Student Handbook EMARO2!12!13

EMARO- M2

European Master on Advanced Robotics

STUDENT HANDBOOK

2012/2013

Ecole Centrale de Nantes

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Table of contents

1. Welcome ..................................................................................................................... 3 2. Disclaimer .................................................................................................................. 3 3. Emaro at a glance ....................................................................................................... 3 4. Calendar key dates ..................................................................................................... 5 5. Important links and resources .................................................................................... 6 6. Structure of the programme of M2 ............................................................................. 7

The third semester programme ............................................................................ 8 The fourth semester programme .......................................................................... 8

Annex 1: Syllabus of the third semester ........................................................................... 9 Annex 2. Assessment rules ............................................................................................ 18

Semeters and Master validation ........................................................................ 18 General principles .............................................................................................. 18 Marking criteria ................................................................................................. 18 Module rules ...................................................................................................... 19 Progression rules ............................................................................................... 20 Thesis rules ........................................................................................................ 20 Final award ........................................................................................................ 21 Redeeming a failure ........................................................................................... 22

Exceptional circumstances ................................................................................ 22 Unfair practice ................................................................................................... 23

Annex 3. Defence procedure ......................................................................................... 25 Annex 4. Finding Ph.D position32

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1.Welcome Welcome to the Erasmus Mundus Masters EMARO. This is an innovative programme supported by the European Commission under the Erasmus Mundus initiative, and designed to promote student mobility within master programmes. You have validated the first year in one of the consortium institutions (WUT or UG) before coming to the ECN for the second year. The purpose of this handbook is to explain how EMARO works, and what you can expect from it. The information is intended to help you find your feet and settle into postgraduate life as quickly as possible. The handbook outlines what you can expect at each stage of your studies, the resources available, the structure and staffing at Ecole Centrale de Nantes, and procedures for dealing with any problems you may encounter. Please read this handbook carefully as it is in your interest to familiarise yourself with the regulations and procedures. Students who are uncertain about the information in this handbook should ask their course coordinator. We hope you will find your time as a member of the postgraduate community rewarding and enjoyable.

2. Disclaimer The Consortium has made all reasonable efforts to ensure that the information contained within this publication is accurate and up-to-date when published but can accept no responsibility for any errors or omissions. The Consortium reserves the right to revise, alter or discontinue modules and to amend regulations and procedures at any time, but every effort will be made to notify interested parties. It should be noted that not every module listed in this handbook may be available every year, and changes may be made to the details of the modules.

3. EMARO at a Glance EMARO is an integrated Masters course conducted by three European institutions and three Asian institutions: Ecole Centrale de Nantes (France), Warsaw University of Technology (Poland), the University of Genoa (Italy), Asian Institute of Technology (Thailand), Faculty of Science an Technology of KEIO University (Japan) and Shanghai Jiao Tong University (China). Objectives: The Masters is designed to promote a high-quality educational offer in the area of advanced and intelligent robotics. After graduation, the students will have mastered the different areas of robotics (Mathematical modeling, Control Engineering, Computer Engineering, Mechanical design) in order to be able to deal with Robotics systems as a whole rather than just to concentrate on one particular area. The career prospects for EMARO graduates are very good as the proposed courses are relevant to todays high technology society and because the current output of universities is insufficient to meet the demands of industry and research programmes. Students may take the master as a professional terminal degree, or join PhD programmes afterwards.

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Duration and mobility: The programme of study lasts two academic years (120 ECTS), split into four equally loaded semesters. The student has to spend the first two semesters in one European institution and the second two semesters in another European institution. An optional mobility can be done (after the acceptance of the programme committee) during the second semester or the fourth semester to any other institution of the Consortium (ECN, WUT, UG, AIT, KEIO, SJTU). This mobility will not modify the degrees awarded; the student will obtain the master degrees of the institutions of first and third semesters only. Notes:

It is required that an Erasmus Mundus student with Erasmus Mundus scholarship attends at least two universities in two countries different than that where he/she obtained the Bsc degree.

The mobility during the second semester or the fourth semester can be used to satisfy the previous condition, for students who graduated in France, Poland or Italy.

Summary of study programme: The language of instruction is English, but local language and culture courses of the hosting countries are included in the programme of study. The aim of the first two semesters is to provide the students with a solid interdisciplinary background across the main areas of robotics (Cognition, Action, Perception). During the third semester, depending on the host institution, the student will deal with one or more of the following sectors: industrial robot systems, service robots (domestic, health, rehabilitation, leisure), biorobotics, humanoid and security robots. The fourth semester is dedicated to the Masters Thesis. The student carries out his/her research work under the joint supervision of at leat two advisors from two (or three) different consortium institutions. Degrees awarded: Students that graduate from the EMARO masters course will obtain two masters degrees from the institutions where they studied the first and third semesters. The obtained degrees are officially recognised and give full access to PhD study programmes. The Consortium will deliver Diploma supplement describing the nature, level, context, content and status of the studies that were pursued and successfully completed by the student. Admission Requirements: The Masters course applies to European and third country-students who already hold a first university degree with 180 ECTS, after at least three years of university studies (at the level of bachelor of science), in a field related to Robotics, such as: automatic control, mecatronics, computer science, electrical engineering, mechanical engineering, and applied mathematics. The applicants have to be fluent in writing and reading in English. The admission is decided on the basis of excellence of the academic records of the student, the quality of her/his former studies, motivations, reference letters and general skills for foreign languages.

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4. Calendar key dates 1- Welcome meeting:

5 September, 14:00 oclock, building S (ECN- IRCCyN) 2- Intensive French language courses:

6 to 14 September 3- Beginning of the scientific courses:

17 September. 4- Beginning date of other languages for students fluent in French will be defined later. 5- Vacations and public holidays (first semester):

Toussaint: 27 October to 4 November (included) Nol: 22 December to 6 January (included)

6- Examinations of the first semester:

21 to 25 January (some exams may be held during the semester). Examining board: 4 February.

