Teaching



I am full Professor at Ecole Centrale de Nantes (Control and Robotics Department) since september 2011. My main classes are :
I was full Professor at IFMA (Mechanical Engineering School) between 2000 and 2011 . My main courses were :
  • RC : Robot Control
  • RMC : Robot and Machine Control
  • CSI : Complex System Integration
  • Robotics : Modeling and control of robot

In 2006-2007, I was visiting Professor at Sungkyunkwan University since september 2006. My main class was :
 
 
Before I was Assistant Professor at CUST (ELectrical Engineering School) between 1990-2000. My main courses were :
  • DC : Digital Control
  • OS : Operating System (Unix)
  • AP : Assembling Programming (68K series)
  • ASIC : ASIC design and testability
  • EAD-CAD : Electronic board design and test
  • Robotics : Modeling and control of robot
 
MOCOM : Modeling and Control of Manipulator robots (EMARO/ROBA 1)
Content
  • Introduction to robotics
  • Geometrical Modeling
  • Kinematic Modeling
  • Dynamic Modeling
  • Control
  • Identification
Place to teach
  • Control and Robotic Department,
    ECN-EMARO/ARIA Master (first year), 1st Semester, Nantes, France
COVIS : Computer Vision (EMARO/ROBA 1)
Content
  • Image processing
  • Visual geometry
  • Camera calibration
  • Pose estimation
  • Visual Tracking
Place to teach
  • Control and Robotic Department,
    ECN-EMARO/ARIA Master (first year), 1st Semester, Nantes, France
 
MOBRO : Mobile Robotics (EMARO/ROBA 1)
Content
  • Kinematic and Dynamic Modelling
  • Static and Dynamic decoupling
  • Path planning
Place to teach
  • Control and Robotic Department,
    ECN-EMARO/ARIA Master (first year), 2nd Semester, Nantes, France
 
VIBCO : Vision Based Control (EMARO/ROBA 2)
Content
  • Image Based Visual Servoing
  • Position Based Visual Servoing
  • Hybrid Based Visual Servoing
  • Omnidirectional Visual Servoing
  • Vision Based Control of Parallel Kinematic Machine
Place to teach
  • Control and Robotic Department,
    ECN-EMARO/ARIA Master (second year), 1st Semester, Nantes, France
 
MOROB : Modeling of Manipulator robots (ECN)
Content
  • Introduction to robotics
  • Geometrical Modeling
  • Kinematic Modeling
  • Dynamic Modeling
  • Control
  • Identification
Place to teach
  • Control and Robotic Department,
    ECN-EI2/EI3, 1st Semester, Nantes, France
VIROB : Modeling of Manipulator robots (ECN)
Content
  • Image processing
  • Visual geometry
  • Camera calibration
  • Pose estimation
  • Visual Tracking
Place to teach
  • Control and Robotic Department,
    ECN-EI2/EI3, 1st Semester, Nantes, France
COMRO : Control of robots (ECN)
Content
  • Introduction to NonLinear control
  • Classical Control of Manipulator robots
  • Computed torque control
  • Position/force control
  • Vision/Force control
  • Dynamic modeling of mobile robots
  • Control of mobile robots
  • Identification
Place to teach
  • Control and Robotic Department,
    ECN-EI2/EI3, 2nd Semester, Nantes, France
VISIM : Vision and Image (ISIS-ISBA)
Content
  • Visual geometry
  • Camera calibration
  • Pose estimation
  • Visual Tracking
Place to teach
  • Control and Robotic Department,
    ECN-ISIS-ISBA (third year), 1st Semester, Nantes, France
 
SYSTI : Intelligent Transportation System (ISIS-TRANS)
Content
  • ITS examples
  • Mobile robotics
  • Global positionning system
  • Path planning
  • Autonomous navigation
Place to teach
  • Control and Robotic Department,
    ECN-ISIS-TRANS (third year), 1st Semester, Nantes, France
 
ROBMOB : Mobile Robotics (EL2)
Content
  • Mobile robots
  • Control
  • Path planning
  • Illustration
Place to teach
  • Control and Robotic Department,
    ECN (second year), 2nd Semester, Nantes, France
 
ROBOT : Manipulator Robot (EL1)
Content
  • Robot Manipulator
  • DHM convention and modelling
  • Motion Generation
Place to teach
  • Control and Robotic Department,
    ECN (first year), 1st Semester, Nantes, France
 
RC : Robot Control (IFMA-MMS2)
Content
  • Digital and Analog Control
  • Introduction to Robot Control
Place to teach
  • Machine, Mechanism and System Department,
    IFMA (second year), 1st Semester, Clermont-Ferrand, France
 
RMC : Robot and Machine Control (IFMA-MMS2)
Content
  • Linear and Non Linear Control
  • Sensor Based Control
  • Tangent and Exact Linearization
Place to teach
  • Machine, Mechanism and System Department, Mechatronics Engineering Orientation
    IFMA (second year), 2nd Semester, Clermont-Ferrand, France
 
CSI : Complex System Integration (IFMA-MMS2)
Content
  • Architecture (Hard,soft)
  • Real time kernel and systems
  • Modeling an RT application
Place to teach
  • Machine, Mechanism and System Department, Mechatronics Engineering Orientation
    IFMA (second year), 1st Semester, Clermont-Ferrand, France
 
Robotics : Modeling and control of robot (IUP-GSI3, MASTER Mechatronics)
Content
  • Geometrical Modeling
  • Kinematic Modeling
  • Robot Control
  • Trajectory Generation
Place to teach
  • IUP-GSI3, Mechatronics Option
    IUP (third year), 1st Semester, Clermont-Ferrand, France
  • MASTER Mechatronics,
    MASTER, 1st Semester, Clermont-Ferrand, France
 
Robotics and Vision : Visual servoing of robot (MASTER VIsion and RObotics)
Content
  • Introduction to visual servoing
  • Application and illustration
  • Task function Approach
  • Modeling : Interaction matrix
Place to teach
  • MASTER VIRO, VIsion and RObotics
    MASTER (second year), 1st Semester, Clermont-Ferrand, France
  • MASTER Electronic and Computer Engineering,
    MASTER, 1st Semester, Suwon, Korea