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Funded PhD Opportunity

Kinaesthetic learning for robotic object manipulation

Subject: Computer Science and Informatics


Summary

Tactile sensing is an emerging area in robotics with applications to object recognition, material identification, and grasp control [1,2]. However, Kinaesthetic learning (also known as tactile learning) integrating tactile and force sensing to perform physical movements of objects or interact with unknown environments is still widely under-researched. Despite the fact that object manipulation comes as second nature to humans, robotic manipulation has been limited by the lack of tactile information feedback, which is indispensable to achieve human-level manipulation skills.

The goal of this project is to enhance robot-object interaction and manipulation through experience that involves the combination of force and tactile information (kinaesthetics). Nowadays robots make strong implicit assumptions about the objects in their surroundings, i.e. objects are fixed (like walls and furniture), or can be manipulated (like glasses, trays, and mugs). This approach is clearly restrictive – as it does not scale to the manipulation of unknown objects – and troublesome – as the robot might be damaged trying to manipulate the wrong object. Grounded on the Cognitive Robotics group expertise in tactile sensing [1,2] and learning [3,4] this project will investigate ways to apply neural and reinforcement learning to tactile information for a robot to perform manipulation tasks of different objects.

This project aims at overcoming these implicit assumptions about the world, endowing robots with the ability to learn these concepts through real world experimentation. Therefore, the robot will learn different tactile and physical properties of the object through experimentally manipulating them. This project will enhance robotic manipulation autonomy and has multiple potential applications ranging from industrial to assistive robotics.

[1] E. Kerr (2017) PhD dissertation, Ulster University.

[2] A. Gomez-Eguiluz (2018) PhD dissertation, Ulster University.

[3] Gillespie et al. (2017) Reinforcement learning for bio-inspired target seeking, Towards Autonomous Robotic Systems (TAROS), 19-21 July, University of Surrey.

[4] Siddique and Adeli (2013) Computational Intelligence: Synergies of Fuzzy Logic, Neural Networks and Evolutionary Computing, John Wiley.


Essential criteria

  • To hold, or expect to achieve by 15 August, an Upper Second Class Honours (2:1) Degree or equivalent from a UK institution (or overseas award deemed to be equivalent via UK NARIC) in a related or cognate field.
  • Experience using research methods or other approaches relevant to the subject domain

Desirable Criteria

If the University receives a large number of applicants for the project, the following desirable criteria may be applied to shortlist applicants for interview.

  • First Class Honours (1st) Degree
  • Masters at 70%
  • For VCRS Awards, Masters at 75%
  • Publications - peer-reviewed

Funding

    The University offers the following awards to support PhD study and applications are invited from UK, EU and overseas for the following levels of support:

    Vice Chancellors Research Studentship (VCRS)

    Full award (full-time PhD fees + DfE level of maintenance grant + RTSG for 3 years).

    This scholarship will cover full-time PhD tuition fees and provide the recipient with £15,000 maintenance grant per annum for three years (subject to satisfactory academic performance). This scholarship also comes with £900 per annum for three years as a research training support grant (RTSG) allocation to help support the PhD researcher.

    Vice-Chancellor’s Research Bursary (VCRB)

    Part award (full-time PhD fees + 50% DfE level of maintenance grant + RTSG for 3 years).

    This scholarship will cover full-time PhD tuition fees and provide the recipient with £7,500 maintenance grant per annum for three years (subject to satisfactory academic performance). This scholarship also comes with £900 per annum for three years as a research training support grant (RTSG) allocation to help support the PhD researcher.

    Vice-Chancellor’s Research Fees Bursary (VCRFB)

    Fees only award (PhD fees + RTSG for 3 years).

    This scholarship will cover full-time PhD tuition fees for three years (subject to satisfactory academic performance). This scholarship also comes with £900 per annum for three years as a research training support grant (RTSG) allocation to help support the PhD researcher.

    Department for the Economy (DFE)

    The scholarship will cover tuition fees at the Home rate and a maintenance allowance of £ 15,009 per annum for three years. EU applicants will only be eligible for the fee’s component of the studentship (no maintenance award is provided). For Non-EU nationals the candidate must be "settled" in the UK. This scholarship also comes with £900 per annum for three years as a research training support grant (RTSG) allocation to help support the PhD researcher.

    Due consideration should be given to financing your studies; for further information on cost of living etc. please refer to: www.ulster.ac.uk/doctoralcollege/postgraduate-research/fees-and-funding/financing-your-studies


Other information


The Doctoral College at Ulster University


Reviews

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As Senior Engineering Manager of Analytics at Seagate Technology I utilise the learning from my PhD ever day

Adrian Johnston - PhD in Informatics

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Key dates

Submission deadline
Monday 19 February 2018

Interview Date
12 March 2018


Applying

Apply Online  


Contact supervisor

Dr Nazmul Siddique


Other supervisors

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