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.

Souriya Trinh

Research engineer, Inria

Email : Prenom.Nom @ inria.fr
Address :
IRISA, INRIA Rennes – Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes, France
Tel : 02 99 84 22 65
Fax : 02 99 84 71 71
Assistant : 02 99 84 22 52 (Hélène de La Ruée)

Activities

Demonstration videos of some works I have done for different projects:

Model-based tracking of an aircraft panel combining edges and dense depth
Model-based tracking combining moving edges and dense depth information
Model-based tracking combining moving edges, KLT points and depth information
Grasping demonstration using visual servoing and a model-based tracker
Romeo eyes servoing to gaze on an object
Stereo hybrid model-based tracking
Stereo model-based tracking
Object detection and localization

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Misc

Developer for the Open Source computer vision library called ViSP.

Mentor for the Google Summer of Code 2017 project: Markerless model-based tracker CAD model editor and the corresponding project repository.

You can reach me through my LinkedIn profile.

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Bryan Penin

Phd student, Inria

Email : bryan.penin @ inria.fr
Address :
IRISA, INRIA Rennes – Bretagne Atlantique
Campus Universitaire de Beaulieu
35042 Rennes, France
Tel : 02 99 84 22 99
Fax : 02 99 84 71 71
Assistant : 02 99 84 22 52 (Hélène de La Ruée)

Bio

In November 2015, I graduated as an Engineer in Robotics from the engineering school Polytech Paris UPMC (Universitée Pierre et Marie Curie). During 3 years I studied several fields of robotics, namely: Automation, Vision, Computer Sciences, Mechanics, Electronics, Maths for Robotics, Medical Robotics.

I also followed a double Master in Advanced Systems and Robotics specialized in Simulation and Virtual Reality in collaboration with the UPMC, ENSAM Paris (Ecole Normale Supérieure des Arts et Métiers) and Ecole des Mines ParisTech.

Before entering the engineering curriculum, I studied the French 3-year intensive program preparing for the national competitive exam for entry to the engineering schools in Lycée Alphonse Daudet covering the fields: Engineering Sciences, Maths, Physics, Chemistry, Literature and Philosophy.

For my Master’s thesis, I worked for 6 months on the AIRCOBOT project in Airbus Group Innovations. The goal was to study the integration of UAVs to an autonomous visual inspection of civil aircrafts.

In 2014, I completed a 2 months internship in research engineering in the Nakamura lab at the University of Tokyo.

Research areas

I am currently enrolled as a Ph.D student in the RAINBOW (former LAGADIC) Team of the INRIA-IRISA in Rennes under the supervision of Dr. Paolo Robuffo Giordano and Dr. François Chaumette. The work of my thesis is mainly focused on Predictive Control in Visual Servoing for Quadrotors.

The main research areas are: Visual servoing, quadrotors, nonlinear optimization, prediction

Publications

My publications are available here

Link to my thesis manuscript here (in progress)

Media

The videos attached to the contributions are available here

Louise Devigne

Chercheur postdoctoral,  Inria

Email : louise.devigne@irisa.fr

Bio

Diplôme d’Ingénieur en Électronique et Physique Appliquée en 2015 de l’École Nationale Supérieure d’Ingénieurs ENSICAEN.
Master de recherche en Robotique en 2015 de l’Université d’Angers.

Doctorat en Robotique en 2018 à l’Institut National des Sciences Appliquées – INSA – « Solutions robotiques bas coût pour l’aide à la navigation en fauteuil roulant électrique : vers une contribution dans le champ de la rééducation neurologique »,
Directeurs de thèse : Marie Babel (Maître de conférences, HDR. INSA Rennes)
Dr Philippe Gallien (Médecin rééducateur, Centre de Médecine Physique et Réadaptation Pôle Saint Hélier, Rennes)

Ingénieure de recherche biomédicale (post-doc) dans le cadre du projet européen Interreg VA France (Manche) Angleterre ADAPT (2017-2022 – http://adapt-project.com/), Rainbow Team à l’Irisa et à l’Inria Rennes Bretagne Atlantique (IRISA, INRIA). Actuellement impliquée 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 https://project.inria.fr/dornell/. Mes travaux se concentrent sur le développement de solution d’assistance innovantes pour les personnes en situation de handicap, avec une approche centrée utilisateur, en lien très fort avec les professionnels de santé, les usagers et les patients des services de rééducation Rennais. Mes activités portent sur recherche appliquée en robotique d’assistance (solutions d’assistance à la navigation basées sur des capteurs multimodaux, interfaces haptiques permettant un contrôle intuitif pour l’utilisateur) jusqu’aux essais cliniques avec les utilisateurs finaux (prise en compte des besoins de l’utilisateur à chaque étape du processus de recherche, conduite des essais cliniques, comités d’éthique, dispositifs médicaux). Mes principales plateformes de recherche sont les fauteuils roulants « intelligents » et les simulateurs de conduite multisensoriels en réalité virtuelle. Depuis novembre 2020, les différents projets auxquels je participe font partie des actions menées au sein de la chaire académique Innovation Handicap Autonomie et Accessibilité (IH2A) portée par Marie Babel.

Plus d’informations : https://ih2a.insa-rennes.fr/