Dany LECurriculum Vitae


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PhD/Engineer in Computer Science - 6+ years of experience. C/C++, RUST, Yocto Linux, embedded Linux, embedded middle-ware, embedded Cybersecurity, ROS based robotic system, robot navigation and mapping, FPGA, ARM


PhD in computer science Brest, France

Université de Bretagne Occidentale %d-%d20142017

Master in applied computer science La Rochelle, France

Université de La Rochelle %d-%d20112013

Engineer in computer science Danang, Vietnam

Polytechnic School of Danang %d-%d20042009

Previous Employment

Elsys Desgin Grenoble, France

Industrial Embedded software designer (from 11/2019 - now) %d-%d20192020
Working as embedded software designer (Ingénieur d'étude confirmé)

INRIA Lille Nord Europe Lille, France

3 months, research engineer (7/2018-9/2018) %d-%d20182018
Developing a robotic application in Pharo (Smalltalk) language in cooperating with the ROS middleware

IMT Lille-Douai Douai, France

2 year, Post-Doc %d-%d20172019
Working as a postdoc in the research of AI-based mono and multi robot exploration of unknown environment using Robotic Operating System (ROS).

ENSTA Bretagne and IMT-Lille Douai Douai and Brest, France

3 year, PhD %d-%d20142017
Working as researcher, participation in the research of the application of object-oriented design methodology in embedded systems.

Danang University of Architecture Danang, Vietnam

2 year, teaching %d-%d20102011
Work as a tutor, participation in the teaching of basic computer science disciplines.

IFI JSC. Danang, Vietnam

Developer %d-%d20092010
Developer: participation in the design and development of an online document and CV management/archiving platform using modern web technologies.


Work projects

Industrial embedded project dedicated to a train controlling system Elsys Design, Grenoble (2019-present)

Industrial embedded software designer
**Keywords**: `Linux driver, Embedded system, Yocto linux, middleware, software designer, automatic test, integration test, networking, continous integration` **Skills**: ` C, C++, Python, Rust, TCP/IP, Yocto linux, Jenkin, git` ----- Working as software designer (on behalf of Elsys), my current mission focuses mainly on the development of an industrial embedded software system dedicated to train controlling: * Participate to the documentation of specification, interface description, and test planning * Design and develop a new on-board maintenance middle-ware/service in **C, Rust** * Participating in the development and maintenance of a **Yocto Linux** layer for the embedded Linux distribution used by one of the hardware boards of the controlling system * Linux driver development * Develop and test new feature of the existing software system * Porting and test legacy softwares on new embedded board (in C) * Setup new continuous integration test bench for the new system

Multi-robots autonomous exploration of un known environment in ROS IMT Lille-Douai, France (2017-2019)

Post-Doc, research project
**Keywords**: `ROS, distributed system, middleware, robotic, mono and multi-robot SLAM, autonomous exploration, multi-agent, Vector map, PolySLAM` **Skills**: `ROS, C, C++, Python, PharOS (ROS binding for Pharo Smalltak), TCP/IP, linux` ----- **CPER-Data** European research project: Working as researcher in the robotic domain, particularly in: autonomous navigation, SLAM, multi-robot SLAM and navigation. We worked on PolySLAM, a new SLAM algorithm that produces vector based maps (PolyMap). This kind of map proved its advantage in multi-robot context thanks to its compact format that reduces the network overhead when exchanging the maps in a collaboration (autonomous) exploration.

Software/FPGA Co-design for Edge-computing: Promoting Object-oriented Design IMT Lille-Douai and ENSTA Bretagne, France (2014-2017)

PhD, research project
**Keywords**: `IoT, FPGA, edge-computing, middleware, Sensor network, Object Oriented, modelling, HW design, SW/HW co-design, embeded system` **Skills**: `VHDL, middleware architecture, C, C++, Smalltalk, UML, FPGA, ARM, embeded linux, network programming, language virtual machine` ----- Edge-centric computing for IoT requires sensors nodes with more software capability and processing power while being constrained by energy consumption. Hybrid hardware systems consisting of FPGA and processor (ARM) offer a good trade-off for this requirement. Applications design for such hybrid network/software/hardware (SW/HW) system remains always a challenged task. Our motivation is to propose a homogeneous design methodology and environment for such system. We study the application of a modern design methodology, in particular object-oriented design (OOD), to the field of embedded systems. We aim at using OOD to develop a homogeneous design environment for edge-centric systems. Our approach addresses three design concerns: (1) *HW design, where object-oriented principles and design patterns are used to improve the reusability, adaptability, and extensibility of the HW system*. (2) *HW / SW co-design, for which we propose to use OOD to abstract the SW/HW integration and the communication that encourages the system modularity and flexibility*. (3) *middleware design for Edge Computing which rely on a centralized development environment for distributed applications, while the middleware facilitates the integration of the peripheral nodes in the network, and allows automatic remote reconfiguration both SW and HW (FPGA).*

