PhD Position in 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 2024 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 considers time-varying human and environment dynamics and variable large time delays (e.g., around 100 ms).

To this end, the research activities include 1) Employing methods from the energy-aware robotics framework, including passivity theory and port-based modeling, to develop energy-aware methods 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, to create a safety layer capable of enforcing safety constraints. These include the energy content of the teleoperation system, applied forces, and energy flow between the system, human operator, and environment.; 3) Developing (reinforcement and/or imitation) learning based methods, producing policies that can assist the human operator in actively varying the remote robot’s impedance in real-time, while maintaining to satisfy the robust stability and safety constraints through the energy-based safety layer; 4) (Optional) Researching how to use large language models to dynamically allocate the authority between the operator and the teleoperation system in shared control/autonomy for improved stability and safety.

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)
• Familiar with machine learning/deep learning frameworks and tools, e.g., TensorFlow, PyTorch, OpenAI GYM, CUDA. 
• 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].

If you experience technical problems, please contact [email protected].

Conditions of employment

Appointment as a PhD fellow is a 3-year salaried position.

The monthly gross salary incl. pension is 35.707DKR. If you have relevant postgraduate experience, you may be placed on a higher salary step. 

Applicants must hold a master’s degree (equivalent to a Danish master's degree) at the time of enrollment and employment. Employment of a PhD fellow can only happen after the PhD School has approved the candidate for admission.

Employment as a PhD fellow governed by the Protocol on PhD Research Fellows signed by the Danish Ministry of Finance and the Danish Confederation of Professional Associations. Further information about salary and conditions of employment. 

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). 

Assessment and selection process

Read about the Assessment and selection process. 

Applications will be assessed by an assessment committee or an expert. Shortlisting may be applied. Only shortlisted candidates will receive a written assessment. Read about shortlisting at SDU. 

Interviews and tests may be part of the process.

Application procedure

Before applying the candidates are advised to read the Faculty information for prospective PhD students, the SDU information on how to apply and specific faculty information for application at the Faculty of Engineering. 

Assessment of candidates is based on the application material. Please include the following documents in English: 

• Motivated application. 
• Curriculum Vitae, including personal contact information.
• A short PhD research proposal featuring: title, aim/objective, background, expected contribution, proposed methodology, work plan, bibliography (max. five pages including references). 
• List of publications and relevant or representative publications in full text, in case you have any publications.
• Certificates/Diplomas (bachelor’s and master’s degree) – incl. transcripts of grades in Danish and/or English. 
• Completed TEK PhD application form for 5+3 applicants. Find the form at the Faculty website.
• Completed TEK PhD form for calculation grade point average. Find the form at the Faculty website. 
• An official document describing the grading scheme of the awarding universities (if not Danish). 
• Only for applicants from programmes that evaluate thesis/examination project by approved/not approved: Please submit an official and verified written assessment of the thesis or dissertation project from the grade giving institution. The statement must clearly state that the candidate has been among the top 30 pct. in the graduation class for the study programmex.

The application may also include:

• References (names and emails) and/or reference letters may also be included, you're welcome to use the form for reference letter at the Faculty website.

UPLOAD GUIDE: Motivated application shall be uploaded as ‘Cover letter’, Curriculum Vitae shall be uploaded as ‘Resume’. All other documents shall be uploaded as ‘Miscellaneous documents’. 

The application deadline is 25 September 2024 at 11.59 PM / 23.59 (CET/CEST) 

Formalities

• Documents must not contain a CPR number (civil registration number) – in this case, the CPR number must be crossed out.
• The application and CV must not exceed 10 MB. 

The University of Southern Denmark wishes to reflect the surrounding community and therefore encourages everyone, regardless of personal background, to apply for the position.

Further information for international applicants about entering and working in Denmark. You may also visit WorkinDenmark for additional information.

Further information about The Faculty of Engineering.

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.