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Master Theses at IRIS

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

May 24, 2017

Visual-Inertial Odometry Pipeline

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

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May 23, 2017

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

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

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May 23, 2017

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

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

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May 23, 2017

Rehabilitation Study Supervision with ARMin V

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

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May 23, 2017

Expertise in climbing: Comparison of perception and action

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

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May 22, 2017

Game and GUI Development for the Rehabiliation Robot ARMin V

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

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May 20, 2017

Tethered Drone

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

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May 15, 2017

Hand-Eye Calibration Toolbox

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

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May 15, 2017

Integrated Multi-Camera Calibration Toolbox

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

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May 10, 2017

Perception for Drone Racing

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

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May 3, 2017

Semantic Labeling of 3D Point Clouds from RGB-D Images

The main objective of this project is to develop an algorithm to produce semantically annotated volumetric representations of scenes by fusing 3-D point cloud data with geometric information from 2-D RGB images.

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May 2, 2017

High-speed Augmented Realty with Event-based Cameras

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

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May 2, 2017

Design of a Robotic System for Cardiac Surgery

Desired Knowledge: Mechanical design, mechatronics; interested to work with physicians. Starting date: Immediately

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May 2, 2017

Design of a Device for Diagnosing Hip Osteoarthritis

Desired: Knowledge in mechanical design, mechatronics; interest to work with physicians Starting date: Immediately

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Apr 26, 2017

Detection, Pose Estimation and Manipulation of Arbitrarily Shaped Objects

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

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Apr 26, 2017

Deep Learning for Semantic SLAM

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

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Apr 21, 2017

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

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

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Apr 20, 2017

Learning Visual Object Descriptors

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

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Apr 19, 2017

Development of Impedance Controller for the VariLeg Exoskeleton

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

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Apr 19, 2017

Internship Opportunity in the VariLeg exoskeleton project (unpaid)

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

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Apr 12, 2017

Advanced lithographies for single-bacteria trapping

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

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Apr 3, 2017

Physical Threshold Detection

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

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Apr 3, 2017

Development of a portable device for quantifying endogenous cyanide in Cassava

This master project aims to develop a small, safe, and low-cost mobile device for cyanide quanti-fication in cassava by non-expert users in remote settings

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Apr 3, 2017

Automated Wound monitoring at home

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

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Mar 30, 2017

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

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

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Mar 21, 2017

Simulation for robotics

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

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Mar 10, 2017

Computer vision & state estimation for fixed-wing UAVs

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

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Mar 7, 2017

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

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

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Mar 7, 2017

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

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

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Mar 3, 2017

Path planning for UAVs with Visual-Inertial SLAM

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

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Feb 24, 2017

Advanced Sensing & Control of 3-Phase PMSM Actuators

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

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Feb 24, 2017

System Identification of 3-Phase PMSM Actuators

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

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Feb 24, 2017

Advanced Control System for 6-Phase PMSM Actuators

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

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Feb 23, 2017

Towards Implantable Motion Tracking using Inertial Sensors

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

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Feb 14, 2017

Computer Vision for Human-Robot Interaction

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

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Feb 9, 2017

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

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

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Feb 3, 2017

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

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

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Feb 1, 2017

Deep Reinforcement Learning for Motion Planning

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

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Jan 31, 2017

Visual and Event-based Cameras for Robot Navigation

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

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Jan 31, 2017

Collaborative Map Building and Localization using Multiple UAVs

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

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Jan 29, 2017

Analysis of leg muscle activity during undisturbed and disturbed walking

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

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Jan 29, 2017

Large-scale Dense Scene Reconstruction from Multiple UAVs

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

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Jan 29, 2017

Experimental Human Knee Joint Impedance Estimation

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

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Jan 29, 2017

Maintaining balance after trips: role of movement patterns

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

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Jan 25, 2017

Multiple projects in mobile health systems available

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

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Jan 20, 2017

Micro Shape Memory Alloys for a Drug Delivery Platform

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

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Jan 18, 2017

Software development for assessments of sensorimotor function in neurological patients

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

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Jan 17, 2017

Optical Flow Estimation with an Event Camera

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

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Jan 17, 2017

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

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

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Jan 17, 2017

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

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

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Jan 17, 2017

Continuous Structure From Motion (SfM) with an Event Camera

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

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Jan 16, 2017

Bubble-powered soft acoustomagnetic microrobots

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

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Jan 16, 2017

The acoustic nanoswimmer

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

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Jan 6, 2017

Loop Closure in the Presence of Perceptual Aliasing

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

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Jan 4, 2017

Somnomat: an Actuated Bed to Improve Sleep

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

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Oct 24, 2016

Study the Motion Limit of Visual Odometry

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

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Oct 24, 2016

Robust and Adaptive Multi-Camera Visual Odometry

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

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Oct 24, 2016

Learning Depth from Images and IMU Measurements

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

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Oct 24, 2016

Smart Feature Selection In Visual Odometry

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

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Oct 24, 2016

Learning Motion from Blur

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

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Aug 1, 2016

Novel tool to assess upper limb function in neurological patients

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

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