7- Examination of the second session:

11-12 February. 8- Defence of bibliographical report (Research Methodology)

18-22 February 9- Winter vacation

Vacances dhiver: From 23 February till 3 March (included) 10- Beginning of the second semester:

4 March 11- Vacations during the second semester:

Vacances de Printemps: From 27 April till 5 May (included) 8 May: End of WW II 9 May: Ascension

12- Mid-term presentation of research work 13-17 May 13- Defence of the thesis:

15 July till 20 September.

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5. Important links and Resources: EMARO website: http://emaro.irccyn.ec-nantes.fr

Time Table Website of Automatic Control and Robotics

Department: https://website.ec-nantes.fr/autorobo/edt/ Select your preferred language as English and click on the Schedule button. In the student lists, choose Emaro2 and then click on Consult button. In the timetable, all courses are indicated by their short five-letter acronym. The acronyms are given in the list of courses which you will find thereafter. ECN Library (Bibliothque): Building L, ground floor.

University Library: 2 rue de la Houssinire, just a few tram stops away toward

downtown. Your card also gives you access to this library. Computers and Internet: in the various computer rooms, mainly in buildings B and C.

Next to the door, a weekly timetable indicates which time slots have been reserved. When no reservation has been made, usage is on a first come first serve basis. A WiFi access is also available in the whole campus. In building P, the robotics lab is also available for PC and Internet access.

In building S, IRCCyN Building, the Masters Room (at first floor) is reserved for

Master II students to prepare their research work (from January till September). Email addresses of teaching staff :

Name Address Affiliation / Remark Silvia ERTL-LEROY [email protected] French course prof. Julie FEOUGIER [email protected] French course prof. Vronique GOURT [email protected] French course prof. Gatan GARCIA [email protected] ECN

EMARO local coordinator Yannick AOUSTIN [email protected] IRCCyN-Univ. of Nantes Christine CHEVALLEREAU

[email protected]

IRCCyN-CNRS

Frdrique BOYER IRCCyN-EMN Wisama KHALIL [email protected] IRCCyN- ECN, Prof. EMARO

coordinator Ina TARALOVA [email protected] IRCCyN, ECN Philippe WENGER [email protected] IRCCyN CNRS Philippe.martinet [email protected] ECN-prof. Sophie.Sakka [email protected] IRCCyN, Un. Poitiers Mathieu Porez [email protected]

IRCCyN-EMN

Franck RUFFIER [email protected] Institut des Sciences du Mouvement - CNRS

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6. Structure of the programme of M2

The structure of the second year, M2, is shown in Table 1. It consists of two semesters S3 (from September till end of February) and S4 (from February till the end of July). The first semester starts with eight days of intensive local language course. The objectives, contents, assessments, etc. of all the modules are given in Annex 1.

Table 1 : Structure of the second year

First eight days (September)

First semester S3 (30 ECTS)

Second semester S4 (30 ECTS)

- Local language language

- Specialized modules - Local Language course

- Thesis - Local language course*

* with 3 ECTS to be metionned in the Diploma Supplement.

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6.1 Third semester programme (details in Annex 1)

The student will select seven modules from the following (30 ECTS):

Modules Hours (Lecture + Tutorial or Lab.)

ECTS remark

Local language (compulsory) - FLAN3

50 + 30 first eight days

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Research methodolgy (compulsory) - REMET 15+3 + (20 h seminars)

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Advanced modeling of robots - AMORO 20+12 4 Identification and control of robots - ICORO 20+12 4 Humanoid and walking Robots - HUMRO 20+12 4 Optimal kinematic design of robots - OPKID 20+12 4 Biologically inspired robots - BIORO 20+12 4 Not open this

year Vision Based Control - VIBCO 20+12 4 Capture and Simulation of Human Motion- CSHM. 20+12 4 Ambient intelligence - AMINT 20+12 4 Not open this

year 6.2 Fourth semester programme The fourth semester is devoted to the Master Thesis, valued for 30 ECTS credits. During this semester the student may carry out the thesis at one of the Asian partner institutions (AIT, KEIO, SJTU). The French Language course will continue during this semester with 3 ECTS (for students carrying out their thesis in Nantes). Each student will be jointly supervised by two (or three) advisors from two (or three) different institutions. The principal advisor(s) will be from the hosting institution. The research topic may be supervised and located in the R&D department of an industrial. The research work is finalised by a written dissertation of the Masters Thesis, which must be done individually and contain an element of original work. The dissertation must be defended in front of a committee of experts. In case of mobility to an Asian institution, the final defence of the thesis will take place at the European institution where the student validated the third semester. The defence procedure (jury, announcement, report, time of presentation,...) will be detailed in a separate document. The dissertation should demonstrate:

A comprehensive understanding of techniques applicable to the chosen topic of research,

Originality in the application of Robotics knowledge, The ability of the student to evaluate critically current research in the field of robotics

and, where appropriate, to propose new hypothesis and solutions.

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Annex 1. Syllabus of the third semester

French Language (FLAN3) Credits: 4 Semester 3 (ECN), Compulsory: Yes Format Lectures / Conversation 50 h Private study 50 h Lectures: Silvia ERTL-LEROY, Julie FEOUGIER, VERONIQUE GOURT Abilities: After completing this course:

All the students will be able to communicate, speak and write, every day life requirements,

The advanced group will be able also to read and write texts related to scientific topics.

Assessment: 50% of the mark derived from a continuous evaluation, 50% from end of semester examination. Recommended texts: the texts will be given by lecturers.

