master program and tutors 2020 v3 · master in robotics, systems and control key topics systems...
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Master in Robotics, Systems and Control
ETH Zurich, D-MAVT, D-INFK, D-ITET, D-HEST
http://www.master-robotics.ethz.ch
Master in Robotics, Systems and Control
Key Insides and Topics
The People Behind it
Curriculum Structure
Why a Specialized Master
Application
Overview on Tutors by Department2 04.03.2020
Master in Robotics, Systems and Control
Across Engineering Disciplines◦ Extending your knowledge toward the other engineering disciplines and beyond◦ D-MAVT, D-INFK, D-ITET, D-HEST
A Specialized Master◦ At the interface of four engineering disciplines
Tutor-Based◦ You define with the help of your Tutor your individual program
Solving Today's most Pressing Challenges◦ Mobility, logistics, energy supply, environment, health care, information society, …
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Master in Robotics, Systems and Control
Key Topics◦ Systems Engineering Design and Optimization of Products and Systems ◦ Physical Modelling and Simulation ◦ Optimization and Control ◦ Perception, Graphics, Virtual Reality ◦ Embedded and Distributed Computing ◦ Artificial Intelligence & Machine Learning◦ Robotics Design, Modelling and Control ◦ Challenging Applications energy technology, biomedical, autonomous vehicles and transportation, VR/AR, search
and rescue, smart agriculture and construction, and much more.
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Master in Robotics, Systems and Control
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Raffaello D’AndreaDynamic Systems
and Control
Marco HutterRobotic Systems
Lab
Brad NelsonMulti-Scale Robotics Lab
Melanie ZeilingerIntelligent Control
SystemsMargarita Chli
Vision for Robotics Lab
Roger GassertRehabilitation Engineering Lab
Robert RienerSensor Motor Systems Lab
Marc PollefeysComputer Vision and Geometry Lab
Luc van GoolComputer Vision Laboratory
Otmar HilligesAdvanced Interactive Technologies Lab
Computer Vision
Medical /Biomedical Robotics
Roland SiegwartAutonomous Systems Lab
Artificial IntelligenceAndreas KrauseLearning and Adaptive Systems
Florian DörflerAutomatic Control Lab
John LygerosAutomatic Control Lab
Roy SmithAutomatic Control Lab
Joachim BuhmannMachine Learning Lab
Simone SchürleResponsive Biomedical Systems Lab
Automation and Control
Autonomous Robots
Lino GuzzellaDynamic Systems
and Control
Robert Katzschmann
Soft Robotic
Salvador PaneMulti-Scale Robotics Lab
Daniel AhmedAcoustic Robotics
Emilio FrazzoliInformation and Decision Systems
Siyu TangComputer Vision
and Learning Group
Stelian CorosComputational Robotics Lab
Master in Robotics, Systems and Control
D-MAVT◦ Petros Koumoutsakos◦ Christopher Onder
◦ D-ITET◦ Johann Kolar◦ Lothar Thiele
D-INFK◦ Gustavo Alonso◦ Markus Gross◦ Olga Sorkine Hornung
Others◦ Davide Scaramuzza, Robotics and Perception, UNI Zurich◦ Tobias Delbrück, Neuroinformatics, UNI – ETH Zurich
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Master in Robotics, Systems and Control
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Master in Robotics, Systems and Control
04.03.2020
ICRA 2019 • Number of publications
normalized by population
Citations per paperTop 20 most cited
robotics scientest in Europe (h-index)
ETH, Switzerland EPFL, Switzerland IIT, Italy
University of Freiburg, Germany Scuola Superiore Sant'Anna, Italy TU Munich, Germany
UniPisa/IIT, Italy DLR, Germany Sapienza Univ. of Rome, Italy
Bielefeld University, Germany CNRS/ENS/INRIA, Franz TU Darmstadt, Germany
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Master in Robotics, Systems and Control
Individual programme defined with the help of your tutor
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Category CP Description
Core Courses 36• Basis of the Master‘s Program• Providing core knowledge in the respective area of specialization• Choice of courses in accordance with tutor
Multidisciplinary Courses 6 • Complement your knowledge in the field
• Courses at ETH, Uni Zürich and HSG• Choice of courses in accordance with tutor
Science in Perspective 2 • General-education courses in humanities, social and political science from
the course catalogue of D-GESS ETH Zürich
Semester Project 8 • Use of acquired technical knowledge• Provides experience in solving a specific engineering problem
Industrial Internship 8 • Min. 12-week internship in a Swiss or foreign company / research institute
Master´s Thesis 30 • Conclusion of the Master‘s Program• Independent and scientific work
