Development of a passive dynamic treadmill for quadruped leg testing
The goal of this project is to develop a passive sensorized treadmill for testing of novel quadruped leg prototypes.
Feet design for legged planetary exploration robots
The influence of feet design features such as (sole area, studs etc.) on traction performance shall be experimentally investigated on a variety of planetary soil.
Real-time Dynamic Scene Reconstruction
Autonomous interaction in real-world environments requires robots to build an internal representation of the observed scene and the objects therein. The goal of this project is to integrate efficient tracking of multiple (potentially) moving objects into an existing scene reconstruction framework.
Manufacturability constraints for automated design of additive manufactured manifolds
At pd|z a design toolbox is developed to simplify and accelerate the design generation of complex additive manufactured parts. The goal of the thesis is to develop and implement algorithms that adapt the generated designs with respect to the overhang restriction. Manifolds are used as an application
Themo-Mechanical Simulation for Additive Manufacturing using GPU capacities
This work proposes to implement a thermo-mechanical simulation using GPU capabilities in order to drastically decrease the simulation time. This will aim at modeling the distortion occuring during the Laser Powder Bed Fusion process. The result will be benchmarked against both real printed part and commercial simualtion solutions (ANSYS).
Control Algorithm Development for a Series Elastic Actuated Exoskeleton
Robot-assisted therapy of stroke patients is a promising approach to improve the therapy outcome and to tackle the challenges of demographic ageing. Using a novel 6 DoF exoskeleton prototype, we want to investigate/develop new control strategies for the next generation of these robots.
Development of a biocompatible silicone strip with embedded Hall-effect sensors to allow continuous monitoring of hemodynamic parameters
In this study different concepts of silicone strips with embedded magnetic sensors will be explored. The sensos will be evaluated with in-vitro and ex-vivo experiments. The aim of the project is enable continuous measuring of hemodynamic parameters by monitoring the arterial wall displacement
4D soft robots for next-generation surgery
The student will develop magnetic soft robots for minimally invasive surgery.
How to manufacture the worlds largest thermoplastic composite profile
The objective of this thesis is the manufacturing feasibility investigation of large diameter, thermoplastic profiles based on the experimental and numerical study of processing conditions and material characteristics of variable diameter rods ranging from Ø5 to Ø20 mm.
Experimental investigation and numerical simulation of residual stresses in pultruded high performance composites.
The objective of this thesis is to investigate the formation of residual stresses in high performance thermoplastic composites and their influence on the material performance. The experimental approach and results will be validated through material testing and a thermomechanical FEM model.
Mechatronic Design of a Wheel Electrode Sensor for Robotic Inspection
The goal of this project is to design, build, and integrate a light-weight wheeled electrochemical sensor on a flying robot, and test its ability to evaluate the state of concrete infrastructure
Model-mediated haptic telemanipulation for robotic door opening
This project aims to design a haptic rendering architecture based on model mediation for tele-operated robots. The door of a switchboard cabinet should be modeled and opened from a teleoperator.
Void assessment of thermoplastic composites using contrasting agent assisted µ-computer tomography
The objective of this thesis is to investigate the potential of micro-computer tomography (µ-ct) to assess the void content of high performance thermoplastic composites.
Process Automation and Reduction of Post-Processing in Additive Manufacturing (AM) and Selective Laser Melting (SLM)
Industry related research project in Additive manufacturing.
Autonomous, Information-Based Radiation Mapping using a UAV
The goal of this problem is to develop and implement a exploration and mapping strategy for autonomous radiation mapping using a small Unmanned Aerial vehicle (UAV), equipped with visual, inertial and radiation sensors onboard.
Installation and setting into operation of a dynamic actuator testbench
The goal of this project is to install a testing environment for characterizing the dynamic behaviour of newly developed high-torque robotic actuators.
In-situ polymerization on glass fibers for high-volume manufacturing of thermoplastic composites
This work explores polymerization reations which are suitable for the continuous manufacturing of glass fiber - thermoplastic bicomponent fibers.
Semantic-based Path Planning for Autonomous Robot Navigation
The goal of this project is to implement a path planner which uses semantic information in order to perform autonomous navigation and obstacle avoidance for different robots while navigating towards a goal configuration.
Consolidation of commingled hybrid bicomponent fiber preforms
This work explores the feasibility of low fiber volume fraction bicomponent fibers for the high-volume manufacturing of thermoplastic composites for structural applications. You will model the consolidation of those novel hybrid bicomponent fiber arrangements and compare them to existing materials. These findings will then be experimentally verified at CMASLab.
