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  3. PhD Position Model-Based and Data-Driven Nonlinear Control of Continuum Soft Robots

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PhD Position Model-Based and Data-Driven Nonlinear Control of Continuum Soft Robots

Soft Robots are robotic systems with purposefully designed compliant elements embedded into their mechanical structure. Continuum soft robots are inspired …

ongeveer 2 maanden geleden

Arbeidsvoorwaarden

Standplaats:
Mekelweg, Delft, Zuid-Holland
Dienstverband:
Tijdelijk contract / Tijdelijke opdracht
Uren per week:
38 - 40 uur
Salarisindicatie:
€ 2395 - € 3061 per maand
Opleidingsniveau:
WO

Functieomschrijving

Soft Robots are robotic systems with purposefully designed compliant elements embedded into their mechanical structure. Continuum soft robots are inspired from the invertebrate part of the animal kingdom, and they have continuum bodies resembling tentacles or elephant trunks. Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic motions as well as compliant and safe interaction with an unstructured environment. However, the exploitation of these abilities is constrained by the lack of appropriate control strategies.

The goal of the PhD project is to face this grand challenge within robotics field. Achieving this goal will require reaching profound understanding of the high-dimensional, under-actuated, and nonlinear nature of soft robots’ dynamics, and the extent in which these characteristics can be exploited for closed loop control. The use of deep learning and other machine learning techniques will be considered within the discussed control framework to deal with uncertainties inherit in the control problem. The scientific and theoretical innovation of the PhD are expected to be extremely relevant to many application areas – as agrifood, healthcare, exploration, Industry 4.0, just to cite a few.

Department
The main focus of the Cognitive Robotics department is the development of intelligent robots and vehicles that will advance mobility, productivity and quality of life. Our mission is to bring robotic solutions to human-inhabited environments, focusing on research in the areas of machine perception, motion planning and control, machine learning, automatic control and physical interaction of intelligent machines with humans. We combine fundamental research with work on physical demonstrators in areas such as self-driving vehicles, collaborative industrial robots, mobile manipulators and haptic interfaces. Strong collaborations exist with cross-faculty institutes TU Delft Robotics Institute and TU Delft Transport Institute), our national robotic ecosystem (RoboValley, Holland Robotics) and international industry and academia.

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Functie-eisen

The candidate has a very good MSc degree in systems and control, mechanical engineering, applied mathematics, artificial intelligence, machine learning, electrical engineering, computer science, or a related field. The candidate must have strong analytical skills and must be interested in working at the intersection of several research domains. A very good command of the English language is required, as well as excellent communication skills, and teamwork attitude.

Candidates having an in-depth knowledge of at least two among of the following are especially encouraged to apply:

  • Control theory
  • Continuum Mechanics
  • Robotics
  • Machine Learning (especially Deep Learning)
  • Differential Geometry.

This is however not a necessary condition for applying.

Conditions

TU Delft offers PhD-candidates a 4-year contract, with an official go/no go progress assessment after one year. Salary and benefits are in accordance with the Collective Labour Agreement for Dutch Universities, increasing from € 2395 per month in the first year to € 3061 in the fourth year. As a PhD candidate you will be enrolled in the TU Delft Graduate School. The TU Delft Graduate School provides an inspiring research environment with an excellent team of supervisors, academic staff and a mentor. The Doctoral Education Programme is aimed at developing your transferable, discipline-related and research skills.

The TU Delft offers a customisable compensation package, discounts on health insurance and sport memberships, and a monthly work costs contribution. Flexible work schedules can be arranged. For international applicants we offer the Coming to Delft Service and Partner Career Advice to assist you with your relocation.

Additional information

For more information about this vacancy, please contact Dr. Cosimo Della Santina, Assistant Professor, email: C.DellaSantina@tudelft.nl.

For information about the selection procedure, please contact Hilma Bleeker, HR advisor, email: h.m.bleeker@tudelft.nl.