University of Twente Student Theses

2024

Farmehinifarahani, S. (2024) Reinforcement learning control of unicycle robot.

Lukkes, A.S. (2024) Design and validation of a control algorithm for an anti-lock braking system on off-highway vehicles.

Manikandan, Aiswarya Lakshmi (2024) Investigating the feasibility of PEMFCs for powering autonomous devices.

Ottachchige, P.P. (2024) Interaction control with a 3D printed torque sensor in an impedance control framework.

2023

Aggarwal, Rohit (2023) Data-driven Modeling and control of Multi-Rotor Aerial Vehicles in Confined Environments.

Bastiaens, T (2023) Jerk-based Control of Aerial Manipulators in Physical Interaction with the Environment.

Bos, Jochem (2023) Item availability restricted.

Dokurno, K. (2023) Predictive Haptic Driver Support Near Vehicle's Handling Limits.

Grootkarzijn, R. (2023) Adaptive Feedforward Control for Active Vibration Isolation Systems with Motion Stage and Nonlinear Dynamics.

Hakvoort, M.H. (2023) Frequency Domain Optimization of the Tracking Performance of a Piezo Actuator Using Reset Control.

Heeg, Rogier (2023) Control of a system based on a 3D printed torque sensor.

Hendriks, J.J. (2023) Interactive Segmentation in Space-time Memory Networks.

Jonker, L.M. (2023) Robotic bin-picking pipeline for chicken fillets with deep learning-based instance segmentation using synthetic data.

Karytsas, Konstantinos (2023) Model-Free Reinforcement Learning Control of a Pneumatic-Driven Soft Continuum Robot.

LI, Yingying (2023) Reducing motion inaccuracies due to cogging in a redundantly actuated 3-DOF manipulator.

Lopez Tellez, Alejandro (2023) Design of a MMT system for an environment with changeable dynamics.

Mellema, Sibolt (2023) Exoskeleton controller design for cybathlon by parallel reinforcement learning.

Palani, Vignesh (2023) Design and Development of Variable Impedance Actuator using a Multi Axis Motor.

Rakels, Thijs D. (2023) PID tuning for electromechanical systems based on dilated LMI optimisation.

Raven Garcia, J. (2023) A geometric port-Hamiltonian modelling and simulation framework for morphing-wing UAVs.

Schaaf, J.R. (2023) MPC design for a precision, flexure based, pendulum.

Schrijver, G.H.W. (2023) Plant and Controller Co-optimization for an Active Vibration Isolation System Using Convexified LMIs.

Velthuijs, R.J. (2023) Learning feedback potential maps using large-scale optimal control.

2022

Carmona Ortiz, Víctor Antonio (2022) Modelling of Robotic Hands: Kinematic and Dynamic Parameter Identification.

Dijk, Daniël van (2022) Energy based safety for passive robots performing active interaction tasks.

Dijk, Daniël van (2022) Energy based safety for passive robots performing active interaction tasks.

Gkovopoulos, Georgios (2022) Design of a 3D printed actuation platform for concentric tube robots.

Heeringa, T.J. (2022) The Effect of Higher Order Activation Functions on Infinitely wide Neural Networks.

Holst, T.H.J. van der (2022) External force estimation on an non-linear compliant 2DOF manipulator system.

Hommels, T.C. (2022) Control of a wing flap using 3D printed flow sensors and reinforcement learning.

Kim, Woong (2022) Design and Control of Efficient and Powerful Robot Joints.

Luong, J. (2022) Deformation modelling and gripper contact simulation of deformable objects.

Patel, Vishakha (2022) Simulation-Based Review of Selected LiDAR System Designs for Mobile Mapping.

Ranjan, H. (2022) Item availability restricted.

Sisavanh, Fabian (2022) Energy-efficient trajectory control for variable-tilt drones by exploiting the aerodynamic proximity effect close to surfaces.

2021

Abdelbadie, Ir. M.T.E (2021) Aerodynamic modeling of flapping-wing UAVs in the Port Hamiltonian Framework.

Abhinaya, Antoinette (2021) Using Machine Learning to detect voids in an underground pipeline using in-pipe Ground Penetrating Radar.

Agrawal, Mitul (2021) Towards control of soft robotic knee brace for ACL deficient patients.

Bijlsma, J.B. (2021) MR Navigation framework for robot-assisted endovascular intervention.

Chaturvedi, S.S. (2021) Dynamic energy budgeting using potential-based reward function.

Chidura, Bhanu Teja (2021) Role of Accelerometers in the control of Fully Actuated UAV.

Cui, J.C. (2021) 3D printed piezo-resistive flow sensors for use on wings.

Doshi, Ajinkya Ajaykumar (2021) 3D printed interaction force sensors for robotic fingers.

Eijking, Bram (2021) Implementation and evaluation of a multi-axis brushless DC motor control using a planar finite element approach.

Ganea, B.M. (2021) Design and implementation of a nonlinear model predictive controller for preliminary aerial physical interaction applications.

Kock, G.J. (2021) Performance evaluation of several SLAM algorithms in a feature-based vSLAM framework.

Manen, B.R. van (2021) Thermal-Inertial Localization and 3D-Mapping to Increase Situational Awareness In Smoke-Filled Environments.

Overbeek, A.H.G. (2021) Passive and Stable Impedance Reduction of Hybrid and Flexible Link Serial Robots Using Position, Force, and Acceleration Feedback.