Time-domain passivity based control for the haptic teleoperation of ALMA over delayed networks
This project aims to implement a control architecture for the haptic teleoperation of ALMA.
Biomechanical Modeling of the Impact of a Mothers Movement on the Unborn Child
It is well known, that frequent mechanical stimulation such as rocking have positive effects on development and sleep of humans. The first time such stimulations are experienced by a foetus when the mother moves. However, effects of simple every day movements performed by the mother such as walking
Intelligent Bed for Sleep Apnea Therapy
Sleep apnea is the most common sleep disorder. Sleep apnea patients stop breathing several times per hour during the night, which results in fragmented sleep, daytime sleepiness, cognitive and cardio-vascular problems. Many of these patients would experience fewer apneas if they would alter their sl
Design a bed that cares for you
One third of the global population has sleep problems. Usually these sleep problems are treated with drugs, which are highly addictive. Due to habituation (process of getting used to stimulus), patients often require a higher dosage after a short period. Within the SOMNOMAT project, we are developin
Processing of Shape Memory Alloys (SMA) with Selective Laser Melting
In this work, a parameter set will be determined to process a NiTi SMA on a SLM machine. The produced samples will be fully characterized, i.e. optical analyses & mechanical tests. Further, the influence of SLM process control on alloy composition and phase transition temperature is investigated.
Learn Depth from Multiple Input Modalities
Learn depth from RGB frames and sparse depth information.
Visual Servoing for Mobile Manipulation
Implement visual servoing on ALMA, a quadruped with a mounted arm. By the end of the project, the robot should be able to grasp a detected object reliably, even in the face of model inaccuracies.
ANYmal at the MBZIRC Competition
RSL is competing in the 2020 MBZIRC Competition with ALMA on wheels. There are two tasks: constructing a wall from bricks, and extinguishing simulated fires. The final system will be completely autonomous. Students will have the opportunity to travel to Abu Dhabi for the competition.
Motion Optimization for Quadrupeds with Actuated Wheels In Unstructured Terrain
Traditional legged robots are capable of traversing challenging terrain, but lack in energy efficiency and speed when compared to wheeled systems. We propose a novel motion planner and controller framework which enables a legged robot equipped with powered wheels to perform hybrid locomotion.
Master/Semester Thesis: Autonomous MAV Exploration using Reinforcement Learning
The task of autonomously exploring an unknown environment is one of the most challenging tasks in robotics. In this thesis we would like to tackle this challenge using reinforcement learning. More Information:
3D Printing of Multifunctional Materials for Adaptive systems
3D printing comes with the advantages of customizing a product towards individual needs. More and more functional materials are being printed to increase the realm of 3D printing towards mainstream fabrication.
Optimization of 3D printed integrated sensors for composite materials
Integrated sensors aid in real time damage detection in structural components of aerospace structures, turbines, prosthesis and automobiles. The application of these sensors starts even before the service life of the product via online monitoring during cure, repairs & lasts beyond its designed life
Carbon fibers as electrodes in lithium ion structural batteries
Concerns of oil depletion, coupled with the consequences of climate change facilitate the need to reduce our dependence upon fossil fuel energy sources. This work investigates multi-functional materials to provide both electrical energy and the ability to support loads, i.e. structural batteries.
Design and Analysis of the Deployment of a Carbon Fiber Reinforced Transcatheter Aortic Heart Valve Stent
This thesis deals with the design and analysis of a deployment mechanisms to reliably deliver and deploy a fiber reinforced transcatheter aortic heart valve stent inside an aortic annulus. The delivery device has to be designed completely and the deployment of the structure analyzed experimentally.
Investigations on Ultra-Thin Carbon Fiber-PEEK Composites for Foldable Space Structures
This thesis deals with the manufacturing of deployable space structure architectures from novel Carbon-Fiber reinforced PEEK material. The properties of the material need to be investigated with regard to foldability, and novel ways to manufacture space structure architectures have to be found.
Collaborator in assisting with qualitative data collection and analysis
A collaborator for the joint project with SBB Cargo entitled “Future Environmental Performance of Swiss Freight Transport: Impacts on Rail Cargo Competitiveness”, to assist with the qualitative data collection and analysis, for three months, maximum 50 hours per month and with high flexibility
Quadrupedal Robots Literature Review
In this Studies on Mechatronics the student is asked to thoroughly review the state of the art in quadrupedal robotics, to structure and compare all the different developments, and to write a corresponding summary paper.
