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Master Theses at IRIS

ETH Zürich is using SiROP to publish and search scientific projects. With your university login you get free access to internships, scientific projects, Bachelor’s and Master’s theses. For more information please visit sirop.org.

Jul 20, 2017

A Micro Opto-Fluidic Device for Laser Osteotomy

In this project, the Master candidate will support our interdisciplinary team in the development of a 3D printed microfluidic device for irrigation. One of the most efficient laser ablation mechanisms is thermal vaporization. In order that this process will be effective one has to create a cont ...

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Jul 19, 2017

Development of Impedance Controller for the VariLeg Exoskeleton

VariLeg is an exoskeleton designed to enable paraplegics to walk over natural terrain and everyday obstacles. After training intensively for multiple months, the VariLeg team and one of their two paraplegic pilots successfully participated in the Cybathlon 2016.

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Jul 19, 2017

Internship Opportunity in the VariLeg exoskeleton project (unpaid)

VariLeg is an exoskeleton designed to enable paraplegics to walk over natural terrain and everyday obstacles. After training intensively for multiple months, the VariLeg team and one of their two paraplegic pilots successfully participated in the Cybathlon 2016.

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Jul 19, 2017

Robotic Endoscope for Laser Osteotomy

In this project, you will support our interdisciplinary team in stabilizing and controlling the end-effector of a robotic endoscope which is guided by a serial robot.

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Jul 19, 2017

Visual-inertial navigation on a quadruped robot using Google Tango

The goal of this project is to use Google Tango to enable teach and repeat applications on RSL’s highly agile quadruped ANYmal.

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Jul 17, 2017

Bubble-powered soft acoustomagnetic microrobots

The newly designed microrobot consists of a cavity at the center of its body and superparamagnetic particles within the polymer matrix. The microcavity supports an air-bubble trap, which enables propulsion in an acoustic field, and the magnetic particles allow controlled motion in a magnetic fi ...

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Jul 16, 2017

Development of an intelligent single-leg testbench

Develop a intelligent single-leg testbench for validation of sensors and applied machine learning.

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Jul 16, 2017

Development of a “pseudo” direct-drive motor

This project is about the development and design of an integrated "pseudo" direct-drive motor for legged robotics.

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Jul 16, 2017

Development of a new type of force sensor

In this project we are going to investigate how to integrate force sensing capability directly into structural elements of a legged robot.

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Jul 13, 2017

Monocular Initialization from Small Motion

The project aim to develop algorithms to initialize monocular visual odometry from small motion.

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Jul 13, 2017

Feature Tracking/Matching in Dynamic Scenes

The project aims to develop algorithms for robust feature tracking/matching in dynamic environments.

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Jul 6, 2017

Somnomat: an Actuated Bed to Improve Sleep

A good night’s sleep is one of the most important factors influencing health and wellbeing. Within the SOMNOMAT project we are developing actuated beds that improve the sleep Quality of their us.

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Jul 5, 2017

Informative Path Planning for UAVs in Search & Rescue

The main objective of this project is to develop an informative path planning algorithm for UAVs operating in search and rescue scenarios.

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Jul 4, 2017

Design and actuation of bistable structures for medical applications

Bistable structures are structures that exhibit two different equilibrated configurations. Energy for their actuation is thus only required to switch from one configuration to the other, which make them more energy efficient than classical solutions. Our team is currently investigating the use of ...

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Jun 30, 2017

Large-scale Dense Scene Reconstruction from Multiple UAVs

The goal of this project is to develop a system that generates a dense 3D reconstruction of a scene from camera image streams from multiple Unmanned Aerial Vehicles (UAVs)

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Jun 30, 2017

Machine learning for multicopter based semantic mapping

This project looks at the integration of pixel and object wise semantic classification into an existing 3D dense mapping infrastructure. The system will run online onboard a multicopter as it explores an area.

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Jun 30, 2017

Rezero with Arms – Developing the Next Generation of Interactive Robots

Develop a new version of Rezero, a robot dynamically balancing on a ball (ballbot) by extending it with one or multiple fully actuated manipulators to interact with people and objects.

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Jun 30, 2017

Collaborative Map Building and Localization using Multiple UAVs

The goal of this project is to develop a system that generates a 3D map out of data collected by multiple Unmanned Aerial Vehicles (UAVs), and subsequently allows multiple UAVs to localize in this pre-built map.

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Jun 29, 2017

Large Scale Stone Aggregation

This project is about autonomous object aggregation with a walking excavator. The goal is to explore, implement, and evaluate methods for discrete object assembly on a full scale construction machine.