http://www.master-robotics.ethz.ch/
Master in Robotics, Systems and Control
Related Seminars
◦ ETHZ Distinguished Seminars in Robotics, Systems and Controls http://www.msrl.ethz.ch/education/Distinguished_Seminar_RSC.html
◦ ETHZ Control Seminars http://control.ee.ethz.ch/
◦ ETHZ Computer Science Colloquium http://www.inf.ethz.ch/news/colloquium/
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Master in Robotics, Systems and Control
Distinction ◦ through the Master Program after a „generic“ Bachelor in
one of the engineering disciplines Interdisciplinary ◦ across engineering and beyond
High Quality Programme◦ with international leaders in the field◦ distinguished seminar in Robotics, Systems and Controls◦ topical summer schools
Selective Admission◦ highly motivated and qualified students
Highly Relevant Fields and Large Demand in Industry◦ in Switzerland, Europe and the world
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Master in Robotics, Systems and Control
Application period: 01 March – 31 March 2020 Specialized Master ◦ Admission “sur dossier”◦ D-MAVT, D-INFK, D-ITET and D-HEST students are typically admitted if they have reasonable performance in their Bachelor
ETH students have also to apply◦ No need of recommendation letters for ETH Bachelor students◦ No need of English test for ETH Bachelor students◦ Apply online: https://www.ethz.ch/en/studies/registration-application/master/application/how-to-apply.html
For questions regarding the admission process: ◦ ETH Admission Office: [email protected]
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Master in Robotics, Systems and Control
D-MAVT Student Administration
Tsamcho Meier Dr. Maddalena VelonàLorena Luzi
04.03.202013
Master in Robotics, Systems and Control
Short Presentations of Research Labs by Departments
Master in Robotics, Systems and Control
◦ Daniel Ahmed◦ Margarita Chli◦ Raffaello D’Andrea◦ Emilio Frazzoli◦ Lino Guzzella◦ Marco Hutter◦ Robert Katzschmann◦ Brad Nelson◦ Salvador Pané◦ Roland Siegwart◦ Melanie Zeilinger
◦ Joachim Buhmann◦ Stelian Coros◦ Otmar Hilliges◦ Andreas Krause◦ Marc Pollefeys◦ Siyu Tang
◦ Florian Dörfler◦ John Lygeros◦ Roy Smith◦ Luc van Gool
◦ Roger Gassert◦ Walter Karlen◦ Robert Riener◦ Simone Schürle
15 04.03.2020
D-MAVT
D-HEST
D-ITET
D-INFK
Presented by Marco Hutter
Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Institute of Robotics and Intelligent Systems Acoustic Robotics Systems Lab
Research AreasAcoustic Micro and –nanorobotics Systems◦ Microbubble Actuators◦ Bio-inspired Robotics ◦ Targeted Active Drug Delivery
Ultrasound Manipulations Systems In vivo Acoustic 3D PrintingLife Sciences and Healthcare
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www.acousticrobotics.com
Healthcare and Diagnostics
ARSL
Master in Robotics, Systems and Control
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Acoustic Artificial Spermatozoa
Acoustic Microbubble Robot
IDTs
Acoustic Manipulation Systems
Neutrophil-inspired Robot
C. elegans
Cells & Bacteria
Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Vision for Robotics Lab
Research AreasVision-based perception for robots – focus on small UAVs◦ Robot Navigation◦ Scene Reconstruction / Understanding◦ Collaborative Robot sensing & mapping
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CROP MONITORING SEARCH & RESCUE SCENE RECONSTRUCTION INDUSTRIAL INSPECTION
www.v4rl.ethz.ch
04.03.2020
Master in Robotics, Systems and Control
MONOCULAR CAMERA
OTHER VISION-BASED SENSORS
Online Scene Reconstruction for UAV navigation
Place Recognition for multi-robot missions
Accurate Surface estimation with aTime-of-flight camera
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Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Institute for Dynamic Systems and Control
Research Areas◦ Design and control of distributed, autonomous systems
◦ Design and control of systems capable of complex motion
◦ For example: Systems with many interconnected components Systems that learn from experience and improve their performance
over time Autonomous vehicles that perform complex tasks and maneuvers
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Master in Robotics, Systems and Control
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Co-ordination of robot swarms
UWB radar networks
Radar networks
Vision-based robotic skins
Soft inflatable robotics
Machine learning for tactile sensing
UWB localization
Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Institute for Dynamic Systems and Control
Research Areas◦ Autonomous Vehicles
