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Moëz Cherif
Research and development engineer
VASY Project of INRIA
Rhône-Alpes
Ph.D. Institut National Polytechnique de Grenoble, 1995
INRIA Rhône-Alpes
ZIRST - 655 avenue de l'Europe
38330 Montbonnot Saint-Martin
France
Moez.Cherif@inrialpes.fr
Phone: +(33) 4 76 61 52 72
Fax: +(33) 4 76 61 52 52
Office: B-101 (1st floor, 1st corridor on left, 1st office on left)
http://vasy.inria.fr/people/Moez.Cherif
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Contents
(French items)
Education
- Ph.D. in Computer Science, Institut National Polytechnique de
Grenoble (INPG), France, 1995.
- M.S. (D.E.A) in Computer Science, ENSIMAG-INPG, France, 1991.
- ``Diplôme d'Ingénieur'' in Computer Science, Faculty
of Sciences, University of Tunis, Tunisia, 1990.
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Professional
experience
- R&D engineer, INRIA, Rhône-Alpes,
France
- System validation group VASY,
since Apr. 1999.
- Position funded by a grant from ALCATEL (Reutel-2000 project)
- Topic: Simulation and verification of distributed systems using
formal methods.
- Achievements and contributions:
- BCG_MIN:
a tool for minimizing labeled transitions systems (encoded in the BCG format).
With H. Garavel, INRIA, and H. Hermans, Univ. of Twente.
- OCIS (Open Caesar Interactive Simulation): a tool for simulating
distributed systems and debugging application source code. With H. Garavel,
INRIA.
- Involved in the ongoing development of the CADP
toolbox.
- Visiting scientist, INRIA, Rhône-Alpes, France
- Robotics group SHARP, from
Dec. 1998 to Mar. 1999.
- Robotics.
- Research associate, Simon Fraser University
(SFU), British Columbia, Canada
- Robotics group(with K. K. Gupta), School
of Engineering Science, from Feb. 1998 to Feb. 1999.
- Appointment funded by a grant from Natural Sciences and Engineering
Council of Canada, NSERC.
- Topic: Automatic dextrous manipulation and assembly.
- Achievements: Algorithm and implementation of different schemes
for dextrous manipulation of 3-D objects by arbitrary multi-fingered hands,
in C and OpenGL.
- Post-doctoral fellow, INRIA, Rhône-Alpes, France
- Robotics group SHARP, from
Nov. 1996 to Dec. 1997
- Fellowship funded by the Centre National de la Recherche Scientifique,
CNRS
- Automatic preparation of handling and intervention operations in
industrial plants.
- Achievements: Algorithm and implementation of a 2-D planner
for moving a set of movable objects by a fleet of mobile vehicles in a
polygonal environment, in C and C++.
- Post-doctoral fellow, SFU, B.C. Canada
- Robotics group (with K. K. Gupta), School of Engineering Science, from
Oct. 1995 to Oct. 1996.
- Fellowship funded by a grant from NSERC.
- Topic: Dextrous manipulation by articulated multi-fingered hands.
- Achievements: Algorithm and implementation of a planner for
dextrous manipulation of 3-D objects (polyhedra and smooth objects) by
a set 6-dof fingertips, in C.
- Ph.D. research fellow, LIFIA-IMAG, France
- Robotics group SHARP.
- Fellowship funded by the French Government (CROUS) and by grants from
CNRS.
- Thesis title: Motion planning for an autonomous all-terrain vehicle:
an approach based upon physical models.
- Thesis supervisor: Ch. Laugier (INRIA).
- M.S. research fellow, TIMA-CMP,
France
- Integrated circuit failure analysis group.
- Fellowship funded by the Tunisian Government.
- Thesis title: Algorithms for automatic generation of functional
testing inputs for microprocessors.
- Thesis supervisor: B. Courtois (CNRS).
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R&D interests
- Simulation and verification of real-time concurrent systems.
- Current projects:
- CADP (Caesar/Aldebaran Development Package), click
here for an overview.
- OCIS (Open Caesar Interactive Simulation).
- BCG_MIN: a tool for minimizing labeled transitions systems (encoded
in the BCG format).
- Physics-based modeling and dynamic simulation applied to:
- robotics,
- computer animation,
- and visualization,
- Spatial reasoning and motion planning applid to:
- computer animation,
- and other geometric problems, e.g., virtual prototyping.
My R&D interests also cover some aspects in the following areas:
- Virtual reality and computer graphics.
- Computational geometry.
- CAD-CAM.
- Mechanics (kinematics and dynamics of mechanical articulated chains).
- Graph algorithms.
- Applied mathematics (optimization, numerical analysis, differential
geometry).
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Scientific publications
(Co-)Authored more than 25 technical papers in leading international
journal and conferences in robotics.
Complete list of my publications: postscript
format or html
format
Selected recent publications on robot motion planning
(Notice: copyrights of the papers with full citations
below have been (or will be) signed over to the publishers.)
- Locomotion of all-terrain wheeled vehicles
- M. Cherif, ``Motion Planning for All-Terrain Vehicles: A Physical
Modeling Approach for Coping with Dynamic and Contact Interaction Constraints'',
IEEE Transactions on Robotics and Automation, vol. 15, no. 2,
pages 202-218, April 1999 (regular paper).
- M. Cherif, "Kinodynamic Motion Planning for All-Terrain
Wheeled Vehicles", in Proceedings of the IEEE Int. Conference
on Robotics and Automation, Detroit, Michigan, USA, May, 1999.