Dynamic motion planning and control for a ball-balancing mobile manipulator
The goal of this project is to develop a control framework for a ball-balancing robot with an arm. The design of such a system should be aimed at minimizing the computational cost of the planner and generating dynamic motions for the robot.
Mass Transport Across Atomically-Thin Nanoporous Membranes
Selective transport across nanopores is present in fields ranging from ion channels in biological cells to industrial scale water desalination and gas separation. We study nanofluidic transport across nanopores at the limit of membrane thinness with the single-atom-thin membrane material graphene.
A Magnetic Catheter with Programmable Magnetizations
Magnetic catheters are promising technologies for minimally invasive surgeries due to the ability to remotely bend the tip using dynamic magnetic fields. Such catheters can be used for interventional therapies to treat cardiac arrhythmia and aneurysm.
Interaction control strategies on hand assessment robot for stroke patients
ETH MIKE is a robotic device for somatosensory, motor and sensorimotor assessment of hand function in stroke patients, developed at RELab. The aim of the project is to improve and characterize transparency of the robot. Multiple control strategies will be tested and assessed to design an optimum human-robot interaction control.
Large-Scale Volumetric Mapping and Global Planning for UGVs
The goal of this project is to develop mapping strategies for enabling global path planning in real-world large-scale environments.
Liquid armor? A study of projectile resistance in shear thickening materials
Body armor is used by police and military personnel for protection against gunshots and projectiles. This body armor needs to be both flexible, so that they can move easily and hard, in order to stop on impact and protect the wearer. A shear thickening material allows for both us these traits
Collection and analysis of healthy control data with the ETH MIKE
ETH MIKE is a robotic device for somatosensory, motor and sensorimotor assessment of hand function in stroke patients, developed at RELab. The aim of this project is collect and analyse the control data from neurologically intact participants. This will allow us to determine the healthy norms for th
Bubbles of Sand?
The Rayleigh instability manifests itself in a broad range of systems ranging from the formation of mushroom-shaped clouds in nuclear explosions to fingering patterns in supernova explosions. Our goal is to continue study the R-T instability. and compare with naturally occurring R-T instabilities
Analyzing The Role of Perception Latency in High Speed Sense and Avoid
To prevent a collision with an obstacle or an incoming object, a robot needs to detect them as fast as possible and execute a safe maneuver to avoid them. The higher the relative speed between the robot and the object, the more critical the role of perception latency becomes. The goal of this project is to extend our previous work ( on the analysis of the role of perception latency in high speed sense and avoid, in order to consider different robot dynamics and multiple scenarios, such as cases including dynamic obstacles.
Performance analysis and characterization of a morphing quadrotor
The goal of this project is to study the impact of the morphology assumed by a quadrotor able to change its shape in-flight on the performance of its propulsion system.
The Myoshirt - wearable soft robotic assistance
The Myoshirt – a garment-like soft wearable robot – assists upper extremity movements without interfering with the natural movement of the user. We are looking for motivated students with an interest in robotics and human subject research to help us in the development and evaluation of the Myoshirt.
Towards Collaborative SLAM using Smartphones
The goal of this project is to investigate and improve the performance of visual-inertial odometry running on smartphones in order to boost the performance of collaborative SLAM with portable devices.
Neural coupling of bilateral hand movements: Re-organization in subjects with impaired motor control systems?
This project aims to explore the influence of neuromotor disorders on the neural coupling during bimanual hand movements.
Microstructure Simulation for additive Manufacturing
Simulations of microstructures are an interesting tool for studying evolution of microstructures. Cellular automata are usually used to describe such dynamic and self-organizing systems, referring to (Hoffmann, 2015).
Micro- and Nano-engineering for Heat Transfer Enhancement
In order to achieve high efficiency of condensation, it is important to enhance the phase change heat transfer through dropwise condensation, rather than filmwise, and to have a durable surface on which this phenomenon occurs. High thermal conductivity of the involved materials is also required.
Incorporating on-line measurements into deep neural network predictions for estimating wind near terrain with a fixed-wing UAV
This project will develop methods for predicting wind near terrain during flight with a fixed-wing UAV. In particular, this work will focus on incorporating wind measurements from the UAV into the prediction model in-flight. This will require exploring new methods and architectures for deep learning
Design, Integration and Control of a Manipulator in an Arm-on-Arm Setup
The goal of this project is to design and integrate a robot arm mounted at the tool of an excavator arm (shovel/gripper). The combination of a large excavator arm (powerful, but not precise) and an attached robot arm (small, very precise) can be used for various micro/macro manipulation tasks.