Enable vehicles such as cars and airplanes to safely and reliably drive/fly themselves in an uncertain, dynamic world (public roads, national airspace).◦ Control of Transportation Systems
Advanced control and optimization methods to enable new concepts for large-scale transportation systems.◦ Theoretical foundations
Advance the state of the art in foundational areas such as Control Theory, Algorithmic Robotics, System Design and Optimization
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Master in Robotics, Systems and Control
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Planning and decision making for AVs Planning with rules of the road
High-performance control Mobility on Demand
Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Institute of Dynamic Systems and Control
Research Areas◦ Analysis and synthesis of dynamic systems Internal combustion engine systems, hybrid-electric and hybrid-pneumatic propulsion
systems Energy conversion systems (heating, turbines, fuel cells, …) Biomedical systems◦ Methods and Tools System modeling, scalability, computational issues Dedicated control system design (nonlinear and adaptive) Optimization methods and tools
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Master in Robotics, Systems and Control
25 04.03.2020
Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Institute of Robotics and Intelligent Systems Robotic Systems Lab
Research Areas◦ Planning and control for locomotion and manipulation Machine learning, non-linear optimization and model-predictive control◦ Autonomous navigation and exploration Environment perception and haptic sensing◦ System and actuator design Quadrupedal robots, mobile manipulators, autonomous construction machines◦ Real-world applications Search and rescue, industrial inspection and maintenance, construction and forestry,…
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Master in Robotics, Systems and Control
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Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Institute of Robotics and Intelligent Systems Soft robotics
Research Areas“Controlled Soft Robots Tackling Manipulation and Locomotion Challenges”◦ Underwater Soft Robots◦ Manipulation with Soft Hands◦ Real-time Simulation of Soft Robots◦ Model-based Control for Soft Robots◦ Scalable Fabrication of Soft Robots
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Master in Robotics, Systems and Control
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Adaptable hands Dynamic soft manipulators
Design
Fabrication
Actuation
Biomimetic underwater robotsModeling
Control
Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Institute of Robotics and Intelligent Systems Multi-Scale Robotics Lab
Research Area◦ Micro and Nano Robotics◦ Autonomous Micro and Nano Robots◦ Design and Fabrication◦ Localization, Locomotion, Control◦ Biomedical Applications◦ Micro and Nano Manipulation◦ Sensor and Actuator Development◦ Fluidic and Self Assembly ◦ Applications in Biology and Biomedical Engineering
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Master in Robotics, Systems and Control
◦ Design and fabrication of biomedical micro-robots
◦ Soft robotics for medical applications
◦ Magnetic manipulation for intra-body navigation
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Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Multi-Scale Robotics Lab / Materials for Robotics
Research Areas◦ Micro and Nano Robotics◦ Micro – and nanofabrication◦ 3D printing / Template-assisted fab◦ Wet synthetic chemistry◦ Electrochemical processing◦ Soft materials◦ Environmental applications (micro- and nanorobots for water
cleaning)◦ Multiferroics for Small-Scale Robotic Applications◦ Magnetoelectric small-scale robots for cell electrostimulation
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Master in Robotics, Systems and Control
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◦ Complex soft/hard robotic small-scale structures
◦ Magnetoelectric micro/nanorobots for diseases in the central nervous system
◦ Micro- and nanorobots for water cleaning applications
◦ Active micro- and nanorobotic scaffolds
◦ Metal and covalent organic frameworks for micro-and nanorobotics
12 μm
30 µm + +
- -
H2O
•OH
O2
O2-•
RhB dye CO2, H2O
•OH, •O2-
Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Institute of Robotics and Intelligent Systems Autonomous Systems Lab
Research Area◦ Mission and Dedication To create intelligent robots and systems
that operate autonomously in complex and dynamic environments.
