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State estimation for MRI-driven micro robot
The aim of this project is to develop state estimation tools that can accurately capture Mri-driven micro robot's state.
Keywords: Micro robot, Mri-driven robots, state estimation, moving horizon estimator
The Localization of a micro robot in side human body while actuation is one of the major milestones medical micro robotic research. One approach towards this milestone is using magnetic resonance imaging (MRI) scanners for both imaging and actuation.
This can be done by dividing MRI sequence to imaging and actuation part, thereby MRI scanner act as a sensor and an actuator in cyclic manner. The actuation and sensing frequencies of this system are same, therefore it is specially challenging to obtain an accurate estimation of the robot’s state. In this project, you will develop a moving horizon estimator (MHE) tailored for MRI-driven micro robot.
**Work Packages**
- Modelling dynamic system
- Implementing MHE and optimizing estimation performance
- Experimenting with MHE in simulations and in real MRI scanner
**Requirements**
- good knowledge of the system modeling
- good knowledge of the estimation theory
- good knowledge of C++
Plus
- experience with Linux and ROS
- good knowledge of the optimization methods
If you are interested in, please send us your resume and short description of previous accomplished projects.
M.Efe Tiryaki(tiryaki@is.mpg.de) or Prof. Metin Sitti(sitti@ism.mpg.de).
The Localization of a micro robot in side human body while actuation is one of the major milestones medical micro robotic research. One approach towards this milestone is using magnetic resonance imaging (MRI) scanners for both imaging and actuation.
This can be done by dividing MRI sequence to imaging and actuation part, thereby MRI scanner act as a sensor and an actuator in cyclic manner. The actuation and sensing frequencies of this system are same, therefore it is specially challenging to obtain an accurate estimation of the robot’s state. In this project, you will develop a moving horizon estimator (MHE) tailored for MRI-driven micro robot.
**Work Packages**
- Modelling dynamic system - Implementing MHE and optimizing estimation performance - Experimenting with MHE in simulations and in real MRI scanner
**Requirements**
- good knowledge of the system modeling - good knowledge of the estimation theory - good knowledge of C++
Plus
- experience with Linux and ROS - good knowledge of the optimization methods
If you are interested in, please send us your resume and short description of previous accomplished projects. M.Efe Tiryaki(tiryaki@is.mpg.de) or Prof. Metin Sitti(sitti@ism.mpg.de).
Developing a moving horizon estimator (MHE) for MRI-driven micro robots.
Developing a moving horizon estimator (MHE) for MRI-driven micro robots.
M.Efe Tiryaki(tiryaki@is.mpg.de)
Prof. Metin Sitti(sitti@ism.mpg.de)
M.Efe Tiryaki(tiryaki@is.mpg.de) Prof. Metin Sitti(sitti@ism.mpg.de)