such as Physics, Electronic Engineering, for example) with a solid programming and mathematical background and a strong motivation in simulation and data analysis, will be also considered.

Previous experience with kinematics and robotic geometry is essential. Experiences with applied geometry, computer algebra, algebraic geometry, numerical analysis, evolutionary computations and their corresponding simulators are advantageous though not obligatory. Proficiency in writing/spoken English is mandatory.

The candidate is expected to undertake research towards Ph.D. thesis with an emphasis on simulation and programming in support of their research.

Desirable attributes for perspective candidates are:

• Mathematically inclined and scientifically curious

• Resourceful and with past exposure to programming

• Able or interested to design, build and test simulations

• Enjoy working with an inter-disciplinary international team

Interested candidates should send an updated CV, together with a motivation letter and at least

two academic references by e-mail to Dr. Luc Rolland (lrolland@mun.ca). Telephone: 1-709-864-

89 43.

The starting date is fixed to September first 2013 and possibly anytime earlier concerning

Canadian citizens. This call will be closed as soon as the position is filled.