Master

Master Theses at IRIS

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Development of a Flapping Wing Robot with Electrostatic Actuation

Soft Robotics Lab

Develop an energy-efficient, hovering flapping wing robot using high-bandwidth electrostatic actuators for indoor and outdoor operation. Ideal for students with a strong background in mechanical design and fabrication.

Keywords

Artificial Muscles, Soft Robotics, Mechatronic Design, Micro-air Vehicles, Flapping Flight

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Published since: 2024-03-27 , Earliest start: 2023-04-03 , Latest end: 2023-10-01

Organization Soft Robotics Lab

Hosts Kazemipour Amirhossein , Katzschmann Robert, Prof. Dr.

Topics Engineering and Technology

State-Space Models for Efficient Reinforcement Learning

Robotics and Perception

Study State-Space Models (SSMs) within the realm of Reinforcement Learning (RL) and ideally apply it in Robotics field.

Keywords

state-space models, convolutional neural networks, cnns, recurrent neural networks, rnns, sequence modeling, state dynamics, dynamical systems, reinforcement learning, rl, optimal control, drones, machine learning

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Published since: 2024-03-26

Applications limited to ETH Zurich , University of Zurich

Organization Robotics and Perception

Hosts Zubic Nikola

Topics Information, Computing and Communication Sciences , Behavioural and Cognitive Sciences

Exploring Event Generation Strategies

Robotics and Perception

This project focuses on utilizing various techniques for Video to Events generation.

Keywords

Computer Vision, Machine Learning, Event generation, Videos

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Published since: 2024-03-26

Applications limited to ETH Zurich , University of Zurich

Organization Robotics and Perception

Hosts Zubic Nikola

Topics Information, Computing and Communication Sciences

Lifelike Agility on ANYmal by Learning from Animals

ETH Competence Center - ETH AI Center

The remarkable agility of animals, characterized by their rapid, fluid movements and precise interaction with their environment, serves as an inspiration for advancements in legged robotics. Recent progress in the field has underscored the potential of learning-based methods for robot control. These methods streamline the development process by optimizing control mechanisms directly from sensory inputs to actuator outputs, often employing deep reinforcement learning (RL) algorithms. By training in simulated environments, these algorithms can develop locomotion skills that are subsequently transferred to physical robots. Although this approach has led to significant achievements in achieving robust locomotion, mimicking the wide range of agile capabilities observed in animals remains a significant challenge. Traditionally, manually crafted controllers have succeeded in replicating complex behaviors, but their development is labor-intensive and demands a high level of expertise in each specific skill. Reinforcement learning offers a promising alternative by potentially reducing the manual labor involved in controller development. However, crafting learning objectives that lead to the desired behaviors in robots also requires considerable expertise, specific to each skill.

Keywords

learning from demonstrations, imitation learning, reinforcement learning

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Published since: 2024-03-25

Organization ETH Competence Center - ETH AI Center

Hosts Li Chenhao , Li Chenhao , Klemm Victor

Topics Information, Computing and Communication Sciences

Learning Real-time Human Motion Tracking on a Humanoid Robot

ETH Competence Center - ETH AI Center

Humanoid robots, designed to mimic the structure and behavior of humans, have seen significant advancements in kinematics, dynamics, and control systems. Teleoperation of humanoid robots involves complex control strategies to manage bipedal locomotion, balance, and interaction with environments. Research in this area has focused on developing robots that can perform tasks in environments designed for humans, from simple object manipulation to navigating complex terrains. Reinforcement learning has emerged as a powerful method for enabling robots to learn from interactions with their environment, improving their performance over time without explicit programming for every possible scenario. In the context of humanoid robotics and teleoperation, RL can be used to optimize control policies, adapt to new tasks, and improve the efficiency and safety of human-robot interactions. Key challenges include the high dimensionality of the action space, the need for safe exploration, and the transfer of learned skills across different tasks and environments. Integrating human motion tracking with reinforcement learning on humanoid robots represents a cutting-edge area of research. This approach involves using human motion data as input to train RL models, enabling the robot to learn more natural and human-like movements. The goal is to develop systems that can not only replicate human actions in real-time but also adapt and improve their responses over time through learning. Challenges in this area include ensuring real-time performance, dealing with the variability of human motion, and maintaining stability and safety of the humanoid robot.

Keywords

real-time, humanoid, reinforcement learning, representation learning

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Published since: 2024-03-25

Organization ETH Competence Center - ETH AI Center

Hosts He Junzhe , Li Chenhao , Li Chenhao

Topics Information, Computing and Communication Sciences

Continuous Skill Learning with Fourier Latent Dynamics

ETH Competence Center - ETH AI Center

In recent years, advancements in reinforcement learning have achieved remarkable success in teaching robots discrete motor skills. However, this process often involves intricate reward structuring and extensive hyperparameter adjustments for each new skill, making it a time-consuming and complex endeavor. This project proposes the development of a skill generator operating within a continuous latent space. This innovative approach contrasts with the discrete skill learning methods currently prevalent in the field. By leveraging a continuous latent space, the skill generator aims to produce a diverse range of skills without the need for individualized reward designs and hyperparameter configurations for each skill. This method not only simplifies the skill generation process but also promises to enhance the adaptability and efficiency of skill learning in robotics.

Keywords

representation learning, periodic autoencoders, learning from demonstrations, policy modulating trajectory generators

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Published since: 2024-03-25

Organization ETH Competence Center - ETH AI Center

Hosts Li Chenhao , Rudin Nikita

Topics Information, Computing and Communication Sciences , Engineering and Technology

Development of an instrumented sock for plantar pressure monitoring

Biomedical and Mobile Health Technology Lab

The goal of the project is to develop and test a smart sock prototype for plantar pressure measurements. Existing previously developed textile pressure sensors are to be integrated in a standard sock. This technology can be used for plantar pressure monitoring in diverse wearable applications ranging from healthcare to sports.

Keywords

wearable, smart textile, plantar pressure, e-textiles, pressure sensors

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Published since: 2024-03-20 , Earliest start: 2024-03-01 , Latest end: 2025-02-28

Organization Biomedical and Mobile Health Technology Lab

Hosts Galli Valeria

Topics Medical and Health Sciences , Engineering and Technology

Refreshing Articular Cartilage Defects by Laser Ablation - Parameter Optimization and Validation

Bio-Inspired RObots for MEDicine-Laboratory (BIROMED-Lab)

Cartilage damage in the knee joint can be caused by aging or repetitive actions. It can be treated by surgically removing the damaged cartilage tissue and filling the generated defect with a precisely shaped, healthy cartilage graft. Removing the defected cartilage is commonly done with surgical curettes. We are investigating the use of laser ablation for a more precise defect preparation process. With two different lasers, we managed to obain promising results regarding cell viability in live samples. However, laser parameters such as pulse frequency and energy need to be optimized towards higher cutting efficiency. Your task will be to prepare a setup to test, optimize, and validate various parameter sets using different lasers for articular cartilage ablation.

Keywords

Laser ablation, laser parameter optimization, cartilage regeneration, biomedical engineering

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Published since: 2024-03-15 , Earliest start: 2023-02-01 , Latest end: 2023-12-31

Organization Bio-Inspired RObots for MEDicine-Laboratory (BIROMED-Lab)

Hosts Duverney Cédric , Rauter Georg, Prof. Dr.-Ing. , Rauter Georg, Prof. Dr.-Ing.

Topics Engineering and Technology , Physics

gpuFlightmare: High-Performance GPU-Based Physics Simulation and Image Rendering for Flying Robots

Robotics and Perception

gpuFlightmare: High-Performance GPU-Based Physics Simulation and Image Rendering for Flying Robots

Keywords

Reinforcement Learning, Robotics, Simulation, Vision-based Navigation

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Published since: 2024-03-14 , Earliest start: 2024-03-13

Organization Robotics and Perception

Hosts Song Yunlong

Topics Engineering and Technology

Using LLMs to adjust to human preferences during human-robot collaboration

Robotic Systems Lab

We want to exploit LLMs to adjust to human preferences while interacting. We think that we can generate desired behaviors by leveraging LLMs to translate the natural language to robot motion, e.g. "move faster, lift higher, come closer". We aim to carry out tests in a robot-human handover scenario.

Keywords

LLMs, deep learning, human-robot interaction, legged robots

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Published since: 2024-03-14

Organization Robotic Systems Lab

Hosts Tulbure Andreea

Topics Information, Computing and Communication Sciences , Behavioural and Cognitive Sciences

Autonomous Flight Using A Camera

Robotics and Perception

Fly like a bird

Keywords

Vision-based Flight, Autonomous Agents, Reinforcement Learning

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Published since: 2024-03-14 , Earliest start: 2024-03-13

Organization Robotics and Perception

Hosts Song Yunlong

Topics Engineering and Technology

Visual Representation Learning for Efficient Deep Reinforcement Learning

Robotics and Perception

Visual Representation Learning for Efficient Deep Reinforcement Learning

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Published since: 2024-03-14 , Earliest start: 2024-03-13

Organization Robotics and Perception

Hosts Song Yunlong

Topics Information, Computing and Communication Sciences , Engineering and Technology

Master Thesis/ Internship: Causal Machine Learning with Experts in the Loop for Spinal Cord Injury (SCI) Comorbitities

Sensory-Motor Systems Lab

Despite the growing amount of work on applying causal discovery method with expert knowledge to areas of interest, few of them inspect the uncertainty of expert knowledge (what if the expert goes wrong?). This is highly important since that in scientific fields, causal discovery with expert knowledge should be cautious and an approach taking expert uncertainty into account will be more robust to potential bias induced by individuals. Therefore, we aim to develop an iterative causal discovery method with experts in the loop to enable continual interaction and calibration between experts and data. Based on the qualifications of the candidates, we can arrange a subsidy/allowance for covering traveling or living costs.

Keywords

Causal Discovery, Expert Knowledge, Iterative Algorithm, Spinal Cord Injury

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Published since: 2024-03-13 , Earliest start: 2024-04-15 , Latest end: 2024-10-15

Organization Sensory-Motor Systems Lab

Hosts Paez Diego, Dr. , Paez Diego, Dr.