Optimization by parallelization of the 3d elastic Free Form Deformation algorithm DSV/I2BM/MIRCen - CEA Fontenay-aux-Roses, France (2012)

Master 2, research project
**Keyword**: `Bioinformatic, 3D image registration, image proccessing, Computer vision` **Skills**: `Python, C/C++, openCV, linux, teamwork` ----- Working in bioinformatic domain, my work addresses an optimization and parallelisation solution for an elastic 3D Freeform Deformation (FFD) algorithm implemented at MIRCen. The goal is to optimize the 3D mapping of biomedical multimodal mono and inter-subject data whose volume is increasing exponentially.

Interfacing the ArcRisk earthquake simulator and the GAMA platform Institut Francophone International and Vietnam Geophysical Institute (2011)

Master 1, research project
**Keywords**: `Simulation, GIS, GAMA, Multi-agents system, modelling` **Skills**: `Java, GAML, GIS` ----- Participation in the research of modeling and simulation of complex systems, a collaboration project between IFI and Vietnam Geophysical Institute: the objective is to set up a **multi-agent** simulation model to evaluate an earthquake rescue protocol using ArcRisk’s geographic data (GIS) and the GAMA modeling and simulation platform

Digital Asset Management System HD2NET, Paris – France

Fullstack developer, Industrial project (internship)
**Skills**: `Web technologies, PHP, HTML, CSS, Javascript, MySQL, linux, C, web server development` ----- Working as developer, participation in the "Digital Asset Management System" (DAMS) project, a software project for managing multi-media files online, in a collaboration between HD2NET, EISTI University and EPITECH University, Paris.

Personal projects

Jarvis the DYI robot

DYI Robot system for indoor autonomous exploration and navigation
It is one of my hobby project outside of my job. My goal in this DIY project is to make a low-cost yet feature-rich ROS (Robot Operating System) based mobile robot that allow me to experiment my work on autonomous robot at home. More information at: [https://doc.iohub.dev/jarvis/](https://doc.iohub.dev/jarvis/)


ROS based event driven control and visualization toolkit for PhaROS
**Keywords**: ` Pharo Smalltalk, PhaROS, ROS, robotic, visualization toolkit` **Skills**: `Smalltalk, ROS, C, C++` ----- A ROS control and visualization toolkit for the Pharo language (Smalltalk), it is built on top of the PhaROS client, provides the visualization API for our new PolySLAM algorithm. Galleon and the PhaROS client have won the ***3rd Innovation Technology Awards (15th Edition)*** of **ESUG 2018**. ([https://esug.github.io/2018-Conference/awardsSubmissions2018.html](https://esug.github.io/2018-Conference/awardsSubmissions2018.html)) For more information: [https://github.com/lxsang/Galleon](https://github.com/lxsang/Galleon)


A web desktop for accessing embedded linux or linux server from browser
**Keywords**: `web OS, web technologies, Web API, UI design, system design` **Skills**: `Javascript, CSS, HTML, Coffee script, Typescript` ----- AntOS is a front-end API that mimics the traditional desktop environment on the web browser. The original purpose of AntOS is to provide visual tools to access and control resource on remote server and embedded linux environment. With its application API and the provided SDK, AntOS facilitates the development and deployment of user specific applications. For more information: [https://doc.iohub.dev/antos](https://doc.iohub.dev/antos)

And many more...

Many of my personal or work projects are hosted on my Github page at: [https://github.com/lxsang](https://github.com) or on my blog [https://blog.iohub.dev](https://blog.iohub.dev)


ICARSC2019: Best paper award - Industrial Robot Porto-Portugal

Award for the paper: 'PolySLAM: a polygon-based SLAM algorithm'
19 IEEE Conference on Autonomous Robot Systems and Competitions [**Link to certificate**](https://os.lxsang.me/VFS/shared/58bdf6946d0f73024445fb0dda32217f2e5bcd7b)

ESUG 2018: Innovation Technology Awards 15th Edition Cagliari, Italy

3st Innovation Technology Awards for PhaROS, a ROS based client for Pharo
**Authors:** Santiago Bragagnolo, Luc Fabresse, Xuan Sang Le, Noury Bouraqadi [https://esug.github.io/2018-Conference/awardsSubmissions2018.html](https://esug.github.io/2018-Conference/awardsSubmissions2018.html) [**Link to Certificate**](https://os.lxsang.me/VFS/shared/301bb802865ece496224fd42b934f6c664261700)