◦ Research Focus Novel robot concepts that are best adapted
for ground, air, or water based applications. New algorithms for perception, localization, abstraction,
mapping, and path planning that will enable autonomous operation in challenging environments.
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Master in Robotics, Systems and Control
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Unmanned Aerial VehiclesDesign, control and fully autonomous operation in complex environments
Underwater RobotsDesign and autonomous navigation of underwater robots in rivers
Mobile ManipulationObject handling for manufacturing, logistics, and e-commerce
Solar AirplanesContinuous flight for long-term environment monitoring
Service RobotsNavigation and transportation in our daily environment
Autonomous Delivery Robots and CarsVisual navigation and autonomous operation in city environments
04.03.2020
http
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team
Master in Robotics, Systems and Control
Affiliation:◦ D-MAVT Institute for Dynamic Systems and Control
Research Areas◦ Systems and Control Theory Distributed Control of System Networks Safe Learning-based Control
◦ Optimization Methods Real-time Methods for Control
◦ Application to Robotic and Human in the Loop Control Systems
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Control
Learning
Optimization
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Master in Robotics, Systems and Control
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Safety Filters for Learning-based Control
Predictive Control under Uncertainty
Personalized Control Systems
Cooperative Multi-Agent Systems
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Lokomat®Pro by Hocoma AG, Volketswil, CH
Online Data
Collection
Model Update
Controller Update
Learning
Safety Algorithm
Master in Robotics, Systems and Control
◦ Daniel Ahmed◦ Margarita Chli◦ Raffaello D’Andrea◦ Emilio Frazzoli◦ Lino Guzzella◦ Marco Hutter◦ Robert Katzschmann◦ Brad Nelson◦ Salvador Pané◦ Roland Siegwart◦ Melanie Zeilinger
◦ Joachim Buhmann◦ Stelian Coros◦ Otmar Hilliges◦ Andreas Krause◦ Marc Pollefeys◦ Siyu Tang
◦ Florian Dörfler◦ John Lygeros◦ Roy Smith◦ Luc van Gool
◦ Roger Gassert◦ Walter Karlen◦ Robert Riener◦ Simone Schürle
38 04.03.2020
D-MAVT
D-HEST
D-ITET
D-INFK Presented by Stelian Coros
Master in Robotics, Systems and Control
Affiliation:◦ D-INFK Chair of Information Science and Engineering Machine Learning Laboratory
Research Area◦ Machine Learning Statistical learning theory & model validation◦ Computer Vision Image Categorization Computational Pathology & Neuroanatomy◦ Computational Biology Dynamical models for yeast & liver metabolism Proteomics: data analysis for mass spectrometry
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Master in Robotics, Systems and Control
Mission: Research & teaching in learning systems, in theory & applications
Vision: Understand learning and inference with its statistical and algorithmic complexity
input signal
analysis decision
Projects: ◦ object recognition◦ biological image analysis◦ ML for hearing instruments◦ data analysis for proteomics◦ statistical learning & information theory
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Master in Robotics, Systems and Control
Affiliation:◦ D-INFK Computational Robotics Lab (CRL)
Research Area◦ Engineering meets AI: Algorithmic approaches to designing compliant robots Exploiting multi-material 3D printing to create new types of robotic materials
◦ Computational models of motor control Locomotion (wheeled, legged, hybrid, compliant systems), manipulation (both rigid and
deformable objects), mobile manipulation, human-robot interaction, learning and optimal control methodologies
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Master in Robotics, Systems and Control
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[Whitman et. al, 2017]
mobile manipulationsoft object manipulation
human-robot interaction
soft robotics
collaborative robots
towards increasingly life-like legged robots
