Theses & Semester Projects
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How to apply:
- Please review the available projects below
- Send an email to the project contact.
Learning to Optimize with Hard-Constrained Neural Networks
In this project, we will train and deploy hard-constrained neural networks to rapidly approximate the solution of difficult (non-convex, mixed-integer) optimization problems.
Keywords
neural networks, constraints, projection, optimization, machine learning
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Semester Project , Master Thesis
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Published since: 2024-11-15 , Earliest start: 2025-02-16
Applications limited to ETH Zurich , EPFL - Ecole Polytechnique Fédérale de Lausanne
Organization Automatic Control Laboratory
Hosts Grontas Panagiotis , Terpin Antonio , Balta Efe
Topics Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Robust (predictive) control of large-scale systems using reduced-order models
This project aims to advance automatic control designs for complex large-scale systems by investigating reduced-order models,uncertainty characterizations, and robust (predictive) control.
Keywords
Reduced-order model; robust control; model predictive control
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Semester Project , Bachelor Thesis
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Published since: 2024-11-14
Applications limited to ETH Zurich
Organization Research Zeilinger
Hosts Köhler Johannes
Topics Engineering and Technology
Multi-agent predictive control barrier functions
In this project, we want to explore possible extensions of predictive control barrier functions to the multi-agent setting. Predictive control barrier functions [1] allow certifying safety of a system in terms of constraint satisfaction and provide stability guarantees with respect to the set of safe states in case of initial feasibility. This allows augmenting any human or learning-based controller with closed-loop guarantees through a so-called safety filter [2] which is agnostic to the primary control objective. As current formulations are restricted to single agents, the goal is to investigate how this formulation can be extended for multi-agent applications and how the interactions between the agents can be exploited in order to reduce computational overhead.
Keywords
predictive control, multi-agent systems, safety filter, control barrier functions
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Master Thesis
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Published since: 2024-11-12
Applications limited to ETH Zurich
Organization Research Zeilinger
Hosts Didier Alexandre
Topics Information, Computing and Communication Sciences , Engineering and Technology
Thermal Energy Storage - Design and Control
Energy storage systems become increasingly important to tackle the intermittent nature of renewable energy sources such as photovoltaics and wind turbines. This thesis focuses on a novel energy storage solution where excess electrical energy is converted into heat and back into electricity, using a novel piston-based engine concept that achieves over 70% round-trip efficiency. The aim is to design, optimize, and control this thermal energy storage system and to assess its economic potential in various scenarios.
Keywords
Energy Storage, Optimal Design, Optimal Control
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Master Thesis
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Published since: 2024-11-08 , Earliest start: 2024-09-02 , Latest end: 2025-04-30
Applications limited to ETH Zurich
Organization Research Onder
Hosts Auckenthaler Theophil
Topics Engineering and Technology
Online Learning of Dynamic Control for Soft Manipulators
This project aims to develop an online learning framework for achieving precise position control of a soft robotic arm while adapting to time-varying system dynamics.
Keywords
online learning, distribution shift, soft robotics, position control
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Master Thesis
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Published since: 2024-11-07 , Earliest start: 2024-11-07 , Latest end: 2025-08-01
Organization Research Zeilinger
Hosts Ma Hao
Topics Engineering and Technology
Teaching a robot to master a board game using Reinforcement Learning
The master thesis aims to create a physics-based simulation with Brax or MuJoCo for a robot to learn board game strategies via reinforcement learning. Utilizing a pre-built 2x 2D gantry robot integrated with ROS2, the project seeks to train the robot to learn the game from scratch and improve its play against both human and robotic opponents. The primary goal is rapid learning and superior performance, with a focus on understanding the factors of victory in games like this between robots trained on the same algorithm. All this will be performed in simulation and on a real robot.
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Semester Project , Master Thesis
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Published since: 2024-10-28 , Earliest start: 2024-08-15
Organization Research D'Andrea
Hosts Ramachandran Aswin
Topics Engineering and Technology
One Step Diffusion via First-Order Optimality Conditions in the Wasserstein Space
The stochastic diffusion equations ruling the dynamics of particles at the micro- and nano- scale are captured by energy-minimizing dynamics when observed macroscopically, i.e., at a population level. This framework encompasses, for instance, single cells perturbation responses to chemical, genetic or mechanical stimuli, gene expression and cell differentiation. In our recent work [1], we deployed a theory we developed for studying optimization problems in the Wasserstein space [2] to speed up the learning of the different terms of these diffusion processes from observational data. In this work, we will instead focus on how to deploy these tools to distill diffusion models efficiently for one-step image generation and robotics control. The thesis will validate the developed method on real-world robotics setup available and ready to use. References: [1] Learning diffusion at lightspeed. A. Terpin, N. Lanzetti, M. Gadea, F. Dörfler. NeurIPS 2024 (oral) [2] Variational Analysis in the Wasserstein Space. N. Lanzetti*, A. Terpin*, F. Dörfler. Pre-print.