IWST 2015 Best paper Brescia, Italy

Award for the paper ’A meta model supporting both hardware and smalltalk-based execution of fpga circuits’.
[**Link to certificate**](https://os.lxsang.me/VFS/shared/8e7db4283833b04ce359854e4f3a83dd04b5fb66)


French (franco-vietnamese)

fluent in writing and speaking


fluent in writing and speaking


native language

Technical skills

Programming skills

C, C++, Rust, Pharo (Smalltalk), Python, Ruby, Java, PHP, Lua, Shell script, VHDL, HTML, Javascript, CSS, Coffee script, Typescript, Yocto Linux Also basic ability with: Assembly, Matlab, nodejs, RESTful web services, Linux, buildroot, Android


Latex, Libre Office, SVN, git, KiCAD (PCB design), FreeCAD (3D design), Cura 3D (3D printing)

Embedded and robotic system

ARM Cortex M0/M3,AVR 8/16 bit, Arduino, Raspberry PI, NVIDIA Jetson nano, Xilinx Zinq, armadeus APF51, Xilinx Spartan 6, sensor network, distributed and IoT system


Parametric 3D model design & printing (**3D printer**) **Soft skills**: Autonomous, team work skill, multidisciplinary domains flexibility, good research and learing spirit, can write well organised and structured reports and publications

Other Activities

Co-supervision of two students in a PDR project (Projet de Découvert de Recherche) IMT Lille-Douai

40 hours %d-%d20192019

ICIRA 2018 PC member

Program committee member for The 11th International Conference on Intelligent Robotics and Applications, Newcastle, Australia, August 9-11, 2018 %d-%d20182018

Teaching 2018: Object-Oriented Programming in Java IMT Lille-Douai

Engineering course %d-%d20182018

2018: Supervision of a master 2 student IMT-Lille Douai

Master degree %d-%d20182018

IWST 2017 PC member

Program committee member for the International Workshop on Smalltalk Technologies 2017, Maribor, Slovenia; September August 5th, 2017 %d-%d20172017

ReConFig 2016 PC member

Program committee member for International Conference on ReConFigurable Computing and FPGAs, 2016 %d-%d20162016

Teaching : Object-oriented programming in Pharo / Smalltalk and Java (40 hours) IMT Lille-Douai

Engineering course %d-%d20152015


Dichtl, J., LE, X. S., Lozenguez, G., Fabresse, L., & Bouraqadi, N. (2019). *Robot navigation with polymap, a polygon-based map format*. In Intelligent systems conference (intellisys). London, UK. **2019**

Dichtl, J., LE, X. S., Lozenguez, G., Fabresse, L., & Bouraqadi, N. (2019). *PolySLAM: a Polygon-based SLAM algorithm*. ICARSC2019: 19th International Conference on Autonomous Robot Systems and Competitions. Porto, Portugal. **2019**.

Xuan Sang LE, Luc Fabresse, Noury Bouraqadi, & Guillaume Lozenguez. (2018). Evaluation of Out-of-the-box ROS 2D SLAMs for Autonomous Exploration of Unknown Indoor Environments. I*n The 11th International Conference on Intelligent Robotics and Applications*. ewcastle, Australia, August 9-11, **2018**

Xuan Sang LE, Jean-Christophe Le Lann, Loïc Lagadec, Luc Fabresse, Noury Bouraqadi, and Jannik Laval. Cardin: An agile environment for edge computing on reconfigurable sensor networks. *In the proceedings of The 2016 International Conference on Computational Science and Computational Intelligence (CSCI’16)*, Las Vegas, Nevada, USA, **2016**.

Xuan Sang LE, Luc Fabresse, Jannik Laval, Jean-Christophe Le Lann, Loïc Lagadec, and Noury Bouraqadi. Speeding Up Robot Control Software Through Seamless Integration With FPGA. *In SHARC ’16: 11th National Conference on Software and Hardware Architectures for Robots Control*, Brest, France, **2016**.

Xuan Sang LE, Luc Fabresse, Jannik Laval, Jean-Christophe Le Lann, Loïc Lagadec, and Noury Bouraqadi. Dynamic distributed programming on reconfigurable ip-based smart sensor networks. *Presented as poster at 11ème Colloque du GDR SoC-SiP*, France, **2016**.

Xuan Sang LE, Loïc Lagadec, Luc Fabresse, Jannik Laval, and Noury Bouraqadi. A meta model supporting both hardware and smalltalk-based execution of fpga circuits. *IWST ’15*, pages 6:1–6:14, **2015**.

Xuan Sang LE, Loïc Lagadec, Luc Fabresse, Jannik Laval, and Noury Bouraqadi. From Smalltalk to Silicon: Towards a methodology to turn Smalltalk code into FPGA. *In IWST 14, Cambridge, United Kingdom*, August **2014**.