Topics Medical and Health Sciences , Mathematical Sciences , Information, Computing and Communication Sciences

Development of a novel actuator for soft-robotic applications

Multiscale Robotics Lab

The Multiscale Robotics Lab develops novel actuation methods for endoscopic devices utilizing magnetic navigation systems. Currently, an external magnetic field can steer permanent magnets through the Euclidean space. Although the gradients of the external magnetic field can be controlled, the actuation of the magnetic continuum robot (m-CR) is still limited. This problem can be overcome by actively re-magnetizing the magnets positioned in the m-CR. The pulse-magnetizer’s driving circuit and magnetization feedback sensors needs to be minimized to fulfill the requirements for medical endoscopic devices.

Keywords

Feedback Control, Actuator Design, Magnetic Hysteresis Modeling, Soft Robotics

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Published since: 2024-03-11 , Earliest start: 2024-03-01 , Latest end: 2024-08-31

Organization Multiscale Robotics Lab

Hosts Ehmke Claas

Topics Information, Computing and Communication Sciences , Engineering and Technology

Deploying Locomotion Policies Trained in Differentiable Simulation on Real Hardware

Robotic Systems Lab

In recent years, using deep Reinforcement Learning (RL) for robotic motion policies has demonstrated impressive performance, yielding unprecedented robustness on real hardware. Current sim2real approaches rely on large-scale pre-training with domain randomization to make policies robust but struggle with high-dimensional spaces. Current RL methods are primarily limited by their low sample efficiency. Leveraging differentiable simulators for first-order gradient information shows great results for enhancing sample efficiency. Although promising simulation results exist, deployment on hardware is not usually done. The goal of this thesis is to train quadrupedal locomotion policies in a differentiable simulation framework, and then enable real-world deployment by modifying the simulation, the policy training, or the learning algorithm. Ideally, we can leverage properties of differentiable simulators in this process to improve sim2real transfer by fitting real data.

Keywords

Deep Reinforcement Learning, Differentiable Simulation, Quadrupedal Locomotion Control, Sim2Real

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Published since: 2024-03-11

Organization Robotic Systems Lab

Hosts Klemm Victor

Topics Information, Computing and Communication Sciences , Engineering and Technology

Computer vision methods for fish monitoring and inspection

Autonomous Systems Lab

Aquaculture is an important global contributor to the production of seafood for human consumption. Currently the industry is phasing several challenges which demand adaptation of novel technologies and methods to move the production from manual and experience-based to more objective approaches [1]. There is need for objective monitoring and inspection of fish conditions to contribute to better fish health and secure fish welfare.

Keywords

Computer vision, Object detection and Tracking

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Published since: 2024-03-06

Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne

Organization Autonomous Systems Lab

Hosts Kelasidi Eleni

Topics Information, Computing and Communication Sciences , Engineering and Technology

Underwater localization and mapping for UUVs operating in fish farms

Autonomous Systems Lab

The fish farming industry has seen a rapid growth over the last decades and is today a key provider of seafood [1]. The properties of seawater put limitations on sensor systems that can be used for underwater navigation. Moreover, additional challenges related to robust localization and mapping are imposed by the fish farm environment that must be accounted for when utilizing Unmanned Underwater Vehicles (UUVs) [2].

Keywords

Underwater Robotics, Localization, Mapping

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Published since: 2024-03-06

Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne

Organization Autonomous Systems Lab

Hosts Kelasidi Eleni

Topics Information, Computing and Communication Sciences , Engineering and Technology

Collision-free motion planning for operations in dynamically changing environments such as fish farms

Autonomous Systems Lab

Unmanned underwater vehicles (UUVs) have become indispensable tools for inspection, maintenance, and repair (IMR) operations in the underwater domain. Path planning and collision avoidance are fundamental concepts for enabling autonomy for mobile robots. This remains a challenge, particularly for underwater vehicles operating in complex and dynamically changing environments such as fish farms [1].

Keywords

Underwater Robotics, Motion Planning, Collision-free Navigation

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Published since: 2024-03-06

Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne

Organization Autonomous Systems Lab

Hosts Kelasidi Eleni

Topics Information, Computing and Communication Sciences , Engineering and Technology

Simulation Environment for UUVs operating in fish farms

Autonomous Systems Lab

Use of robotics such as Unmanned Underwater Vehicles (UUVs) has become essential for several fish farming companies to address current challenges [1]. In particular, Remotely Operated Vehicles (ROVs) have been used for several monitoring operations such as inspection of nets and mooring lines, as well as monitoring and inspection of water quality, the cage environment and fish population. A first step towards autonomous control of robot actions under such conditions is therefore to establish more realistic models and simulation environment of the dynamic cage environment that predict and incorporate structural deformations and the impacts from the surrounding environment, and interactions between these [2].

Keywords

Underwater Vehicles, Simulation Environment, Modeling

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Published since: 2024-03-06

Applications limited to EPFL - Ecole Polytechnique Fédérale de Lausanne , ETH Zurich

Organization Autonomous Systems Lab

Hosts Kelasidi Eleni

Topics Information, Computing and Communication Sciences , Engineering and Technology

Towards AI Safety: Adversarial Attack & Defense on Neural Controllers

Robotic Systems Lab

The project is collaborating between SRI and RSL/CRL lab and aims to investigate the weakness of the neural controller based on the state-of-the-art [3] attacking method.

Keywords

Adversarial attack; safe AI; Reinforcement learning

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Published since: 2024-03-06 , Earliest start: 2024-03-06 , Latest end: 2024-09-30

Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne

Organization Robotic Systems Lab

Hosts Shi Fan , Shi Fan , Shi Fan

Topics Information, Computing and Communication Sciences , Engineering and Technology

Computer vision methods for irregularity detection in fish nets

Autonomous Systems Lab

Fish Farming industry is facing several challenges, with one of the major challenges being related to objective inspection of fish cages to detect irregularities such as holes, biofouling condition [1]. Earlier studies showed that 41% of the escapees from fish farms in Norway are caused by holes in fish cages [2] and the biofouling prevention is crucial to preserve good conditions for the fish growth [1].

Keywords

Net Inspection, Computer Vision, Irregularity Detection

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Published since: 2024-03-06

Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne

Organization Autonomous Systems Lab

Hosts Kelasidi Eleni

Topics Information, Computing and Communication Sciences , Engineering and Technology

Physics-informed machine learning in microfluidics

Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Understanding the distribution and mechanics of velocity and pressure within microaneurysms is crucial for controlling microrobots navigating through them. Traditional methods for velocity and pressure measurement in microchannels, such as particle image velocimetry (PIV) and numerical simulations based on fluidic physics laws, suffer from high computational demands and inability to operate in real-time. Moreover, pure image methods struggle with near-wall regions lacking visible particles. Leveraging recent advancements in machine learning, particularly convolutional neural networks (CNNs), this project proposes a novel approach - a physics-informed CNN integrated with Navier-Stokes equations and optical flow equations. This CNN aims to accurately predict velocity and pressure profiles in microchannel flows in real-time using only flow images and essential physical parameters. The network architecture comprises an encoder-decoder structure with seven convolutional layers, incorporating down-sampling and up-sampling layers. The final output layer produces three channels representing horizontal velocity, vertical velocity, and pressure. Additionally, a physics-informed loss function, incorporating dimensionless Navier-Stokes equation residuals and optical flow equation residuals, enhances the model's performance by integrating knowledge of fluid dynamics and computer vision. This approach represents a promising advancement towards achieving real-time, high-accuracy prediction of velocity and pressure fields in microchannel flows, with potential applications in microrobotics and microfluidics.

Keywords

artificial Intelligence, physics-informed machine learning, microfluidics, fluid dynamics

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Published since: 2024-03-05 , Earliest start: 2023-02-09 , Latest end: 2024-09-22

Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Hosts Medany Mahmoud

Topics Information, Computing and Communication Sciences , Engineering and Technology , Physics

Learning Diverse Adversaries to Black-box Learning-based Controller for Quadruped Robots

Robotic Systems Lab

The project aims to leverage the latest unsupervised skill discovery techniques to validate the state-of-the-art black-box learning-based controllers in diverse ways.

Keywords

Diversity in RL, Trustworthy AI

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Published since: 2024-03-02 , Earliest start: 2024-03-02 , Latest end: 2024-08-28

Applications limited to ETH Zurich , [nothing]

Organization Robotic Systems Lab

Hosts Shi Fan , Shi Fan , Shi Fan

Topics Information, Computing and Communication Sciences

Autonomous Mapping for Construction Site Monitoring

Autonomous Systems Lab

Autonomous mapping systems can provide crucial information for construction monitoring and industrial inspection tasks. They aim to repeatedly map known environments with unknown partial modifications without human intervention.

Keywords

Drone, Computer vision, Path Planning, Mapping

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Published since: 2024-02-29 , Earliest start: 2024-01-01 , Latest end: 2024-07-01

Organization Autonomous Systems Lab

Hosts Pinto Teixeira Lucas

Topics Information, Computing and Communication Sciences , Engineering and Technology

Towards interpretable learning pipeline: A visual-assisted workflow for locomotion learning

ETH Competence Center - ETH AI Center

Current reinforcement learning (RL)-based locomotion controllers have shown promising performance. However we are still not clear about what is learned during the training process. In this project, we investigate the proper metrics and visualisation techniques to interactively steer the locomotion learning tasks.

Keywords

Reinforcement learning; visualization; interpretable AI

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Published since: 2024-02-28 , Earliest start: 2024-02-26 , Latest end: 2024-08-26

Organization ETH Competence Center - ETH AI Center

Hosts Zhang Xiaoyu , Shi Fan , Wang April , Shi Fan , Shi Fan

Topics Engineering and Technology

Temporal Graphical Modeling for Understanding and Preventing Autonomic Dysreflexia

Spinal Cord Injury & Artificial Intelligence Lab

This project will be based on the preliminary results obtained from a previous master project in causal graphical modeling of autonomous dysreflexia (AD). The focus of the extension would be two-fold. One is improving the temporal graphical reconstruction for understanding the mechanism of AD. The other one is building a forecasting framework for the early detection and prevention of AD using the graph structure we constructed before. Please refer to the attached document for more details about the task description. Based on the candidate's qualifications, funding/allowance can be provided.

