G HANIM R. M UKHTAR
Residence country: France
Residence type: Salarie
French Driver License B
Sudanese Driver License
Languages: Arabic, English and French
Apartment 101, Residence Parc Maunoury
73, Avenue du Marechal Maunoury
28000 CHARTRES, France
Email:-.
Roboticist with Electrical and Electronic Background
Work Experience
since 04/2018 Robotics Software Developer at LEONI CIA Cable Systems S.A.S, Chartres, France:
• Deployment of our robotics solutions for medical purposes at clients facilities all around the globe.
• Debugging an already built multi-threaded robotics platform (using Valgrind-Helgrind with Qt creator under Linux).
The platform is built in C++ as several CMake projects integrable for different usage scenarios (simulation, real robot
control and so on).
• Participation in the development of robotics Algorithms (robot calibration, parameters identifications, perception,
control and so on).
• optimization and enhancement of several software/hardware and production processes for maintaining our main product (i.e. patient positioning medical robot).
03/2016–03/2018 Research Engineer at ISIR, UPMC, Paris, France:
• Tackling different technical problems towards the realization of the objectives of DREAM ( Deferred Restructuring
of Experience in Autonomous Machines H2020-FETPROACT-2014) project http://www.robotsthatdream.eu/, tasks
examples:
– Developing the forward and inverse Geometric and kinematic models for a CrustCrawler arm and use these
algorithms in Simulation (with ODE and Robdyn which is a C++ wrapper for ODE) and with the real robot to
do babbling tasks that will help the arm learns its environment within an evolutionary learning algorithm (MapElites).
– Using Baxter with Moveit! and customized planner to help in bootstrapping the segmentation of objects from the
Background.
– Help in designing and implementing a firmware that helps in realizing a cognitive architecture to execute the
learning algorithm in an open-end environment.
– Co-designing and implementing complete experimental scenarios to validate research hypothesis.
– Working with several visual techniques to achieve several goals: object tracking, obstacle avoidance, learning
from visual feedback and so on.
– Integrate outputs of learning algorithms to demonstrate skills acquired by the robotic arm.
(2 years)
09/2015–02/2016 Maintenance Engineer at NUTRISET, Rouen, France:
• Enhancing, troubleshooting and developing solutions for process and machine automation for several production lines.
• Studying the trajectory and propose enhancement for a KUKA industrial arm for palletization activities.
• Adapting KUKA arm control program to work with FlexPal editor which facilitate for operators to create new plans
for palletization without any KRL Knowledge.
(6 months)
02/2015–08/2015 Internship at IRT Jules Verne, Nantes, France:
• Developing control algorithms for two Redundantly Actuated Cable Driven Parallel Robot RACDPRs prototypes.
First Algorithm based on velocity commands and another based on actuatorsâĂŹ torques commands.
• Integrating the use of joystick for the control of platform of RACDPR prototypes. The communication is based on
ROS publisher and subscriber concept. The publisher is on the controller of the joystick (a Raspberry Pi) and the
subscriber is a node on the prototype controller (a PC).
• Testing the effect of reconfigurability of the robot structure on its workspace.
(7 months)
09/2011–08/2013 Projects Engineer in MT Industrial Supplies and Services Co. Ltd, Khartoum, Sudan, representative of Endress+Hauser in Sudan:
• Participation throughout projects life cycle, from initiating to closing (Industrial Automation projects).
• Heavily involved in helping the company get certified according to ISO 9001:2008 for quality management.
• Lead position in creating a Project Management Office (PMO) for the company and setting all standards and practices
for managing projects according to Project Management Institute (PMI) standard.
(2 years)
03/2011–08/2013 Field Engineer in South Sudan with Alkhorayef Petroleum Company:
• Monitoring operation of Electrical Submersible Pumps (ESP).
• Troubleshooting for ESP Systems.
• Interacting with clients to ensure their needs are met.
(6 months)
11/2009–03/2011 Operational Engineer in Afritec Ingredients, Sudanese partner for the French company NEXIRA who works
in processing and distributing of Arabic gum:
• Production lines maintenance and troubleshooting.