Master in Robotics, Systems and Control
Affiliation:◦ D-INFK Institute(s) for Pervasive Computing & Visual Computing Advanced Interactive Technologies Lab
Research Areas◦ Intersection of machine learning, computer vision and robotics
◦ Deep learning for machine perception of human activity
◦ Applications in interactive systems and human-robot interaction
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Master in Robotics, Systems and Control
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Master in Robotics, Systems and Control
Affiliation:◦ D-INFK Chair of Information Science and Engineering Learning and Adaptive Systems (LAS) Group
Research Areas◦ Machine learning, optimization, reasoning and decision making under uncertainty
◦ Current emphasis on Reinforcement Learning (RL)(both theory and applications to real-world systems)
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Master in Robotics, Systems and Control
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Safe Exploration in robotics Balancing shared mobilitysystems via RL
Using RL totune the SwissFELFree ElectronLaser
Use RLto tunePVarrays
Master in Robotics, Systems and Control
Affiliation:◦ D-INFK Institute for Visual Computing Computer Vision and Geometry Lab
Research Area◦ Computer Vision 3D Modeling from Images 3D Sensing, Sensor Calibration, Omni-Directional Vision Real-Time Computer Vision◦ Robot Vision Visual Simultaneous Localization and Mapping Mapping and Navigation for MAV, humanoid robots and cars
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Master in Robotics, Systems and Control
◦ Autonomous Micro Air Vehicles
◦ Autonomous Driving
◦ Visual Localization
◦ 3D Mapping
◦ 3D Modeling of Interacting People
◦ Real-Time Embedded Computer Vision
48 04.03.2020
Master in Robotics, Systems and Control
Affiliation:◦ D-INFK Institute for Visual Computing Computer Vision and Learning Group
Research Areas:◦ Intersection of computer vision, machine learning and optimisation with focus on analysing and modelling people People detection and tracking Action understanding Generative models of 3D human Representation learning Discrete optimisation for image and video analysis
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Master in Robotics, Systems and Control
50 04.03.2020
People detection and tracking
Generative models of human scene interaction3D human modelling
Master in Robotics, Systems and Control
◦ Daniel Ahmed◦ Margarita Chli◦ Raffaello D’Andrea◦ Emilio Frazzoli◦ Lino Guzzella◦ Marco Hutter◦ Robert Katzschmann◦ Brad Nelson◦ Salvador Pané◦ Roland Siegwart◦ Melanie Zeilinger
◦ Joachim Buhmann◦ Stelian Coros◦ Otmar Hilliges◦ Andreas Krause◦ Marc Pollefeys◦ Siyu Tang
◦ Florian Dörfler◦ John Lygeros◦ Roy Smith◦ Luc van Gool
◦ Roger Gassert◦ Walter Karlen◦ Robert Riener◦ Simone Schürle
51 04.03.2020
D-MAVT
D-HEST
D-ITET
D-INFK
Presented by Saverio Bolognani
Master in Robotics, Systems and Control
Affiliation:◦ D-ITET Automatic Control Lab
Research Areas◦ Systems and Control Theory Distributed Control & Optimization Data-Driven Predictive Control Online Optimization
◦ Application domains: Electric Power Systems & Power Electronics Modeling and Analysis in Social Networks
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Master in Robotics, Systems and Control
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online optimization
system
Master in Robotics, Systems and Control
Affiliation:◦ D-ITET Automatic Control Lab (IfA)
Research Area◦ Control theory◦ Optimal control, reachability/viability/invariance◦ Hybrid and stochastic hybrid systems◦ Computational methods◦ Randomized algorithms◦ Convex optimization◦ Applications◦ Energy systems◦ Lab robotics◦ Power networks, autonomous cameras, …
54 04.03.2020
Master in Robotics, Systems and Control
◦ Control of energy systems
◦ Systems biology
◦ Data driven controlUsingData toMakeDecisions
◦ Autonomous drivingandflying
55 04.03.2020
Master in Robotics, Systems and Control
Affiliation:◦ D-ITET Automatic Control Lab
