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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.

Mar 21, 2017

Simulation for robotics

The selected student is expected to develop a dynamically accurate physics engine and a simulator for robotic applications

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Mar 10, 2017

Computer vision & state estimation for fixed-wing UAVs

If you are interested in computer vision and/or state estimation in combination with UAVs, please send an e-mail to hitimo@ethz.ch and attach your CV, grades & programming experience.

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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 7, 2017

Development of virtual reality exercises for the training of cooperative hand movements

This project aims to develop a new Virtual Reality therapy exercise for the Hand Spindle robot. The exercise will be focused on bimanual movements.

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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

Development of a Pressure Sensing Pillow for Surgery

During many surgeries, the patient is fully awake. This results in the danger of involuntary patient movement, which may result in damage of tissue. This project aims at the development of a pressure sensing pillow that comfortably supports the patient’s head and at the same time senses its pos ...

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Feb 24, 2017

Advanced Sensing & Control of 3-Phase PMSM Actuators

The objective of this project is to design an advanced sensing-plus-actuation system for Permanent Magnet Synchronous Motors (PMSM) which will optimize the performance of a Motor Torque Controller based on the Vector Control principle.

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Feb 24, 2017

System Identification of 3-Phase PMSM Actuators

The objective of this project is to develop algorithms which will enable the complete characterization of Actuators based on 3-phase Permanent Magnet Synchronous Motors (PMSMs). The algorithms are to provide accurate estimations of model parameters associated with the complete electromechanical d ...

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Feb 24, 2017

Advanced Control System 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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Feb 22, 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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Feb 15, 2017

Spatio-temporal-Spectral Environment Modeling using a UAV

The goal of this thesis is to use a Micro Air Vehicle equipped with inertial sensors, a high resolution colour camera and lower resolution multispectral camera to collect and measure field parameters which will enable an analysis of crop health, determination of variations within the field in s ...

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Feb 14, 2017

Human-Robot Cooperative Interaction for a Manipulation Task

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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Feb 10, 2017

M3 Rowing Simulator: Concurrent Feedback vs. Conventional Instruction Methods on the Initial Skill Improvement across Baseline Test

Investigate the initial skill improvement by means of concurrent and augmented feedback strategies when they are used to familiarize and instruct the subjects.

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Feb 10, 2017

M3 Rowing Simulator: Adaptive Haptic Feedbacks and Variable Task Conditions for Multiphase Learning of Motor Skills

Investigating the effect of variable task dynamics & kinematics and adaptive haptic feedback strategies on the skill learning on a complex rowing task.

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Feb 9, 2017

Open Source Platform for Management and Analytics of Medical Data from Wearable Activity Trackers

Development of a platform aimed at managing wearable health trackers and an easy-to-use analytics tool for various types of data collected during diagnostic and rehabilitation assessments

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Feb 9, 2017

Line Descriptors for Place Recognition

The goal of this project is to implement the current state-of-the-art line descriptors and evaluate their performance on some of the publicly available datasets for place recognition.

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Feb 6, 2017

Semantic 3D SLAM

Robots map their environment with their onboard sensors. However, the representations robots use are often abstract and can be ambiguous. For facilitating scene understanding and increased robustness, we aim to include machine learning and semantic relations into the mapping process.

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Feb 3, 2017

Multi-robot Mapping, Navigation and Exploration (MA/SA)

Master/Semester thesis at the Autonomous Systems Lab at ETH Zurich. The mapping and localization team is looking for motivated students for projects in the field of mapping, localization, machine learning, exploration and 3D reconstruction.

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Feb 1, 2017

Deep Reinforcement Learning for Motion Planning

Tuning a motion planner can be a cumbersome endeavor. In our recent work we showed how neural networks can be used for imitation learning. This work builds on top of supervised imitation learning, such that reinforcement learning techniques should be applied to robot navigation.

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Jan 31, 2017

Visual and Event-based Cameras for Robot Navigation

This project aims to explore the benefits of integrating the output of a conventional frame-based camera (capturing visible light) with that of an event-based camera, such as the Dynamic Vision Sensor (DVS) in the context of robot navigation and Simultaneous Localization And Mapping (SLAM).

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Jan 31, 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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Jan 29, 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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Jan 29, 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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Jan 29, 2017

Experimental Human Knee Joint Impedance Estimation

Variable impedance actuators are used in many gait assistive devices. However, the unimpaired human knee joint impedance is unknown. This project will improve an existing actuated knee brace, and use it to estimate the joint's impedance throughout the gait cycle.

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Jan 29, 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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Jan 25, 2017

Multiple projects in mobile health systems available

Develop personalized and efficient methods, devices and systems that can be used by anyone at the point-of-care to increase our ability to diagnose, monitor and treat major global health issues.

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Jan 25, 2017

Biosignal measurements during virtual reality activities

The goal of this project is to supplement existing VR goggles with physiological sensors to measure the state of the user.

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Jan 20, 2017

Micro Shape Memory Alloys for a Drug Delivery Platform

In this project, the student will be working on fabricating micro-pillars of ferromagnetic shape memory alloys (FSMA). Fabrication will be followed by using these micro-pillars for in-situ nano-indentation to test their FSMA property. This will be followed by using these micro pillars as an on- ...

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Jan 18, 2017

Software development for assessments of sensorimotor function in neurological patients

Software and graphical user interface will be developed for a robotic assessment of sensorimotor function in neurological patients.

