 Automatic Control LaboratoryOpen OpportunitiesImplement an online MPC for the control of a drone in a indoor environment, using vision based positioning. - Systems Theory and Control
- Master Thesis
| In this thesis, you will develop a method to generate trajectories that reach a desired target location while guaranteeing a good position estimate throughout the flight considering the available visual features in the surroundings of the robot. - Systems Theory and Control
- Master Thesis
| In this project we would like to combine LPV-methods with learning for adaptive control of motion stages, and compare their performance to our recent Bayesian-optimization based approach. - Electrical and Electronic Engineering
- Bachelor Thesis, Master Thesis, Semester Project
| This project aims to design a reliable omni-directional kick engine for the NAO bipedal robot, based on data-driven nonlinear optimal control. The new kick engine will be integrated into the current control and behavior framework of the NomadZ RoboCup Team at ETH Zürich (https://robocup.ethz.ch). - Engineering and Technology
- Master Thesis, Semester Project
| We optimize the material orientation in a 2.5 to 5-axis FDM 3D printing process using anisotropic materials to improve the manufactured component mechanical properties. - Engineering and Technology
- Bachelor Thesis, Master Thesis, Semester Project
| In this project we aim at perform a system identification of the fuel cell at ESI platform (PSI) and use the derived model in the context of stochastic MPC for peak shaving electric vehicles demand. - Engineering and Technology
- Master Thesis, Semester Project
| Many real-world decision problems arising in engineering and management have uncertain parameters, whose probability distributions is unknown. This motivates us to formulate decision problems as a game: the decision-maker first chooses a decision; then, some fictitious adversarial player (e.g., ``nature'') selects a probability distribution from a prescribed ambiguity set with the goal to inflict maximum harm. Under this model, the decision-maker prepares for the worst-case distribution in the ambiguity set.
In recent years, there has been significant interest in ambiguity sets including all probability distributions within a given Wasserstein distance from a benchmark distribution (e.g., the empirical distribution defined by observed samples), mainly because of their computational tractability and of their attractive statistical guarantees; see~\cite{peyman}.
References:
[1] Peyman Mohajerin Esfahani and Daniel Kuhn. Data-driven distributionally robust optimization using the Wasserstein metric: performance guarantees and tractable reformulations. Mathematical Programming, 171(1):115–166, 2018. - Engineering and Technology, Information, Computing and Communication Sciences, Mathematical Sciences
- Master Thesis, Semester Project
| SnookerBot is a snooker playing robot platform at IfA. This project builds upon it by adding a mobile platform as a base for the current system to move around the table. The student, then needs to explore the state-of-the-art SLAM algorithms to implement one on the testbed for state estimation. - Computer Vision, Image Processing, Intelligent Robotics, Mechanical Engineering, Programming Languages, Systems Theory and Control
- Master Thesis
| The quality of Selective Laser Melting (SLM) 3D printed parts depends on their thermal history. We aim to estimate this history for process monitoring and control purposes using a combination of model-based and data-driven estimation and machine learning techniques. - Engineering and Technology
- Master Thesis, Semester Project
| The objective is to explore the applications of the predictive-sensitivity approach in the field of optimization, in particular, for algorithm that have nested loops on different time-scales. - Engineering and Technology, Mathematical Sciences
- Master Thesis
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