Lubin

Kerhuel (English Version)

Signal Processing - Embedded system - Matlab Expert

Signal Processing - Embedded Systems

MOVEA - Grenoble - France(Permanent contract - February 2010 - September 2011)

• INERTIAL MEASUREMENT UNIT (IMU)
  - MATLAB-Simulink modelisation and optimisation of data fusion algorithm (complementary filter, Extended Kalman Filtering...) combining rate gyro information with acceleration and magnetometers measurements
  - Real-Time implementation of algorithms on STM32 target (CORTEX-M3, ARM) using the Mathworks Real Time Workshop Embedded Coder. Adaptation of the mathworks toolchain for working with STM32 target
• APPLIED MATH & ANALYSIS
  - Studies of new signal processing algorithms for sport article (involving Mathematical analysis of data, SVD, vibration analysis ...)
  - Prorotype the first racket "Play & Connect" (Babolat) (Detecting forehand, backhand, service, racket speed at impact, Ball position on the racket surface etc...)
  - Studies for Podometers.
• ELECTRONICS PROTOTYPES
  - Review and Test adapted sensors
  - Electronic design and build electronics prototype boards (with EAGLE) endowing microcontroller, sensor, radio link for real time prototyping and evaluation of algorithms.
• SCIENTIST LEAD (From March 2011)
  - Help R&D team on incoming scientifics questions.

Ph.D Automatic, Signal Processing, Aerial Robots

National Center for Scientific Research (CNRS) - Marseille - France(Fixed-term contract - March 2006 - December 2009)

• Doctorate degree in CONTROL ENGINEERING and MICROELECTRONICS from the University of Montpellier II.
  Ph.D research on visual and micro-aerial vehicle adapted control laws within the Biorobotics Laboratory, Institute of Movement Science, National Center for Scientific Research, at the University of Aix-Marseille.
• AERIAL ROBOTS
  realisation of a 100g aerial robot endowed with a visuo-inertial guiding system.
  - Electronic design (microcontrollers, sensors, numerical buses,... )
  - Signal processing & automatic : Identification of robot's dynamics ; control loop; visual sensor & guidance systems; fixed point...
• 2 PATENTS
  - Optical Position Sensing Device (PSD) with an hyperacuity : the sub-pixel resolution multiplied by 900. A two pixels device can locate a contrasting edge with a resolution 900-fold greater than the static resolution of the two pixels. Ref : EP09/306237.0 - BET-09P1075;
  - Optic Flow (OF) sensor for visual guidance of autonomous robots in unknown environment without need for GPS or active sensor. Ref : EP09/306239.6 - BET-09P0958.
• RAPID PROTOTYPING TOOLS
  Embedding simulation models onboard microcontrollers (dsPIC) using the mathworks Real Time Workhsop Embedded Coder and a custom made blockset for dsPIC.
• SCIENTIFIC PUBLICATIONS
  list available on http://www.kerhuel.eu/wiki/Lubin_Kerhuel

• Design of a complete Visuo-Inertial reflex that locks the robot's gaze toward a visual target making the robot capable to accuratly follows the moving target despite strong perturbations (wind, slap) applied on its body
• Embedded software completly realised thanks to rapid prototyping tools coupled with the blocksed I realised. This blockset allows programming Microhcip microcontroleur from a simulink model with a one click button procedure
• Training course (2008) : Creation of small buisness
• Training course (2008) : English Scientific and Professional Communication
• Training course (2007) : Numerical control of electromagnetic systems

• National Center for Scientific Research (CNRS) - Biorobotics team, Marseille

• www.biorobotics.eu

Embedded System engineer

L.G.M. - Paris - France(Permanent contract - September 2005 - February 2006)

• PSA (Paris)
  Realisation of test bench for reliability testing of embedded car calculators for car through LIN and CAN buses. (Testand, Labview, CVI)
• ROCKWELL & COLLINS (Toulouse)
  Programming on DSP Texas Instrument TMS6711 a VDL mode 4 receiver

Engineer - Research

CNRS - Paris - France(Fixed-term contract - September 2004 - July 2005)

• MEASUREMENT SYSTEM
  Design and realisation of an electronic board (sensor, signal processing, data transmission) and its related HCI for measuring human head's 3D acceleration.
• APPLIED MATH
  Linear Analysis (PCA, LDA) to extract relevant information from large measurement database. Script to generate automatic report throught matlab and LaTeX.
• EMBEDDED SYSTEM
  Design and realization of a miniature vestibular implant for small mammal.