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Jun 29, 2017

Modelling and Simulation of 3-Phase PMSM-Based Actuators

The objective of this project is to develop a model and tool for simulating the effects of electric motor dynamics on legged systems using actuators incorporating Permanent Magnet Synchronous Motors (PMSMs), a generalized version of common DC Brushless (BLDC) motors.

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Jun 29, 2017

Using Machine-Learning to Learn Models of 3-Phase PMSM Actuator Dynamics

The objective of this project is to apply Machine-Learning techniques to develop a data-driven approach for learning physical models of electric PMSM-based actuators. These models may then be used to advance the sensing and control capabilities of Series Elastic Actuators used on the robotic syst ...

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Jun 29, 2017

Exploitation of Series-Elastic Actuator Dynamics in Legged Robots using Reinforcement Learning

The objective of this project is to explore machine-learning techniques, specifically Reinforcement Learning, to allow legged robots incorporating elastic elements at the joints, to exploit these in order to increase locomotion performance and efficiency.

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Jun 28, 2017

5-leg walking with a walking excavator

The aim of this project is to develop walking gaits for a Menzi Muck M545 walking excavator, where the boom of the excavator can also be used as a leg. State of the art algorithms from legged robots, e.g. anymal, should be implemented.

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Jun 28, 2017

Excavation planning for an autonomous walking excavator

The aim of the project is to create a planning tool to excavate large 3D areas using a Menzi Muck walking excavator.

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Jun 28, 2017

Excavator climbing on a truck with scripted motion plans

The aim of this project is to enable a highly customized 12ton Menzi Muck to do certain scripted motions or tasks like autonomously climbing on the back of a truck or walking sideways.

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Jun 26, 2017

Adaptive Learning Control Concept with ARMin V

Evaluate possible learning control strategies for an implementation in ARMin. Implement the selected controller in ARMin. Conduct a technical study showing the accuracy and usability of the chosen learning controller.

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Jun 20, 2017

Optical Flow Estimation with an Event Camera

The goal of this project is to use event cameras to compute the optical flow in the image plane induced by either a moving camera in a scene or by moving objects with respect to a static event camera.

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Jun 20, 2017

Building a high-speed camera! Learning Image reconstruction with an Event Camera

The goal of this project is to turn an event camera into a high-speed camera, by designing an algorithm to recover images from the compressed event stream.

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Jun 20, 2017

A Visual-Inertial Odometry System for Event-based Vision Sensor

The goal of this project is to develop visual-inertial pipeline for the Dynamic and Active Vision Sensor (DAVIS). The system will estimate the pose of the DAVIS using the event stream and IMU measurements delivered by the sensor.

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Jun 20, 2017

Continuous Structure From Motion (SfM) with an Event Camera

The goal of this project is to explore the possibilities that continuous structure from motion (SfM) has to offer for event cameras.

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Jun 16, 2017

The acoustic nanoswimmer

We develop a new class of nanoswimmer, which propels through aqueous solution by small-amplitude undulation of flexible tail in a predominant travelling acoustic waves.

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Jun 15, 2017

ANYmal on Rollerblades: Design, Simulation and Control of a Rollerblading Robot

This project explores novel design, simulation and locomotion principles to enable ANYmal to perform gaits that mimic those used by human rollerbladers, for example those that combine walking or running with skating motion.

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Jun 15, 2017

Computer Vision for Human-Robot Interaction

The goal of this project is to develop a system for human-robot cooperation for a manipulation task on a tabletop-sized workspace.

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Jun 9, 2017

Surgical Robot for Laser Osteotomy

In this project, the Master candidate will participate in the development of a surgical robot for the manipulation of a semi-flexible endoscope. The robot has 6 DoF for the control of the position and orientation of the endoscopes tip and an additional DoF for the bending of the tip.

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Jun 8, 2017

Magnetic Control of a Microcatheter for Treating Glaucoma

Glaucoma is the second leading cause of blindness in the world, according to the World Health Organization. We wish to investigate a new surgical method using magnetic control of a catheter for treating glaucoma.

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Jun 8, 2017

A Two State Information Filter for Legged Robots

The aim of this project is to implement, test and verify a two-state information filter (TSIF) for a quadruped robot and a walking excavator to estimate the pose and velocities of the robots, as well as model parameters such as inertias and location of center of mass.

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Jun 8, 2017

3D Anatomy Reconstruction using a Magnetic Endoscope

We wish to reconstruct 3D meshes of internal human anatomy using videos obtained from a magnetically controlled endoscope.

