Xuan Sang LE Curriculum Vitae

Grenoble, France

07 82 38 ** ** xsang DOT le AT gmail DOT com https://blog.lxsang.me Download

Currently PhD and research engineer in computer science, I'm particularly interested in: (1) object-oriented (OO) design methodology on hardware design and embedded systems, OO-based software architectures/ tools/ platforms, (2) autonomous robotic system, mono and multi-robot SLAM and navigation; (3) system/ middleware design and development; (4) Distributed network systems, IoT, sensor network and modern web technologies.


PhD in computer science Brest, France

Université de Bretagne Occidentale 2014-2017

Master in computer science La Rochelle, France

Université de La Rochelle 2011-2013

Engineer in computer science Danang, Vietnam

Polytechnic School of Danang 2004-2009

Previous Employment

INRIA Lille Nord Europe

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

IMT Lille-Douai Douai, France

2 year, Post-Doc 2017-2019
Working as a postdoc in the research of multi robot exploration of unknown environment using Robotic Operating System (ROS).

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

3 year, PhD 2014-2017
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 2010-2011
Work as a tutor, participation in the teaching of basic computer science disciplines.

IFI JSC. Danang, Vietnam

Developer 2009-2010
Developer: participation in the design and development of an online document and CV management/archiving platform using modern web technologies.


Work projects

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

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** project: Working as researcher in the robotic domain, particularly in: autonomous navigation, SLAM, multi-robot SLAM and navigation. We are currently working 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. More information on the project: * [https://github.com/lxsang/ROS-packages](https://github.com/lxsang/ROS-packages) * [https://github.com/CARMinesDouai/PolySLAM-PhaROS7](https://github.com/CARMinesDouai/PolySLAM-PhaROS7)

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

Engineering, 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


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)


Lightweight extensible web server for (embedded) linux system
**Keywords** : `server development, web server, embedded linux ` **Skills** : `C, TCP/IP, HTTP, HTTPs, SSL, Open SSL, Web socket, Sqlite 3` ----- A lightweight and portable HTTP/HTTPs web server written in C standard: It can be configurable to work well on embedded Linux for server application. It supports SSL via open SSL, database via Sqlite 3 and web socket. It is also extensible via a extension mechanism that allows to easily extend the server capability. All the content on my website ([https://lxsang.me](https://lxsang.me)) is powered by this server (with Lua). For more information: [https://github.com/lxsang/ant-http](https://github.com/lxsang/ant-http) [https://github.com/lxsang/ant-plugins](https://github.com/lxsang/ant-plugins)


A web desktop for accessing embedded linux or linux server from browser
**Keywords**: `web OS, web technologies, Web API, UI design` **Skills**: `Javascript, CSS, HTML, Coffee script, Web design` ----- Server or Embedded Linux are often headless, so accessing the resource on these systems is not always obvious. The aim of this project is to develop a client core API that provides a desktop like experience to remotely access resource on the server using web technologies. The API defines the core UI, system calls (to server), Virtual File system, virtual database and the necessary libraries for easing the development of applications. Applications can be developped with coffee/javascript/css without the need of a server side script. Dynamic contents on my website are created using an AntOS's apllication. A demo of the web desktop is available on my page: [https://os.lxsang.me/](https://os.lxsang.me/). For more information: [https://github.com/lxsang/antos](https://github.com/lxsang/antos)


Minimal embeded linux system build from scratch
**Keywords**: `Linux, Buildroot, Linux from scratch, Raspberry PI` **Skills**: `Linux, build root, c, c++, shell script, makefile` ----- Building a minimal embedded Linux system from scratch for Raspberry Pi and Nano Pi neo boards For more information: [https://github.com/lxsang/antix](https://github.com/lxsang/antix)


A no operating system (NOS) Smalltalk VM for Raspberry Pi
**Keywords**: `Smalltalk VM, language VM, NOS, Raspberry Pi, embedded system` **Skills**: `VM development, C, ASM, Smalltalk, embedded development, Newlib` --- SmallIoT is a tiny Smalltalk VM that runs on bare-bone Raspberry Pi without any OS installed. The communication with the VM on the Pi is established via UART line via a terminal emulator, in which user can directly type Smalltalk code to program and control the Pi in real-time For more information: [https://github.com/lxsang/smallIoT](https://github.com/lxsang/smallIoT)

And many more...

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


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)



fluent in writing and speaking


fluent in writing and speaking


native language

Technical skills

Programming skills

C, C++, Pharo (Smalltalk), Python, Ruby, Java, PHP, Lua, Shell script, VHDL, HTML, Javascript, CSS, Coffee script 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

Arduino, Raspberry Pi, FPGA, ROS, 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


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

40 hours 2019-2019

ICIRA 2018 PC member

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

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

Engineering course 2018-2018

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

Master degree 2018-2018

IWST 2017 PC member

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

ReConFig 2016 PC member

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

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

Engineering course 2015-2015


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**.