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Ongoing Theses

  • Robotics Related
  • Computational Biology Related

Robotics Related

Analysis of Soft Finger Pulp Design on Grasping and Manipulation [1]

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The goal of this thesis is to mitigate some of the issues the current air-mass control strategy of the soft-pneumatic-actuators introduces. So far the controller is derived in a data-driven way and does not rely on accurate sensor-based air-mass estimates. Therefore, when running the controller for a longer time duration, the internal air-mass estimates computed by the model are subject to drift. This results in not being able to control the actuators precisely anymore. In the recent past new air-flow-sensors have been developed that might be feasible for our requirements. more to: Analysis of Soft Finger Pulp Design on Grasping and Manipulation [2]

Air-Mass Control of Soft Pneumatic Actuators with Air-Flow-Sensors [3]

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The goal of this thesis is to mitigate some of the issues the current air-mass control strategy of the soft-pneumatic-actuators introduces. So far the controller is derived in a data-driven way and does not rely on accurate sensor-based air-mass estimates. Therefore, when running the controller for a longer time duration, the internal air-mass estimates computed by the model are subject to drift. This results in not being able to control the actuators precisely anymore. In the recent past new air-flow-sensors have been developed that might be feasible for our requirements. more to: Air-Mass Control of Soft Pneumatic Actuators with Air-Flow-Sensors [4]

Computational Biology Related

Distograms in protein motion [5]

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The thesis builds on the work from Ines Putz, applying the break through of distogram prediction from the contact prediction field to protein motion. Elastic Network Models are useful in determining the coarse-grained motion of proteins. During structural transitions, certain residue pairs that were spatially close become separated, so called breaking contacts. Incorporating this information improves the prediction of protein motion. In this thesis, we want to apply state of the art machine learning methods to breaking contact prediction and further evaluate distance prediction instead of binary contacts. Here, distograms can provide a way to vary the stiffness of the springs in the elastic network model to allow for more flexibility. more to: Distograms in protein motion [6]

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