PhD position on safe energy-aware robotic teleoperation

SDU Robotics, part of the Maersk Mc-Kinney Moller Institute, University of Southern Denmark (SDU), invites applications for one or more 3-year PhD position(s), where the candidates will work on the project SENSIBLE (Symbiotic tEleoperatioN for Safe and cost-efficient wInd turBine bLade maintEnance). The starting date for the positions is as soon as possible in 2023 and will be agreed upon with the successful candidates.

Research environment

The candidates will be integrated in the section SDU Robotics, which is a team of approx. 65 employees, specialized in research and development of robot solutions within the welfare, industrial and medical domain. We value teamwork, professional diligence, enthusiasm for robotics and the drive to adopt new skills and extended responsibilities. We offer an open, international team with flexible work organization and support of individual development.

SDU Robotics is involved in a variety of national and European projects and features a strong network of academic and industrial partners. The aim of the group is to solve challenging research problems derived from real-life challenges by implementing novel robot solutions. We participate in implementing the achieved results in real solutions with end users as Universal Robots, LEGO, Terma and Novo Nordisk.

SDU Robotics is part of the Maersk Mc-Kinney Moller Institute, University of Southern Denmark (SDU), and located at the main Campus in Odense, at the core of the Odense Robotics Cluster involving 130+ startups and established companies in robotics.

Project description

The aim of the project SENSIBLE is to teleoperate a robot by a human operator to perform challenging maintenance tasks for wind turbine blades, e.g., leading-edge repair tasks.

As part of SENSIBLE, the overall objective of the PhD project is to use energy-aware approaches to build a stable, safe, reliable teleoperation system which takes into account time-varying human and environment dynamics and variable large time delays.

To this end, the research activities include 1) employing methods from the energy-aware robotics framework, including passivity theory and port-based modelling, to develop energy-aware controllers that guarantee robust stability of the teleoperation system under varying environments and in the presence of large time delays; 2) building on recent developments in energy-aware control approaches, including control barrier functions and energy tanks with budgeting, to enforce safety constraints. These include energy content of the teleoperation system, applied forces, and energy flow between the system, human operator, and environment; 3) developing tele-impedance in this context, which allows the operator to actively vary the remote robot’s impedance, while maintaining to satisfy the robust stability and safety requirements.

Profile and requirements

The candidates will participate in SDU Robotics’ comprehensive research and teaching activities within the areas of robotics, mathematical modeling and physical human robot interaction. The position requires a master’s degree within robotics, electrical engineering or a similar/relevant area, and the candidates are expected to have a profound knowledge on the majority of the following topics:

• Robotics (e.g., modelling, kinematics, dynamics and control)
• Programming skills (particularly in C++, Python and ROS)
• Knowledge of energy-based modelling and energy-aware approaches would be considered a plus.

Furthermore, the successful candidate is expected to:

• Have excellent knowledge of English (written and spoken).
• Be able to work well and communicate expert knowledge in an interdisciplinary team.
• Have high self-motivation to learn.
• Have the ability of working independently and have a strong sense of responsibility.

Further information

Please visit us on LinkedIn: https://www.linkedin.com/company/SDU-robotics.

Further information about this position is available via email from Associate Professor Cheng Fang, [email protected] and Professor Henrik Gordon Petersen, [email protected].

If you experience technical problems you must contact [email protected].

Conditions of employment
Applicants are required to have a master’s degree (equivalent to a Danish master's degree) at the time of enrollment and employment. Employment as a PhD fellow is a 3-year salaried position (start salary amounts to approx. 3.748,- EURO per month incl. supplements). Read more about the basic scale of the collective agreement here. Please check link for more information on salary and taxation.

Employment of a PhD fellow can only happen after the PhD School has approved the candidate for admission. Employment and enrollment will cease without further notice at the end of the period.

A PhD fellow is not allowed to have any kind of sideline employment, while enrolled as PhD fellow at the faculty.

Employment is governed by the Protocol on PhD Research Fellows signed by the Danish Ministry of Finance and the Danish Confederation of Professional Associations.

The successful candidate will be enrolled at SDU in accordance with Faculty regulations and the Danish Ministerial Order on the PhD Programme at the Universities (PhD order), read more here.

The assessment process
Read about the Assessment and selection process. Shortlisting may be used.

Application procedure
The Faculty expects applicants to read the Faculty information for prospective PhD students and the SDU information on How to apply before applying.

The application deadline is 05.10.2023.

The application must be in English and must include the following - the required forms must be found at the Faculty website:

• Completed TEK PhD application form for 5+3 applicants. Find the form at the Faculty website.
• Motivation letter stating your specific interest, motivation and qualifications for the project in question (max. 2 pages). Upload in the field called “Project description”.
• Detailed Curriculum Vitae, describing research, publication and teaching experience, computational skills and including personal contact information.
• A short PhD research proposal featuring: title, aim/objective, background, expected contribution, proposed methodology, work plan, bibliography (maximum five pages including references).
• Verified copies of the official bachelor diploma and master's diploma and transcripts of exams, both the original documents and in professional English translation.
• Completed TEK PhD form for calculation grade point average. Find the form at the Faculty website. Upload in one of the fields called “Publication”.
• An official document describing the grading scheme of the awarding universities (if not Danish). Upload in one of the fields called “Publication”.
• An official and verified written assessment of the thesis or dissertation project from the grade giving institution, if the thesis/examination project is evaluated by approved/passed. The statement must clearly state that the candidate has been among the top 30 pct. in the graduation class for the study programme.
• List of publications and maximum 2 examples of relevant publications, in case you have any publications. Please attach one pdf-file for each publication.
• References (names and emails) and reference letters may also be included. You're welcome to use the form for reference letter at the Faculty website.

The University wishes our staff to reflect the diversity of society and thus welcomes applications from all qualified candidates regardless of personal background.

ODENSE:

As the 3rd largest city in Denmark, Odense provides the perfect combination of a historic city center with an urban field yet a close proximity to beaches and recreational areas. Its location on the beautiful island of Funen is ideal with easy access by train or highway to the bigger cities of Aarhus and Copenhagen; direct trains can take you straight to Copenhagen airport in less than 2 hours. Since 1966 the city has been a university town, and strong collaborative ties are in place between the University of Southern Denmark and the many Danish and International corporations in the region. As the birthplace of Hans Christian Andersen, Denmark’s famous fairytale author, the city is home to a vibrant and creative population that hosts numerous festivals and markets throughout the year.