ETH Zurich, D-MAVT, D-INFK, D-ITET, D-HEST...Robot design / robot perception, navigation & learning...

Master in Robotics, Systems and Control

ETH Zurich, D-MAVT, D-INFK, D-ITET, D-HEST

http://www.master-robotics.ethz.ch


Key Insides and Topics

Curriculum Structure

The People Behind it

Why a Specialized Master

Application

Overview Tutors

Presentation of Master in Robotics, Systems and Control2 02.2019


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, …



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

Robotics

◦ Design, Modelling and Control

Challenging Applications

◦ energy technology, biomedical, intelligent vehicles and transportation, space technology, micro-technology or home appliances.



Individual programme defined with the help of your tutor


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/

http://www.master-robotics.ethz.ch/


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/



D-MAVT◦ Margarita Chli◦ Raffaello D’Andrea◦ Emilio Frazzoli◦ Lino Guzzella◦ Marco Hutter◦ Brad Nelson◦ Roland Siegwart◦ Melanie Zeilinger

D-INFK◦ Joachim Buhmann◦ Stelian Coros◦ Otmar Hilliges◦ Andreas Krause◦ Marc Pollefeys

D-ITET◦ Florian Dörfler◦ John Lygeros◦ Roy Smith◦ Luc van Gool

D-HEST◦ Roger Gassert◦ Walter Karlen◦ Robert Riener◦ Simone Schürle


http://www.inf.ethz.ch/news/spotlight/visual_computing


D-MAVT◦ Petros Koumoutsakos

◦ Christopher Onder

◦ D-ITET◦ Johann Kolar

◦ Lothar Thiele

◦ Olga Sorkine Hornung

D-INFK◦ Gustavo Alonso

◦ Markus Gross

Others◦ Davide Scaramuzza, Robotics and Perception, UNI Zurich

◦ Tobias Delbrück, Neuroinformatics, UNI – ETH Zurich



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

◦ in Switzerland, Europe and the world



Application period: 01 March – 31 March 2019

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]


https://www.ethz.ch/en/studies/registration-application/master/application/how-to-apply.html


D-MAVT Studienadministration

Daniela Divljak Lorena Luzi Tsamcho

MeierDr. Maddalena Velonà


Short Presentations by Departement




Raffaello D’AndreaDynamic Systems

and Control

Marco HutterRobotic Systems Lab

Brad NelsonMulti-Scale Robotics Lab

Melanie ZeilingerIntelligent Control

Systems

Margarita ChliVision for Robotics

Lab

Roger GassertRehabilitation Engineering

Lab

Walter KarlenMobile Health Systems

Lab

Robert RienerSensor Motor Systems

Lab

Marc PollefeysComputer Vision and Geometry Lab

Luc van GoolComputer Vision Laboratory

Emilio FrazzoliInformation and Decision Systems

Otmar HilligesAdvanced Interactive

Technologies Lab

Computer Vision

Medical /Biomedical Robotics

Roland SiegwartAutonomous Systems Lab

Artificial Intelligence

Stelian CorosComputational Robotics Lab

Andreas 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


Prof. Dr. Margarita Chli D-MAVT, Vision for Robotics Lab

◦ Vision-based robot perception / multi-robot navigation

Prof. Dr. Raffaello D’Andrea D-MAVT, Institute for Dynamic Systems and Control

◦ Design & control of agile, distributed and autonomous systems

Prof. Dr. Emilio Frazzoli D-MAVT, Institute for Dynamic Systems and Control

◦ Control & optimization / robot path planning / autonomous vehicles

Prof. Dr. Lino Guzzella D-MAVT, Institute of Dynamic Systems and Control

Prof. Dr. Marco Hutter D-MAVT, Robotic Systems Lab

◦ Design & control of robots w. legs & arms / actuators / locomotion


D-MAVT


Prof. Dr. Brad Nelson D-MAVT, Multi-Scale Robotics Lab

Micro & nano robotics / micro manipulation / biomedical engineering

Prof. Dr. Roland Siegwart D-MAVT, Autonomous Systems Lab

◦ Robot design / robot perception, navigation & learning

Prof. Dr. Melanie Zeilinger D-MAVT, Institute for Dynamic Systems and Control

◦ Systems & control theory / optimization & learning


D-MAVT


Prof. Dr. Joachim M. Buhmann D-INFK, Machine Learning Laboratory

◦ Machine learning / computer vision / computational biology

Prof. Dr. Stelian Coros D-INFK, Computational Robotics Lab (CRL)