Keywords

Graphical Modeling; Graph Neural Networks; Multivariate Time Series; Spinal Cord Injuries; Autonomic Dysreflexia; Wearable Sensing

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Semester Project , Internship , Master Thesis , ETH Zurich (ETHZ)

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Published since: 2024-02-28 , Earliest start: 2024-04-01 , Latest end: 2024-10-01

Organization Spinal Cord Injury & Artificial Intelligence Lab

Hosts Paez Diego, Dr. , Li Yanke , Paez Diego, Dr. , Paez Diego, Dr.

Topics Medical and Health Sciences , Information, Computing and Communication Sciences

Disease Onset Forecasting through Graphical Modeling from Biomedical Data for Spinal Cord Injury Individuals

Spinal Cord Injury & Artificial Intelligence Lab

This project focuses on developing an explainable Artificial Intelligence (xAI) framework based on graphical modeling (GM), to enhance the capacity and capability of medical AI. Collaborating with the Swiss Paraplegic Centre (SPZ) for validation, our goal is to improve the long-term prognosis of spinal cord injury (SCI) individuals. Through medical records and a multimodal sensory monitoring system, we aim to create digital twins capable of integrating diverse data sources, guiding medical treatment, and addressing common secondary health conditions in the SCI population. The envisioned GM-based digital twin (GMDT) will represent hierarchical relations across demographic features, functional abilities, daily activities, and health conditions for SCI individuals, allowing for downstream tasks such as prediction, causal inference, and counterfactual reasoning. The assimilation and evolution between the physical and digital twins will be implemented under the GM framework, promising advancements in personalized healthcare strategies and improved outcomes for SCI people. Please refer to the attached document for more details about the task description. Based on the candidate's qualifications, funding/allowance can be provided.

Keywords

Graphical Modelling, Digital Twins, Causal Inference, Data Fusion, Multimodal Learning, Physiological Modelling, Spinal Cord Injuries, Digital Healthcare

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Semester Project , Internship , Master Thesis , ETH Zurich (ETHZ)

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Published since: 2024-02-28 , Earliest start: 2024-03-15 , Latest end: 2024-09-30

Applications limited to TU Dresden , TU Darmstadt , TU Berlin , Technische Universität München , Technische Universität Hamburg , RWTH Aachen University , Max Planck Society , Ludwig Maximilians Universiy Munich , Humboldt-Universität zu Berlin , Eberhard Karls Universität Tübingen , Universität zu Lübeck , Imperial College London , UCL - University College London , University of Oxford , University of Cambridge , Delft University of Technology , Zurich University of Applied Sciences , Wyss Translational Center Zurich , University of Zurich , Swiss Institute of Bioinformatics , IBM Research Zurich Lab , ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne , Empa , Corporates Switzerland , Zurich University of the Arts , University of St. Gallen , University of Lausanne , University of Geneva , University of Fribourg , University of Berne , University of Basel , Swiss National Science Foundation , Swiss Federal Institute for Forest, Snow and Landscape Research , Paul Scherrer Institute , CERN , Department of Quantitative Biomedicine , Eawag , University of Konstanz , University of Cologne , University of Erlangen-Nuremberg , University of Hamburg , Universtity of Bayreuth , Universität Ulm , Universität der Bundeswehr München , Social Science Research Center Berlin , National Institute for Medical Research , Royal College of Art , University of Leeds , University of Manchester , University of Nottingham , University of Aberdeen , Utrecht University , Radboud University Nijmegen , Maastricht Science Programme , Stanford University , Yale University , CNRS - Centre national de la recherche scientifique , Massachusetts Institute of Technology , Max Planck ETH Center for Learning Systems , The University of Tokyo , Tsinghua University , Peking University , Politecnico di Milano , Princeton University , Harvard , University of Toronto , University of Copenhagen , University of California, Berkeley , The University of Edinburgh , Technical University of Denmark , The University of Melbourne , The Australian National University , National University of Singapore , Nanyang Technological University

Organization Spinal Cord Injury & Artificial Intelligence Lab

Hosts Li Yanke , Paez Diego, Dr. , Paez Diego, Dr.

Topics Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences

Microrobot manipulation and ultrasound imaging

Acoustic Robotics for Life Sciences and Healthcare (ARSL)

We want to expand the use of acoustic microrobots for biomedical applications by studying their manipulation in 3D environments and their simultaneous real time tracking using non-invasive ultrasound imaging.

Keywords

Microrobots, Ultrasounds, 3D manipulation, Imaging

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Published since: 2024-02-27 , Earliest start: 2024-01-01 , Latest end: 2024-10-31

Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Hosts Del Alexia

Topics Engineering and Technology

Microrobot manipulation in brain tumor model

Acoustic Robotics for Life Sciences and Healthcare (ARSL)

We want to expand the use of acoustic microrobots for drug delivery biomedical applications in brain tumor environments of small mammalian models.

Keywords

Drug delivery, Microrobots, Ultrasounds

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Published since: 2024-02-27 , Earliest start: 2024-01-01 , Latest end: 2024-09-30

Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Hosts Del Alexia

Topics Engineering and Technology , Biology

Acoustic microrobots navigation in tumor vasculature model

Acoustic Robotics for Life Sciences and Healthcare (ARSL)

We want to expand the use of acoustic microrobots for drug delivery applications in tumor environments.

Keywords

Microfluidics, drug delivery, Microrobots, Ultrasound, Biomedical

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Published since: 2024-02-27 , Earliest start: 2024-02-01 , Latest end: 2024-10-31

Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Hosts Del Alexia

Topics Engineering and Technology

Fabrication of self-growing magnetic micro-catheters

Multiscale Robotics Lab

This project aims on the development of a magnetically guidable self-growing micro-catheter.

Keywords

Microrobotics, Self-assembly, Polymers, Nanoparticle

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Published since: 2024-02-27 , Earliest start: 2024-02-28 , Latest end: 2024-04-30

Applications limited to ETH Zurich

Organization Multiscale Robotics Lab

Hosts Hertle Lukas

Topics Engineering and Technology

Controlling magnetic objects in space through learning-based sensing

Multiscale Robotics Lab

The goal of the project is to control magnetic objects in space through, utilizing high-frequency magnetic fields for localization.

Keywords

control, machine learning, state estimation, electromagnetic induction

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Semester Project , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)

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Published since: 2024-02-27 , Earliest start: 2024-02-28 , Latest end: 2024-06-01

Organization Multiscale Robotics Lab

Hosts von Denis

Topics Engineering and Technology

Mechanophores for advanced wearable strain and pressure sensors

Biomedical and Mobile Health Technology Lab

The goal of the project is to synthesize and characterize a number of small molecules capable of acting as mechanophore addition to various polymers. These polymers would then be used as wearable strain or pressure sensors.

Keywords

mechanophore, polymer, wearable, sensor, color, strain, pressure

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Published since: 2024-02-26 , Earliest start: 2023-09-01 , Latest end: 2024-08-01

Organization Biomedical and Mobile Health Technology Lab

Hosts Shokurov Aleksandr

Topics Engineering and Technology , Chemistry

Master Thesis / Internship: Automated Time Series Analysis in Urinary Tract Assessment in Spinal Cord Injury

Spinal Cord Injury & Artificial Intelligence Lab

The primary objective of this project is to develop an automated pipeline for the identification and recognition of patterns within urodynamic recordings, utilizing urodynamic recording data in conjunction with annotated patterns provided by experts. This endeavor seeks to reduce the susceptibility of interpreting urodynamic recordings to potential errors arising from human judgment and inaccuracies, thereby improving the management of urinary tract complications in patients with spinal cord injury. By implementing a systematic approach to pattern recognition in Bladder Valomue/Pressure Time Series Measurements of urodynamic data, the potential for error in decision-making can be significantly reduced.

Keywords

Spinal Cord Injury, Machine Learning, Deep Learning, Pattern Recognition, Feature Engineering, Time Series Analysis, Signal Processing

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Published since: 2024-02-22 , Earliest start: 2024-04-01 , Latest end: 2024-12-31

Applications limited to Agroscope , Berner Fachhochschule , CERN , Corporates Switzerland , CSEM - Centre Suisse d'Electronique et Microtechnique , Department of Quantitative Biomedicine , Eawag , Empa , EPFL - Ecole Polytechnique Fédérale de Lausanne , ETH Zurich , Fernfachhochschule , Forschungsinstitut für biologischen Landbau (FiBL) , Friedrich Miescher Institute , Hochschulmedizin Zürich , IBM Research Zurich Lab , Institute for Research in Biomedicine , Lucerne University of Applied Sciences and Arts , NCCR Democracy , NGOs Switzerland , Pädagogische Hochschule St.Gallen , Paul Scherrer Institute , Physikalisch-Meteorologisches Observatorium Davos , Sirm Institute for Regenerative Medicine , Swiss Federal Institute for Forest, Snow and Landscape Research , Swiss Institute of Bioinformatics , Swiss National Science Foundation , SystemsX.ch , Università della Svizzera italiana , Université de Neuchâtel , University of Basel , University of Berne , University of Fribourg , University of Geneva , University of Lausanne , University of Lucerne , University of St. Gallen , University of Zurich , Wyss Translational Center Zurich , Zurich University of Applied Sciences , Zurich University of the Arts , University of Konstanz , Technische Universität München , TU Berlin , Eberhard Karls Universität Tübingen , European Molecular Biology Laboratory (EMBL) , FH Aachen , Humboldt-Universität zu Berlin , Justus Liebig University, Gießen , Ludwig Maximilians Universiy Munich , Martin Luther Universitat, Halle , Max Delbruck Center for Molecular Medicine (MDC) , Max Planck Society , Otto Von Guericke Universitat, Magdeburg , RWTH Aachen University , Social Science Research Center Berlin , Technische Universität Hamburg , TU Darmstadt , TU Dresden , Universität der Bundeswehr München , Universität Ulm , Universität zu Lübeck , University of Cologne , University of Erlangen-Nuremberg , University of Hamburg , Universtity of Bayreuth , Delft University of Technology , Maastricht Science Programme , Radboud University Nijmegen , Utrecht University , Max Planck ETH Center for Learning Systems , European Molecular Biology Laboratory , IEE S.A. Luxembourg , Istituto Italiano di Tecnologia , Technical University of Denmark , Technion - Israel Institute of Technology , University of Southern Denmark , Imperial College London , UCL - University College London , University of Oxford , University of Cambridge , National Institute for Medical Research

Organization Spinal Cord Injury & Artificial Intelligence Lab

Hosts Paez Diego, Dr. , Paez Diego, Dr.

Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology

Internship/ Master Thesis: Machine Learning for Assessment of Walking Patterns in the SCI population - Time Series Classification

Sensory-Motor Systems Lab

Gait patterns in multiple impairments present unique and complex patterns, which hinders the proper quantitative assessment of the walking ability for chronic ambulatory conditions when translated to daily living. In this project, we will focus on finding clusters of gait patterns through unsupervised learning from a large dataset of incomplete spinal cord injury individuals. The goal is to investigate hidden patterns in relation to the type of injuries and find their application for future diagnosis and rehabilitation treatment. Your work will guide future rehabilitation methods in general clinical practice, through applied classification and dimensionality reduction in Biomechanics of walking. Goal: Develop an unsupervised clustering pipeline for a large dataset of gait patterns from spinal cord injured individuals for class similarity evaluation

Keywords

Medical and health science, computing and computational science, engineering and technology, information, machine learning, data science, data engineering

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Internship , Bachelor Thesis , Master Thesis , ETH Zurich (ETHZ)

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Published since: 2024-02-22 , Earliest start: 2023-01-29 , Latest end: 2023-10-31

Applications limited to EPFL - Ecole Polytechnique Fédérale de Lausanne , ETH Zurich , CERN , Corporates Switzerland , IBM Research Zurich Lab , NGOs Switzerland , Zurich University of Applied Sciences , Wyss Translational Center Zurich , University of Zurich , University of St. Gallen , University of Lucerne , University of Lausanne , University of Geneva , University of Fribourg , University of Berne , University of Basel , Université de Neuchâtel , Università della Svizzera italiana , Swiss National Science Foundation , Swiss Institute of Bioinformatics , Empa , Eawag , TU Berlin , Technische Universität München , Technische Universität Hamburg , RWTH Aachen University , Max Delbruck Center for Molecular Medicine (MDC) , Delft University of Technology , UCL - University College London , University of Cambridge , University of Oxford , University of Leeds , University of Manchester , University of Nottingham , National Institute for Medical Research , Imperial College London , Radboud University Nijmegen , Maastricht Science Programme

Organization Sensory-Motor Systems Lab

Hosts Paez Diego, Dr. , Paez Diego, Dr.

Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology

Versatile and Robust Multi-Robot SLAM

Autonomous Systems Lab

Recent work on multi-robot systems with collaborative autonomy has made significant strides towards developing robotic teams capable of performing complex tasks in real, complex settings as shown above. Right at the core of such capabilities is the capability to collaboratively perform SLAM (Simultaneous Localization And Mapping) within such multi-agent systems that can operate efficiently and in challenging real-world environments, which is the main goal of this project. The aim of this project is to develop key components of a multi-robot SLAM system that is robust in challenging environments and adaptable to different scenarios, ranging from environmental monitoring to search-and-rescue operations. The envisioned system will research integrating complementary onboard sensor modalities (e.g., cameras, LiDAR, and IMU), machine learning methods, and distributed communication systems to provide precise localization and mapping exhibiting resilience to sensor failure and sufficient efficiency to be deployed onboard small platforms, such as drones. The student will be guided to work towards a system architecture that can enable effective testing and optimization in state-of-the-art simulation engines, with the ultimate goal of reducing the gap between simulated experiments and real tests. The outlook is to create a system that can be employed onboard a small swarm of drones in a real setting.

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Published since: 2024-02-21 , Earliest start: 2024-02-01 , Latest end: 2024-10-01

Organization Autonomous Systems Lab

Hosts Pinto Teixeira Lucas

Topics Information, Computing and Communication Sciences

Aerial Autonomy in Challenging Dynamic Environments

Autonomous Systems Lab

Automating drone navigation promises to revolutionise the way we conduct a wide variety of tasks, such as agricultural monitoring, industrial inspection, and disaster relief scenarios. Equipping a drone with the capability to autonomously explore and map previously unseen environments using onboard sensors and algorithms forms the basis of autonomy. While there has been tremendous progress in this area over the past few years [1-5], existing systems still lack reliability and adaptability to the challenges and complexity of real settings, which is crucial for the deployment of this technology in actual missions. In particular, performing robust navigation and mapping in highly dynamic environments (e.g., forests) remains an open challenge. Following promising leads from the state-of-the-art and our in-house navigation stack, the goal of this project is to develop the capability to deal with increasingly dynamic and complex scenarios. The student will be guided towards leveraging the multi-sensor capabilities of a LiDAR-Visual-Inertial payload being developed in the lab to research approaches for perception and mission planning that can fuse information from the different sensors and capture high-fidelity representations of challenging dynamic environments. Initially, the student will work within a realistic simulation environment and then deploy and test their work onboard a real drone in a real setting.

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Published since: 2024-02-21 , Earliest start: 2024-02-20 , Latest end: 2024-12-05

Organization Autonomous Systems Lab

Hosts Pinto Teixeira Lucas

Topics Information, Computing and Communication Sciences

End-to-end Leaning Terrain Cost with Robot Kinematic Constraints

Robotic Systems Lab

Navigating the unpredictable off-road environment, autonomous robots require a tailored approach to overcome obstacles and optimize pathfinding. Our proposed terrain cost mapping system goes beyond traditional processing by factoring in each robot's specific kinematic abilities. We introduce a novel simulation-based Roll-Out technique to predict a robot's stability over varied terrains, thereby calculating a precise terrain cost. This innovative strategy promises to enhance autonomous navigation by ensuring safe and efficient traversal tailored to individual robotic capabilities.

Keywords

Leaning Terrain Cost; Off-road Navigation; Robot Kinematics

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Published since: 2024-02-21 , Earliest start: 2023-11-30 , Latest end: 2024-01-31

Organization Robotic Systems Lab

Hosts Yang Fan

Topics Information, Computing and Communication Sciences

Foundation Model for Drone Navigation in Confined Spaces

Robotics and Perception

This master thesis project centers on the development of a foundation model for drone navigation within confined spaces such as ballast tanks of ships.

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Published since: 2024-02-20 , Earliest start: 2024-03-01 , Latest end: 2025-03-01

Organization Robotics and Perception

Hosts Khambhaita Harmish

Topics Information, Computing and Communication Sciences

Autonomously traversing ship manholes using end-to-end vision-based control

Robotics and Perception

Develop an end-to-end learning-based approach for autonomous drone navigation in ship ballast tank manholes, incorporating both real and simulated training data. The project aims to emphasize speed, a high success rate, and safety in flying through the confined spaces of ship interiors.

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Published since: 2024-02-20 , Earliest start: 2024-03-01 , Latest end: 2025-03-01

Organization Robotics and Perception

Hosts Khambhaita Harmish

Topics Information, Computing and Communication Sciences

Drone Racing End-to-end policy learning: from features to commands

Robotics and Perception

This project focuses on using RL to learn quadrotor policies to fly at high speeds in complex tracks, directly from features.

Keywords

Robotics, Autonomous Systems, Reinforcement Learning, Quadcopter, Drone Racing

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Published since: 2024-02-20 , Earliest start: 2024-02-19 , Latest end: 2025-12-17

Organization Robotics and Perception

Hosts Romero Angel

Topics Information, Computing and Communication Sciences , Engineering and Technology

Segmentation and Object Detection in Neural Radiance Fields (NeRFs) for Enhanced 3D Scene Understanding

Robotics and Perception

This master thesis project focuses on advancing 3D scene understanding through the integration of segmentation and object detection techniques within Neural Radiance Fields (NeRFs).

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Published since: 2024-02-20 , Earliest start: 2024-03-01 , Latest end: 2025-03-01

Organization Robotics and Perception

Hosts Khambhaita Harmish

Topics Information, Computing and Communication Sciences

Vision-Based Autonomous Drone Recovery Using Reinforcement Learning

Robotics and Perception

This project is focused on developing a vision-only flight recovery system for autonomous drones. A critical capability for autonomous drones is to recover safely from any unstable state. This project explores the potential of using reinforcement learning to enable a drone to transition from an unstable to a stable state, using only vision sensors. The challenge lies in creating a system that not only stabilizes the drone but also ensures it can safely land in various unforeseen scenarios.

Keywords

Robotics, Autonomous Systems, Control, Quadcopter

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Published since: 2024-02-20 , Earliest start: 2024-02-19 , Latest end: 2025-07-16

Organization Robotics and Perception

Hosts Romero Angel

Topics Information, Computing and Communication Sciences , Engineering and Technology

3D reconstruction of zebrafish larvae based on acoustic rotating

Acoustic Robotics for Life Sciences and Healthcare (ARSL)

The project is a collaboration between ARSL and CVL. For acoustics, Prof. Daniel will guide you and for AI, Prof. Fisher Yu will guide you. We plan to develop a special 3D reconstruction algorithm for zebrafish larvae. In this project, we first perform the rotation manipulation of zebrafish using an acoustically actuated capillary. Then, we would like to realize the precise 3D reconstruction of the in vivo organs of live zebrafish larvae using CV and AI algorithms. We will fabricate a microchannel chip, which can develop a single polarized vortex. By adjusting the acoustic excitation parameters, we will change the rotational speed and direction. Finally, we will program our special 3D reconstruction algorithms and software.

