Juliette DRUPT

PhD

Funding:
LinkedIn: https://www.linkedin.com/in/juliette-drupt-3a7051159/

Bio

I recently graduated from the Ecole de Mines de Saint-Etienne that ended with a one-year specialization in robotics at the ENSTA Paris. I am now starting a PhD at the University of Toulon, in the field of underwater robotics.
 

Research

Subject of the thesis: 

Thesis director: Vincent HUGEL
Co-Supervisor: Claire DUNE
Co-Supervisor: Andrew COMPORT

In the context of underwater exploration of shallow waters, equipment such as ROVs (Remotely Operated Vehicles) or other robots are used. This underwater equipment requires the use of an umbilical that connects it to a surface control station. If passive, this link can be a barrier to mobility by involving an energy-intensive drag force, undesirable mechanical actions on the robot, risks of attachment to the marine environment and the creation of knots.

The objective of this thesis is to contribute to the management of subsea umbilicals by designing an intelligent umbilical system that can not only limit its undesirable effects on ROV navigation, but also be active and allow new piloting strategies to be implemented throughout the system.

The targeted application focuses on the case of an umbilical linking a surface drone and an ROV for a shallow observation and measurement mission near the coast. The entire system, which will be subject to marine currents, will have to operate in an environment of variable depth and possibly constrained by the presence of underwater topography, fauna and flora..

The impact on the marine environment will be taken into account throughout the design of this system.

Teaching

• 2020-2023: Introduction to Python programming: 24h of practical work in L1 Math, Physique-Chimie and Sciences pour l’Ingénieur (SI), UFR Sciences – Université de Toulon
• 2020-2023: Linear Automatics: 24h of practical work in 1st year of engineering school (L3), SEATECH – Université de Toulon
• 2021-2023: Visual SLAM: 9h of practical work in M2 Robotics and Connected Objects (ROC), UFR Sciences – Université de Toulon
• 2022-2023: Introduction to research: 1h of CM in M2 Computer Science, UFR Sciences – Université de Toulon

Supervision

Student projects

• 2022-2023: 3rd year SEATECH (M2), Mechatronics and Robotics Systems, Estimation of the orientation of an underwater umbilical using inertial sensors, 50% co-supervision with Claire Dune, COSMER
• 2021-2022: M1 Robotics and Connected Objects, Particle filtering for umbilical detection and tracking in embedded images for robotics-submarine, co-supervision 80% with Claire Dune, COSMER
• 2021-2022 : L2 renforcé Sciences pour l’Ingénieur, Visual perception in an underwater environment, supervision 100%.
• 2020-2021: 2nd year SEATECH (M1), Mechatronics and Robotics Systems, Calibration method for Mini-ROV thrusters, 50% co-supervision with Claire Dune, COSMER

Master’s internships

• 2021-2022 : Ahmed HARBI and Abdelrhman BASSIOUNY, M1 Erasmus Mundus Marine and Maritime Intelligent Robotics, “Evaluation expérimentale de SLAM visuels-inertiels en bassin”, 30% co-supervision with Maxime Ferrera, IFREMER and Claire Dune COSMER

Papers