Teaching
Administrative functions
2021-
Coordinator of student projects
Bachelor of Metrology and Applied physics
University Paris-Saclay - IUT Orsay
2013-2021
Instrumentation laboratory coordinator
Metrology and Applied physics department
IUT Orsay
Artificial Intelligence for robotics
This course covers the following concepts:
Theoretical * Neuron model and Artificial Neural Networks * ANN topology * Supervised learning * Reinforcement learning | Practical Thymio AI navigation Simulation on webots |
Instrument Control Fundamentals
This course covers the following concepts:
Theoretical * Introduction to the computer-based instrumentation * Data acquisition systems * Computer architecture * Computer programming (visual programming language) * File input/output * I/O Bus standards * Serial communication (RS-232) * Universal Serial Bus * General Purpose Instrument Bus (GPIB) | Practical Data acquisition testbeds studied during this course * Dew point estimation * GPS localization logger * Ultrasonic distance sensing * Roundness measuring * Visual servoing |
Computer-based instrumentation
Theoretical * Data representation * Logic operators * Signal sampling * Data acquisition | Practical E-puck logic-based navigation NI MyDAQ practicals |
Applied mathematics | Robotic navigation
Required fundamentals : | Keywords : | Experimental platform |
---|---|---|
* Geometry * Linear algebra * Algorithms - programming | * Mathematical modeling * Numerical integration * Error estimation * Bayesian filtering | * Thymio II |
Objectives : | ||
* Model and implement mathematical models for motion estimation of a differential robot * To transpose fundamental concepts of numerical integration for robot's trajectory estimation * Estimate process errors by means of trajectory registration * Implementing Kalman filter for tracking the robot's localization state |