Keywords

3D reconstruction; AI; CV;Rotation; Micromanipulation; Acoustics;

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Published since: 2024-02-20 , Earliest start: 2024-03-01 , Latest end: 2024-08-31

Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Hosts Ahmed Daniel, Prof.

Topics Information, Computing and Communication Sciences , Engineering and Technology , Biology , Physics

Vision-based Navigation in Dynamic Environment via Reinforcement Learning

Robotics and Perception

In this project, we are going to develop a vision-based reinforcement learning policy for drone navigation in dynamic environments. The policy should adapt to two potentially conflicting navigation objectives: maximizing the visibility of a visual object as a perceptual constraint and obstacle avoidance to ensure safe flight.

Keywords

Reinforcement Learning, Computer Vision, Drones

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Published since: 2024-02-20 , Earliest start: 2023-11-01 , Latest end: 2024-12-31

Organization Robotics and Perception

Hosts Xing Jiaxu

Topics Engineering and Technology

Learning Rapid UAV Exploration with Foundation Models

Robotics and Perception

Recent research has demonstrated significant success in integrating foundational models with robotic systems. In this project, we aim to investigate how these foundational models can enhance the vision-based navigation of UAVs. The drone will utilize learned semantic relationships from extensive world-scale data to actively explore and navigate through unfamiliar environments. While previous research primarily focused on ground-based robots, our project seeks to explore the potential of integrating foundational models with aerial robots to enhance agility and flexibility.

Keywords

Visual Navigation, Foundation Models, Drones

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Published since: 2024-02-20 , Earliest start: 2024-01-25 , Latest end: 2024-12-31

Organization Robotics and Perception

Hosts Xing Jiaxu

Topics Engineering and Technology

Autonomous Drone Navigation via Learning from YouTube Videos

Robotics and Perception

Inspired by how humans learn, this project aims to explore the possibility of learning flight patterns, obstacle avoidance, and navigation strategies by simply watching drone flight videos available on YouTube.

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Published since: 2024-02-19 , Earliest start: 2024-02-19 , Latest end: 2025-02-19

Applications limited to ETH Zurich , University of Zurich

Organization Robotics and Perception

Hosts Cannici Marco

Topics Information, Computing and Communication Sciences

Gaussian Splatting Visual Odometry

Robotics and Perception

Gaussian Splatting Visual Odometry

Keywords

Computer Vision, Visual Odometry

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Published since: 2024-02-19 , Earliest start: 2024-02-19 , Latest end: 2024-12-01

Organization Robotics and Perception

Hosts Cioffi Giovanni

Topics Engineering and Technology

IMU-centric Odometry for Drone Racing and Beyond

Robotics and Perception

IMU-centric Odometry for Drone Racing and Beyond

Keywords

Computer Vision, Visual-Inertial Odometry, Drone Racing

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Published since: 2024-02-19 , Earliest start: 2024-02-19 , Latest end: 2024-12-01

Organization Robotics and Perception

Hosts Cioffi Giovanni

Topics Engineering and Technology

Navigating on Mars

Robotics and Perception

The first ever Mars helicopter Ingenuity flew over a texture-poor terrain and RANSAC wasn’t able to find inliers: https://spectrum.ieee.org/mars-helicopter-ingenuity-end-mission Navigating the Martian terrain poses significant challenges due to its unique and often featureless landscape, compounded by factors such as dust storms, lack of distinct textures, and extreme environmental conditions. The absence of prominent landmarks and the homogeneity of the surface can severely disrupt optical navigation systems, leading to decreased accuracy in localization and path planning.

Keywords

VIO, SLAM, Computer vision

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Published since: 2024-02-19 , Earliest start: 2024-02-26 , Latest end: 2024-06-30

Organization Robotics and Perception

Hosts Muglikar Manasi

Topics Engineering and Technology

Data-driven Event Generation from Images

Robotics and Perception

In this project, the student applies concepts from current advances in image generation to create artificial events from standard frames. Multiple state-of-the-art deep learning methods will be explored in the scope of this project.

Keywords

Computer Vision, Event Cameras, Deep Learning

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Published since: 2024-02-19 , Earliest start: 2024-02-19

Organization Robotics and Perception

Hosts Messikommer Nico

Topics Information, Computing and Communication Sciences

Efficient Neural Scene Reconstruction with Event Cameras

Robotics and Perception

This project seeks to leverage the sparse nature of events to accelerate the training of radiance fields.

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Published since: 2024-02-19 , Earliest start: 2024-02-19 , Latest end: 2025-02-19

Organization Robotics and Perception

Hosts Cannici Marco

Topics Information, Computing and Communication Sciences

Multimodal Fusion for Enhanced Neural Scene Reconstruction Quality

Robotics and Perception

The project aims to explore how prior 3D information can assist in reconstructing fine details in NeRFs and how the help of high-temporal resolution data can enhance modeling in the case of scene and camera motion.

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Published since: 2024-02-19 , Earliest start: 2024-02-19 , Latest end: 2025-02-19

Organization Robotics and Perception

Hosts Cannici Marco

Topics Information, Computing and Communication Sciences

Domain Transfer between Events and Frames for Motor Policies

Robotics and Perception

The goal of this project is to develop a shared embedding space for events and frames, enabling the training of a motor policy on simulated frames and deployment on real-world event data.

Keywords

Computer Vision, Event Cameras, Robotics, Unsupervised Domain Adaption

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Published since: 2024-02-19 , Earliest start: 2024-02-19

Organization Robotics and Perception

Hosts Messikommer Nico

Topics Information, Computing and Communication Sciences

Data-driven Keypoint Extractor for Event Data

Robotics and Perception

This project focuses on enhancing camera pose estimation by exploring a data-driven approach to keypoint extraction, leveraging recent advancements in frame-based keypoint extraction techniques.

Keywords

Computer Vision, Event Cameras, Keypoint Extraction, Visual Odometry

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Published since: 2024-02-19 , Earliest start: 2024-02-19

Organization Robotics and Perception

Hosts Messikommer Nico

Topics Information, Computing and Communication Sciences

HDR NERF: Neural Scene reconstruction in low light

Robotics and Perception

Implicit scene representations, particularly Neural Radiance Fields (NeRF), have significantly advanced scene reconstruction and synthesis, surpassing traditional methods in creating photorealistic renderings from sparse images. However, the potential of integrating these methods with advanced sensor technologies that measure light at the granularity of a photon remains largely unexplored. These sensors, known for their exceptional low-light sensitivity and high dynamic range, could address the limitations of current NeRF implementations in challenging lighting conditions, offering a novel approach to neural-based scene reconstruction.

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NERF, computer vision, HDR imaging, event camera

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Published since: 2024-02-19 , Earliest start: 2024-02-19 , Latest end: 2024-07-31

Organization Robotics and Perception

Hosts Muglikar Manasi

Topics Engineering and Technology

Low Latency Occlusion-aware Object Tracking

Robotics and Perception

Low latency Occlusion-aware object tracking

Keywords

Computer Vision, Virtual Reality, Object tracking

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Published since: 2024-02-19 , Earliest start: 2024-02-19 , Latest end: 2024-12-01

Organization Robotics and Perception

Hosts Cioffi Giovanni

Topics Engineering and Technology

Event-based occlusion removal

Robotics and Perception

Unwanted camera occlusions, such as debris, dust, raindrops, and snow, can severely degrade the performance of computer-vision systems. Dynamic occlusions are particularly challenging because of the continuously changing pattern. This project aims to leverage the unique capabilities of event-based vision sensors to address the challenge of dynamic occlusions. By improving the reliability and accuracy of vision systems, this work could benefit a wide range of applications, from autonomous driving and drone navigation to environmental monitoring and augmented reality.

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Event cameras, occlusion, weather, computer vision

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Published since: 2024-02-19 , Earliest start: 2024-02-26 , Latest end: 2024-06-30

Organization Robotics and Perception

Hosts Muglikar Manasi

Topics Engineering and Technology

Foundation Models for Event-based Segmentation

Robotics and Perception

Work on design, implementation, and validation of famous foundation models (CLIP and Segment Anything Model - SAM) in context of Event-based Segmentation.

Keywords

Foundation Models, CLIP, Segment Anything Model, SAM, Event-based Vision, Computer Vision, Object Segmentation, Instance Segmentation, Segmentation, Machine Learning

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Published since: 2024-02-16

Applications limited to ETH Zurich , University of Zurich

Organization Robotics and Perception

Hosts Zubic Nikola

Topics Information, Computing and Communication Sciences

What can Large Language Models offer to Event-based Vision?

Robotics and Perception

This project focuses on combining Large Language Models within the area of Event-based Computer Vision.

Keywords

Event-based Vision, Computer Vision, Large Language Models, GPT, Natural Language Processing

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Published since: 2024-02-16

Applications limited to ETH Zurich , University of Zurich

Organization Robotics and Perception

Hosts Zubic Nikola

Topics Information, Computing and Communication Sciences

A Fully Integrated Shape-transformable Wearable Ultrasound Helmet

Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Ultrasound helmets are typically used to focus ultrasound on specific regions of the brain to treat tremors. To date, most ultrasound helmets that have been developed are bulky and rigid, have suboptimal resolution, and produce considerable heat. Ultrasound arrays on flexible sheets offer an exciting new direction, but their application has so far been limited to monitoring. Importantly, no current systems are designed for manipulating microrobots within a 3D vasculature.

Keywords

Wearable, Micro and nanorobots, ultrasound, electronics, brain, acoustics

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Master Thesis , ETH Zurich (ETHZ)

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Published since: 2024-02-15 , Earliest start: 2024-02-15 , Latest end: 2024-12-31

Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Hosts Ahmed Daniel, Prof.

Topics Engineering and Technology

Bioinspired Ultrasound Microrobots

Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Inspired by naturally-occurring microswimmers such as spermatozoa that exploit the nonslip boundary conditions of a wall, we propose here a microrobot design (a “sperm-bot”) that can execute upstream motility triggered by ultrasound.