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Research Methodolgy Credits: 6 Semester 3 (ECN) Compulsory: Yes Format Lectures 15 h, 3 TP Seminars 20 h Private study 140 h Lecturers: I.Taralova (ECN), all staff Objectives: This module aims to provide the students with the necessary skills and tools to carry out and to present a research topic. It provides the students with information about research and researcher careers. The module includes also the bibliographical study for the master thesis, which will be completed during the fourth semester. Contents: - Institutions where research is carried out: Universities, Research labs, Industry (R&D); - The job of a researcher, required skills of the (good) researcher; - Research Strategies; - Written communication: reports, theses, journal & conference papers; - Oral communication: research presentations, attending conferences and presenting a paper: - Guidelines for writing and submitting a (good) paper; - Guidelines for presenting the scientific results: oral presentations and posters; hints for a successful presentation; - Setting goals and defining objectives of the thesis; - Research evaluation and assessment, measuring research performance, e.g. h-index, g-index, impact factor; - Finding PhD positions in Europe; where and how to apply for a grant; different kinds of

grants and conditions; - Networking; - Deontology. Seminars : Visiting professors and professors from other universities will be invited to present their updated research results. Abilities: On completion of this module, students will be able to: - Research the literature related to a specific subject; - Identify key aspects of research work; - Master techniques to research and collect information; google scholar, scirus, web of science... - Learn how to grow and fructify their scientific ideas; - Learn how to communicate their scientific results (oral and/or written), i.e. how to make themselves more visible; - Understand how research can be evaluated; - Identify the most relevant journals and conferences in Robotics; Assessment: Written bibliographical report about a research topic (70%), oral presentation to an assessment panel. (30%). Recommended texts: - J. Collis, R. Hussey, Business Research A Practical Guide for Undergraduate and Postgraduate Students, 2nd Edition, Basingstoke: Palgrave, 2003, - M. Polonsky, D. Waller, Designing and Managing a Research Project, Sage, 2005

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Advanced Modeling of Robots (AMORO) Credits: 4 Semester 3 (ECN) Compulsory: No Format Lectures 20 h Laboratory 12h Private study 68 h Lecturer: W. Khalil Objectives: This course presents the fundamentals of the modeling techniques of robots with complex kinematic chains (tree-structured or with closed loops) and robots with flexible links. Contents: The following topics are treated:

Description of complex mechanical systems using modified Denavit and Hartenberg notations (tree or closed loop structures),

Geometric and kinematic models of closed loop structure robots, constraints equations, singular positions, mobility of the structure.

Geometric and kinematic modelling of parallel robots, degrees of freedom of the platform, singularities, study of some industrial structures (Gough- Stewart and Delta robots),

Dynamic model of complex structure robots: the inverse dynamic problem, the direct dynamic problem, Lagrange formalism, the base inertial parameters, direct and inverse recursive Newton-Euler formalism.

Numerical simulation of the motion. Practical Work: Exercises will be set, involving modeling and simulation of complex robots. Advanced technical papers from recent international conferences will be analysed and reviewed Abilities: After completing this course, the students will be able to:

Understand the fundamentals of the mathematical models of closed loop robots and flexible robots and their applications in robots design, control and simulation.

Calculate the mobility and singularity of these systems. Use of the best methods to develop the required models of a given structure, Apply the given techniques to other systems such as mobile robots or passenger cars. Use the convenient numerical schemes for numerical integration.

Assessment: 30% continuous assessment, 70% from end of semester examination. . Recommended texts:

- W. Khalil, E. Dombre, Modeling, identification and control of robots, Hermes Penton, London, 2002.

Further readings: - C. Canudas, B. Siciliano, G. Bastin (editors), Theory of Robot Control, Springer-Verlag, 1996 - J. Angeles, Fundamentals of Robotic Mechanical Systems, Springer-Verlag, New York,

2002. - E. Dombre, W. Khalil (ed.), Robot Manipulators: Modeling, Performance Analysis and

Control, ISTE, London, 2006. - B.Siciliano, O.Khatib, edt, Robots Handbook, Springer-Verlag 2008. - G.Gogu, Structural Synthesis of Parallel Robots, Springer 2008.

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Identification and Control of robots (ICORO) Credits: 4 Semester 3 (ECN) Compulsory: No Format Lectures 20 h Laboratory 12 h Private study 68 h Lecturer: W. Khalil Contents: This course presents the best techniques for identifying the geometric and dynamic parameters of robots, as well as the motion and sensor based control approaches in robotics. The course contains the following items:

Calibration of the geometric parameters: identification model, determining minimal parameters, choice of optimal points, linear and non linear methods of estimation, correction. External sensors used in the calibration.

Identification of the dynamic parameters: calculation of the base inertial parameters using a symbolic method or a QR decomposition method, identification models using the dynamic model, Lagrange model or the energy model, exciting trajectories, preparation of data (torques, joint positions, velocities and accelerations), methods of solutions,

Trajectory generation between two or several points in the joint and Cartesian spaces using kinematic constraints and dynamic constraints.

Control of free motion techniques: decoupling and linearization, nonlinear feedback, passive control, adaptive control, iterative learning.

Constrained motion control: impedance control, hybrid force-velocity control, external hybrid control,

Visual servoing control. Practical Work: Exercises will be set, which will involve the practical set up of real robots to display the developed techniques. Advanced technical papers from recent international conferences will be analysed and reviewed. Objectives: After completing this course the students will be able to:

Master the fundamentals of the identification and control techniques of robots. Implement advanced control methods, Apply successfully identification techniques. Use optimization techniques for trajectory generation. Undertake good practical aspects to carry out the identification and control of robots, Implement advanced control laws for free motion or for constrained motion. Use control, optimization, and signal processing tool boxes software packages (Matlab, Simulink),

Assessment: 30% continuous assessment, 70% from end of semester examination. Recommended texts:

- W. Khalil, E. Dombre, Modeling, identification and control of robots, Hermes Penton, London, 2002.

Further readings: - C. Canudas, B. Siciliano, G.Bastin (editors), Theory of Robot Control, Springer-Verlag,

1996. - E. Dombre, W. Khalil (ed.), Robot Manipulators: Modeling, Performance Analysis and

Control, ISTE, London, 2006. - J.Hollerbach, W.Khalil, M. Gautier, Parameters identification, Chapter 14, B.Siciliano, O.Khatib,edt , Robots Handbook, Springer-Verlag 2008.

