Fabien Grzeskowiak

Chercheur post-doctoral INSA

fabien.grzeskowiak@insa-rennes.fr

Bio

En 2016 j’ai été diplômé de l’école d’ingénieurs ENSMM avec une spécialisation en mécatronique et automatisme. J’ai été diplômé en 2016 de l’université UFC avec une spécialisation en mécatronique micro-systèmes et électronique embarquée. J’ai travaillé pendant 6 mois pour mon mémoire de master au sein de Moving Magnet Technologies un laboratoire français spécialisé dans la conception de capteurs et actionneurs électro-magnétiques. Le but du projet était de concevoir un système et une loi de commande pour un actionneur rapide puissant avec des non linéarités en termes de force/position courant/Inductance. Avant cela j’ai fait un stage de 6 mois chez Bombardier Transport France en tant qu’ingénieur junior en conception mécanique.

Entre mon stage de maîtrise et le début de mon doctorat j’ai travaillé pendant 1 an dans une entreprise privée Partnering Robotics où j’étais en charge du package firmware de la conception à l’intégration. J’étais également en charge de la veille technologique et de l’intégration de nouveaux capteurs et actionneurs de télémétrie.

J’ai soutenu ma thèse de doctorat en 2021 dans l’équipe RAINBOW de l’INRIA sous la direction de Julien Pettré. Les travaux de ma thèse s’inscrivent dans le cadre du projet CrowdBot dont l’objectif était de concevoir des techniques de navigation pour les robots en environnement de foule. Plus précisément mon travail est principalement axé sur la conception d’un environnement physique entièrement simulé qui simule une foule et un robot afin d’évaluer les techniques de navigation.

Je suis aujourd’hui chercheur post-doctoral à l’INSA de Rennes au sein de la chaire IH2A portée par Marie Babel. Mes travaux de recherche sont orientés autour de la robotique d’assistance aux personnes et de l’assistance à la mobilité.

Mes travaux s’effectuent dans le cadre du projet européen ADAPT visant au développement de fauteuil roulant electrique intelligent ainsi qu’au développement de simulateurs de conduite de fauteuil multisensoriels en réalité virtuelle.

Je suis également impliqué dans le projet défi Inria DORNELL visant à l’élaboration d’une poignée haptique innovante, multisensorielle, multimodale et intelligente qui peut être facilement installée sur les aides à la mobilité.

Publications

• Vailland Guillaume; Grzeskowiak Fabien; Devigne Louise; Gaffary Yoren; Fraudet Bastien; Leblong Emilie; Nouviale Florian; Pasteau François; Le Breton Ronan; Guégan Sylvain; User-centered design of a multisensory power wheelchair simulator: towards training and rehabilitation applications; 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) 77-822019 IEEE
• Grzeskowiak Fabien; Babel Marie; Bruneau Julien; Pettré Julien; Toward virtual reality-based evaluation of robot navigation among people; 2020 IEEE Conference on Virtual Reality and 3D User Interfaces (VR) 766-7742020 IEEE
• van Toll Wouter; Grzeskowiak Fabien; Gandía Axel López; Amirian Javad; Berton Florian; Bruneau Julien; Daniel Beatriz Cabrero; Jovane Alberto; Pettré Julien; Generalized microscropic crowd simulation using costs in velocity space; Symposium on Interactive 3D Graphics and Games 1-92020
• Berton Florian; Grzeskowiak Fabien; Bonneau Alexandre; Jovane Alberto; Aggravi Marco; Hoyet Ludovic; Olivier Anne-Helene; Pacchierotti Claudio; Pettre Julien; Crowd navigation in vr: exploring haptic rendering of collisions; IEEE Transactions on Visualization and Computer Graphics 2020 IEEE
• Grzeskowiak Fabien; Gonon David; Dugas Daniel; Paez-Granados Diego; Chung Jen Jen; Nieto Juan; Siegwart Roland; Billard Aude; Babel Marie; Pettré Julien; Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd; 2021 IEEE International Conference on Robotics and Automation (ICRA) 3879-38852021 IEEE
• Grzeskowiak Fabien; Simulation et expérimentations pour l’évaluation de la navigation de robots dans la foule; Manuscrit de thèse 2021 Université de Rennes 1 (UR1)
• Grzeskowiak Fabien; Devigne Louise; Pasteau François; Dutra Gustavo Souza Vieira; Babel Marie; Guégan Sylvain; SWALKIT: A generic augmented walker kit to provide haptic feedback navigation assistance to people with both visual and motor impairments; 2022 International Conference on Rehabilitation Robotics (ICORR) 1-62022 IEEE

