Pedro Alfonso Patlan Rosales

Désolé, cet article est seulement disponible en anglais américain. Pour le confort de l’utilisateur, le contenu est affiché ci-dessous dans une autre langue. Vous pouvez cliquer le lien pour changer de langue active.





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 KrupaElastography 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

Désolé, cet article est seulement disponible en anglais américain. Pour le confort de l’utilisateur, le contenu est affiché ci-dessous dans une autre langue. Vous pouvez cliquer le lien pour changer de langue active.



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

Désolé, cet article est seulement disponible en anglais américain. Pour le confort de l’utilisateur, le contenu est affiché ci-dessous dans une autre langue. Vous pouvez cliquer le lien pour changer de langue active.

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

Désolé, cet article est seulement disponible en anglais américain. Pour le confort de l’utilisateur, le contenu est affiché ci-dessous dans une autre langue. Vous pouvez cliquer le lien pour changer de langue active.

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. details Hal : Hyper Archive en ligne pdf

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. details Hal : Hyper Archive en ligne doi pdf

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. details Hal : Hyper Archive en ligne doi pdf
  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. details Hal : Hyper Archive en ligne doi pdf

Souriya Trinh

Désolé, cet article est seulement disponible en anglais américain. Pour le confort de l’utilisateur, le contenu est affiché ci-dessous dans une autre langue. Vous pouvez cliquer le lien pour changer de langue active.

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

<!–

–>

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.

 

Lesley-Ann Duflot

Désolé, cet article est seulement disponible en anglais américain. Pour le confort de l’utilisateur, le contenu est affiché ci-dessous dans une autre langue. Vous pouvez cliquer le lien pour changer de langue active.



 

Lesley-Ann Duflot

Phd student Inria/Femto-ST

Email : lesley-ann.duflot@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)

 

Short bio

2009 – Bac S, européenne allemand. Lycée Aristide Briand, Evreux (27).
2009-2011 – MPSI/PSI*. Classe prépa Corneille. Rouen (76).
2011 – Admission à l’Enseeiht en Informatique et Mathématiques appliquées. Toulouse (31)
2013 – Stage d’été en traitement d’image et machine learning. Université polytechnique de Catalogne, Barcelone (ESP)
2014 – 3ème place du concours par équipe, Total Contest, sur la reconstruction de texture.
2014 – Stage de 6 mois chez Airbus Defense&Space en imagerie satellite. Toulouse (31).
2014 – Diplôme d’ingénieur en Informatique et Mathématiques appliquées, option « Imagerie-Multimédia » et master 2 de Recherche en « Recherche d’Information, Base de Données et Multimédia ».
2015-aujourd’hui – Thèse avec Alexandre Krupa et Brahim Tamadatze. Inria, Rennes.

 

   Thématiques de recherche

  • Imagerie Echographique et OCT
  • Asservissement visuel
  • Compressing Sensing

 

   Enseignements

  • Théorie des graphes (L3) (Java)
  • Architecture des systèmes informatiques (L1) (python)
  • Systèmes et réseaux (L3) (C)
  • Programmation (L1) (python)
  • Bureautique (L1) (Libre Office)

Bryan Penin

Désolé, cet article est seulement disponible en anglais américain. Pour le confort de l’utilisateur, le contenu est affiché ci-dessous dans une autre langue. Vous pouvez cliquer le lien pour changer de langue active.


body #nav-below{ display: none;}

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

 

 

Louise Devigne

Chercheur postdoctoral
INSA Rennes

Email : louise.devigne@ irisa.fr

 

Bio

Diplôme d’Ingénieur en Électronique et Physique Appliquée en 2015 de l’Ecole 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 – Thèse « 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)

Actuellement, chercheur postdoctoral à l’Institut National des Sciences Appliquées – INSA dans le cadre du projet européen Interreg VA France (Manche) Angleterre ADAPT  (2017-2021), Équipe Rainbow à Irisa et Inria Rennes Bretagne Atlantique (IRISA, Inria).

Marco Aggravi

Désolé, cet article est seulement disponible en anglais américain. Pour le confort de l’utilisateur, le contenu est affiché ci-dessous dans une autre langue. Vous pouvez cliquer le lien pour changer de langue active.


Marco Aggravi

Marco Aggravi

CNRS Post-Doc


Bio

M.Eng. in Computer Engineering in 2011 from the University of Siena – Thesis « Implementation of the Object Motion-Decoupled Internal Force Control and evaluation on the multifingered robotic hand DLR Hand II », advisor Prof. Domenico Prattichizzo.

PhD in Information Engineering and Science (Automatic Control and Robotics) in 2016 from the University of Siena – Thesis « Vibro-tactile Haptic Guidance for Human-Robot Interaction and Cooperation Tasks », advisor Prof. Domenico Prattichizzo.

Visiting student from March 2011 to September 2011 at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Munich, Germany.

Visiting scholar from September 2016 to January 2017 at the GRITSlab, Georgia Institute of Technology, Atlanta, GA, USA.

Currently, Postdoctoral researcher at the CNRS, Rainbow Team at Irisa and Inria Rennes Bretagne Atlantique (IRISA, INRIA).

Read more