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Semester Project , Master Thesis
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Published since: 2024-10-20 , Earliest start: 2024-10-21
Organization Research D'Andrea
Hosts Terpin Antonio
Topics Information, Computing and Communication Sciences
Tech meets Art: Design and development of a "magic box"
Description: When carefully combined, mathematics, control theory, and engineering are capable of creating technology undistinguishable from magic. In this project, we explore a design for a small box (more details will be provided to matching applicants) that exploits principles of control theory, electro-magnetism, and vision to provide a magic-like effect on the observer. You will take responsibility (supported by the researchers and technical staff at IDSC) of one area of development of this "magic box": - Actuation: combining control theory and electromagnetism, you will design and implement a very compact and noiseless linear system with minimal yet sufficient range of motion. - Vision: you will implement very efficient and effective vision algorithms to empower the magic box with decision capabilities, using time-of-flights sensors. - Design: You will work on the aesthetics and mechanical design of the overall box, ensuring compatibility with the rest of the components.
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Semester Project , Master Thesis
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Published since: 2024-10-20 , Earliest start: 2024-10-21
Organization Research D'Andrea
Hosts Terpin Antonio
Topics Engineering and Technology
Strategic Interactions of Future Mobility Systems
Mobility is typically self-optimized for a particular region to accommodate internal travel needs. However, as soon as one considers multiple, interacting regions (e.g., urban areas interacting with agglomerations, and agglomerations interacting with rural areas), important coordination issues occur, including scheduling mismatches, fleet allocations, and congestion peaks. In short, a mobility system composed of self-optimized mobility systems seems to often operate suboptimally. In this project, we will investigate the idea of strategic interactions of future mobility stakeholders across heterogeneous regions, such as urban areas, agglomerations, and rural areas, leveraging techniques from network design, optimization, game theory, and policy making.
Keywords
Optimization, Game theory, Multi-agent interactions, Transportation systems, Robotics
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Semester Project , Master Thesis
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Published since: 2024-09-02 , Earliest start: 2024-11-10 , Latest end: 2025-12-31
Applications limited to ETH Zurich
Organization Research Frazzoli
Hosts He Mingjia
Topics Mathematical Sciences , Information, Computing and Communication Sciences , Engineering and Technology
Piston-based Brayton Engine - Design and Control
At etavalve, we are developing a novel category of engines to convert industrial waste heat at 400°C or more into electricity with an anticipated conversion efficiency of 35% to 45% - an outstanding value for waste heat recovery systems. In this thesis, we focus on developing a zero-dimensional model that captures the fast dynamics of a piston engine and the slow thermal inertia of the heat exchanger. The aim is to obtain an accurate yet computationally lean model, which will then be subjected to optimization methods.
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Master Thesis
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Published since: 2024-08-27
Organization Research Onder
Hosts Fieni Giona
Topics Engineering and Technology
The Way of Water: Development of a fleet of water-based drones for live performance
This project focuses on developing autonomous robots for synchronized performances on water. Equipped with kinetic water fountains, RGB lighting, and ultrasonic mist generators, the robots are designed to execute planned choreographies. The system utilizes robotics control, wireless communication, and positioning technologies to coordinate movements, and payload activation, facilitating complex pattern generation and synchronization. The objective is to advance the application of distributed robotic systems in creating structured and cohesive visual displays on water.
Keywords
Water based rovers, Electronics development, Distributed Robotics, Control Systems, Game design
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Semester Project , Bachelor Thesis , Master Thesis
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Published since: 2024-08-24
Organization Research D'Andrea
Hosts Ramachandran Aswin
Topics Arts , Information, Computing and Communication Sciences , Engineering and Technology
CyberRunner: Pushing the Boundary of Autonomy
CyberRunner is an AI robot whose task is to learn how to play the popular and widely accessible labyrinth marble game. The labyrinth is a game of physical skill whose goal is to steer a marble from a given start point to the end point. In doing so, the player must prevent the ball from falling into any of the holes that are present on the labyrinth board. The movement of the ball can be indirectly controlled by two knobs which change the orientation of the board. While it is a relatively straightforward game, it requires fine motor skills and spatial reasoning abilities, and, from experience, humans require a great amount of practice to become proficient at the game. Using recent advances in model-based reinforcement learning techniques, CyberRunner is able to outperform the previously fastest recorded time, achieved by an extremely skilled human player, by over 6%. Moreover, it does so with only 6 hours of practice. We envision expanding the capabilities of CyberRunner through further research. Students will contribute to advancing the field and establishing CyberRunner as a real-world robotic benchmark. Suitable projects in different areas are available for talented and motivated students. The project topics span model-based control, reinforcement learning, computer vision, and hardware design.
Keywords
CyberRunner, Reinforcement Learning, Machine Learning, Robotics
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Semester Project , Master Thesis
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Published since: 2024-07-24 , Earliest start: 2024-09-01 , Latest end: 2025-09-01
Organization Research D'Andrea
Hosts Bi Thomas
Topics Engineering and Technology
Direct Projects
The projects from Prof. Melanie Zeilinger's group are hosted on the student projects page.
Custom Projects
From time to time, project supervisors will develop custom student research projects to fit with a student's particular interests or skills.
If you are interested in doing a custom student research project, please email the project supervisor of your choice directly. We recommend that you carefully review their area of research before you contact them.
Please note that the decision of whether to develop a custom student project is at the full discretion of the project supervisor.