Aerospace Robotics Laboratory

News: I am seeking a highly qualified and motivated technical professional. Responsibilities will include programming, operating, and maintaining rovers (Clearpath Husky, Argo J5), gantry robots (utilizing coordinated motion control), and high-end sensors (laser total station, 3D scanners, high-speed cameras, force/torque sensors, etc.) for space robots. We have active collaborations with the Canadian Space Agency, McGill, MIT, MDA (the world leader in the space robotics industry), as well as other industry partners.

Required education:
* Bachelor's degree or higher in engineering or computer science.
Krzysztof (Chris) Skonieczny, PhD
Assistant Professor
Canada Research Chair Tier II in Aerospace Robotics

Electrical and Computer Engineering
Concordia Institute of Aerospace Design & Innovation
Faculty of Engineering and Computer Science
Concordia University
1455 de Maisonneuve Blvd. W.
Montreal, QC, H3G 1M8

514-848-2424 ext. 3122
kskoniec [a_T] encs [d0T] concordia [d0t] ca
The mission of the Aerospace Robotics Laboratory is to study and develop robotics for space, especially for applications where a robot interacts with granular terrains in low-gravity environments. Examples include roving on Mars, digging and constructing on the Moon, or sampling and anchoring on comets and asteroids.

My research interests include: Space robotics, Planetary rovers, Robot mobility, Vehicle-terrain interactions, Advanced 3D printing techniques, Robotic excavation & construction, Reduced gravity experimentation, Computer vision for robotics applications.

Required skills/experience:
* Strong programming experience (e.g. C/C++, Python, BASIC)
* Software for robotic systems and sensors (e.g. ROS and Linux)
* Ability to work effectively in a team with professor(s), research associate(s), and students
* Excellent technical writing and communication skills

Valuable skills and experience:
* Programming motion coordinators/controllers (e.g. Trio, Galil, etc.)
* Low-level programming (e.g. G-Code, IEC 61131-3)
* Matlab
* Familiarity with coding for 3D printers and 3D scanners (e.g. Marlin, FlexScan3D, GOM )
* Experience with laser total stations (incl. programming, e.g. GeoCom)
* Motion Perfect
* LabView

Start date: As soon as possible. Search will remain open until a suitable candidate is found. Duration: 20 months (with possible extension of up to 4 additional months) Competitive salary, in line with experience.

To apply, please submit your CV to: Please include "Robotics technical professional" in the subject line.  
Selected Research Videos and Associated Papers

Concurrent with my PhD studies at Carnegie Mellon University, I was also Principal Researcher at Astrobotic Technology Inc. As Principal Investigator (PI) on a series of NASA grants, I led the research and development of a novel robotic excavator for the Moon and Mars: the Polaris Excavator.

This video shows the operation of this bucket-wheel excavator, demonstrating excavation of over 1000 kg of lunar soil simulant in an hour (shown 60x), digging in the presence of rocks, and traversing 20 cm obstacles and 15 degree slopes.

Research conducted at Carnegie Mellon University and Astrobotic Technology Inc., in collaboration with NASA Kennedy Space Center and NASA Glenn Research Center (GRC). Filmed at NASA GRC.

Related technical reference:
Skonieczny, K. "Lightweight Robotic Excavation." PhD Thesis. Carnegie Mellon University (pdf)

I developed a technique for visualizing and analyzing soil shearing and flow as it is influenced by a wheel or excavation tool. I applied computer vision to high-speed images of sub-surface soil (taken through a transparent glass sidewall of a soil bin).

This video shows a wheel with grousers (or cleats) interacting with granular soil. The lower image shows processed results displaying particle flow speed, as indicated by colour heat, ranging from blue (indicating static soil) to red (indicating maximum flow velocity).

Research conducted at Carnegie Mellon University, in collaboration with NASA Glenn Research Center.

Related technical references:
Skonieczny, K, Moreland, SJ, Asnani, VM, Creager, CM, Inotsume, H, Wettergreen, DS. "Visualizing and Analyzing Machine‐soil Interactions using Computer Vision." Journal of Field Robotics 31, no. 5 (2014): 820-836. (link)

Skonieczny, K, Moreland, SJ, Wettergreen, DS. "A grouser spacing equation for determining appropriate geometry of planetary rover wheels." In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pp. 5065-5070. IEEE, 2012. (pdf)

I conducted an experimentation campaign that for the first time subjected excavator robots to gravity offload (a cable pulls up on the robot with 5/6 its weight to simulate lunar gravity) while they dig. These experiments provide evidence suggesting continuous excavation (e.g. bucket-wheel) is better suited for low gravity environments than discrete excavation (e.g. front loader).

This video shows offloaded experiments with a bucket-wheel excavator followed by experiments with a front-loader excavator robot. Both modes of operation start off with equivalent production (0.5 kg/s) but, whereas the bucket-wheel maintains productivity throughout, the front-loader quickly stalls.

Research conducted at Carnegie Mellon University, in collaboration with NASA KSC and NASA GRC. Filmed at NASA GRC.

Related technical reference:
Skonieczny, K. "Lightweight Robotic Excavation." PhD Thesis. Carnegie Mellon University (pdf)

I developed a control system that utilized novel kinematics for a proposed Mars rover to overcome terrain obstacles. This was achieved by shifting the rover's centre of gravity away from wheels currently encountering obstacles.

This video shows simulated results for a rover climbing a step obstacle. Without leaning back upon initial contact with the front wheels, the rover would not climb the obstacle. Similary, without leaning forward the rear wheels would not be pulled up over the step.

Research conducted at University of Toronto Institute for Aerospace Studies (during my Master's studies) and MDA Space Missions.

Related Technical Reference:
Skonieczny, K, D’Eleuterio, GMT. "Improving Mobile Robot Step-Climbing Capabilities With Center-of-Gravity Control." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 1531-1538. American Society of Mechanical Engineers, 2010. (link)

I conducted modeling and experimentation to demonstrate that vehicle speed and payload capacity govern productivity of lightweight excavators, while other parameters including number of wheels do not.

This video shows one run from this experimentation campaign.

Research conducted at Carnegie Mellon University, supported by NASA KSC.

Related technical reference:
Skonieczny, K, Delaney, M, Wettergreen, DS, Whittaker, WL. "Productive Lightweight Robotic Excavation for the Moon and Mars." Journal of Aerospace Engineering 27, no. 4 (2013). (link)

Additional publications can be found on my Google Scholar profile.