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Professional experience
Ph.D Automatic, Signal Processing, Aerial Robots
National Center for Scientific Research (CNRS) - Marseille - France(March 2006 - December 2009)
Missions
- 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
Job details
- 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
Company Description
- National Center for Scientific Research (CNRS) - Biorobotics team, Marseille
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