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Jun 8, 2017

Improving sleep quality for healthy aging with wearables

Sleep is essential for a healthy brain function. Consequently, applications that improve this sleep rhythm have become a central topic in sleep research. We aim to investigate how in-home long-term applications of auditory sleep enhancement affects sleep quality, and other physiological/behavio ...

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Jun 8, 2017

Shifting the paradigm in sleep classification algorithms

During sleep studies there is a need to influence sleep patterns in real time. Constant visual inspection of physiological signals by expert clinical staff is too costly and ineffective. To achieve unsupervised sleep detection, an automatic algorithm is needed.

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Jun 6, 2017

Magnetoelctric Nanocomposite Microrobots for Neuron Cell Delivery and Differentiation

In this project, we would like to develop a nanocomposite helical microrobots based on piezoelectric materials, which can be employed to deliver neuron cells, and, at the same time, to promote the cell differentiation through wireless electrostimulation.

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Jun 6, 2017

How does perturbing the knee modify kinematic variability and dynamic stability during walking?

Although humans are very good at maintaining balance while walking, how it is achieved is poorly understood. Our goal is to better understand dynamic balance control by describing responses to perturbations to the gait pattern, for example, by locking the knee joint during swing phase. In this pr ...

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Jun 5, 2017

Analysis of leg muscle activity during undisturbed and disturbed walking

A device called the ETH Knee Perturbator has been developed at the RELab. It can induce knee joint perturbations during walking. Measurements of muscle activity while wearing the device and during perturbations offers useful insight in muscle recruitment when gait is disturbed.

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Jun 5, 2017

Maintaining balance after trips: role of movement patterns

Humans use stereotypical movement patterns to recover from trips during walking, but how we choose which pattern to use is poorly understood. The goal of this project is to determine whether single or multiple responses are necessary to ensure balance recovery after trips in a model of human ga ...

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May 30, 2017

Design and evaluation of a control system for a variable stiffness catheter for eye surgery

The student will design a control system for a variable stiffness catheter. The catheter is infused with a Low Melting Point Alloy, which needs to be temperature controlled in order to control the stiffness. Feedback for the controlled is provided via the resistance change in the alloy.

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May 24, 2017

Visual-Inertial Odometry Pipeline

The goal of this project is to develop a visual-inertial pipeline for mobile robots. The system will estimate the pose of the robot using one or multiple cameras and IMU measurements.

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May 23, 2017

Interaction Forces in Climbing: What metrics are suitable to monitor progress in training and how should they be assessed?

Climbing is still a fast growing competitive and recreational sport, however, research on forces applied in climbing are still in its infancy. This project will elaborate new methods to assess interaction forces in climbing.

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May 23, 2017

Interaction Forces in Climbing: How to assess them in an affordable manner?

Although contact forces between climber and hold have been emphasized as an important component in successful climbing, affordable instrumentation to measure these forces are not available, especially for measuring holds with arbitrary shapes. In this project, affordable instrumention is develope ...

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May 23, 2017

Conducting Rehabilitation Studies with ARMin V

Recrute and supervise a designed therapist-orientated study to further increase usability of the robotic rehabilitation device ARMin V. The study will contain ca. 15 physiotherapists and the measurements will be taking place at the Balgrist Campus and Clinic Lengg.

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May 23, 2017

Expertise in climbing: Comparison of perception and action

This project will investigate (i) whether advanced climbers better perceive their action capabilities than intermediate climbers, and (ii) whether advanced climbers act nearer to their maximal action capabilities.

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May 22, 2017

Game and GUI Development for the Rehabiliation Robot ARMin V

Upgrade our graphical user interface for therapists and develop an interesting game for stroke patients.

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May 20, 2017

Tethered Drone

In this project we aim to develop a system for deploying a tethered drone from a ground robot to provide additional situational awareness for operators.

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May 15, 2017

Hand-Eye Calibration Toolbox

Hand-Eye calibration is a paramount pre-processing stage of many robotic and augmented reality applications. The goal of this project is to develop a user-friendly hand-eye calibration toolbox integrated with our robotic system.

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May 15, 2017

Integrated Multi-Camera Calibration Toolbox

Camera calibration is a paramount pre-processing stage of many robotic vision applications such as 3D reconstruction, obstacle avoidance and ego-motion estimation. The goal of this project is to develop a user-friendly, single and multi-camera calibration toolbox adapted to our robotic system.

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May 10, 2017

Perception for Drone Racing

In this project we aim to detect 3D objects in image data for use in within our autonomous drone racing system.

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May 8, 2017

Actuation Design for a bone-mounted Parallel Mechanism

In this project, the candidate will support our interdisciplinary team in stabilizing and controlling the end-effector of a robotic endoscope which is guided by a serial robot.