López Axel

PhD Student, Univ Rennes

Email : axel.lopez-gandia@irisa.fr
Address :
IRISA, INRIA Rennes – Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes, France
Tel : 02 99 84 XX XX
Fax : 02 99 84 71 71
Assistant : 02 99 84 22 52 (Hélène de La Ruée)

     Short bio

In July 2014, I graduated with a Bachelor’s degree in Physics from Universitat de Barcelona (UB).

In July 2016, I graduated with a Master’s degree in Innovation and Research in Informatics from Universitat Politècnica de Catalunya (UPC) with the specialization in Computer Graphics and Virtual Reality. During my master’s degree, I completed three internships in UPC with various objectives, development of an automated scheduling tool, development of architectural visualization tools for virtual reality and development of optic simulator software.

In October 2016, I joined the Rainbow team (former Lagadic team) as PhD student. I work under the supervision of Julien Pettré and François Chaumette in steering models for character animation based on synthetic vision and optical flow.

Quentin Delamare

Agrégé Préparateur de l’ENS Rennes

Email : quentin.delamare @ irisa/inria.fr

Address :
IRISA, INRIA Rennes – Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes, France

Assistant : 02 99 84 22 52 (Hélène de La Ruée)

Short bio

From 2012 to 2016 I studied Mechatronics at ENS Rennes, graduating Mechanics and Electronics degrees. In 2015 I obtained the french « Agrégation » opening for teaching positions, in electronics engineering.

I did my Ph.D from 2016 to 2019 under the supervision of Dr. Paolo Robuffo Giordano and Dr. Antonio Franchi, on the thematic of aerial robotics with physical interaction and trajectory generation with parametric uncertainty considerations.

Currently I am part of the Rainbow team (ex-Lagadic) as « agrégé préparateur » (APGR) of ENS Rennes.

I teach at ENS Rennes in mechatronics-related fields such as control and planning of robots, reverse engineering, processors, networks, and in the preparation for the oral of agrégation in the electronics and computing options.

Research fields

My research is in the field of Aerial Physical Interaction, which mainly assembles dynamics modeling, control, planning/optimization, uncertainties, and design.

Aline Baudry 

Phd student, INSA Rennes/IRISA

Email : aline.baudry @ irisa.fr

Address :
IRISA, INRIA Rennes – Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes, France

Assistant : 02 99 84 22 52 (Hélène de La Ruée)

Short bio

I graduated with a Mechanical and Control Systems Engineering  degree from the INSA Rennes in September 2016.*

For the last semester of my master degree, I choose to specialize in control and embedded systems. I decided to study at the Department of Mechanical Engineering of the Technical University of Munich (TUM) during the winter semester 2015/2016.

Then, I worked at the Gipsa-lab in Grenoble for 6 months on my master’s thesis, which the subject was « Put this there ! : Modeling deictic gestures for a humanoid robot ».

I am actually a PhD student in the Rainbow (previously Lagadic) group at IRISA / INRIA in Rennes under the supervision of Dr. Marie Babel (INSA/IRISA) and Sylvain Guégan (INSA/LGCGM). My research objective is to model the dynamics of the electric powered wheelchair. This model will allow to improve the driving assistance control laws during the semi-autonomous navigation. It also will be used in the development of a wheelchair driving simulator.

Hadrien Gurnel

PhD Student, IRT b<>com & Irisa

Email : hadrien.gurnel @ irisa.fr
Address :
IRISA, INRIA Rennes – Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes, France
Assistant : 02 99 84 22 52 (Hélène de La Ruée)

Short bio

From 2012 to 2015, I studied Electronics at ENSEIRB-MATMECA (an engineering school located in Bordeaux, France) with a major in Image and Signal Processing. I conducted my 6-month graduation internship at Technicolor R&D (Cesson-Sévigné), under the supervision of Franck Galpin, on the topic of HDR video compression. Then, I enrolled in a 10-month training at EON Reality (Laval, France), during which I studied Virtual and Augmented Reality. Since October 2016, I am a PhD student at IRT b<>com and Irisa Rennes – Bretagne Atlantique, in the Rainbow team , under the supervision of Alexandre Krupa (Inria), Maud Marchal (Irisa) and Laurent Launay (IRT b<>com). My research focuses on Medical Imaging and Robotics.