Research Areas◦ System modeling and identification◦ Distributed control systems◦ Energy management in buildings and energy hubs◦ Autonomous kites for power generation◦ Robust control theory and applications◦ Thermoacoustic machines
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Master in Robotics, Systems and Control
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Thermoacoustic machinesEnergy hub control
Cooperative control testbed
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−50510150 0.5 1 1.5
10
20
30
40
50
60
Ambient Temperature [C]Waste Water [m3]
Ener
gy C
onsu
mpt
ion
[kW
h]
Training DataValidation Data
System identification
Master in Robotics, Systems and Control
Affiliation:◦ D-ITET Computer Vision Laboratory
Research Areas◦ Computer Vision 3D modeling from images or with structured light Object (class) recognition Tracking and gesture analysis Combinations of the above◦ Robot Vision Autonomous vehicles Medical robots◦ Surveillance Anomaly detection
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Master in Robotics, Systems and Control
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Autonomous driving
Autonomous platforms
Human-object interaction
4D city modeling
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Master in Robotics, Systems and Control
◦ Daniel Ahmed◦ Margarita Chli◦ Raffaello D’Andrea◦ Emilio Frazzoli◦ Lino Guzzella◦ Marco Hutter◦ Robert Katzschmann◦ Brad Nelson◦ Salvador Pané◦ Roland Siegwart◦ Melanie Zeilinger
◦ Joachim Buhmann◦ Stelian Coros◦ Otmar Hilliges◦ Andreas Krause◦ Marc Pollefeys◦ Siyu Tang
◦ Florian Dörfler◦ John Lygeros◦ Roy Smith◦ Luc van Gool
◦ Roger Gassert◦ Walter Karlen◦ Robert Riener◦ Simone Schürle
60 04.03.2020
D-MAVT
D-HEST
D-ITET
D-INFK
Presented by Simone Schürle
Master in Robotics, Systems and Control
Using robotics, wearable sensors and non-invasive neuroimaging to explore, assess and restore sensorimotor function
Affiliation:◦ D-HEST Institute of Robotics and Intelligent Systems Rehabilitation Engineering Laboratory
Research Areas◦ Haptics and Physical Human-Machine Interaction Interaction control, sensor/actuator design and characterization◦ Neuro-robotics and Rehabilitation Robot/neuroimaging-assisted therapy, devices for home therapy◦ Assistive Technology Exoskeletons, brain-computer interfaces
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VariLeg @ CYBATHLON
Master in Robotics, Systems and Control
62 04.03.2020
Explore▪ sensorimotor neuroscience &
neuromechanics
Assess▪ assessment tools
& objective metrics
▪ motor and somatosensory function
Restore▪ minimally-supervised
therapy & assistance
▪ wearable robotics & neuroimaging
Master in Robotics, Systems and Control
Affiliations:◦ D-HEST, ETH Zurich Institute of Robotics and Intelligent Systems Sensory-Motor Systems Lab
◦ Medical Faculty, University of Zurich University Hospital Balgrist, Zurich
Research Areas
63
Prof. Dr. Robert Riener
ActuatorsHuman Machine
Sensors
Cognition
Sensors
Processing
Actuators &Displays
Interaction
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Master in Robotics, Systems and Control
Rehabilitation Robotics
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Somnomat forimproved sleep
WearableExoskeletons
Master in Robotics, Systems and Control
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Affiliation:◦ D-HEST Institute of Translational Medicine Responsive Biomedical Systems Laboratory
Research Areas◦ Design and Fabrication of micro-and nanosystems Diseases diagnostics Localized therapeutic delivery Therapy monitoring◦ Engineering of companion instrumentation for signal transduction and processing
Master in Robotics, Systems and Control
66 04.03.2020
Wireless detection of local infections through smart
implant coatings
Inductance and acoustic-based
detection of micro-and nanosensors as reporters for early stages of arthritis
Swarm control of magnetic bacteria for
cancer therapy
Remote control of microrobots in tissue to probe and sense local
biomechanics
Master in Robotics, Systems and Control
Thank you for your attention
67 04.03.2020