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Biography

Caroline Pascal is a PhD student in robotics and mechanics at U2IS and UME, ENSTA Paris. Despite her all-rounder personality, her focus is currently on the development of robotized solutions for the vibratory and acoustic characterization of unknown structures. In this context, her work blends together various topics, including the modeling, calibration and control of robotic arms, and the implementation of innovative mechanical characterization methods, especially in acoustics. Despite the research substance of any PhD thesis, a significant part of Caroline's work is dedicated to the design of generic and user-friendly ROS-based tools for a simplified sensor and tool integration on robotic arms.

Research

Publications

  • IROS 2023 - Caroline Pascal, Alexandre Chapoutot, Olivier Doaré, "A ROS-based kinematic calibration tool for serial robots", 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2023, Detroit, Michigan, United States (HAL link, DOI: 10.1109/IROS55552.2023.10341692).

  • Internoise 2024 - Caroline Pascal, Pierre Marchand, Alexandre Chapoutot, Olivier Doaré, "Far-field sound field estimation using robotized measurements and the boundary elements method", Inter-Noise 2024 : the 53rd International Congress and Exposition on Noise Control Engineering, Société française d'acoustique (SFA), Aug 2024, Nantes, France (HAL link).

Presentations

  • IDIA Day 2022 - Robotized measurements : autonomous geometric and vibro acoustic characterisation of structures (poster).

  • JJCR 2022 - Robotized measurements : autonomous geometric and vibro acoustic characterisation of structures (poster).

  • U2IS Lab Day 2023 - Acoustic far-field prediction using robotized measurements and the boundary elements method (poster, best poster award).

  • ROSConFr 2023 - robot_arm_calibration: a kinematic calibration tool for serial robots, or the unberdening of a crucial task (talk with peer review process, slides).

  • R4 Seminar - Robotized measurements for geometric and acoustic characterization of unknown structures (slides, video)

  • FreeFEM Days 2023 - Far-field acoustic prediction using the boundary element method and robotized measurements (talk with peer review process, slides).

  • U2IS Lab Day 2024 - Robotized metrology : wait, it's all calibration ? (slides).

  • JJCAB 2024 - Sound Field Estimation using robotized measurements and the Boundary Elements Method (poster, best poster award).

Teaching

Courses at ENSTA Paris (2021-2022)

  • MO101 (Introduction to Linux) - Introduction to Linux/Unix commands, shell scripting and related utilities.

  • IN102 (Introduction to the C programming language) - Introduction to the basics of C : compilation, pointers, functions, structures, arrays, etc.

  • IN101 (Algorithms and programming) - Familiarisation with systematic and scientific ways to concieve algorithms, through an analysis-formalisation-conception-implementation process.

Courses at ENPC (2021-2022)

  • ARCSO (Tools for computer science in industry) - Introduction to object-oriented programming and distributed version control in the context of industrial system design.

Previous experiences

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**Research engineer**
U2IS & UME - ENSTA Paris
Jan. 2021 - Oct. 2021

_Development of an user-friendly interface for the integration of various sensors in the use of the use of a robotic arm._
Developement of an intuitive ROS library and designed ergonomic tool-holding devices for the simplified implementation of geometric and vibro-acoustic measurement routines.

**End-of-studies intern**
U2IS & CEA-LIST
May 2019 - Nov. 2020

_Development of an object-centered grasp analysis and synthesis framework – Application to multi-fingered grippers._
Conception of a set of configurable task-oriented grasp quality metrics and formulated a state-of-the art hybrid friction-adhesion contact mode, which were successfully combined in a custom optimized gripper design aid tool.

**Gap year intern**
BALYO SA
Jan. 2019 - Jun. 2020

_Development of an automated optimized-trajectory generation process for autonomous forklifts._
Design of an innovative forklift trajectory generation process allowing the vehicle to perform turns while avoiding collisions.

**Gap year intern**
Navier Lab. - ENPC
Jun. 2018 - Dec. 2018

_Force and torque sensors integration in the use of 6-axis robots._
Development of a C# sensor network aiming to facilitate the integration of sensors in the use of 6-axis robots.

Education

**Final MSc year**
ENSTA Paris
Sept. 2019 - Mar. 2020

_Robotics and Embedded Systems Department._
Embedded software, perception, modeling and simulation, control.

**First MSc year**
ENPC
Sept. 2016 - May. 2018

_Mechanical and Materials Department._
CFAO, mechanics of solids and fluids, structural dynamics, FEA.

**PhD side course**
MVA - Paris Saclay
Jan. 2023 - Mar. 2023

_NPM3D - Point clouds and 3D modeling._

**PhD side course**
Telecom Paris
Feb. 2023 - Apr. 2023

_RUST programming language for embedded systems._

Projects

Community involvement

  • PhD and master degree students representative at ENSTA Paris board of directors (2022 - 2025).

  • Staff representative at ENSTA Paris work council (2023 - 2026).