This Master's thesis/semester project focuses on the microfluidic fabrication of micromachines with multi-environmental responsiveness. The aim is to develop micromachines capable of adapting to various environmental cues. We envision that these micromachines will be used for complex tasks in biomedical and environmental applications. - Chemistry, Engineering and Technology, Medical and Health Sciences
- ETH Zurich (ETHZ), Internship, Master Thesis, Semester Project, Student Assistant / HiWi
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Event cameras are an exciting new technology enabling sensing of highly dynamic content over a broad range of illumination conditions. The present thesis explores novel, sparse, event-driven paradigms for detecting structure and motion patterns in raw event streams. - Engineering and Technology
- Master Thesis
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Experiment with Gaussian Splatting based map representations for highly efficient camera tracking and simultaneous change detection and map updating. Apply to different exteroceptive sensing modalities. - Engineering and Technology
- Master Thesis
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This project consists of reconstructing soft object along with their appearance, geometry, and physical properties from image data for inclusion in reinforcement learning frameworks for manipulation tasks. - Engineering and Technology
- Master Thesis
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Push the limits of arbitrary online video reconstruction by combining the most recent, prior-supported real-time Simultaneous Localization And Mapping (SLAM) methods with automatic supervision techniques. - Engineering and Technology
- Master Thesis
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Computing, time, and energy requirements of recent neural networks have demonstrated dramatic increase over time, impacting on their applicability in real-world contexts. The present thesis explores novel ways of implementing neural network implementations that will substantially reduce their computational complexity and thus energy footprint. - Engineering and Technology
- Master Thesis
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The aim of the project is to develop a simple method for fabrication of kirigami-inspired laser-cut or molded antennas on flexible substrates. This technology will enable advancements in wearable electronics for wireless communication and sensing applications. - Antenna Technology
- Bachelor Thesis, Semester Project
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Soft robotics has gained significant attention in recent years due to its ability to perform delicate and adaptive tasks that traditional rigid robots cannot achieve. Among various actuation methods, ultrasound-driven soft robots present a promising avenue for non-contact and precise control in liquid environments. These robots have potential applications in biomedical fields, microfluidics, and underwater exploration. The integration of ultrasound as an actuation mechanism enables efficient propulsion, controlled deformation, and complex locomotion patterns. - Engineering and Technology, Physics
- Master Thesis
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Quasi-direct drive robot arms experience high deflection in the presence of large end effector forces. This leads to stability issues when these forces change rapidly, such as when dropping a heavy object. Existing works use reinforcement learning to achieve end effector tracking[1] as well as force control[2]. In this project, you will extend upon this by developing a controller capable of tracking end effector poses in the presence of sudden, large changes in end effector disturbance. You will first deploy your controller on a standalone robotic arm and then work towards deployment on our ANYmal-based bimanual mobile manipulator.
[1] Martín-Martín et al., Variable Impedance Control in End-Effector Space:
An Action Space for Reinforcement Learning in Contact-Rich Tasks (IROS 2019)
[2] Portela et al., Learning Force Control for Legged Manipulation (ICRA 2024)
- Robotics and Mechatronics
- Bachelor Thesis, Semester Project
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In the BIROMED-Lab we have been developing an endoscopic system for safer neurosurgeries with inspiration from human finger anatomy. Its two degrees of freedom allow the endoscope to investigate areas of the brain that would be inaccessible with standard rigid endoscopes. Thanks to springs in the transmission between the motors and the movable endoscope tip, the interaction forces between the instrument and the brain tissue can be reduced. Furthermore the interaction forces can be estimated by measuring the deflection of the spring. To make the telemanipulation of the endoscope safer and more intuitive for the surgeon, force feedback was also implemented. - Biomedical Engineering
- Master Thesis
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