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Jan 17, 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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Jan 17, 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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Jan 17, 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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Jan 17, 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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Jan 16, 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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Jan 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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Jan 15, 2017

Augmented Reality based Assembling Guidance Using Microsoft HoloLens

The goal of this project is to develop a system to support assembly workers by means of visual assembly guidance using augmented reality.

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Jan 12, 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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Jan 12, 2017

Detection, Pose Estimation and Manipulation of Household Objects

The goal of this project is to evaluate current state-of-the-art object detectors. Furthermore, the most suitable technique should be implemented and tested on a small dataset.

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Jan 12, 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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Jan 11, 2017

Deep Learning for Long-Term Place Recognition on UAVs

This goal of this project is to use deep learning techniques to learn data-driven place descriptors for long-term place recognition. We enforce one important criterion: the computation at runtime should be lightweight enough to run onboard a small UAV (Unmanned Aerial Vehicle).

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Jan 8, 2017

Content-aware Geometric Check Towards Robust Place Recognition

The goal of this project is to extend a place recognition system in order to enable more robustness to different kind of scenes.

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Jan 6, 2017

Loop Closure in the Presence of Perceptual Aliasing

The goal of this project is to extend a place recognition system to return not only the best image but also an estimation of the error associated to the matched location to improve place recognition in environments presenting perceptual aliasing.

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Jan 4, 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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Jan 4, 2017

Internship Opportunity in the VariLeg exoskeleton project

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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Jan 4, 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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Dec 21, 2016

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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Dec 14, 2016

Magnetic manipulation via ROS

Microrobots controlled via an induced magnetic field is a promosing field in robotics. This project aims at integrating the control of this magnetic field, as wel as feedback from camera and user interface via the Robot Operating System (ROS).

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Dec 14, 2016

Rehabilitation Study Supervision 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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Dec 14, 2016

Building an adaptive UV imaging system for protein crystal detection.

Protein crystals fluoresce under UV light due to tryptophan and tyrosine present in their structure. In this project we aim to build an adaptive imaging system that can capture the fluorescence in protein crystals for detection in images.

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Dec 14, 2016

Automated protein crystal detection on visible images through classification

Automated detection of protein crystals is a difficult task even for human experts. In this project we aim to build a robust method for performing automated detection on visible images through classification.

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Dec 14, 2016

Reinforcement learning for particle manipulation with the RodBot

Manipulation of fragile particles at a micron scale is a challenging task. In this project we want to investigate the performance of a reinforcement learning based method in particle manipulation with a microrobot.

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Dec 7, 2016

Autonomous Airshow Using Variable Pitch Quadrotor

Variable pitch quadrotors have very fast dynamics and the capability to achieve negative thrust. Exploiting these properties, we can achieve very aggressive aerobatic trajectories. The aim of this project is to design and implement a fully autonomous airshow based on variable pitch quadrotors.

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Dec 6, 2016

Studies with multiplayer games using rehabilitation robots

We developed multiplayer games on the ARMin arm rehabilitation device. We hypothesize that multiplayer games boost motivation in patients and increase therapy outcome. We would like to test this with healthy and patients to see the effect of multiplayer games.

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Dec 6, 2016

Difficulty adaptation in robot-aided multiplayer games for neuro-rehabilitation

We have shown that viscous force fields, applied through the haptics of our 7-DOF robot, can adapt the difficulty of training. As an additional project, we would like to integrate a viscous force field approach on non-haptic devices (e.g. Microsoft Kinect).

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Dec 1, 2016

Locomotion Control for a Wheel-on-Leg Robot in Unstructured Terrain

Locomotion of wheeled robots is limited by extreme terrain. In contrast, legged robots have the potential to overcome this by adapting their gaits. This project combines the advantages of both systems by developing a novel wheel-on-leg robot.

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Nov 15, 2016

3D-printed Magnetic Microfluidics for single cell study

Single-cell analysis gives important insights into heterogeneity among cells and will be beneficial to cancer research, regenerative medicine and pharmaceutical development. The fabrication of microvalves, with sub-micrometric resolution, will open new possibilities of managing single cells.

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Nov 15, 2016

Micro stent for fetal urinary tract obstruction

In this project students will be working on fabricating micro stent for fetal urinary obstruction. The project will be carried out in tight collaboration with the Bellinzona Hospital.

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Nov 14, 2016

Collaborative Visual-Inertial based Sensing using Multiple UAVs

This project is aimed at the development of a collaborative visual-inertial state estimation for multiple UAV's. The goal is to enable teams of robots with the sensing capability to perform tasks which require collaboration.

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Nov 7, 2016

Automated Control Tuning Toolbox for Series-elastic Actuators

An automated tuning toolbox for a series-elastic actuator (electric motor, gearbox, spring in series) should be developed in this project. The drive enables position, torque and current control, which needs proper gain tuning for maximal control performance.

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Nov 7, 2016

Fall Recovery for a Quadrupedal Robot

The ASL (http://leggedrobotics.ethz.ch) develops quadrupedal robots that can statically walk and dynamically run on different types of terrain. In contrast to wheeled or tracked vehicles, legged robots have the ability to recover from falls. So far,

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Nov 7, 2016

Trajectory Optimization for Quadrupedal Locomotion

A challenging problem in legged robotics is to generate motion plans that are feasible with respect to the robot’s skills (range of motion, actuator limits) and the underlying physics (dynamics, contact constraints). State-of-the-art approaches tackl

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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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Oct 17, 2016

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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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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29.03.2017
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