HiWi Position - Image Annotation with Amazon Mechanical Turk
We are looking for a student to help us with an image annotation task. The task would involve managing and approving image annotations generated by the Amazon Mechanical Turk workers. The goal is to annotate a dataset of around 30000 RGB images with polygonal masks.
Learning Canonization for Robotics
A simulation oftentimes contains precisely the key parts necessary to replicate a real world system. This thesis will further develop ways of closing the gap between simulation and reality by finding representations of input images and output commands that focus on actionable parts of the data and remove unwanted parts. This is motivated by the fact that it is hard to know what is relevant for a task apriori. One can however find out what is important from data.
Technology based assessment of upper limb function during the rehabilitation of neurological patients
The Virtual Peg Insertion Test (VPIT) is a tool to measure upper limb function. It can provide quantitative information during the rehabilitation of neurological patients that can help to better understand the motor recovery process or the effect of therapeutic interventions.
Teleoperation of ANYmal in Challenging Environments
Development and implementation of a tele-operation solution for our quadruped robot ANYmal in challenging environments. A possible use case scenario for this project is the DARPA SubT Challenge.
Design of a wrist for a dynamically balancing mobile manipulator
The goal of this project is the design of an actuated wrist for a dynamically balancing robot provided with a manipulator. The development of this system will enhance the capabilities of the robot, allowing it to perform precise and dynamic manipulation tasks.
Learning minimal representations of places
Use machine learning to condense visual observations of places into minimal representations that allow for 6dof relative pose estimation.
Autonomous Car Dataset with Event Cameras
Create an autonomous car dataset to assess the utility of event cameras in driving scenarios
Pattern Recognition in Eye Tracking Data for Development of Automated Workflow Detection
The goal is to develop an algorithm for the automated detection of workflows.
Learning to Deblur Images with Events
Explore machine learning based approaches for deblurring of images with events
Safe Reinforcement Learning for Robotics
During this project, we will develop machine learning based techniques to let a (real) drone learn to fly nimbly through gaps and gates, while minimizing the risk of critical failures and collisions.
Powder analysis for Additive Manufacturing: development of an innovative device
A new device for evaluating powder properties was designed and set up in our laboratory, and now some experimental work is needed to evaluate it with the multitude of materials that are available in-house thanks to the many industrial projects we are daily dealing with.
Unsupervised Obstacle Detection Learning
In this project, we aim to build a self-supervised depth estimation and segmentation algorithm by embedding classic computer vision principles (e.g. brightness constancy) into a neural network.
Optimization for Spiking Neural Networks
An exploration of optimization methods for spiking neural networks
High-Performance Simulation of Spiking Neural Network on GPUs
Exploit sparsity of data flow in spiking neural network simulations
Target following on nano-scale UAV
This project focuses on the object tracking, (i.e., target following) on nano-UAVs (few centimeters in size).
Decentralized Visual Map Building
Work on decentralized SLAM that requires a minimum of data exchange between robots. Focus will be on Map Optimization / Bundle Adjustment
Path-Planning for Autonomous Robot Navigation in Construction Sites
The goal of this project is to implement an optimization-based path planner for different robots in order to perform autonomous navigation and obstacle avoidance in construction sites.
Robust 3D exploration
Explore an unknown space in 3D, relying only on visual-inertial odometry (with drift) and basic place recognition (but no loop closure/map optimization).
Event-based Deep Learning
The goal of this project is to explore new algorithms for processing events within a deep-learning context.
Asynchronous Processing for Event-based Deep Learning
The goal of this project is explore ways to adapt existing deep learning algorithms to handle sparse asynchronous data from events.
Open-Source Research Flight Controller interfacing Hobbyist Hardware
Develop an embedded low level flight controller for quadrotors on existing hardware.
Generation of Fast or Time-Optimal Tracjectories for Quadrotor Flight
Develop a planning framework for very fast or even time-optimal quadrotor trajectories.
3D Reconstruction using an Event Camera
In this project we want to explore the possibility of active sensing using an event camera, where the task is to do asynchronous 3D reconstruction.
MPC for high speed trajectory tracking
MPC for high speed trajectory tracking
Redesign of a mobile construction robot
Many tasks in the construction industry are repetitive and can be dangerous for human workers. We plan to develop robotic systems that can safely navigate and work in these environments. This poses challenges on both the hardware and software of robots.
