Master Program and Tutors 2020 v3 · Master in Robotics, Systems and Control Key Topics Systems...

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

The People Behind it

Curriculum Structure

Why a Specialized Master

Application

Overview on Tutors by Department2 04.03.2020


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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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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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


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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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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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/


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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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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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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D-MAVT Student Administration

Tsamcho Meier Dr. Maddalena VelonàLorena Luzi

04.03.202013


Short Presentations of Research Labs by Departments


◦ 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

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D-MAVT

D-HEST

D-ITET

D-INFK

Presented by Marco Hutter


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


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Acoustic Artificial Spermatozoa

Acoustic Microbubble Robot

IDTs

Acoustic Manipulation Systems

Neutrophil-inspired Robot

C. elegans

Cells & Bacteria


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

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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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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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Co-ordination of robot swarms

UWB radar networks

Radar networks

Vision-based robotic skins

Soft inflatable robotics

Machine learning for tactile sensing

UWB localization



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

High-performance control Mobility on Demand


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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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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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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Adaptable hands Dynamic soft manipulators

Design

Fabrication

Actuation

Biomimetic underwater robotsModeling

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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◦ Design and fabrication of biomedical micro-robots

◦ Soft robotics for medical applications

◦ Magnetic manipulation for intra-body navigation

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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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◦ 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-


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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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

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http

s://w

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.you

tube

.com

/use

r/asl

team



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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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






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D-MAVT

D-HEST

D-ITET

D-INFK Presented by Stelian Coros


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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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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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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[Whitman et. al, 2017]

mobile manipulationsoft object manipulation

human-robot interaction

soft robotics

collaborative robots

towards increasingly life-like legged robots


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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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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Safe Exploration in robotics Balancing shared mobilitysystems via RL

Using RL totune the SwissFELFree ElectronLaser

Use RLto tunePVarrays


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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◦ Autonomous Micro Air Vehicles

◦ Autonomous Driving

◦ Visual Localization

◦ 3D Mapping

◦ 3D Modeling of Interacting People

◦ Real-Time Embedded Computer Vision

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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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People detection and tracking

Generative models of human scene interaction3D human modelling






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D-MAVT

D-HEST

D-ITET

D-INFK

Presented by Saverio Bolognani


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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online optimization

system


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, …

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◦ Control of energy systems

◦ Systems biology

◦ Data driven controlUsingData toMakeDecisions

◦ Autonomous drivingandflying

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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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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


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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Autonomous driving

Autonomous platforms

Human-object interaction

4D city modeling

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D-MAVT

D-HEST

D-ITET

D-INFK

Presented by Simone Schürle


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


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Explore▪ sensorimotor neuroscience &

neuromechanics

Assess▪ assessment tools

& objective metrics

▪ motor and somatosensory function

Restore▪ minimally-supervised

therapy & assistance

▪ wearable robotics & neuroimaging


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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Rehabilitation Robotics

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Somnomat forimproved sleep

WearableExoskeletons


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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


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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


Thank you for your attention

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Master Program and Tutors 2020 v3 · Master in Robotics, Systems and Control Key Topics Systems...

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Transcript of Master Program and Tutors 2020 v3 · Master in Robotics, Systems and Control Key Topics Systems...