Keywords

Robotics, micro and nanorobots, microrobotics, soft robotics ultrasound, bioinspired

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Semester Project , Bachelor Thesis , Master Thesis , Summer School

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Published since: 2024-02-15 , Earliest start: 2024-10-01 , Latest end: 2024-12-19

Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Hosts Ahmed Daniel, Prof.

Topics Engineering and Technology

Resonant Acoustic Microrobots

Acoustic Robotics for Life Sciences and Healthcare (ARSL)

The newly designed microrobot consists of a cavity at the center of its body within the polymer matrix. The microcavity supports an air-bubble trap, which enables propulsion in an acoustic field.

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Keywords: microrobotics, soft swimmers, acoustics, ultrasound, biomedical applications

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Published since: 2024-02-15 , Earliest start: 2024-02-15 , Latest end: 2024-12-19

Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Hosts Ahmed Daniel, Prof.

Topics Engineering and Technology

Embedded algorithms of IMUs in a neurorehabilitation device

Rehabilitation Engineering Lab

The goal of this project is to help develop embedded firmware for a imu based rehabilitation device. This project is part of the SmartVNS project which utilizes movement-gated control of vagus nerve stimulation for stroke rehabilitation.

Keywords

electrical engineering PCB Embedded systems neurorehabilitation

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Published since: 2024-02-14 , Earliest start: 2024-01-06 , Latest end: 2024-12-31

Organization Rehabilitation Engineering Lab

Hosts Donegan Dane , Viskaitis Paulius

Topics Medical and Health Sciences , Engineering and Technology

Development of a Clinically Usable Electrode for tVNS

Rehabilitation Engineering Lab

This project aims to develop a clinically usable electrode for transcutaneous vagus nerve stimulation (tVNS) therapy. The objective is to create an electrode that is biocompatible, low-impedance, and easy to use, allowing patients to apply it themselves with minimal setup time. The project involves conducting a literature review, evaluating existing designs, selecting appropriate materials, developing a prototype, and assessing its efficacy and usability in a clinical setting. The outcome will be an electrode that enhances the convenience and effectiveness of tVNS therapy, contributing to improved patient treatment adherence and outcomes.

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Mechanical engineering, materials engineering, 3D modeling, anatomical modeling, CAD.

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Published since: 2024-02-14 , Earliest start: 2023-06-01

Organization Rehabilitation Engineering Lab

Hosts Viskaitis Paulius , Donegan Dane

Topics Engineering and Technology

Activity and fatigue detection using machine learning based on real-world data from smart clothing

Biomedical and Mobile Health Technology Lab

The aim of this project is to use machine learning methods to extract useful information such as activity type and fatigue level from real-world data acquired from our textile-based wearable technology during sport activities.

Keywords

smart clothing, wearable technology, textile sensor, fitness tracking, sports medicine, fatigue, machine learning, artificial intelligence, computer science

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Published since: 2024-02-14 , Earliest start: 2023-09-15 , Latest end: 2024-05-31

Organization Biomedical and Mobile Health Technology Lab

Hosts Ahmadizadeh Chakaveh

Topics Information, Computing and Communication Sciences , Engineering and Technology

Multisensory assessment of physiological markers during neural stimulation for stroke rehabilitation

Rehabilitation Engineering Lab

Project goal is to assess outcomes of a non-invasive brain stimulator for future application in stroke rehabilitation. This will involve using an exciting novel method of brain stimulation together with simultaneous multisensory recordings of various physiological parameters, including heart rate, galvanic skin response, pupillometry and electroencephalogram (EEG). The results of the project will help develop brain stimulation protocols that elicit meaningful neural responses in healthy subjects, and in stroke patients.

Keywords

neural stimulation, neural biomarkers, neurophysiology, physiology, neuroscience, EEG, pupillometry

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Published since: 2024-02-14 , Earliest start: 2023-06-01

Organization Rehabilitation Engineering Lab

Hosts Viskaitis Paulius , Donegan Dane

Topics Engineering and Technology

Real-time control of neural stimulation for stroke patients.

Rehabilitation Engineering Lab

Real-time analysis of movement kinematics can benefit multiple different strategies in rehabilitation after stroke, including allowing closed-loop brain stimulation. Use of inertial measurement units (IMUs) allows detection of movement and extraction of kinematic features, but application in real-time remains challenging. This project will develop algorithms for real-time movement data analysis and feature extraction in typical rehabilitation tasks and general real-life movements. In turn, these algorithms will be applied to control novel brain stimulation approaches in stroke neurorehabilitation.

Keywords

Inertial measurement unit, IMU, movement tracking, machine learning, real-time, signal processing

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Published since: 2024-02-14 , Earliest start: 2023-05-09

Organization Rehabilitation Engineering Lab

Hosts Viskaitis Paulius , Donegan Dane

Topics Engineering and Technology

Develop software for wearable technologies

Biomedical and Mobile Health Technology Lab

The aim of this project is to develop mobile software to communicate with our already developed textile-based wearable technology and process sensor data for movement monitoring.

Keywords

smart clothing, wearable technology, software development, fitness tracking, sports medicine, mobile application, computer science

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Published since: 2024-02-14 , Earliest start: 2023-09-15 , Latest end: 2024-05-31

Organization Biomedical and Mobile Health Technology Lab

Hosts Ahmadizadeh Chakaveh

Topics Information, Computing and Communication Sciences , Engineering and Technology

Efficient data processing and reporting in stroke neuro-rehabilitation

Rehabilitation Engineering Lab

Project goal is to optimise existing and develop new algorithms into an efficient system for signal pre-processing, data storage, analysis and visualization in motor-neurorehabilitation. This data is generated by stroke patients wearing motion sensors during their therapy sessions. Key endpoint of the project is to display real-time and longitudinal therapy results, which can aid therapists and patients. The results of the project will help develop a more efficient therapy and is a key part of a larger project that seeks to develop an intelligent and closed-loop neural stimulation system for stroke rehabilitation.

Keywords

health biomarkers, data science, computer science, data visualization, data processing, real-time, internet of medical things, IoMT, healthcare internet of things, healthcare IoT

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Published since: 2024-02-14 , Earliest start: 2023-05-09

Organization Rehabilitation Engineering Lab

Hosts Donegan Dane , Viskaitis Paulius

Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology

Design data acquisition solution for smart clothing

Biomedical and Mobile Health Technology Lab

The aim of this project is to develop and improve wearable electronics solutions for data acquisition from textile-based sensors used in our smart clothing.

Keywords

smart clothing, wearable technology, textile sensor, fitness tracking, sports medicine, PCB, electronics, computer science

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Published since: 2024-02-14 , Earliest start: 2023-09-15 , Latest end: 2024-05-31

Organization Biomedical and Mobile Health Technology Lab

Hosts Ahmadizadeh Chakaveh

Topics Information, Computing and Communication Sciences , Engineering and Technology

Conduct human gait study with optical motion capture to assess smart clothing for movement monitoring

Biomedical and Mobile Health Technology Lab

We aim to conduct a study with human participants to assess the function of our textile-based wearable technology for movement monitoring in clinical and fitness scenarios.

Keywords

smart clothing, wearable technology, textile sensor, fitness tracking, sports medicine, rehabilitation, human study, motion capture, computer science

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Published since: 2024-02-14 , Earliest start: 2023-09-15 , Latest end: 2024-05-31

Organization Biomedical and Mobile Health Technology Lab

Hosts Ahmadizadeh Chakaveh

Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology

Imposition of non-fixed convex constraints on Neural Networks

Robotic Systems Lab

This project aims to answer the unsolved question of how to guarantee (in a computationally efficient way) hard convex constraints on the output of a network when the parameters that define the constraints change.

Keywords

Neural networks, convex, constraints, hard, optimization

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Published since: 2024-02-13 , Earliest start: 2024-02-13 , Latest end: 2025-03-29

Organization Robotic Systems Lab

Hosts Tordesillas Jesus

Topics Mathematical Sciences , Information, Computing and Communication Sciences

Advancing Augmented Reality Helmets for motorcyclists and racecars: Independence through Self-Localization

Robotics and Perception

Advancing Augmented Reality Helmets for motorcyclists and racecars: Independence through Self-Localization

Keywords

Localization, Autonomous Driving

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Published since: 2024-02-08 , Earliest start: 2024-02-18 , Latest end: 2024-12-01

Organization Robotics and Perception

Hosts Cioffi Giovanni

Topics Engineering and Technology

Controlling a Magnetically Actuated Inverted Pendulum

Multiscale Robotics Lab

Balancing a 3D inverted pendulum using remote magnetic actuation

Keywords

Inverted Pendulum, Machine Learning, Feedback Control, Dynamical Systems

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Published since: 2024-02-08 , Earliest start: 2024-02-11 , Latest end: 2024-09-01

Organization Multiscale Robotics Lab

Hosts Zughaibi Jasan

Topics Engineering and Technology

Why do Parkinson's Patients walk differently?

Rehabilitation Engineering Lab

Investigation of brain activity during walking in Parkinson’s patients

Keywords

Parkinson's disease; EEG; neuroscience; biomechanics; movement;

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Published since: 2024-02-02 , Earliest start: 2024-03-01 , Latest end: 2024-12-31

Organization Rehabilitation Engineering Lab

Hosts Salzmann Lena, MSc

Topics Medical and Health Sciences , Engineering and Technology

Probabilistic Air-ground Localization in Agricultural Environment

Vision for Robotics Lab

Digital environments, or digital twins, allow for design, prototyping, and testing in the virtual world before moving to the real world, thus accelerating development and reducing costs. Digital twin of a farm supports crop operations such as scheduling a harvest or predicting a yield, while agritech companies can develop farm automation robots using a digital twin. The goal of this project is to develop air-ground localization strategies that are capable to be deployed in crop environments during the production season. The main target is to identify individual plants in the ground images using as reference the aerial images.

Keywords

3d Reconstruction, Place Recognition, Aerial Vehicles, Deep Learning, Computer Vision.