Pedro Alfonso Patlan-Rosales 

PhD student

Email : pedro-alfonso.patlan-rosales@inria.fr
Address :
IRISA, INRIA Rennes – Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes, France
Tel :  02 99 84 74 50
Fax : 02 99 84 71 71
Assistant : 02 99 84 22 52 (Hélène de La Ruée)

Short bio

I obtained my Bachelor in Mechatronics Engineering at University of Guanajuato, Mexico in 2010 where I worked on « Object Localization by a camera to control a robotic arm ». After, I received my Master degree in Electrical Engineering at University of Guanajuato, Mexico in 2012 where I worked on « Visual odometry and 3D reconstruction ». During my Master degree I did an internship at INRIA Sophia Antipolis with EVOLUTION team from May to November 2011 with a project named « Development of a Vision-based Robot Control Application ».

I carried out my Ph.D. in the LAGADIC team at IRISA/INRIA-Rennes (now Rainbow team).  During my Ph.D. I was working in the field of Medical Robotics, and the title of my thesis is “A robotic control framework for quantitative ultrasound elastography” under the supervision of Dr. Alexandre Krupa. Elastography is a promising technique that unveils the elastic parameters of  a tissue. This feature is being exploited in medical diagnosis of diseases (e.g., liver fibrosis, breast cancer). In addition, elastography is a non-invasive technique which improves the comfort of a patient.  In my Ph.D. thesis we developed three novel robotic approaches to assist examiners with elastography.  The first approach deals with the control of a robot actuating an ultrasound probe to perform palpation motion required for ultrasound elastography. The elasticity of the tissue is used to design a servo control law to keep a stiff tissue of interest in the field of view of the ultrasound probe. Additionally, the orientation of the probe is controlled by a human user to explore other tissue while elastography is performed. The second approach exploits deformable image registration of ultrasound images to estimate the tissue elasticity and to help in the automatic compensation by ultrasound visual servoing of a motion introduced into the tissue. The third approach offers a methodology to render the tissue elasticity by moving a virtual probe in the ultrasound image with a haptic device while the robot is performing palpation motion. Experimental results of the three robotic approaches over phantoms with tissue-like offer an excellent perspective for robotic-assistance for ultrasound elastography.

A list of my publications can be found here.

Demos

• Automatic palpation for quantitative ultrasound elastography (presented in IROS 2016 Daejeon, Korea)

• Strain map of moving tissue based on automatic motion compensation by ultrasound visual servoing (presented in IROS 2017 Vancouver, Canada)

Rahaf Rahal

PhD student – Univ Rennes, Inria, CNRS, IRISA

Email : rahaf.rahal@irisa.fr
Address :
IRISA, INRIA Rennes – Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes, France
Tel : + 33 2 99 84 25 71
Fax : +33 2 99 84 71 71
Assistant : 02 99 84 22 52 (Hélène de La Ruée)

Short bio

In May 2015, I graduated with a Bachelor’s degree in Mechanical Engineering from the American University of Beirut (AUB) with a focus on the mechatronics and robotics track. For my final year project, my team and I designed and manufactured an angular steering mobile robotic platform that was capable of navigating rough terrains and climbing steps.

From May 2014 to August 2014, I spent three months as a student researcher at the University of California in Berkeley under the supervision of Dr. Steven Glaser, where I designed a motion controller to be used for laboratory earthquake experiments.

From June 2015 to July 2015, I was a research assistant in the Nano Micro Technologies and Tissue Engineering Lab at AUB under the supervision of Dr. Anwarul Hasan.

From September 2015 to July 2017, I pursued my master’s degree at the Vision and Robotics Lab at AUB, under the supervision of Dr. Daniel Asmar. As part of my research, I have worked on incorporating scene priors in the structure from motion pipeline, and on an Object-Oriented Structure from Motion algorithm which utilizes interaction from the user to guide the reconstruction.

