Data-Driven Hybrid Motion–Force Control for Robust Human–Manipulator Interaction Lancaster University – in collaboration with United Kingdom National Nuclear Laboratory (UKNNL)
We invite applications for a fully funded PhD studentship at Lancaster University’s School of Engineering, in partnership with United Kingdom National Nuclear Laboratory (UKNNL). This exciting project will develop novel data-driven, robust, and adaptive control methods for human–robot interaction and teleoperation, with direct applications in nuclear robotics, hazardous environment manipulation, and beyond.
Project Overview
Teleoperation is a critical enabler for safe and efficient operation in hazardous environments such as nuclear decommissioning. However, current industrial solutions suffer from limitations under uncertainty, time delays, and noisy sensing.
This PhD project will design and experimentally validate a hybrid motion–force control framework that ensures precise end-effector positioning while maintaining robust and adaptive force regulation under real-world conditions. Research will include:
- Development of nonlinear robust adaptive controllers and disturbance observers.
- Design of bilateral teleoperation schemes that enhance transparency and stability under communication delays.
- Integration of data-driven approaches for force estimation and safety.
- Experimental validation on industrial robotic platforms at the UKNNL Hot Robotics Facility.
The project provides the opportunity to work on cutting-edge robotics challenges with significant industrial impact, supported by state-of-the-art facilities at both Lancaster University and UKNNL.
Supervisory Team
- Dr Allahyar Montazeri (Lead Supervisor, School of Engineering, Lancaster University; Data Science Institute Member)
- Professor Plamen Angelov (Co-Supervisor, School of Computing and Communications, Lancaster University; Data Science Institute Member)
Training and Development
- The successful candidate will receive a tailored training programme including:
- Hands-on training with ROS2, MATLAB/Simulink, and CoppeliaSim.
- Access to world-class robotics laboratories and facilities.
- Opportunities to engage with national and international conferences, workshops, and training events.
- Insight into the nuclear sector through industrial collaboration with UKNNL.
Funding
- Duration: 4 years (3.5 years EPSRC Doctoral Landscape Award + 0.5 years UKNNL extension)
- Coverage: UKRI minimum stipend, tuition fees for Home students, and a research training support grant.
- Additional support for consumables, maintenance, and travel.
Eligibility
- Open to UK Home students only, due to clearance requirements for UKNNL facilities.
- Applicants should have (or expect to obtain) a First or Upper Second-Class degree (or equivalent) in Engineering, Control, Robotics, Computer Science, or a related discipline.
- Strong mathematical and programming skills (MATLAB, Python, or C++) are highly desirable.
Application Process
Applicants should submit:
- A full CV.
- A one-page cover letter outlining their motivation and suitability for the project.
- Reference letter from two academics commenting on the candidate abilities.
Applications will be considered on a rolling basis until the position is filled, with an expected start date of January 2025.
Closing Date – 1st December
For informal enquiries, please contact Dr Allahyar Montazeri
Details
Start Date: As soon as possible
Deadline for application: Open (it is recommended you apply as soon as possible)
Interview: Rolling
Description
If you’re interested in protecting AI from rapidly emerging cyber threats and securing a technology that will define the coming decades, this PhD studentship is for you.
We are seeking candidates to join our AI security group at Lancaster University, and become part of this rapidly growing research field.
The adoption of Artificial Intelligence (AI) and prominent technologies such as Generative AI, LLMs, and Agentic AI systems is rapidly accelerating across both research and industry.
While there is considerable research activity on the application of AI for security, there has been less attention towards the security of AI itself. AI security focuses on addressing cyber security risks against the AI systems against a wide plethora of cyber attacks, spanning prompt injection, data leakage, jailbreaking, bypassing guardrails, model backdoors, and more. The emergence of such AI risks has drawn the attention of every nation and major business, however existing cyber security tools and methods are ineffective within AI systems due to the intrinsically random, complex, and opaque nature of neural networks. To date, how to secure today’s and tomorrow’s AI models and systems remains unsolved.
This project would provide you the skill and training necessary to become a researcher specializing in AI security – an area that is increasingly sought after in academia and industry.
Research Areas
Topics of interest you could pursue include:
- Discover new types of cyber attacks / security vulnerabilities in AI and GenAI
- Create defence systems and countermeasures against AI cyber attacks
- Design run-time detection systems for prompt injection and jailbreaking
- Explore different cyber attack modalities (i.e. malicious instructions in images/audio)
- Build and develop cutting-edge LLM guardrails and firewalls
- Investigate hidden security characteristics within neural networks
- Identify ShadowAI – malicious AI systems hidden within an organization
- Uncover backdoor attacks and model hijacking within ML artefacts
What We Offer
- A 3.5-year fully funded PhD studentship (including both tuition and stipend).