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Humanoid and Walking Robots (HUMRO) Credits: 4 Semester 3 (ECN) Compulsory: No Format Lectures 20 h Laboratory 12 h Private study: 68 h Lecturesrs: C. Chevallereau (CNRS-IRCCyN), Y. Aoustin (Univ. of Nantes-IRCCyN) Contents: This course presents the fundamentals of legged locomotion considering bipeds and multi-legged machines. The students will learn the most common solutions used for stable motion synthesis and control. The course contains the following items:

- multi-legged robots: gaits and stability - walking machines: kinematics and dynamics, modeling of the contact with the ground - design of a walking robot : actuator, mass distribution - motion synthesis for bipeds : human capture motion, optimization method, simplified models - passive robots: properties, stability analysis (Poincar map), extension - control methods for postural stabilization, walking, and running : ZMP, on line adaptation, stability analysis, foot placement - neural network, Central Pattern Generator, Learning - humanoid: manipulation and hand control, (redundancy) - introduction to human interaction and perception.

Practical Work: Exercises will be set, which will involve modeling some biped, simulation of control laws. Advanced technical papers from recent international conferences will be analysed and reviewed. Objectives: After completing this course, the students will be able to:

define the walking robot stability considering the static and dynamic condition, define a control law for a walking robot, analyze the stability of a control strategy, synthesize and implement the motion of simple walking robot (biped and multi-legged),define a control low for a manipulation task

Assessment: 30% continuous assessment, 70% from end of semester examination Recommended texts: - E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J-H Choi, Feedback Control of Dynamic Bipedal Robot Locomotion, and Benjamin Morris, Taylor & Francis/CRC Press, 2007. - M. Vukobratovic, B. Borovac, D. Surla, D. Stokic, Biped Locomotion: Dynamics, Stability, Control and Application, Springer-Verlag , 1990. - Marc Raibert , Legged Robots That Balance, MIT Press, 2000

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Optimal kinematic design of robots (OPKID) Credits: 4 Semester 3 Compulsory: No Format Lectures 20 h Laboratory 12 h Private study (68) h Lecturer: Ph. Wenger (CNRS-IRCCyN) Objectives: This course presents advanced tools and methodologies for the kinematics design of new robots. Both serial and parallel kinematic architectures will be treated. The students will learn how to manage a general design problem in robotics. Contents: The course contains the following items:

Formalization of relevant criteria for the performance evaluation of robots (accessibility, moveability, dexterity, ),

Robust design of robots and sensitivity analysis, Methods for the calculation of robot workspace and of the maximal regions of feasible

trajectories (taking into account joint limits and obstacles), Optimal design and placement of serial-type robots in cluttered environments, Methods for designing parallel kinematic robots (architecture design, geometric design,

coping with singularities), Application examples in typical industrial cases, Application examples for the design of innovative robots.

Practical Work: Exercises will be set, which will involve the optimal kinematic design of typical robotic manipulators. Simulation and verification using Robotic-CAD systems.

Abilities: After completing this course the students will be able to:

Set an optimal design problem in robotics, taking into account multi-objective criteria, Evaluate the kinematic performances of serial and parallel robots, Find the best placement of the robots base, Design new parallel kinematic robots.

Assessment: 30% continuous assessment, 70% from end of semester examination. Recommended texts: - J. Angeles, Fundamentals of Robotic Mechanical Systems, Springer-Verlag, New York, 2002, - P. Wenger, Performance Analysis of Robots, in Robot Manipulators: Modeling, Performance Analysis and Control, E.Dombre, W.Khalil (ed.), ISTE, London, 2006. Further readings: - J.P. Merlet, Parallel Robots, Second Edition, Springer, 2006. - G.Gogu, Structural Synthesis of Parallel Robots, Springer 2008.

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Biologically inspired robots Credits: 4 Semester 3 Compulsory: No Format Lectures 20 h Project/lab. 12 h Private study 68 h Lectures: F. Boyer, M.Porez, F. Ruffier Objectives: Present the recent advances in the bio-mimetic paradigm in Robotics Contents: Definition of bio-inspired Engineering Sciences and Robotics. Capabilities and performances of animals, comparisons with our technological devices. Study and discussions about the reasons of these differences. The course is declined in three great topics: Locomotion, Perception and Information processing. Each of them is detailed as follows: Locomotion: mathematical fundamentals, modes of locomotion in nature: on ground, in water, in air Technological devices: walking, swimming, flying machines Perception: mathematical fundamentals, modes of perception: passive (vision, touch, hearing), active: echolocation (like bats), electro location (like electric fishes) Technological solutions for perception. Information processing: fundamentals, general biological architectures, hierarchical levels, neural networks. Abilities: After completing this course the students will be able to:

understand the aim and limits of copying nature for robotics purposes work with biologists for robotics analyze a biological system and the ways of copying it imagine new bio-inspired robots start and pursue a research in biomimetic robotics

Assessment: 30% continuous assessment, 70% from end of semester examination. Recommended texts:

- G. A. Bekey, Autonomous Robots: from biological inspiration to implementation and control, MIT PressTechnology & Industrial Arts 2005.

- Kato, Naomi; Kamimura, Shinji (Eds.), Bio-mechanisms of Swimming and Flying, Fluid Dynamics, Biomimetic Robots, and Sports Science , Springer, 2008, ISBN: 978-4-431-73379-9

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Vision Based Control Credits: 4 Semester 3 Format Lectures 20 h Examples, Laboratory 12 h Private study 68 h Lecturer: Ph. Martinet (ECN) Objectives: This course presents the fundamentals of the modeling and control techniques used in vision based control of robots. Topics include robot geometrical vision, multi view geometry, kinematic modelling, dynamic modelling and its applications, as well as the visual servoing and vision based computed torque controller. Contents: The following subjects will be treated:

- Sensor based control - Usual control schemes - Interaction matrix - Camera model - Visual geometry - 2D and 3D visual features modeling - Hybrid visual features modeling - Image based visual servoing - Position based visual servoing - Hybrid based visual servoing - Homography based visual servoing - Omnidirectional visual servoing, Fisheye modeling - Generic camera model visual servoing - Stability and robusnesses - Visual servoing applications (manipulators, mobile robots, aerial robots,

parallel robots, humanoids ) Practical Work: Exercises will be set, which will involve modeling some visual features, and simulation of different control laws. Abilities: After completing this course the students will be able to:

