A theoretical framework for the task-based optimal design of Modular and Reconfigurable Serial Robots for rapid deployment

The innovations that gave rise to industrial robots date back to the sixties and seventies. They have enabled a massive deployment of industrial robots that transformed factory floors, at least in industrial sectors such as car manufacturing and other mass production lines.

However, such robots do not fit the requirements of other interesting applications that appeared and developed in fields such as in laboratory research, space robotics, medical robotics, automation in inspection and maintenance, agricultural robotics, service robotics and, of course, humanoids. A small number of these sectors have seen large-scale deployment and commercialization of robotic systems, with most others advancing slowly and incrementally to that goal.

This begs the following question: is it due to unsuitable hardware (insufficient physical capabilities to generate the required motions and forces); software capabilities (control systems, perception, decision support, learning, etc.); or a lack of new design paradigms capable to meet the needs of these applications (agile and scalable custom-design approaches)?

The unprecedented explosion of data science, machine learning and AI in all areas of science, technology and society may be seen as a compelling solution, and a radical transformation is taking shape (or is anticipated), with the promise of empowering the next generations of robots with AI (both predictive and generative). Therefore, research can tend to pay increasing attention to the software aspects (learning, decision support, coding etc.); perhaps to the detriment of more advanced physical capabilities (hardware) and new concepts (design paradigms). It is however clear that the cognitive aspects of robotics, including learning, control and decision support, are useful if and only if suitable physical embodiments are available to meet the needs of the various tasks that can be robotized, hence requiring adapted design methodologies and hardware.

The aim of this thesis is thus to focus on design paradigms and hardware, and in particular on the optimal design of rapidly-produced serial robots based on given families of standardized « modules » whose layout will be optimized according to the requirements of the tasks that cannot be performed by the industrial robots available on the market. The ambition is to answer the question of whether and how a paradigm shift may be possible for the design of robots, from being fixed-catalogue to rapidly available bespoke type.

The successful candidate will enrol at the « Ecole Doctorale Mathématiques, STIC » of Nantes Université (ED-MASTIC), and he or she will be hosted for three years in the CEA-LIST Interactive Robotics Unit under supervision of Dr Farzam Ranjbaran. Professors Yannick Aoustin (Nantes) and Clément Gosselin (Laval) will provide academic guidance and joint supervision for a successful completion of the thesis.

A follow-up to this thesis is strongly considered in the form of a one-year Post-Doctoral fellowship to which the candidate will be able to apply, upon successful completion of all the requirements of the PhD Degree. This Post-Doctoral fellowship will be hosted at the « Centre de recherche en robotique, vision et intelligence machine (CeRVIM) », Université Laval, Québec, Canada.

Control & optimization of fuel cell temperature

Proton exchange membrane fuel cells (PEMFC) represent a key technology for the development of clean and sustainable energy systems, particularly for heavy-duty transport applications where their energy density is very attractive. However, in order to represent a viable industrial alternative, a number of obstacles still need to be overcome, including operating costs and, above all, the durability of the systems under real-world conditions. Among the levers for action, optimizing operating conditions is a promising avenue for limiting the degradation phenomena occurring within the cell. The operating temperature is a particularly key parameter because it affects all aspects of the system, from the kinetics of degradation mechanisms to the thermal capacity that the system can dissipate, including the water balance within the fuel cell. Despite the influence of this parameter on durability, it is generally only optimized at the system level to achieve the best performance, the shortest possible response time and to limit the size of the thermal management system.
The aim of this thesis is to work on optimizing the temperature management of a fuel cell within a system, taking into account not only performance but also sustainability criteria. To do this, the impact of operating temperature on degradation mechanisms will be analyzed using various simulation tools already available at LITEN and the teams' fifteen years of experience in studying PEMFC fuel cell degradation. Various thermal architectures will be proposed and evaluated in conjunction with the work on temperature control optimization. The latter will be implemented on a real fuel cell system in order to demonstrate the relevance of the proposed solution using concrete experimental data.

Multi-criteria Navigation of a Mobile Agent applied to nuclear investigation robotics

Mobile robots are increasingly deployed in hazardous or inaccessible environments to perform inspection, intervention, and data collection tasks. However, navigating such environments is far more complex than simple obstacle avoidance: robots must also deal with communication blackouts, contamination risks, limited onboard energy, and incomplete or evolving maps. A previous PhD project (2023–2026) introduced a multi-criteria navigation framework based on layered environmental mapping and weighted decision aggregation, demonstrating its feasibility in simulated, static scenarios.

The proposed thesis aims to extend this approach to dynamic and partially unknown environments, enabling real-time adaptive decision-making. The work will rely on tools from mobile robotics, data fusion, and autonomous planning, supported by experimental facilities that allow realistic validation. The objective is to bring navigation strategies closer to real operational conditions encountered in nuclear dismantling sites and other industrial environments where human intervention is risky. The doctoral candidate will benefit from an active research environment, multidisciplinary collaborations, and strong career opportunities in autonomous robotics and safety-critical intervention systems.