◦ Engineering and AI / computational models of motor control

Prof. Dr. Otmar Hilliges D-INFK, Advanced Interactive Technologies Lab

◦ Machine learning / computer vision / human-robot interaction / robotics

Prof. Dr. Andreas Krause D-INFK, Learning and Adaptive Systems (LAS) Group

◦ Machine learning, optimization, reinforcement learning

◦ Prof. Dr. Marc Pollefeys D-INFK, Computer Vision and Geometry Lab

Computer vision / 3D modeling from images / robot vision


D-INFK



Prof. Dr. Florian Dörfler D-ITET, Automatic Control Lab

◦ Systems & control theory / distributed networks & algorithms

Prof. Dr. John Lygeros D-INFK, Automatic Control Lab

◦ Machine learning / optimization / reinforcement Learning

◦ Prof. Dr. Roy Smith D-ITET, Automatic Control Lab

Modeling / identification / distributed control

Prof. Dr. Luc van Gool D-ITET, Computer Vision Laboratory

◦ Computer vision / robot vision / surveillance


D-ITET


Prof. Dr. Roger Gassert D-HEST, Rehabilitation Engineering Laboratory

◦ Haptics / human-machine interaction / neuro-robotics / assistive technology

Prof. Dr. Walter Karlen D-HEST, Mobile Health Systems Laboratory

◦ Sensors & Systems for intelligent diagnostics and monitoring

Prof. Dr. Robert Riener D-HEST, Sensory-Motor Systems Lab

◦ Rehabilitation robotics / human-machine interaction / exoskeletons

Prof. Dr. Simone Schürle D-HEST, Responsive Biomedical Systems Laboratory

Design and fabrication of micro- & nano-systems


D-HEST


Thank you for your attention

?Presentation of Master in Robotics, Systems and Control19 02.2019


02.2019


Affiliation:

◦ D-MAVT

Vision for Robotics Lab

Research Areas

Vision-based perception for robots

– focus on small UAVs

◦ Robot Navigation

◦ Scene Reconstruction / Understanding

◦ Collaborative Robot sensing & mapping

Presentation of Master in Robotics, Systems and Control22

CROP MONITORING SEARCH & RESCUE SCENE RECONSTRUCTION INDUSTRIAL INSPECTION

www.v4rl.ethz.ch

02.2019


Presentation of 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

23 02.2019


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




Omni-Copter

Mono-Copter

Flying Platform

Cubli

Tailsitter

02.2019

https://youtu.be/KUTf3yLdUgE




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 SystemsAdvanced control and optimization methods to enable new concepts for large-scale transportation systems.

◦ Theoretical foundationsAdvance the state of the art in foundational areas such as Control Theory, Algorithmic Robotics, System Design and Optimization




Planning and decision making for AVs Planning with rules of the road

High-performance control Mobility on Demand


Affiliation:

◦ D-MAVT Institute of Robotics and Intelligent Systems

Robotic Systems Lab

Research Areas“create machines and their skills to work in challenging environments”

◦ System design of robots with legs and arms

◦ Novel actuators for interaction

◦ Locomotion and manipulation control Force control

Behavior planning and whole body control

Optimization and learning of (high-dynamic) maneuvers

◦ Autonomous navigation and exploration

28 Presentation of Master in Robotics, Systems and Control 02.2019


◦ Legged robots

◦ Force control of hydraulic and electric actuators

◦ Digital fabrication and construction automation

◦ (Mobile) Manipulation



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



◦ Microrobots for Ophthalmic Surgery

◦ Artificial Bacterial Flagella

◦ Micromanipulation

◦ Magnetic Catheter Steering

◦ Appropriate Technology (New)



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.