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Published since: 2024-02-02 , Earliest start: 2022-08-24 , Latest end: 2023-10-31

Organization Vision for Robotics Lab

Hosts Pinto Teixeira Lucas

Topics Information, Computing and Communication Sciences , Engineering and Technology

Long-Term Aerial Localization in Agricultural Environment

Autonomous Systems Lab

Digital environments, or digital twins, allow for design, prototyping, and testing in the virtual world before moving to the real world, thus accelerating development and reducing costs. A digital twin of a farm supports crop operations such as scheduling a harvest or predicting a yield, while agritech companies can develop farm automation robots using a digital twin. The goal of this project is to develop 3D Reconstruction and localization strategies that are capable to identify temporal invariant areas and properties in crop environments during the production season. The main target is to be able to match the same plants over time.

Keywords

3d Reconstruction, Place Recognition, Aerial Vehicles, Deep Learning, Computer Vision.

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Published since: 2024-02-02 , Earliest start: 2023-07-23 , Latest end: 2023-08-31

Organization Autonomous Systems Lab

Hosts Pinto Teixeira Lucas

Topics Information, Computing and Communication Sciences

Semantic Segmentation-Aided Bundle Adjustment

Autonomous Systems Lab

Bundle Adjustment (BA) is a critical optimization technique used to refine a visual reconstruction by jointly estimating the 3D scene structure and the viewing parameters. Traditional BA approaches primarily focus on geometric features and might struggle in highly unstructured scenarios, such as natural environments. This project aims to extend the Bundle Adjustment methodology by incorporating higher-level features extracted from semantic segmentation. The integration of semantic information aims to provide contextually relevant and more discriminative data to the adjustment process, thereby improving its accuracy and robustness.

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Published since: 2024-02-02 , Earliest start: 2023-07-30 , Latest end: 2024-05-01

Organization Autonomous Systems Lab

Hosts Pinto Teixeira Lucas , Mascaro Rubén

Topics Information, Computing and Communication Sciences

From Pixels to Pulse: How Smartphone Cameras and Machine Learning Illuminate Your Heart's Health

Biomedical and Mobile Health Technology Lab

We aim to develop a machine-learning model that assesses heart activity and extract cardiac signal from a smartphone camera.

Keywords

Image processing, time series analysis, biosignal analysis, data science, medical technologies, and digital health.

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Published since: 2024-01-29 , Earliest start: 2024-02-05 , Latest end: 2025-02-05

Organization Biomedical and Mobile Health Technology Lab

Hosts Elgendi Moe

Topics Medical and Health Sciences , Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences , Physics

Analyzing Manual Therapy Forces in Spinal Manipulation

Biomedical and Mobile Health Technology Lab

We aim to develop a graphical user interface with an integrated machine learning model to analyze forces applied during manual therapy interventions (spinal manipulation). Data is collected with a flexible sensor matrix between the practitioner and the patient.

Keywords

Time series analysis, force-time profile analysis, data science, and medical technologies

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Published since: 2024-01-29 , Earliest start: 2024-02-05 , Latest end: 2025-02-05

Organization Biomedical and Mobile Health Technology Lab

Hosts Elgendi Moe

Topics Medical and Health Sciences , Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences , Physics

Wearable Insights for Short- and Long-Sleepers

Biomedical and Mobile Health Technology Lab

The project aims to develop an affordable wearable system that collects electroencephalograms (EEG) and electrocardiograms (ECG) to identify EEG and ECG features associated with short and long sleepers in a real-world environment.

Keywords

Wearables, sleep stages, brain waves, heart rate, breathing, and body and eye movements during sleep

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Published since: 2024-01-29 , Earliest start: 2024-02-05 , Latest end: 2024-02-05

Organization Biomedical and Mobile Health Technology Lab

Hosts Elgendi Moe

Topics Medical and Health Sciences , Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences , Physics

AI-Powered Heartbeat Tracker with Smartphone Sensing

Biomedical and Mobile Health Technology Lab

We aim to develop a machine learning model for accelerometer and camera data collected from a user’s smartphone that can identify the user’s heart rate.

Keywords

Time series analysis, biosignal analysis, data science, medical technologies, and digital health.

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Published since: 2024-01-29 , Earliest start: 2024-02-05 , Latest end: 2025-02-05

Organization Biomedical and Mobile Health Technology Lab

Hosts Elgendi Moe

Topics Medical and Health Sciences , Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences , Physics

Predicting Falls with Smartphone Accelerometers

Biomedical and Mobile Health Technology Lab

We aim to develop an Android-based app that utilizes a developed machine learning model and accelerometer data collected via the user’s smartphone for fall detection.

Keywords

Time series analysis, biosignal analysis, data science, medical technologies, and digital health.

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Published since: 2024-01-29 , Earliest start: 2024-02-05 , Latest end: 2025-02-05

Organization Biomedical and Mobile Health Technology Lab

Hosts Elgendi Moe

Topics Medical and Health Sciences , Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences , Physics

Estimating Sweat Biomarker Levels Using Smartphones

Biomedical and Mobile Health Technology Lab

Sweat biomarker levels estimation using a smartphone

Keywords

Health Data Science, Biomedical Signal Processing, mHealth, Medical Technologies, and Digital Health

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Published since: 2024-01-29 , Earliest start: 2024-02-05 , Latest end: 2025-02-05

Organization Biomedical and Mobile Health Technology Lab

Hosts Elgendi Moe

Topics Medical and Health Sciences , Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences , Physics

Smartphone Camera for Blood Pressure Classification

Biomedical and Mobile Health Technology Lab

Our goal is to develop a smartphone camera-based model capable of distinguishing between hypotensive, normotensive, and hypertensive subjects.

Keywords

Data analytics, image processing analysis, biosignal analysis, data science, medical technologies, and digital health.

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Published since: 2024-01-29 , Earliest start: 2024-02-05 , Latest end: 2025-02-05

Organization Biomedical and Mobile Health Technology Lab

Hosts Elgendi Moe

Topics Medical and Health Sciences , Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences , Physics

Automated Outcome Prediction for Pediatric Orthopedic Surgery

Biomedical and Mobile Health Technology Lab

The project aims to develop a predictive model to identify motion features associated with motion improvement in children after surgery.

Keywords

Time-series analysis, biosignal analysis, statistical analysis, biomedical signal processing, and machine learning.

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Published since: 2024-01-29 , Earliest start: 2024-02-05 , Latest end: 2025-02-05

Organization Biomedical and Mobile Health Technology Lab

Hosts Elgendi Moe

Topics Medical and Health Sciences , Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences , Physics

Anxiety Alert: Stay in Control of Your Stress Levels Anywhere, Anytime!

Biomedical and Mobile Health Technology Lab

We want to analyze biomedical signals collected from subjects with induced anxiety using a portable device. We aim to detect instantaneous anxiety and mood changes via portable devices. The data were already collected and ready to be analyzed. The data description is here: https://www.mdpi.com/2306-5729/7/9/132

Keywords

Stress detection, biomedical signal analysis, data science, medical technologies, and digital health

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Published since: 2024-01-29 , Earliest start: 2024-02-05 , Latest end: 2025-02-05

Organization Biomedical and Mobile Health Technology Lab

Hosts Elgendi Moe

Topics Medical and Health Sciences , Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences , Physics

Internships (Industrial or Research) on Body Modelling and Sensing Technology for Health Care in SCI

Sensory-Motor Systems Lab

This hands-on work (internship or semester project) within a clinical setting will bring you close to intelligent health management while exploring multiple data systems. You will experience multimodal data of robotics rehabilitation, general clinical practice, and detailed clinical studies applied in classification and dimensionality reduction.

Keywords

Machine learning, time-series, HR, ECG, BP, wearables, nearables, Medical and health science, healthcare, Android studio, App development

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Semester Project , Internship , Lab Practice , Bachelor Thesis , Master Thesis , Other specific labels , ETH Zurich (ETHZ)

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Published since: 2024-01-27 , Earliest start: 2023-08-01 , Latest end: 2024-05-31

Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne , Empa , Eawag , Zurich University of the Arts , Zurich University of Applied Sciences , Wyss Translational Center Zurich , University of Zurich , University of St. Gallen , University of Lucerne , University of Lausanne , University of Geneva , University of Fribourg , University of Berne , University of Basel , Lucerne University of Applied Sciences and Arts , Institute for Research in Biomedicine , IBM Research Zurich Lab , Swiss Institute of Bioinformatics , CSEM - Centre Suisse d'Electronique et Microtechnique , Corporates Switzerland , CERN , Hochschulmedizin Zürich , Université de Neuchâtel , Università della Svizzera italiana , Swiss National Science Foundation , University of Konstanz , University of Hamburg , University of Erlangen-Nuremberg , University of Cologne , Universität zu Lübeck , Universität Ulm , Universität der Bundeswehr München , TU Dresden , TU Darmstadt , TU Berlin , Technische Universität Hamburg , Max Planck Society , Otto Von Guericke Universitat, Magdeburg , RWTH Aachen University , Ludwig Maximilians Universiy Munich , Humboldt-Universität zu Berlin , European Molecular Biology Laboratory (EMBL) , Eberhard Karls Universität Tübingen , Max Delbruck Center for Molecular Medicine (MDC) , Technische Universität München , Imperial College London , National Institute for Medical Research , Royal College of Art , UCL - University College London , University of Aberdeen , University of Cambridge , University of Manchester , University of Nottingham , University of Oxford , University of Leeds , Delft University of Technology , Maastricht Science Programme , Radboud University Nijmegen , Utrecht University

Organization Sensory-Motor Systems Lab

Hosts Paez Diego, Dr. , Paez Diego, Dr. , Paez Diego, Dr.

Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology

Development of a fully autonomous system for intravitreal injections

Multiscale Robotics Lab

Intravitreal therapy is a method of delivering medication into the eye to treat various retinal diseases. Patients need to visit the doctor regularly for the basic and time-consuming procedure. To optimize patient experience and procedure time, the Multiscale Robotics Lab is developing a robotic system which can automate the delivery of drugs into the eye. Cutting-edge robotic technology is required to overcome the performance and device safety challenges posed by rapid eye movements and direct mechanical interaction between the robotic end-effector and human tissue.