Development of drug delivery systems and drug formulation technologies
In these projects we seek to develop new methods for the production and characterization of polymeric nanoparticles (polymeric NPs) and other nanoscale drug delivery systems that enable the controlled dosing of different classes of active pharmaceutical ingredients.
Thermomechanical Simulation for Distortion and Residual Stress Prediction in SLM Parts
Please see the attached Description.pdf.
Home-based wound self-documentation with mobile app
We have developed an mHealth tool aiming for patients’ self-documentation of their own wounds without supervision. In this study, we will test the mHealth tool with real users (patients with systemic sclerosis).
Influence of moisture on the SLM process
The SLM process is strongly influenced by the raw material - the powder. Metal powder can absorb moisture during the SLM process chain. Moisture degrades the component properties or even prohibits the processing of powder. This negative influence is to be investigated in this thesis.
Influence of particle size distribution on the SLM process
Research has shown an influence of the particle size distribution on the process parameters (such as laser power and scanning speed) of the SLM process. This influence is to be investigated in this thesis.
Development und design of a multifunctional Laparoscope
Most of the currently existing tools have exactly one function and are single use devices. Therefore, we conceptualized a multifunctional, multiuse laparoscopic device. Are you excited to build things that matter?
Force Instrumented Wheelchair Push Rim
Develop a force and velocity sensing push rim for wheelchairs that is robust enough to handle athletes and high velocities. Ideally the push rim should be able to estimate forces and torques in all directions, as well as the point of contact.
Robotic Finger Strength Trainer for Climbing and Rehabilitation
Design a robotic finger trainer for save and more efficient training of isometric finger strength and rehabilitation of finger injuries, in climbing.
Finger Strength Training and Rehabilitation in Climbing
At the Sensory-Motor Systems lab [1] we have developed a force instrumented hang board. In a study we like to compare this method with the traditional method of using a pulley system to reduce load and a stopwatch to keep the times. -- Deutsche Version im Anhang. --
Help our Athletes win Gold at Tokyo 2020!
* Modelling Human Multi Body Dynamics * Parameter Identification * Optimizing Athletic Performance and Aerodynamics * Support the best Swiss Paralympic Wheelchair Athletes: Marcel Hug and Catherine Debrunner
Science and Engineering Projects in Rock Climbing
We are looking for help on various rock climbing related research projects.
A new device for investigating thermal properties of additive manufacturing materials
Please refer to description/attached file
Shape morphing in CFRP structures with embedded SMAs
Integrated actuators in sandwich panels serve dual functions of adaptation as well as reinforcement, thereby leading to ultra-lightweight active structures. Additive manufacturing serves as the best tool in fabricating functional, at the same time load-bearing sandwich panels.
Development of a computational model of the human pelvic plexus nerves to design a neural interface for bioelectronic device treating erectile dysfunction
Nearly 30% of erectile dysfunction patients do not respond to drug treatments and to achieve erection, these patients mostly rely on intra-penile injections. We propose the development of a subcutaneously implantable bidirectional neurostimulation system to restore erectile functions.
Acoustophoretic particle manipulation for cell secretome analysis
High throughput analysis of cell secretome using mass spectrometry is a major goal in microbiology. In this project, steps towards reaching this goal using acoustophoretic devices are investigated.
Improving the resolution of metal 3D printing by means of acoustophoresis
Metal 3D-printing is limited in minimal feature size. In this project, acoustofluidic is utilized to make a huge step in improving the minimal feature size of laser powder deposition 3D printing.
Conducting Rehabilitation Studies 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.
Crystallization fouling and rational design of intrinsically scale-phobic surfaces
Crystallization fouling due to mineral scale formation on industrial devices is associated with equipment failures and increased energy consumption. We will attempt to understand the fundamentals of scale nucleation on nanoengineered substrates with advanced experimental methods.
Post-Doc in Wearable and Embedded Systems (IoT)
Our interdisciplinary team seeks a post-doctoral fellow for strengthening our efforts in developing wearable biomedical devices.
Project in mobile health systems
Develop and test 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, prevent and treat major global health issues.
Design of a tendon-based robotic device for locomotion training
The proposed project aims at designing a novel tendon-based parallel robotic device for locomotion training that can guide or resist the patients’ movements during training.
Fingertip 6-axis force sensor for robotic grasping and manipulation
Grasping and Manipulation of unknown objects in robotics requires forces to be detected in a precise and robust way. Goal of this project is to design state of the art solution for contact detection in such applications.

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