- Understand the different properties of visual servoing scheme. - Use the most convenient methods to obtain the required models, - Understand practical applications of the mathematical modeling of kinematic visual

features. Assessment: 30% continuous assessment, 70% from end of semester examination. Recommended texts:

- F. Chaumette, S. Hutchinson,Tutorial, Visual servo control PART I: Basic approaches, IEEE Robotics and Automation Magazine, December 2006

- F. Chaumette, S. Hutchinson, Tutorial, Visual servo control PART II: advanced approaches, IEEE Robotics and Automation Magazine, March 2007

- Visual Control of Robots: High Performance Visual Servoing, P.I. Corke, Robotics and Mechatronics Series, 2, John Wiley & Sons Inc (November 1996), Language: English, ISBN: 0471969370

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Capture and simulation of human motion Credits: 4 Semester 3 (ECN) Compulsory: Yes Format Lectures 20 h Examples 12 h Private study 68 h Lecturer: S. Sakka Objectives: This course presents the necessary steps allowing a software simulation of a captured human motion to control a humanoid robot. It presents the fundamental knowledge on the mechanics of the human body considered as open kinematic chains of rigid bodies. Contents: The following subjects will be discussed:

- Human kinetics, rigid bodies kinetics - Non invasive measurement of human movement (image or video analysis, accelerometer, optical systems) - human imperfections (soft bodies, skin artefacts, mental condition, unknown position of joints centre or mass distribution, non regular geometry of the bodies) - experimental, hardware and software imperfections (occlusions, measure errors, noise, experimental setting, position of skin markers, models approximations) - Representation of the movement of a rigid body in space, kinematic chain of rigid bodies, homogeneous transformations - Reconstruction of the motion of a rigid body from the motion of three points in space - Body solidification - Chain dislocation - Experimental process

Examples: -Motion capture for the upper body of a human being, calculations from the 3D position of the markers to the joint coordinates of the desired motion, control of NAO humanoid robot. Abilities: After completing this course, the students will be able to:

- Measure human motion using optical motion capture system. - Solidify human bodies and avoid the dislocation of the kinematic chains. - Generate the humanoid motion taking the robot limits into consideration.

Assessment: 30% class work, 70% end-semester exam Recommended texts:

- W. Khalil, E. Dombre: Modeling, identification and control of robots, Hermes Penton, London, 2002.

- S. Kajita, H. Hirukawa, K. Harada, K. Yokoi: Introduction la commande des robots humanodes, Springer, 2009.

Further readings: will be provided by lecturers

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Annex 2. Assessment rules

1. Semesters and Mster validation EMARO consists of two years: First year, denoted M1, contains taught modules (Semesters 1 and 2, denoted S1 and S2). Second year, denoted M2, contains taught modules (semester 3, denoted S3) and research dissertation (semester 4, denoted S4). The first year is taught simultaneously in ECN, WUT and UG. Students study commonly agreed modules, totalling 60 ECTS, which are examined jointly. During the third semester, more specialised modules are proposed. The programme of this semester is different in the three institutions. During the first three semesters, students must accumulate 30 ECTS for each semester by passing each module at 60% of the maximum mark or above to progress. The fourth semester consists of an assessment of the students research thesis (30 ECTS). Examination Boards, nominated by the management committee of EMARO, will be held at the end of each semester to determine students progression to the subsequent semester(s). Students who validate the four semesters will be awarded the two master degrees of the institutions where they studied the first and third semesters.

2. GENERAL PRINCIPLES 2.1 Institutions shall inform students, by means of a handbook and/or EMARO website, of the means by which modules shall be assessed and the method of reassessment for redeeming a failure. 2.2 All formal written examinations at the consortium institutions shall, so far as national practice allows it, be marked in the anonymous state. This means that candidates in such examinations shall be identified only by their student number until such time as both first and double marking have been completed. 2.3 Methods of assessment, which involve observation, interaction and oral elements, and in particular the dissertation (thesis) element of the degree, shall not be subject to anonymity. 2.4 Examining Boards shall be presented with all marks of assessment undertaken during the concerned semester(s). Marks for modules shall be recorded out of a hundred according to the marking criteria in 3 below. 2.5 Resit (taking an exam again) marks must be clearly identified in the presentation of marks to the Examining Board. 2.6 All results will be disclosed to students electronically after the formal Examination Boards.

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3. MARKING CRITERIA Due to the collaborative nature of EMARO, the consortium is committed to the ECTS grading structure. Examinations and assessments will be marked out of a hundred. The marks equate to ECTS grades as given in Tables 1 and 2. Table 1: Statiscal ECTS grading scale policy

ECTS Grade

Description % of sccessful students

A B C D E FX F

Excellent - outstanding performance with only minor errors Very Good - above the average standard but with some errors Good - generally sound work with a number of notable errors Satisfactory - fair but with significant shortcomings Sufficient - performance meets the minimum criteria Fail - some more work required before the credit can be awarded Fail - considerable further work is required

10% 25% 30% 25% 10% 0% 0%

Table 2: Correspondance of letters convention to the marks between 0 and 100.

A B C D E F/FX 100 mark 90 90 >mark 80 80>mark 70 70 >mark 65 65 >mark 60 mark < 60

4. MODULE RULES 4.1 Modules shall be assessed individually, as prescribed by the relevant institution(s). The assessment method of a module may take the form of an unseen written examination paper, set projects or other course work assignments. 4.2 In addition to satisfying the assessment requirements of a module, each student must satisfy the attendance requirements. It is the responsibility of Institutions to monitor satisfactory attendance and assessment in each module. Students who do not satisfy the attendance and assessment requirements of a module will be reported to the appropriate committee in the partner institution concerned. 4.3 A mark will be assigned to each student, based on his/her performance. 4.4 The minimum Pass mark for modules is 60/100. Credits will be awarded to candidates who pass a module. All modules pursued must be passed. (However, see 4.5 below).

