1 Activities Backgrounds and Organizations

This chapter introduces the various activities that I have conducted since as I have started being involved as researcher-teacher. It first starts in Section 1.1 with an overall overview of my career that sets the background in which my works was carried out. This general view contains several issues, which are synthesized, in order to explain the general structuring of my activities. In fact, as in any faculty position, my works encompass several activities that are mainly related to teaching and research. The organization of these tasks are then presented in Section 1.2. This integrates the structuring of the teaching, research, supervisions and collaborative works in a general framework synergy. This chapter largely refers to the Appendices  A and  B that include a long version of my resume, and the list of my publications respectively.

1.1 Career overview

1.1.1 Doctorate degree and post-doctorate

I have defended my PhD in Robotics in 2007 within the Robotics, Action, and Perception (RAP) group of the Laboratory for Analysis and Architecture of Systems[1] (LAAS), CNRS[2], under the supervision of Viviane Cadenat, Associate Professor at Paul Sabatier University of Toulouse, France. My PhD thesis dealt with the design of multi-sensor based control strategies allowing a mobile robot to perform vision-based tasks amidst possibly occluding obstacles. We have first proposed techniques able to fulfill simultaneously the mentioned objectives. However, avoiding both collisions and occlusions often over-strained the robotic navigation task, reducing the range of realizable missions. This is the reason why we have developed a second approach which let occurs the loss of the visual features if it is necessary for the task realization. Using the link between vision and motion, we have proposed different methods (analytical and numerical) to compute the visual signal as soon it becomes unavailable. We have then applied them to perform vision-based tasks in cluttered environments, before highlighting their interest to deal with a camera failure during the mission.

In addition, during my doctorate degree, I also had the opportunity to perform teaching activities, first as temporary teacher (3years), and then as teaching assistant, specifically in French Attaché Temporaire d’Enseignement et de Recherche (ATER, 1year), both for the Paul Sabatier University of Toulouse. These global teaching experiences have led to a total volume of 308hETD[3].

Between 2007 and 2008, I joined the Lagadic team at Inria[4] Rennes-Bretagne Atlantique as a post-doctoral fellow on sensory control for unmanned aerial vehicles. My postdoctoral fellow has been supported by Sensory Control for Unmanned Aerial Vehicles (SCUAV) ANR[5] project. The main objective was to improve multi-sensor-based servoing tasks for unmanned aerial vehicles. The idea was to design robust control law that combine different sensory data directly at the control level. Especially, I have contributed to the design of a new on-line sensor self-calibration based on the sensor/robot interaction links [1].

1.1.2 Tenured as Associate Professor

In 2008, I was recruited as Associate Professor at the Graduate Engineering School (ENSI) of Bourges, which is now the INSA Centre Val de Loire[6]. Since my tenure, I have been regularly involved in the life of the Institute. In particular, I contribute at a local level to the scientific animations (e.g. organization of laboratory visits), transfer and training-research links. For instance, I regularly attend the international relations division by accompanying, among others, the different delegations of schools and universities partners during their visits. In March 2017, the direction of the INSA Centre Val de Loire given to me the mission of referent racism and antisemitism. Figure 1.1 shows the relevant events related with my activities since tenured as Associate Professor.

As senior lecturer, I am mainly involved in the development of electronics and electrical sciences teaching activities of the institute. In particular, I have contributed to develop all the teaching materials for the electronics and electrical sciences courses and tutorials. Since tenured as associate professor, my average teaching loads is about 280hETD per year. These duties are varied (see also Figure A.1 in Appendix  A.2) depending on the recruitment and the choice of engineering students in the different departments in which I intervene. Moreover, since September 2014, I am in charge of the Nuclear Energy option of the 5th year (engineer’s degree, M2) of the Industrial Risk Control (MRI[7]) department. Finally, in November 2017, I have been elected as member of the council department of the Energy, Risks and Environment (ERE). Further information on my teaching activities and responsibilities are provided in Appendix  A.2.

Figure 1.1: Timeline of main events and activities (projects and supervisions) since tenure. Further information on the different projects, and the supervisions are given in Appendices  A.3.1 and  A.3.2 respectively.
Figure 1.1: Timeline of main events and activities (projects and supervisions) since tenure. Further information on the different projects, and the supervisions are given in Appendices  A.3.1 and  A.3.2 respectively.

