Multi-scale approach for ultrasonic propagation in inhomogeneous multiple-scattering media
Ultrasonic waves are strongly influenced by the microstructure of the materials through which they propagate, leading to attenuation, dispersion, and noise. Modeling these effects is essential, particularly in non-destructive testing, where they may either hinder defect detection or provide valuable information about the material. Analytical and numerical models help to better predict and interpret these phenomena. Homogeneous statistical properties are generally assumed in such approaches. In practice, however, microstructures often exhibit significant spatial variations, for instance due to manufacturing processes. Depending on the scale of these variations relative to the wavelength, they may induce either abrupt or gradual changes in effective properties. This PhD aims to establish a theoretical framework that accounts for both microstructural randomness and its spatial variations, in order to propose relevant simulation strategies depending on the scales involved. The approach will first be developed in 1D, then extended to 2D and 3D using tools developed in the laboratory, with numerical and possibly experimental validations.
Structure monitoring in harsh environments: fiber Bragg gratings for passive guided wave tomography
The use of fiber Bragg gratings on optical fiber as receivers of guided elastic waves has been studied for several years at CEA LIST as an innovative solution for monitoring structures subjected to severe operational stresses.
Recent advances in optoelectronic instrumentation dedicated to this type of measurement have demonstrated the team's ability to measure elastic waves at temperatures exceeding 1000°C and to achieve degrees of multiplexing on a single optical fiber that enable the implementation of guided elastic wave tomography algorithms. In addition, a model of elastic waves measurement using fiber Bragg gratings has recently been introduced into CIVA simulation platform developed by CEA LIST. This model will be used in order to adapt the tomography algorithms, developed and tested for “standard” piezoelectric sensors, to the specific characteristics of Bragg measurements.
This thesis will be take place in parallel to experimental campaigns planned as part of European projects and industrial collaborations, which will enable this type of instrumentation to be implemented on real industrial structures in 2027/2028 (especially nuclear power plants), providing unique data for analysis.
The doctoral student will work on purely algorithmic aspects (adapting tomography algorithms to the specificity of Bragg measurement, taking into account geometric complexities on real industrial structures, calibration issues related to high temperatures/gradients) and on the development of demonstrators in the laboratory. He or she will also participate in the deployment of the instrumentation on industrial sites and in data analysis to demonstrate the performances of the technology.
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.