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4.5 Late submission of assessed work shall result in a mark of 0 being awarded and a decision of fail being recorded, unless an extension has been granted prior to the deadline.

5. PROGRESSION RULES An examination committee shall be held at the end of each semester to determine whether or not students qualify to validate the semester. 5.1 Students must obtain at least a mark of 60/100 to validate a module. 5.2 Students must accumulate 30 ECTS credits to validate a semester. 5.3 Students who fail a module(s), at the discretion of the Examination committee, will normally be permitted one further attempt at the second session examination. This session will take place at the end of M1 for the S1 and S2 modules, and will take place at the end of S3 for the modules of S3. No second session is foreseen for S4. See section 7 regarding the marking policy for redeemed modules. 5.4 Students who are eligible to progress to the next semester shall not be allowed to repeat any module for which credit has been awarded in order to improve their performance. 5.5 Students will be permitted to pass from S1 to S2 whatever their results. Students must complete M1 successfully for being permitted to proceed to M2. This means that they must accumulate 30 ECTS credits during the modules of S1 and 30 ECTS credits during the modules of S2. 5.6 Students who are repeating failed modules and who fail to qualify to proceed to the next year at the second attempt will be informed that they have failed EMARO scheme. 5.7 Students who fail to a semester have the right of appeal in accordance with the appeals procedure adopted by the Consortium Board of Studies.

6 THESIS RULES 6.1 A principal supervisor will be appointed for each candidate who will be responsible for ensuring that studies are carried out in line with the institutions good practice guidelines. A second supervisor from the first year institution will also be appointed. In case of mobility during S4 the main advisor will be from the hosting institution the other advisor(s) will be nominated from the other institution(s). 6.2 The student should submit one typed copy and one electronic copy of the dissertation to the Exam Co-ordinator, in the format prescribed and notified to the student by the institution at which the dissertation takes place. The student should also submit another copy to each member of the jury committee. 6.3 Dissertations submitted for examination shall normally be openly available unless security classification or restriction of access has been approved, on a case by case basis, by the Examination committee. However, Examination committee may restrict photocopying of and/or access to a dissertation for a specified period of up to five years. It shall be the

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responsibility of the candidates supervisor to make an application to the examination committee at least one month before the defence. 6.4 A candidate can publish the whole or part of the dissertation work produced prior to its submission. Such published work must be approved by the supervisors. 6.5 Retention and disposal of a dissertation shall be in accordance with the policy of the awarding institution. 6.6 In all institutions the Dissertation will be examined by an examiners committee composed of the students supervisors and at least two other staff members. The examination includes an oral presentation of about 35 minutes. The mark must reflect the quality of work (60%), quality of writing report (20%), and quality of oral presentation (20%). 6.7 A candidate who fails to submit the dissertation by the deadline specified for emaro, and who has not been granted an extension of candidature due to special circumstances will fail the degree.

7 FINAL AWARD 7.1 At the end of each Semester, the Examination Committee will be held to determine award decisions on students pursuing EMARO. 7.2 Appeals against award decisions shall be considered in accordance with the appeals procedures adopted by the Examination committee, and administered by the partner institution concerned in conjunction with their own awarding institutional regulations. 7.3 At the end of the second year successful students will be awarded a double Masters degree from the first and second institutions where they studied. 7.4 Degrees will be awarded according to national assessment structures, namely, for France, based on the the average of M1 and M2 results: Trs Bien (90-100), Bien (80-89), Assez bien (70-79), Passable (60-70) et Echou. 7.5 The original diploma will be delivered around April of the year after the graduation. The following certificates success will be delivered before the original diploma to help the student looking for a job or Ph.D position: a- Transcripts of M2, including the second year marks and grades. The validation of the master ARIA Automatique Robotique et Informatique Applique, speciality: Robotique Avance will be indicated if the semesters S3 and S4 are validated. b- Certificate of success including the result of the master based on the average of the four semesters. c- Diploma supplement (will be delivered with the original diploma).

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8. REDEEMING A FAILURE 8.1 Students who fail a module in S1 or S2 will fail to progress from M1 to M2 and shall, at the discretion of the Examination committee, normally be permitted one further attempt during the second session (at the end of the second semester) to redeem their failure in each such module. The mark for this further attempt shall be up to the capped threshold of 60 in each such module. 8.2 As regards students who fail a module, the Examination Committee has the discretion to allow a student to: a. be re-examined in the module as a whole (mark capped at 60); or b. be re-examined in those parts of the module which he/she has failed where more than one piece of work contributes towards the final module mark (mark capped at 60); c. be re-examined without any restriction on mark. This would only be allowed where the student has demonstrated special circumstances to the Committee. See section 9. 8.3 Students must not expect, as of right that they will be allowed to redeem failures, allowed to repeat failed modules or be allowed to continue. The Examination committee may take into account other circumstances relating to the candidates case, such as attendance and performance in classes, before taking any progression decision. 8.4 A candidate who is to be re-examined in set projects or other forms of course assessment could be required to submit for examination new work on different topics from his/her original work, which originally failed to satisfy the examiners. 8.5 Candidates who are attempting to redeem a failure and who fail on the second attempt, will be informed that they have failed EMARO. 8.6 Candidates who pass the failed modules and accumulate at least 60 ECTS credits during M1 qualify to proceed to the M2. 8.7 Candidates who pass the failed modules and accumulate at least 30 ECTS credits during S3 qualify to proceed to the S4.