Since October 2017, I joined the Rainbow team (previously Lagadic) at IRISA/ Inria Rennes as a PhD student. I am currently working under the supervision of Dr. Paolo Robuffo Giordano and Dr. Claudio Pacchierotti on developing mixed tactile-force feedback techniques for safe and intuitive robotic teleoperation.

Agniva Sengupta 

Phd student, INRIA

Email : agniva.sengupta@inria.fr
Address :
IRISA, INRIA Rennes – Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes, France
Assistant : 02 99 84 22 52 (Hélène de La Ruée)

Short bio

I am a PhD student (2017-2020) under the supervision of Dr. Eric Marchand and Dr. Alexandre Krupa. My thesis is on deformable surface modelling and tracking using depth cameras. Key research areas: computer vision, non-linear optimization, differential geometry. The thesis is being done partly in collaboration with SINTEF, Trondheim.

Before starting my PhD, I was working at a startup (Whodat) in Bangalore (India) as a computer vision engineer. I completed my masters (M.Tech) in 2012 (in Mechatronics) from IIESTS, India.

Jason Chevrie

Temporary teaching and research assistant at ISTIC

Univ Rennes, Inria, CNRS, IRISA

Email : jason.chevrie@irisa.fr
Address :

Bureau C015 Jaune
IRISA,
Campus Universitaire de Beaulieu
35042 Rennes, France
Tel : 02 99 84 25 71
Fax : 02 99 84 71 71
Assistant : 02 99 84 22 52 (Hélène de La Ruée)

Short bio

Currently temporary teaching and research assistant at ISTIC for the 2017-2018 academic year.

I entered the department of Electronics, Electrotechnics and Control at the Ecole Normale Supérieur de Cachan in 2010.
I graduated a Master of Education and Teaching, electrical engineering option in 2013. The same year I passed the competitive french exam of the Agregation of Engineering Sciences, Electrical Engineering option. In 2014, I graduated a Master degree in Control and Signal and Image Processing at ENS Cachan, Supélec and University Paris-Sud. I made my Master research project in the Lagadic team on the tracking of deformable objects in ultrasound volumes.

I received a Ph.D. in Signal Processing and Telecommunications at the University of Rennes 1 in 2017. My Ph.D. work was on the subject of flexible needle steering using ultrasound visual servoing and was carried out under the supervision of Alexandre Krupa and Marie Babel. Early 2017, I also spent three months of mobility at University of Twente in the Netherlands, where I worked on needle steering at Surgical Robotics Laboratory in the research team of Sarthak Misra.

The focus of my research is related to the development of a solution for the assistance to the needle insertion procedures. These procedures are more and more commonly used, mainly for diagnosis and treatment of tumors. The steering of a thin flexible needle in soft tissues is a complex task which requires a high accuracy to avoid misdiagnosis or damages to surrounding healthy tissues. I mainly focus on the design of a control strategy in order to reach a target in the tissues with a flexible needle attached to a robotic arm. Visual feedback is obtained through a 3D mechanical ultrasound probe to be able to localize the needle and the target during the procedure. Hence my work also focuses on the modeling of the needle-tissue interaction and on image processing for the tracking of the needle in ultrasound volumes.

Demonstrations

Publications

Thesis

1. J. Chevrie. Flexible Needle Steering using Ultrasound Visual Servoing. Thèse de l’Université de Rennes 1, Décembre 2017.

International journals

1. J. Chevrie, N. Shahriari, M. Babel, A. Krupa, S. Misra. Flexible Needle Steering in Moving Biological Tissue with Motion Compensation using Ultrasound and Force Feedback. IEEE Robotics and Automation Letters (also presented at ICRA’18), 3(3):2338-2345, July 2018.

International conferences

1. J. Chevrie, A. Krupa, M. Babel. Online prediction of needle shape deformation in moving soft tissues from visual feedback. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS’16, Pages 2375-2380, Daejeon, South Korea, October 2016.
2. J. Chevrie, A. Krupa, M. Babel. Needle steering fusing direct base manipulation and tip-based control. In IEEE Int. Conf. on Robotics and Automation, ICRA’16, Pages 4450-4455, Stockholm, Sweden, May 2016.