• Manage and direct the production cycle.
• Initiate and/or manage required industrial developments for production enhancement.
(1.5 years)
09/2009-01/2010 Teaching Assistant at International University of Africa, Khartoum, Sudan (one semester)
Expertise
This diverse long work experience has rendered me with versatile set of tools, most significant are:
• Robotics: Robot Operating System (ROS), Industrial-ROS (I-ROS), Gazebo Simulator, KUKA Robot Controller
(KRC4), and several libraries (visual: OpenCV, Point Cloud (PCL), motion planning: OPML, OpenRAVE).
• Programming tools: C/C++, Python, Matlab/Simulink, check my github page ( https://github.com/ghanimmukhtar ).
• QT and QT creator for several kind of applications (with/without graphical user interface).
• Valgrind and its several tools for debugging (specially for multi-threading, and implementation optimization).
• Design tools: AutoCAD, CATIA and ADAMS.
• Automation tools: B&R Automation Studio, SafetyDESIGNER, PL7 (Schnielder Modicons PLCs), S7 SIMATIC
manager (Siemens PLCs), Schnielder Modicons PLC.
• Diverse industrial standards, especially for hazardous installation (like in oil and gas facilities).
Publications
Several publications, some already accepted and some in progress, here they are:
• Paper: "Segmenting objects through a robotics agnostic exploration", accepted and presented at: IEEE International
conference on Robotic Computing, April 10-12, 2017.
• Paper: "Iterative affordance learning with adaptive action generation", accepted and presented at: 7th Joint IEEE
International Conference on Development and Learning and on Epigenetic Robotics September 18-21, 2017, Lisbon,
Portugal.
• Journal paper: "Action Generation Adapted to Low-level and High-level Robot-Object Interaction States", accepted
July 24th 2019, Frontiers Neuroscience journal.
• Book: "Developing and Testing of a Real-Time Scheduler for Autonomous Energy", Published on:-,
ISBN-13:-, Publishing house: LAP LAMBERT Academic Publishing.
Education
09/2013–08/2015 Master ARIA (Automatique, Robotique et Informatique Appliquee), Ecole Ecole Central de Nantes, France, Global
Average: M1: 15,7/20; M2: 15,76/20.
10/2004–08/2009 B.Sc. Electrical and Electronic Engineering, University of Khartoum, Sudan, first class. Specialization: Control and
Instrumentation Engineering.
References
These persons are familiar with my professional qualifications and my personality:
Dr. Stephane Doncieux
Head of ISIR lab, Sorbonne Universite,
Pyramide Tour 55 Boite courrier 173,
4 place Jussieu 75252 Paris cedex 05,
France.
Phone:
Email:
Web:
Dr. Stephane Caro
Thesis supervisor, CNRS researcher - HDR
BP- Nantes CEDEX 03
1, rue de la NoÃń, Nantes
France.
--http://people.isir.upmc.fr/doncieux
Phone:
Fax:
Email:
Simon Goujard
Industrial Development Director at NUTRISET,
Hameau du Bois Ricard,
CS 80035,
76770 Malaunay,
France.
-
--nantes.fr
Phone:
Email:
Web:
--www.nutriset.fr
Thesis
Cable Driven Parallel Robots (CDPRs) are attracting a lot of attention in Robotics community because they are sought to give a
vast workspace, great ability to manipulate heavy payloads and very handsome mechanical and dynamic performance compared to
other conventional robotics structure (serial and parallel).In the master thesis we have developed several control strategies, based on
actuators torques control and velocity control. For both we developed a PID controller with correction term that is defined thanks to
the system redundancy. The idea of achieving the control of such mechanism based on controlling the velocities of the actuators while
keeping the tension of all cables, is a new technique that has shown a promising performance.
Certification
05/2014
Project Management Professional (PMP) certified. Member of PMI as well as France PMI Chapter and recently NANTES
PMI.
2013
Endress+Hauser online master class, online short courses about Endress+Hauser sensors.
04/2013
DELF B1 test with score of 75/100.
10/2010
TOEFL test with score of 597/667.
CHARTRES, December 17, 2020
