Phd Candidate for Design Optimization of Soft Aerial Manipulators with High Dexterity

The University of Luxembourg is an international research university with a distinctly multilingual and interdisciplinary character.

The Interdisciplinary Centre for Security, Reliability and Trust (SnT) at the University of Luxembourg is a leading international research and innovation centre in secure, reliable and trustworthy ICT systems and services.
We play an instrumental role in Europe by fueling innovation through research partnerships with industry, boosting R&D investments leading to economic growth, and attracting highly qualified talent. We look for researchers from diverse academic backgrounds to contribute to our projects in areas such as: Network Security, Information Assurance, Model-driven Security, Cloud Computing, Cryptography, Satellite Systems, Vehicular Networks, and ICT Services & Applications.

**Your role**:
While UAVs began as flying sensors, there is growing interest in Aerial Manipulators (AMs)—UAVs equipped with robotic arms and grippers. Despite progress with rigid manipulators, challenges remain due to limited payloads, safety-critical interactions, and handling irregular objects in unstructured spaces.

To address this, recent research focuses on soft aerial manipulators (SAMs). Soft arms and grippers offer improved safety and adaptability but introduce new challenges in design and control. Their development is still largely bio-inspired and trial-and-error based. Integrating flight and actuation control in SAMs is particularly complex. DOMINANTS aims to create a novel, optimized methodology to improve SAM dexterity, enabling a wider reach and the ability to grasp various static and dynamic objects in complex environments.

The PhD project will focus on designing and optimizing soft robotic arms and grippers mounted on a rigid, fully actuated UAV to form a highly dexterous and efficient SAM. The goal is to develop model-based design concepts and optimization strategies that enhance adaptability, reach, speed, and safety. Starting with selected UAV, manipulator, and gripper designs, the team will optimize virtual prototypes before building the final physical SAM. While INRIA Lille leads the control design, both teams will collaborate on use-case scenarios and real-world demonstrations to assess performance and future potential.
- Carry out the aforementioned research with collaborators at the SnT and at INRIA Lille within the ANR -FNR funded bi-national project DOMINANTS
- Spent a research stay at INRIA Lille to work with Prof. Gang Zheng on control aspects of SAMs
- Disseminate your findings at renowned international conferences, workshops and in journal papers
- Provide assistance in organizational matters related to the project DOMINANTS

**Your profile**:

- Solid experience / knowledge in the following areas:

- Design and modeling of soft materials and soft robotic components
- Modeling and simulation of drones
- Mechatronics and control engineering, optimization algorithms
- Control of drones and flight experiments as well as knowledge in AI / Machine Learning would be an asset
- Outstanding academic records
- Teamworking experience, e.g. via student projects, competitions or similar
- International experience is desirable, e.g., via a study abroad, internships, Erasmus, double-degree
- Programming Skills:_ Design tools for Mechanical / material design, Experience with MATLAB/Simulink and Python, programming skills in C/C++ are an asset
- Language Skills:_ Fluent written and verbal communication skills in English are required

**We offer**:

- Multilingual and international character. Modern institution with a personal atmosphere. Staff coming from 90 countries. Member of the “University of the Greater Region” (UniGR)
- A modern and dynamic university. High-quality equipment. Close ties to the business world and to the Luxembourg labour market. A unique urban site with excellent infrastructure
- A partner for society and industry. Cooperation with European institutions, innovative companies, the Financial Centre and with numerous non-academic partners such as ministries, local governments, associations, NGOs

**How to apply**:

- Applications should include:_
- Curriculum Vitae, including:

- For each degree received or currently enrolled in, provide the degree, institution name, institution city and country, and date (or expected date) of graduation.
- List of publications (authors, title, journal/conference name and date of publication). Provide a link in case of open access
- Portfolio of skills and projects
- Name, affiliation and contact details of three referees
- Transcript of all modules and results from university-level courses taken
- Cover letter with motivations and topics of particular interest to you (approx. 1 page)

The University of Luxembourg embraces inclusion and diversity as key values. We are fully committed to removing any discriminatory barrier related to gender, and not only, in recruitment and career progression of our staff.
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