Student Supervision

Martin Oberhuber (2006): “Calibrating a Camera Through the Cornea”, Semester Project. [pdf]
Mourad ben Ayed (2007): “Design of a Human-Like Eye Model”, B. Sc. thesis. [pdf]
Georgios Fagogenis (2008): “Visual Tracking of Intraocular Microrobots”, Semester Project. [pdf]
Kamran Shamaei (2008): “Imaging Intraocular Microrobots”, Semester Project. [pdf]
Daniela Schuler (2009): “3D Reconstruction of the Human Retina”, Semester Project. [pdf]
Georgios Fagogenis (2009): “Localization of Untethered Microrobots”, M. Sc. thesis. [pdf]
Kamran Shamaei (2009): “A Miniaturized Fundus Camera”, M. Sc. thesis. [pdf]
Malcolm Gibson (2009): “Image-Based Object Tracking for Biomedical Applications”, B. Sc. thesis. [pdf]
Fabian Boesch (2010): “A Human-Computer Interface for Microrobotic Manipulation”, B. Sc. thesis. [pdf]
Hamal Marino (2011): “Dynamic Modeling of Electromagnetic Control Systems for Robust Controller Design”, M. Sc. thesis. [pdf]
Yi Chou Han (2011): “Imaging Modalities Applications: Robots and Contrast Agents”, Studies on Mechatronics. [pdf]
Daniel Caduff (2011): “Alignment of the Optical and Magnetic Workspace for Improved Microrobot Control”, Semester Project. [pdf]

Theory of Robotics and Mechatronics (Fall 2007, 2008, 2009)

Robotics is often viewed from three perspectives: perception (sensing), manipulation (affecting changes in the world), and cognition (intelligence). Robotic systems integrate aspects of all three of these areas. This course provides an introduction to the theory of robotics, and covers the fundamentals of the field, including rigid motions, homogeneous transformations, screw theory, product of exponentials, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. [more]

Suggested literature:
A Mathematical Introduction Robotic Manipulation, by R. M. Murray, Z. Li, S. S. Sastry. [link]

Suggested toolbox:
Matlab Kinematics Toolbox, by B. E. Kratochvil. [link]

Advanced Robotics and Mechatronics (Spring 2009)

Robotic and mechatronic systems can be some of the most complex ever designed. Often, this is due to the multidisciplinary nature of these tasks. This lecture exposes students to these challenges by presenting them with a large mechatronic problem to be solved in a semester time frame. At the beginning of the semester, students form teams and are given a robotic task. These tasks are open-ended and require skills of creativity, teamwork, organization, and firm theoretical and practical backgrounds for the students to succeed. The lecture culminates in a competition between the teams. [more]

Introduction to Robotics and Mechatronics (Fall 2007)

An ever increasing number of mechatronic systems are finding their way into our daily lives. Mechatronic systems synergistically combine computer science, electrical engineering, and mechanical engineering. Robotics systems can be viewed as a subset of mechatronics that focuses on sophisticated control of moving devices. The aim of this lecture is to expose students to the fundamentals of these systems. Over the course of these lectures, topics will include how to interface a computer with the real world, different types of sensors and their use, different types of actuators and their use, and forward and inverse kinematics of simple two link robotic manipulators. Throughout the course students will periodically attend laboratory sessions and implement lessons learned during lectures on real mechatronic systems. [more]

Programming Techniques (Spring 2004, 2005)

Robotic and mechatronic systems can be some of the most complex ever designed. Often, this is due to the multidisciplinary nature of these tasks. This lecture exposes students to these challenges by presenting them with a large mechatronic problem to be solved in a semester time frame. At the beginning of the semester, students form teams and are given a robotic task. These tasks are open-ended and require skills of creativity, teamwork, organization, and firm theoretical and practical backgrounds for the students to succeed. The lecture culminates in a competition between the teams. [more]

Introduction to Programming (Fall 2003, 2004)

Robotic and mechatronic systems can be some of the most complex ever designed. Often, this is due to the multidisciplinary nature of these tasks. This lecture exposes students to these challenges by presenting them with a large mechatronic problem to be solved in a semester time frame. At the beginning of the semester, students form teams and are given a robotic task. These tasks are open-ended and require skills of creativity, teamwork, organization, and firm theoretical and practical backgrounds for the students to succeed. The lecture culminates in a competition between the teams. [more]