- Dextrous manipulation by mechanical hands
- M. Cherif and K. K. Gupta, ``Planning Quasi-static Fingertip
Manipulations for Re-configuring Objects'', IEEE Transactions on
Robotics and Automation, vol 15, no. 5, pages 837-848, October 1999
(regular paper).
- M. Cherif and K. K. Gupta, ``A Global Planner for In-Hand Dextrous
Re-Configuration of Rigid Objects'', International Journal of Advanced
Robotics, vol. 13, no. 4, pages 451-472, December 1999 (regular paper).
- M. Cherif and K. K. Gupta, ``Global Planning for Dextrous Re-orientation
of Rigid Objects: Finger Tracking with Rolling and Sliding'', International
Journal of Robotics Research (IJRR), regular paper submitted in June
1999 (conditionally accepted). (Also appeared as Research Report INRIA
RR-3770, September 1999).
- M. Cherif and K. K. Gupta, "Planning for In-Hand Dextrous
Manipulation", P Agarwal, L. Kavraki, and M. Mason (Eds), Robotics,
the Algorithmic Perspective, pages 103--117, A.K. Peters Publisher,
Wellesley (MA), USA, 1998.
- Object handling in industrial plants
- M. Cherif, M. Vidal, and Ch. Laugier, ``A Roadmap-based Algorithm
for Planning Handling Operations in Changing Industrial Plants'', International
Journal of Robotics and Automation, regular paper, to appear (accepted
in December 1999), (Also appeared as Research Report INRIA RR-3629, February
1999).
- M. Cherif and M. Vidal, "Planning Handling Operations in
Changing Industrial Plants", in Proceedings of the IEEE Int.
Conference on Robotics and Automation, pages 881-886, Leuven, (B) May,
1998.
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Graduate student
supervision
- Y. Uschanoff, Diplôme CNAM, CUEFA, Grenoble, 1999 (with H. Garavel
and R. Mateescu). Topic: Interactive simulation of distributed systems.
- W. Jaramillo, Master in Engineering Science, Simon Fraser University,
Canada, 1998 (with K. K. Gupta). Topic: Modeling and motion planning
for dextrous manipulation by a robot hand.
- M. Vidal, M.S. in computer science, University of Joseph Fourier, Grenoble,
France, 1997 (with Ch. Laugier). Topic: Motion planning in changing
industrial plants. (Co-authored 1 journal article, 1 conference paper,
and 1 RR INRIA.)
- L. Capponi, Diplôme CNAM, CUEFA, Grenoble, 1997. Topic: Motion
planning of all-terrain vehicles.
- D. Casanova, M.S. in computer science, ENSIMAG-INPG, Grenoble, 1992-93
(with Ch. Laugier). Topic: Physical modeling of 3D objects with application
to robotics.
- J-L. Brunet, M.S. in computer science, Univ. of Joseph Fourier, Grenoble,
1991 (with Ch. Laugier). Topic: Representation of 3-D objects shape
by spherical primitives.
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Main software development
- BCG_MIN: a tool for minimizing labeled transition systems by
means of bisimulation (in C, available in the tool-box Caesar/Aldebaran
Development Project, CADP, http://cadp.inria.fr),
System validation group, INRIA Rhône-Alpes, 1999. (With H. Garavel,
INRIA, and H. Hermans, University of Twente).
- OCIS: a tool for interactive simulation of distributed systems
(in C and Tcl/Tk/Tix, a prototype is available in the tool-box CADP),
System validation group, VASY, INRIA Rhône-Alpes, 1999. (With H.
Garavel).
- DEXTMANIP: a tool for motion planning of dextrous manipulation
by a set of 6-dof fingertips and multi-fingered hands (in C and OpenGL),
Simon Fraser University, 1996-99.
- DYNAMOVE: a tool for physics-based modeling and motion planning
for an all-terrain mobile vehicle (in C), Robotics group, Sharp, GRAVIR-IMAG
& INRIA Rhône-Alpes, France, 1992-95.
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Computers and software
- Experienced with: C, Pascal, OpenGL libraries, Script languages
Tcl/Tk and Tix, Html, Unix, Linux, Latex.
- Worked with or adequate in: C++, Java, Javascript, Lotos, Windows,
Dos.
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Other professional
activities
- Have been involved in many French and European projects and programmes,
mainly,
- RISP-VAP programme of the French Consortium on Planetary Intervention
Robotics, 1991-94.
- European Community programme ``Human Capital Mobility'' (HEROS project,
6 participating countries), 1993-96.
- Have co-authored several technical proposals for European projects
and industrial contracts.
- Have reviewed articles in many international journals:
- IEEE Trans. on Robotics and Automation, IEEE Trans. on Systems, Man,
and Cybernetics, Int. Jour. of Robotics Research, Jour. of Robotics and
Autonomous Systems (Elsevier Science), Revue d'Intelligence Artificielle
(French journal of A.I.).
- Have reviewed papers in many international conferences:
- IEEE ICRA, 1996, 1998, 1999, IEEE Int. Symposium on Assembly and Task
Planning, 1997.
- Have co-chaired sessions in international conferences: IEEE-RSJ
IROS, Grenoble, 1997, IEEE ICRA, Detroit, 1999.
- IEEE member.
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References
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Miscellaneous
- 33 years old, married.
- Fluent in English, French, and Arabic. Adequate Italian.
- And also, ... soccer (defender and striker of the INRIA Rhône-Alpes
team), hand-ball, volley-ball, and sailing.
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Please, send any constructive comments to Moez.Cherif@inrialpes.fr
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