9. EXCEPTIONAL CIRCUMSTANCES 9.1 In the case of illness or other exceptional circumstances, the Examination committee may grant an extension to the submission date or permit a supplementary examination to be held as appropriate. It is recognised that the marks of such students will not be subject to the ceiling of 60. They will be considered as First Sit students, which means that they will be marked according to the same grading scale as students who attempt the examinations/ course work for the first time. 9.2 Students who miss a submission deadline/ are absent from an examination or who fail a piece of coursework or an examination due to illness or other exceptional circumstances should notify the course leader at the institution in which they are studying before the examination or deadline for submission or, if this is not possible, as soon after the examination/ deadline as is possible and before the date of the examination board. To be

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considered as a First Sit candidate the student will need to provide written evidence (for example medical certificates) to the Board. 9.3 The time limit for the completion of the degree may be extended in exceptional cases only. A reasoned application, supported by appropriate independent evidence, must be submitted by the candidate to the Examination committee, and any appropriate institutional academic committees. Requests for an extension shall be considered with reference to the following criteria: a- Normally, suspensions / extensions will be granted only in cases of illness, serious domestic difficulties or exceptional commitments, which can be demonstrated to have adversely affected the candidate. A full and reasoned case, supported by appropriate, satisfactory, medical or other independent evidence, and a work-plan for completion of the thesis within the extension requested, must be made by the department for consideration by the Examination committee. b- In cases which arise as a result of illness: i- Satisfactory medical or other relevant documentary evidence must be supplied. (The extent and nature of the illness as described in the certificate are invaluable in assessing the case.) ii- A clear statement must be supplied, showing that the institution concerned has evaluated the situation in which the candidate finds himself / herself as a result of the illness and that it considers the requested extension to be appropriate for completion in accordance with the work-plan.

10. UNFAIR PRACTICE 10.1 Students must ensure that they do not engage in any form of unfair practice, whereby they take action which may result in them obtaining for themselves or others, an unpermitted advantage. 10.2 Unfair practice is defined as any act whereby a person may obtain for himself/herself or for another, an unpermitted advantage. An action shall be considered to fall within this definition whether occurring during, or in relation to, a formal examination, a piece of coursework, or any form of assessment undertaken in pursuit of EMARO. 10.2.1 Examples of unfair practice in examination conditions are as follows: a- introducing into an examination room any unauthorised form of materials such as a book, manuscript, data or loose papers, information obtained via an electronic device such as a programmable calculator, pager, mobile phone, or any source of unauthorised information; b- copying from or communicating with any other person in the examination room, except as authorised by an invigilator; c- communicating electronically with any other person; d- impersonating an examination candidate or allowing oneself to be impersonated; e- presenting evidence of special circumstances to examination boards which is false or falsified or which in any way misleads or could mislead examination boards;

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f- presenting an examination script as your own work when the script includes material produced by unauthorised means. This includes plagiarism. 10.2.2 Examples of unfair practice in non-examination conditions are as follows: a- Plagiarism. Plagiarism can be defined as using without acknowledgment another persons work and submitting it for assessment as though it were ones own work, for instance, through copying or unacknowledged paraphrasing (see 6.2.3 below); b- Collusion. Collusion can be defined as involving two or more students working together, without prior authorisation from the academic member of staff concerned (e.g Programme leader, lecturer etc) to produce the same or similar piece of work and then attempting to present this work entirely as their own. Collusion may also involve one student submitting the work of another with the knowledge of the originator. c- Falsification of the results of laboratory, field-work or other forms of data collection and analysis. 10.2.3 Examples of plagiarism are as follows: - use of any quotation(s) from the published or unpublished work of other persons which have not been clearly identified as such by being placed in quotation marks and acknowledged; - summarising another person's ideas, judgements, figures, software or diagrams without reference to that person in the text and the source in the bibliography; - use of the services of ghost writing agencies in the preparation of assessed work; - use of unacknowledged material downloaded from the Internet. 10.3 Students suspected of having engaged in unfair practice or assisting another student to engage in unfair practice, either in coursework or examination will be subject to the unfair practice procedures at the institution in which they are studying. 10.4 Institutions will investigate any cases of unfair practice identified at their institution, by means of their usual procedures and inform the Consortium of their results. 10.5 Students accused of engaging in unfair practice will be given an opportunity either in writing or person to present their case. 10.6 Students found guilty of unfair practice will be subject to the following penalties: a- the issue of a written reprimand to the candidate, a record of the reprimand should be kept; b- the text to be ignored when marking, resulting in a reduced mark; c- the cancellation of the candidates marks for the assignment; d- the cancellation of the candidates mark in the module concerned; e- the cancellation of the candidates mark in the module concerned and the preclusion of redeeming the failure until the next academic session; f- the cancellation of the candidates marks in all of the modules for the particular level of study; g- the cancellation of the candidate's mark in all of the modules for the particular level of study and the disqualification of the candidate from any future Consortium examination; h- In the event of an Institution deciding that the above penalties are inappropriate, the Institution may use its discretion to decide upon an appropriate penalty. 10.7 Students have the right of appeal, against substantiated allegations of Unfair Practice, in accordance with the appeals procedure adopted by the Consortium Management committee.

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Annex 3. Defence Procedure Master EMARO Ecole Centrale de Nantes IRCCyN Procedures to follow for the thesis bibliographic report and final report preparation and defence Calendar:

Research Methodology: bibliographical study: Written report + Oral presentation (18-22 February). Mid-term oral presentation: mid-May Thesis final report + oral presentation (from 15-23 July and 28

August- 20 September). Recall : The EMARO students have to prepare a bibliographic study of their thesis topic which shall be reported in the bibliographical report, and presented orally during a public defence before 22 February. The final report of the thesis has to be defended in public within the period 15-23 July and 28 August- 20 September. The defences of the bibliographical reports and of the master thesis are OPEN TO PUBLIC. Besides his/her own representation, each student has to attend at least 4 other defences. ___________________________________________________________________________

TERMS Ten days before the defence of the final thesis or five days before the bibliographical defence, plan the following elements: 1- Composition of the jury (By the supervisors and the agreement of the student): the

jury (bibliographic defence or master thesis defence) has to include the thesis supervisor(s), two other members and if possible the methodology of research professor (Miss Ina Taralova) and the EMAROs coordinator (W.Khalil). The president of the jury cannot be the supervisor of the thesis;

2- Pre-defence procedure

a- The student must inform EMAROs Administrator (Miss Ccilia PROVOST: [email protected]) by the date indicating (name of the candidate, name of the supervisor, title, jury, date). Miss Provost will reserve the room of defence.