Unmanned Aerial VehiclesDesign, control and fully autonomous operation in complex environments

All Terrain RobotsDesign and collaborative navigation of flying and ground robots

Mobile Manipulation

Object handling for manufacturing, logistics, and e-commerce

Solar AirplanesContinuous flight for long-term environment monitoring

Service RobotsNavigation and transportation in our daily environment

Autonomous CarsVisual navigation and autonomous operation in city environments

02.2019

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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

Inexact Distributed Optimization

Real-time Methods for Control

◦ Application to Human in the Loop Control Systems


Control

Learning

Optimization

02.2019



Plug & Play Control for Multi-Agent Systems

Learning in Constrained Control

Safe Control for Rehabilitation Robots

Personalized Control Systems

02.2019

Lokomat®Pro by Hocoma AG, Volketswil, CH

Online

Data

Collection

Model Update

Controller

Update


02.2019



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



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



Affiliation:◦ D-INFK Computational Robotics Lab (CRL)

Research Area◦ Engineering meets AI: Computational approaches to on-demand design of mobile robots

Exploiting multi-material 3D printing capabilities for new breeds of robots

◦ Computational models of motor control Locomotion (wheeled, legged, hybrid), manipulation (deformable objects,

high-dimensional dynamical systems), combined locomotion and manipulation




[Gehring et. al, 2014][Megaro et. al, 2015]

[Whitman et. al, 2017]


02.2019Presentation of Master in Robotics, Systems and Control41


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



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)




Safe Exploration in robotics Balancing shared mobility

systems via RL

Using RL to

tune the

SwissFEL

Free Electron

Laser

Use RL

to tune

PV

arrays


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



◦ Autonomous Micro Air Vehicles

◦ Autonomous Driving

◦ Visual Localization

◦ 3D Mapping

◦ 3D Modeling of Interacting People

◦ Real-Time Embedded Computer Vision



02.2019


Affiliation:

◦ D-ITET Automatic Control Lab

Research Areas

◦ Systems and Control Theory Nonlinear Systems

Distributed & Networked Systems

Distributed Algorithms & Optimization

◦ Application domains: Electric Power Systems & Power Electronics

Cooperative Control of Multi-Robot Systems

Modeling and Analysis in Social Networks




control of power converters for future grids

plug-and-play control smart grids

theory and experiments

02.2019



online algorithm

loads & renewables

power system

voltagesinjections

online optimization in feedback

social network formation

bitcoin and blockchain technologies

02.2019


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, …



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




Building controlEnergy hub control

Autonomous kitesCooperative control testbed

02.2019


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




Autonomous driving

Autonomous platforms

Human-object

interaction

4D city modeling

02.2019


◦ Control of energy systems

◦ Systems biology

◦ Data driven control

Using

Data to

Make

Decisions

◦ Autonomous driving

and

flying



02.2019


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, sensory substitution and augmentation


VariLeg @ Cybathlon



Wearable Therapy and Assistance

02.2019

Long-Term Activity MonitoringNeuromechanics


Affiliation:

◦ D-HEST Institute of Robotics and Intelligent Systems

Mobile Health Systems Laboratory

Research Areas

◦ Sensor and Systems Sensor Fusion, Biomedical Signal Processing

◦ Intelligent Diagnostics Disease Modeling, personalized interventions

Adaptive Decision Support, Context-awareness

◦ Quality Control in Mobile Systems User Interaction

Pattern Recognition


Applications

◦ Sleep

◦ Dehydration and Dengue

◦ Back pain

◦ Neurostimulation

◦ Pneumonia

◦ Wounds



Closed-Loop stimulation of sleep

Multispectral camera for monitoring

and predicting wound healing

Dehydration monitoring in

small children


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


Prof. Dr. Robert Riener

Actuators

Human Machine

Sensors

Cognition

Sensors

Processing

Actuators &

Displays

Interaction

02.2019


Rehabilitation Robotics

02.2019Presentation of Master in Robotics, Systems and Control65

Somnomat forimproved sleep

WearableExoskeletons



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 transdcution and processing



0.5 µm

Wireless micro-and nanosensors for early diagnostics of arthritis

Infection monitoring in implants

Electromagnet design for wireless activation

of nanosensors

Controlling bacteria for cancer therapy

ETH Zurich, D-MAVT, D-INFK, D-ITET, D-HEST...Robot design / robot perception, navigation & learning...

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