Figure 1.2: Personal references progress since tenure. The listed publications follow the nomenclature proposed by the “Haut Conseil de l’évaluation de la recherche et de l’enseignement supérieur” (Hcéres) [2]. The detailed list of my publications and the nomenclature are given in Appendix  B.
Figure 1.2: Personal references progress since tenure. The listed publications follow the nomenclature proposed by the Haut Conseil de l’évaluation de la recherche et de l’enseignement supérieur (Hcéres) [2]. The detailed list of my publications and the nomenclature are given in Appendix  B.

Furthermore, I perform my research activities with the PRISME[8] Laboratory in the Robotics team of the Images, Robotics, Automatic control and Signal (IRAuS) unit. Since I am an Associate Professor, my research interests mainly deal with the modeling and control for nano and micro-robotics in a biomedical context. It can be noticed that, since my PhD degree, I had to apply a slight change on my research topics to address the specificities of the microworld. Indeed, in a first time, my research activities have been mainly related with the European project NANOMA[9]. This project consisted of designing microrobotic system for targeted drug delivery through the cardiovascular system. In parallel, I have also contributed to the development of micromanipulation activities of the laboratory. Firstly, the micromanipulation tasks have been devoted for intra­cytoplasmic applications [3] [4]. Next, this research activities have evolved to object micromanipulation to be placed in the focus of a light beam within the ANR project PIANHO. The different projects in which I have been involved are reported in the Figure 1.1, and detailed in Appendix  A.3.1. In addition, I have directly co-supervised the works of 4 PhD students (with one still ongoing), with their names also reported in the Figure 1.1. I also had the opportunity to follow the research works of 5 external PhD students. Further information about these supervisions are given in the Appendix  A.3.2.

Since tenured in 2008, these various scientific activities have led, to 43 publications, including[10] 13 articles (ACL), 1 guest editorial (DO), 2 books chapter (OS) and 20 proceedings (ACT). Figure 1.1 illustrates the timeline progress of my publishing activities and the detailed list of my publications are given in the Appendix  B. As of 2018, I had an H-index of 12 based on Google Scholar Citations[11].



[1] In French Laboratoire d’Analyse et d’Architecture des Systèmes LAAS is a laboratory depending from the CNRS. http://www.laas.fr

[2] Form French National Center for Scientific Research, from French Centre National de la Recherche Scientifique (CNRS), is the largest governmental research organization in France. http://www.cnrs.fr

[3] Equivalent TD hours that is in French heures équivalentes TD (hETD), are the reference hours to calculate the teaching duties. The rules for a tenured teacher are as follows: 1h of course = 1.5hETD, while the others, e.g. 1h of tutorial (TD) = 1h of practical work (TP) = 1hETD.

[4] French Institute for Research in Computer Science and Automation, from French: Institut national de recherche en informatique et en automatique (Inria). https://www.inria.fr/centre/rennes

[5] From French Agence Nationale de la Recherche (ANR), which is the French National Agency for Research. http://www.agence-nationale-recherche.fr

[6] INSA Centre Val de Loire (INSA CVL) was created in 2014 by the merge of 'Ecole Nationale d’Ingénieurs du Val de Loire (ENIVL) of Blois and École Nationale Supérieur d’Ingénieurs (ENSI) of Bourges. In 2015, the 'Ecole Nationale Supérieure de la Nature et du Paysage (ENSNP) of Blois is integrated to INSA Centre Val de Loire. http://www.insa-centrevaldeloire.fr

[7] From French Maîtrise des Risques Industriels (MRI)

[8] PRISME is from University of Orléans and from INSA Centre Val de Loire (EA 4229). http://www.univ-orleans.fr/PRISME

[9] NANOMA.

[10] The bibliography categories follow the nomenclature proposed by the Haut Conseil de l’évaluation de la recherche et de l’enseignement supérieur (Hcéres) [2]. Hcéres is the High Council for Evaluation of Research and Higher Education, and it is an independent administrative authority. http://www.hceres.fr