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Unless exceptional agreement with the coordinator of EMARO the defence must take place in the ECN;

b- Announcement of the defence by the thesis supervisor: The thesis supervisor has to announce the defence (name of the student, title of thesis, jury, date, room, ) by e-mail to the ARIA and EMARO students and the Robotics team members.

Remark: the robotics team members of IRCCyN is [email protected].

c- The student must send a pdf copy of the report to:

- jury members including the supervisors; - EMAROs coordinator (W.Khalil- [email protected]); - co-supervisor and local coordinator of EMARO from the first year institution

(UG-R.Zaccaria and V. Rezas Valentina Resaz [email protected] or WUT prof. Teresa Zielinska" ). Note that we have to receive their review before the defence;

- the co-supervisor from Asian partner (if available). d- Hard copies of the report:

For the bibliographic report : - 1 copy for each local supervisor and one copy for the secretary of EMARO, delivered 3 days at least before the defence;

For the master thesis - 1 copy for each local supervisor delivered one week at least before the defence;

- 1 copy for the Master secretary, delivered one week at least before the defence. 3- Report cover: The report cover will be established according to the attached models; it

will be orange as Master ARIA- ROBA. The cover can be obtained from the secretary office. A summary of the thesis in English of about 500 words should be printed on the last page of the covers. A translation of the summary in French will be appreciated.

4- PV (procs verbal = minutes of defence): the student has to fill in the information required

in the PV of defence (included in this file) and has to transmit it to the thesis supervisor before the defence.

5- Duration of the presentation :

For the bibliographic report: The duration of the presentation is limited to 25 minutes, followed by approximately 15 minutes of questions.

For the master thesis: The duration of the presentation is limited to 35 minutes, followed by approximately 25 minutes of questions. 6- The President of Jury has to transmit the PV of the defence to the secretary of EMARO

after the defence and discussion of Jury.

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MASTER EMARO 2012/2013

MINUTES OF BIBLIOGRAPHIC REPORT DEFENCE

On............................................................................................................................. At .......................................... Miss / Madam / Mister ...................................................................................... Defended the bibliographic report entitled: .............................................................................. ........ In front of the jury composed of: First name Family name First name Family name First name Family name First name Family name President of the jury: First name Family name Mark1 / 100: Signatures of the jury:

1 The mark must reflect the quality of work 60%, quality of writing report 20%, and quality of oral presentation 20%. The marks greater than 90 (grade A) are reserved for exceptional work, whereas mark less than 60 % means the non validation of the thesis. For these two extreme cases a written report from the jury should justify the mark.

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Ecole Centrale de Nantes first year institution

MASTER ERASMUS MUNDUS

EMARO EUROPEAN MASTER IN ADVANCED ROBOTICS

2012 / 2013

Thesis Bibliographic Report

Presented by

First name Family name

On ??/ ??/ 2013

Title ..

JURY

President: First name Family name Position (Job) Evaluators: First name Family name Position (Job) First name Family name Position (Job) First name Family name Position (Job) First name Family name Position (Job)

Supervisor(s):

First name Family name and First name Family name

Laboratory: Institut de Recherche en Communications et Cyberntique de Nantes

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MASTER EMARO

MINUTES OF THESIS DEFENCE

On ............................................................................................................................. At .......................................... Miss / Madam / Mister ...................................................................................... Defended the master thesis entitled: .............................................................................. ........ In front of the jury composed of: First name Family name First name Family name First name Family name First name Family name President of the jury: First name Family name Mark2 / 100: Signatures of the jury:

2 The mark must reflect the quality of work 60%, quality of writing report 20%, and quality of oral presentation 20%. The marks greater than 90 (grade A) are reserved for exceptional work, whereas mark less than 60 % means the non validation of the thesis. For these two extreme cases a written report from the jury should justify the mark.

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Ecole Centrale de Nantes First year institution

MASTER ERASMUS MUNDUS

EMARO EUROPEAN MASTER IN ADVANCED ROBOTICS

2012 / 2013

Thesis Final Report

Presented by

First name Family name

On ??/ ??/ 2013

Title ..

JURY

President: First name Family name Position (Job) Evaluators: First name Family name Position (Job) First name Family name Position (Job) First name Family name Position (Job) First name Family name Position (Job)

Supervisor(s): First name Family name and First name Family name

Laboratory (ies): Institut de Recherche en Communications et

Cyberntique de Nantes (and ..)

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Annex 4. Finding Ph.D position Sufficiently big number of announcements for Ph.D positions and Jobs in Robotics can be found through the following: 1) EURON (European Network) http://www.euron.org/ Subscribe on this site to receive the different announcement of Ph.D positions or Robotics Job from most European industrial, universities and research institutions. 2) GDR (Interest Group) in Robotics (LIRMM Montpellier- In French): http://www.gdr-robotique.fr Subscribe on this site to receive the different announcement of Ph.D positions or Robotics Job from french industrial, universities and research institutions. 3) Consult the sites of Laboratories and industrials working in robotics: Complete list of European institutions can be obtained from Euron website. Complete list of French institutions can be obtained from GDR website. 4) Erasmus Mundus (Ph.D. started since 2010-2011). 5) Consult the site Associan Bernard Gregory (In France- In French) http://www.abg.asso.fr/ 6) International (research and academic jobs including Ph.D.) Search - Science, Research & Academic Vacancies in UK http://www.jobs.ac.uk/ 7) In the Following French laboratories working in Robotics (not exhaustive list): IRCCyN (Nantes), LIRMM (Montpellier), LAAS (Toulouse), IRCAD (Strasbourg, INRIA (Sophia-Antipolis), INRIA-IRISA (Rennes), LASMEA (Clermont Ferrand), ISIR (Paris), INRIA (Grenoble).

Student Handbook EMARO2!12!13

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