Alexis Guigue

My thesis subject fits into the design and development of a Captive Trajectory Simulation (CTS) system. A CTS system is a wind-tunnel experimental setup used for the investigation of store separation from aircrafts ( https://www.nrc-cnrc.gc.ca/eng/news/iar/2007/06... ). For this purpose, the store is attached at the extremity of an 8-degrees-of-freedom robotic manipulator, and can therefore be moved anywhere relatively to the aircraft.

Thesis subject: Multiobjective Optimal Trajectory Planning: An Application to the Captive Trajectory Simulation (CTS) System

-Development of an approximation method for multiobjective deterministic finite horizon optimal control problems.
-Theoretical study of the convergence of the approximation.
Application to the multiobjective kinematic trajectory planning problem for the 8-degrees-of-freedom robotic manipulator in the CTS system. -Implementation in C++/Matlab.
-Implementation of a Man-Machine Interface in LabVIEW.

Moreover, collaboration:

-In the design of the robotic manipulator.
-In the design and implementation of the real-time embedded software for the control of the robotic manipulator (C++/LabVIEW Real-Time).
-In the development of various trajectory planners for the robotic manipulator and their implementation in the real-time embedded software.

-Design and implementation of embedded systems for robotic manipulators and mobile robots in teleoperation, augmented reality and visual-servoing projects on the following platforms:
*QNX/RT-Lab/Matlab/LabView,
*QNX/Microsoft Visual C++/MFC.
-Design and implementation of control systems and trajectory planners for robotic manipulators and mobile robots.
-Implementation of a haptic interface.
-Supervision of undergraduate and masters level engineering projects.