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May 2, 2017

High-speed Augmented Realty with Event-based Cameras

The goal of this project is to achieve high-speed camera pose tracking of a single event-based camera unlocking the possibility of virtual reality applications. The tracking system shall use an a priori unknown pattern which will have to be learnt on-the-fly.

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Apr 26, 2017

Detection, Pose Estimation and Manipulation of Arbitrarily Shaped Objects

Depending on student's interest and background there are multiple available projects within the scope of mobile manipulation project described below.

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Apr 26, 2017

Deep Learning for Semantic SLAM

The goal of this project is to train a deep neural network to segment robot sensor data (vision / LiDAR) into semantic scenes. The segmentation is then used to facilitate the SLAM process.

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Apr 21, 2017

Deep Scale Learning for Visual Motion Estimation (MA/SA)

The goal of this project is to train a deep neural network to estimate scale for a purely visual motion estimation framework. This will enable robots to perform metric ego-motion estimation without use of additional information sources such as an IMU or wheel encoders.

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Apr 20, 2017

Learning Visual Object Descriptors

The goal of this project is developing and evaluating a machine learning based full-object descriptor algorithm for object retrieval

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Apr 12, 2017

Advanced lithographies for single-bacteria trapping

Single-cell analysis gives important insights into heterogeneity among cells and will be beneficial to cancer research, regenerative medicine and pharmaceutical development. A 3D-printer at the nanoscale will be used to produce micron-sized masters of wells for capturing single bacteria.

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Apr 3, 2017

Physical Threshold Detection

In human environments, windows and doors represent thresholds between spaces. This project deals with designing a system to robustly detect windows/doors/thresholds that a quadrotor could fly through, using cameras and range sensors.

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Apr 3, 2017

Automated Wound monitoring at home

In this study we aim to identify biomarkers on wound images in a clinical proof of concept study with diabetic foot ulcer patients

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Mar 30, 2017

Technology based assessment of upper limb function during the rehabilitation of neurological patients

The Virtual Peg Insertion Test (VPIT) is a novel tool to measure upper limb function to provide additional quantitative information during the rehabilitation of neurological patients.

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Mar 7, 2017

A Cognitive Computer Vision Framework for the Automated Robotic Assembly of Lego Pieces

The goal of this MSc thesis is to design and implement a cognitive computer vision framework capable of understanding and extracting the knowledge for putting together Lego pieces into Lego assemblies based on a visual rendering of assembly instructions. See attached document for further detail ...

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Mar 3, 2017

Path planning for UAVs with Visual-Inertial SLAM

The goal of this project is to develop a path-planning algorithm for small, rotorcraft UAVs providing it with the ability to cope with an incrementally generated map without any prior information about the environment.

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Feb 24, 2017

Advanced Control Systems for 6-Phase PMSM Actuators

The objective of this project is to design an advanced control strategy for the commutation and torque control of 6-phase Permanent Magnet Synchronous Motors (PMSM).

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Feb 23, 2017

Towards Implantable Motion Tracking using Inertial Sensors

Development and validation of algorithms for motion tracking using implanted inertial sensors

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Oct 24, 2016

Study the Motion Limit of Visual Odometry

Specific work will include the theoretical analysis of the visual odometry pipeline and validation by simulation/experiments. It is also possible to perform the study for different camera configurations.

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Oct 24, 2016

Robust and Adaptive Multi-Camera Visual Odometry

The project aims to develop a robust and adaptive multi-camera visual odometry pipeline based on the existing framework in our lab.

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Oct 24, 2016

Learning Depth from Images and IMU Measurements

In robotics, the inertial measurement unit (IMU) is a commonly used sensor and provides the motion information of the correct scale. This project aims to implement a deep learning algorithm that can estimate the scene depth from images and the IMU measurements.

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Oct 24, 2016

Smart Feature Selection In Visual Odometry

The student is expected to study how motion estimation is affected by feature selection (e.g., number of features, different feature locations). The ultimate goal will be to implement a smart feature selection mechanism in our visual odometry framework.

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Oct 24, 2016

Learning Motion from Blur

The goal of the project is to implement a Machine Learning algorithm that can recover the camera motion from a single blurry image.

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Aug 1, 2016

Novel tool to assess upper limb function in neurological patients

The Virtual Peg Insertion Test (VPIT) is a novel tool to measure upper limb function combining haptic feedback, virtual reality and an instrumented handle that records grasping force. The objective of this project is to establish and systematically evaluate performance metrics collected on the VP ...

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