- Access to a large-scale GPU data centre entirely dedicated to our research lab.
- Comprehensive training in cutting-edge AI technology and cyber security techniques.
- Employment opportunities at Mindgard (https://mindgard.ai/), an award-winning AI security company founded at our lab, and now based in the heart of London.
- Collaboration opportunities with Nvidia, Mindgard, GCHQ’s National Cyber Security Centre, and NetSPI, amongst others.
- Opportunity to travel to conferences internationally to present your research.
Our Research Lab
We are among the few labs globally specializing in AI security. You will be part of a new cohort of PhD students joining an established team of scientists and engineers. Founded in 2016, the research lab led by Professor Peter Garraghan is internationally renowned in AI systems and security, publishing over 70 research papers, securing over £14M in external grant funding, the formation of Mindgard, and all research students to date securing positions in academia or industry R&D labs upon graduation.
About You
- We highly value people who are kind, curious and believe in making a difference.
- A good background in Computer Science, ideally a BSc in Computer science (or equivalent) with a 2:1 classification and above.
- Interest in Artificial Intelligence, Cyber Security, Distributed Systems, or a combination of the above.
- Highly motivated, and capable of working both independently and as part of a team.
- Good communication, technical knowledge, and writing skills.
Get in Touch
These positions are available now, thus candidates are strongly recommended to apply as early as possible.
For informal enquiries about these positions, please contact and share your CV with Professor Peter Garraghan. To apply, please visit our school PhD opportunities page, which includes guidance on submission, and a link to the submission system.
About the Project
Optimising recovery and return to combat readiness is key to ensuring military personnel are prepared for deployment in the UK and overseas. Utilising 3D motion capture for assessing gait of military personnel is the “gold standard,” but not logistically feasible due to the number of personnel requiring assessment, time taken to assess, digitise, and analyse the data, cost, and expertise to interpret it.
AI driven mobile phone applications that track gait have the potential to revolutionise how we assess gait and diagnose gait disorders not only in military personnel but all clinical populations. Their ease of use, speed of feedback and low cost makes them an ideal tool to be implemented into clinical practice, particularly in a rehabilitation setting.
We have developed a 3D human estimation pose model capable of capturing and measuring gait, but it has not been validated in a clinical population or been compared to the “gold standard” 3D motion capture. Our aim in collaboration with the Ministry of Defence is to adapt and refine our existing 3D human estimation pose model to be able to automatically detect and diagnose gait disorders in military personnel with overuse injuries.
We have four key objectives:
Objective 1: To adapt our existing model to capture and analyse biomechanical data from military personnel with and without overuse injuries
Objective 2: To determine the validity of the biomechanical data obtained from our model compared to the “gold standard” 3D motion capture in military personnel with and without overuse injuries
Objective 3: To identify, test, and validate possible solutions for the modelto diagnose gait disorders in military personnel with overuse injuries
Objective 4: Test real time execution of digitisation, application and data extraction when using the model to diagnose gait disorders in military personnel with overuse injuries
We are looking for an enthusiastic, proactive and highly motivated PhD candidate.
Experience in 3D motion capture, machine learning, AI or data analysis strongly desirable. This project is in collaboration with the Ministry of Defence, and some travel will be expected between Lancaster University (host institution) and the Defence Medical Rehabilitation Centre Stanford Hall for meetings, recruitment of personnel and data collection.
Essential:
- 2:1 or 1st class undergraduate degree (or equivalent) in sport science, biomechanics, computer vision or computer science related disciplines
Strongly desirable:
- A Merit or Distinction postgraduate degree (or equivalent experience) in sport science, biomechanics, computer vision or computer science related disciplines
- Experience in collecting data from participants in research studies
- Demonstrate expertise in quantitative research methods
- Experience in machine learning and/or AI
- Experience in 3D motion capture and/or biomechanical assessment of gait
- Experience of presenting at international conferences and/or publishing in peer-reviewed journals
Funding
A successful applicant will receive a stipend towards living expenses at the UKRI rate (currently £ £20,780 per year) and £1000 per year to support training and development needs (e.g., attend courses or conferences).
Supervisory team
Dr Hannah Jarvis - Lancaster University has expertise in gait assessment and led previous research projects with the Ministry of Defence. Co-supervisors are Professor Jun Liu - Lancaster University, expertise in computer vision and machine learning, and Professor Neil Reeves - Lancaster University, expertise in digital health technologies and cyber security. You will also be supervised by colleagues from DMRC Stanford Hall.
In your application, please include:
Application deadline 31st October 2025, 5pm
Interviews early November – date tbc
Contact Information
Please contact Dr Hannah Jarvis