Contract type : Public service fixed-term contract
Level of qualifications required : Graduate degree or equivalent
Fonction : PhD Position
About the research centre or Inria department
The Inria Sophia Antipolis - Méditerranée center counts 37 research teams and 9 support departments. The center's staff (about 600 people including 400 Inria employees) is composed of scientists of different nationalities (250 foreigners of 50 nationalities), engineers, technicians and administrators. 1/3 of the staff are civil servants, the others are contractual. The majority of the research teams at the center are located in Sophia Antipolis and Nice in the Alpes-Maritimes. Six teams are based in Montpellier and a team is hosted by the computer science department of the University of Bologna in Italy. The Center is a member of the University and Institution Community (ComUE) "Université Côte d'Azur (UCA)".
Cable-Driven Parallel Robots (CDPRs) form a particular class of parallel robots whose moving platform is connected to a fixed base frame by cables. The cables may be coiled/uncoiled by motorized winches allowing a control system to adjust the cable lengths between the winch exit points and the cable attachment points on the platform. This type of robot may offer excellent performances in terms of workspace size and payload.
This thesis will take place at INRIA Sophia-Antipolis, close to Nice in the HEPHAISTOS team, that is considered as one of the world leader for CDPRs and which is offering an excellent environment for hardware/software development
Occasionnal travel may be required and travel expenses will be covered within the limits of the scale in force
The objectives of this thesis are:
-establish accurate kineto-static model of CDPR with realistic cable models, taking into account additional measurements on the system beside cable lengths-establish performance indices for CDPR
-compare the ground-truth positioning accuracy with the one derived from the uncertain model
- develop basic algorithms for reconfiguring CDPRs (e.g. by modifying the position of the winches) so that they are more adapted for a given task
For a better knowledge of the proposed research subject :
Scientific references and picture are available at
The recruited person will be in connection with the other members of the consortium, beside the members of the HEPHAISTOS team
The person recruited will be in charge of representing the HEPHAISTOS team during the consortium meeting.
-mathematical analysis of CDPRs
-experimental works to validate the analysis
-writing scientific reports
Technical skills and level required :C programming, mechanical mathematical modeling,
interest in experimental validation. Basic
knowledge on Arduino/Phidgets for managing sensors will be a bonus
Languages : basic kowledge in french will be a bonus
Relational skills : fan of teamwork but able to work in autonomy
- 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 and sports events and activities
- Access to vocational training
- Social security coverage
- 1985 € gross salary per mont the 1st and 2nd year
- 2085 € gross salary per month the 3rd year
- Theme/Domain :
Robotics and Smart environments
Scientific computing (BAP E)
- Town/city : Sophia Antipolis
- Inria Center : CRI Sophia Antipolis - Méditerranée
- Starting date : 2019-04-01
- Duration of contract : 3 years
- Deadline to apply : 2019-05-05
The keys to success
This job requires a strong interest for mathematical analysis (including numerical analysis) and its validation through an experimental work. The subject is multidisciplinary and will allow to gain knowledges, some of which are generic while not being extensively taught.
Inria, the French national research institute for the digital sciences, promotes scientific excellence and technology transfer to maximise its impact. It employs 2,400 people. Its 200 agile project teams, generally with academic partners, involve more than 3,000 scientists in meeting the challenges of computer science and mathematics, often at the interface of other disciplines. Inria works with many companies and has assisted in the creation of over 160 startups. It strives to meet the challenges of the digital transformation of science, society and the economy.
Instruction to apply
Defence Security :
This position is likely to be situated in a restricted area (ZRR), as defined in Decree No. 2011-1425 relating to the protection of national scientific and technical potential (PPST).Authorisation to enter an area is granted by the director of the unit, following a favourable Ministerial decision, as defined in the decree of 3 July 2012 relating to the PPST. An unfavourable Ministerial decision in respect of a position situated in a ZRR would result in the cancellation of the appointment.
Recruitment Policy :
As part of its diversity policy, all Inria positions are accessible to people with disabilities.
Warning : you must enter your e-mail address in order to save your application to Inria. Applications must be submitted online on the Inria website. Processing of applications sent from other channels is not guaranteed.