Keywords

Design and manufacturing, Experimental work

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Published since: 2024-01-24 , Earliest start: 2023-09-01 , Latest end: 2024-02-29

Organization Multiscale Robotics Lab

Hosts Zughaibi Jasan , Ehmke Claas

Topics Engineering and Technology

Learning-based sensing and actuation in magnetic fields

Multiscale Robotics Lab

Magnetically actuated continuum robots possess several desirable properties that make them promising for a variety of medical applications. They are characterized by low-weight, inherent compliance, and high flexibility which - for instance - allows them to be deployed in minimally invasive surgeries. At the Multi-Scale Robotics Lab at ETH Zürich, we have developed several so-called electro-Magnetic Navigation Systems (eMNS) throughout the past decade. Simply speaking, an eMNS is an array of electro-magnetic coils that are arranged in a specific configuration. By applying an electric current to the coils, a magnetic field is generated that can be used to control magnetic objects in the space. In addition, a superimposed localization field with a unique frequency can be generated throughout the space by each electromagnet. The localization field of the electromagnets can be sensed by pickup coils integrated into the device to be actuated which allows for estimation of the 3D position and shape of the continuum robot.

Keywords

Machine learning, learning-based state-estimation, electromagnetic induction, control

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Published since: 2024-01-24 , Earliest start: 2023-12-04 , Latest end: 2024-12-31

Organization Multiscale Robotics Lab

Hosts von Denis

Topics Engineering and Technology

Object-Aware Semantic Mapping in Challenging Environments

Autonomous Systems Lab

The goal of this project is to investigate strategies that can help increase the robustness of instance-aware mapping pipelines, particularly focusing on aerial or construction robotics use cases.

Keywords

Object Detection and Segmentation, Geometric-Semantic Data Fusion, 3D Mapping

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Published since: 2024-01-23

Applications limited to ETH Zurich

Organization Autonomous Systems Lab

Hosts Mascaro Rubén

Topics Information, Computing and Communication Sciences

Microfluidic fabrication and acoustic control of gas filled liposomes

Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Already today, microbubbles are being used as ultrasound contrast agents. Their ability to precisely be manipulated to a target area gives rise to a lot of new possible applications. specially the ability to deliver drugs accurately and avoiding drug-tissue interactions with the surrounding healthy tissue would be groundbreaking for modern medicine. WE plan to implement a stable on-chip fabrication of liposomes and microbubbles and study the acoustic effect over the produced microbubbles. We investigate the effect of flow rates on the size of the produced bubbles and examine their stability.

Keywords

Acoustic, microrobots, drug delivery, biology, chemistry, biomedical, ultrasound, mechanical, microfluidics

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Published since: 2024-01-19

Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Hosts Del Alexia

Topics Engineering and Technology , Biology

DEVELOPMENT OF A SENSOR UNIT FOR UNOBTRUSIVE NOCTURNAL HEALTH MONITORING

Sensory-Motor Systems Lab

Obstructive sleep apnea (OSA) affects 1 billion individuals globally. By developing an advanced sensor unit for unobtrusive, home-based monitoring, we want to collect sleep-related data and identify unique OSA features associated with treatment outcomes. The ultimate goal is to enhance personalized care, improve diagnosis, and optimize the efficacy of obstructive sleep apnea treatments.

Keywords

Sleep Apnea Sensor Unit Nocturnal Health Monitoring Continuous Positive Airway Pressure (CPAP) Unobtrusive Monitoring Automatic Data Handling Interdisciplinary Project Data Integrity Healthcare Technology

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Published since: 2024-01-11 , Earliest start: 2024-01-14

Organization Sensory-Motor Systems Lab

Hosts Breuss Alexander

Topics Engineering and Technology

Development of a Synchronization Pipeline for Multi-Modal, Multi-Source Timeseries Data: Collaboration with Tohoku University, Japan. + Potential option for a research stay in Japan.

Sensory-Motor Systems Lab

Modern robots collect data from various sensors. When these sensors operate independently, time-synchronization through rectification of their individual clocks and correction for temporal drift is required. In our previous work, we developed an initial version of a synchronization pipeline in Python, designed for offline data synchronization. Our current pipeline already effectively synchronizes sensors that include a common external synchronization signal. Despite already working well, our current pipeline still requires some expertise to configure the data sources. To make the pipeline widely usable, we now need to make it function seamlessly even without expert knowledge and access to external synchronization signals. This enhancement should also extend to scenarios involving continuous online data as well. Furthermore, we want to prove the correctness of the synchronization and showcase the performance based on synthetic data. In essence, your thesis will comprise the following key objectives: 1. Understand the challenges involved in data synchronization. 2. Familiarize yourself with the existing synchronization pipeline. 3. Innovate strategies for achieving data synchronization without relying on external synchronization signals. 4. Enhance the user interface by creating an intuitive guide for using the pipeline effectively. 5. Extend the functionality to accommodate online data streams. 6. Assess the pipeline's correctness and performance using synthetic biosignals, as well as pre-recorded biosignals from the SMS-Lab and Tohoku University. Throughout this project, you will receive guidance from me, a 4th year PhD candidate at the Sensory-Motor Systems Lab at ETH Zurich, and researchers at Tohoku University in Sendai, Japan. As I will be in Japan from October, we will conduct the weekly meetings over Zoom. Furthermore, in case of interest, you have the exciting opportunity to visit us in Japan. This opportunity can be pursued either through personal funding or by applying for respective scholarships, such as the Heyning-Roelli Foundation, SEMP, Spickenreuther Foundation, and others. I have received scholarships in the past and I am happy to provide guidance and support throughout the application process.

Keywords

Signal processing, data synchronization, computer science, data validation, benchmarking, software engineering, master thesis, research stay, international collaboration

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Published since: 2024-01-11 , Earliest start: 2023-10-08

Organization Sensory-Motor Systems Lab

Hosts Breuss Alexander

Topics Information, Computing and Communication Sciences , Engineering and Technology

Exploring high accuracy Camera Calibration for SLAM

Autonomous Systems Lab

Precise calibration is a crucial part of many robotics systems. Especially, the calibration of cameras is necessary for various computer vision applications, such as Simultaneous Localization and Mapping (SLAM). Often the respective sensor setups are assembled, calibrated once and then used for several weeks or months without being recalibrated. Environmental influences, such as temperature changes, vibration or impacts, might, however, influence the sensor’s calibration over time.

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Published since: 2024-01-10 , Earliest start: 2024-02-01

Organization Autonomous Systems Lab

Hosts von Cornelius

Topics Information, Computing and Communication Sciences , Engineering and Technology

Computational Modeling of Artificial Muscle Cells for Biohybrid Robots

Soft Robotics Lab

This research aims to advance biohybrid robotics by integrating living biological components with artificial materials. The focus is on developing computational models for artificial muscle cells, a critical element in creating biohybrid robots. Challenges include modeling the complex and nonlinear nature of biological muscles, considering factors like elasticity and muscle fatigue, as well as accounting for fluid-structure interaction in the artificial muscle's environment. The research combines first principle soft body simulation methods and machine learning to improve understanding and control of biohybrid systems.

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Biohybrid Robotics, Computational Models, Soft Body Simulation, Machine Learning, Surrogate Models, Finite Element Method (FEM)

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Published since: 2024-01-05 , Earliest start: 2024-02-01 , Latest end: 2024-12-31

Organization Soft Robotics Lab

Hosts Katzschmann Robert, Prof. Dr. , Mekkattu Manuel

Topics Information, Computing and Communication Sciences , Engineering and Technology , Biology , Physics

Automation of an acoustically assisted 3D bioprinter

Acoustic Robotics for Life Sciences and Healthcare (ARSL)

This project mainly focuses on automizing an existing experimental setup consisting of a DLP-based bioprinter equipped with transducers to allow the manipulation of cells using external acoustic energy.

Keywords

Bioprinting, 3D printing, Additive Manufacturing, Control System, Tissue Engineering, Regenerative Medicine, (Organ-on-a-Chip)

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Published since: 2023-12-17 , Earliest start: 2024-01-01 , Latest end: 2024-08-31

Organization Acoustic Robotics for Life Sciences and Healthcare (ARSL)

Hosts Agrawal Prajwal

Topics Information, Computing and Communication Sciences , Engineering and Technology

DELTA

Rehabilitation Engineering Lab

This project investigates the possibility to use low budget sensors such as webcams and IMUs to measure movement of stroke patients and quantify the movement quality. This low cost approach will allow to scale the solutions and bring instrumented solutions into clinical application. Integral part of this project is to develop and validate algorithms, create user-friendly apps and translate the new technology into clinical application. This project is a collaboration between ETH and cereneo foundation and is thus based in Zurich and Vitznau/Hertenstein.

Keywords

AI, markerless motioncapture, stroke, assessments, computer vision, low budget, IMU

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Published since: 2023-12-13 , Earliest start: 2023-12-18

Organization Rehabilitation Engineering Lab

Hosts Unger Tim

Topics Medical and Health Sciences , Information, Computing and Communication Sciences , Engineering and Technology , Behavioural and Cognitive Sciences

Information Gain for Novel-View synthesis with Diffusion Models

Autonomous Systems Lab

From just a single image humans are able to imagine the shape of objects, thanks to prior knowledge about the 3D world gained through daily observations. This ability becomes crucial for manipulation and navigation in complex environments. The novel-view synthesis problem remains a long-standing problem in computer vision, in particular for the (ill-posed) single-view 3D reconstruction.

Keywords

Manipulation, Active perception, Deep Learning, Diffusion models

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Master Thesis , ETH Zurich (ETHZ)

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Published since: 2023-12-11 , Earliest start: 2023-12-11 , Latest end: 2024-03-31

Applications limited to ETH Zurich

Organization Autonomous Systems Lab

Hosts Ott Lionel , Di Francesco

Topics Information, Computing and Communication Sciences , Engineering and Technology

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