Sathiyanarayanan, Prasanna (2021) Data Driven Feedforward Control of a 2-DOF Redundantly Actuated Manipulator with Flexure Joints using Machine Learning Techniques.

Shametaj, P. (2021) Positioning and orientation control of a needle-insertion MRI compatible medical robot based on ROS using visual feedback.

Shenoy, Nikhil Tonse (2021) Design, fabrication and evaluation of a 3D printed thrust sensor for application in drones.

Smoorenburg, Joost van (2021) Using mixed-reality in biopsy of lesions inside deformable organs.

Sutaria, S.S. (2021) Improving the dynamic performance of sewer inspection robot.

2020

Balamuralidhar, Navaneeth (2020) MultEYE: Real-time Vehicle Detection and Speed Estimation from Aerial Images using Multi-Task Learning.

Belinskis, Rihards (2020) Designing electropneumatic control unit(EPCU)and motor identification setup of the PneuARMM robot.

Bhide, Gaurav (2020) Evaluation of the SUNRAM 5 for performing a full clinical in-situ breast biopsy procedure.

Bongertman, M. (2020) Geometric state estimator tightly-coupling force and pose estimation for interaction in vision-denied environments.

Gerlagh, B. (2020) Energy-aware adaptive interaction control using offline task-based optimization in an impedance control framework.

Hari, Atul (2020) A spatial cognitive exploration algorithm for autonomous mapping of unknown indoor environments.

Hendriks, K.J.H. (2020) Towards reducing the sample complexity of a model-free reinforcement learning agent controlling a single segment tendon-driven continuum manipulator.

Jenden, J.N. (2020) Identification of a drinking water softening model using machine learning.

Kosmas, Dimitrios (2020) Model-Based hysteresis compensation and control with 3D printed lousy sensors.

Koster, B. (2020) Passive Mass Reduction in Admittance Control.

Mathur, Nehal (2020) Novel design of MR-compatible pneumatic soft-surgical endoscope with variable stiffness.

Nadgere, Nimish B. (2020) Haptic Rendering/Control for Underactuated QB SoftHand using Haption HGlove.

Obbink, R. (2020) Development and optimization of a robot navigation algorithm combining deep reinforcement learning and state representation learning.

Pakkirisamy, P.K. (2020) Control of exoskeleton using synergy-driven neuromusculoskeletal modelling.

Roodink, Sander (2020) Controlling deformations of a 3D-printed vibrating beam using stiffness modulation.

Saksena, Saumya (2020) CABiNet : Efficient Context Aggregation Network for Low-Latency Semantic Segmentation.

Shastri, R. (2020) Design and development of a needleplacement mechanism to minimize the number of scans during image-guided procedures.

Sinai, Lior (2020) Efficient path planning for multiple agents in agriculture fields.

Steenbeek, Anne (2020) CNN based dense monocular visual SLAM for indoor mapping and autonomous exploration.

Vogelzang, Kevin (2020) Development and evaluation of a safe Fall Controller for a Lower Limb Exoskeleton using reinforcement learning.

Walt, Christophe van der (2020) Extending an Isotropic Virtual Environment Model with Geometrical Information in Model-Mediated Teleoperation.

Zult, J.D. (2020) Achieving Stable and Safe Physical Interaction for a Fully Actuated Aerial Robot using Energy Tank-Based Interaction Control.

2019

Avelar, J. and Molengraft, M.J.G. van de and Bruyninckx, H.P.J. (2019) Lazy Control of an Anthropomorphic Robotic Arm.

Bongers, Twan (2019) Identification of pelvic floor features in ultrasound images using an unsupervised machine learning algorithm.

Boven, E.J. van (2019) Localization of structural flaws in concrete sewer pipes by physical interaction inspection with a robotic arm.

Groot, A.G. de (2019) Confidence driven control for autonomous robotic 3D ultrasound acquisition of the breast.

Kleiboer, D.M.G. (2019) Towards autonomous motion of the PIRATE through closed pipe structures The Sensing System.

Kumar, Shrijan (2019) Development of SLAM algorithm for a Pipe Inspection Serpentine Robot.

Lenssen, J.A. (2019) Towards a steerable multi-module soft robotic endoscope for NOTES applications.

Mustafa, Khaled Alaaeldin Abdelfattah (2019) Towards Continuous Control for Mobile Robot Navigation: A Reinforcement Learning and SLAM Based Approach.

Pantelis, D. (2019) Design of a control strategy for a robotically assisted ultrasound guided biopsy.

Pleijsier, A.A. (2019) Acoustic condition assessment of concrete sewer pipes using a particle velocity sensor.

Sanchez-Escalonilla Plaza, Santiago (2019) Study of semantic segmentation applications for autonomous vehicles.

Vallinas Prieto, Ander (2019) Time-domain passivity enforcement for mass reduction in admittance control.

Visschers, S.H.J. (2019) Perception-aware visual odometry.

Visschers, Stephan H.J. (2019) Perception-aware Visual Odometry.

Vogel, D. W. (2019) Comparison of Motion Controllers for a Flexure-Based Precision Manipulator.

Werink, Rens (2019) On the control allocation of fully-actuated and over-actuated multirotor UAVs.

Zeng, Xiangshuai (2019) Reinforcement learning based approach for the navigation of a pipe-inspection robot at sharp pipe corners.

2018

Alhawary, Mohammed (2018) Reinforcement-learning-based navigation for autonomous mobile robots in unknown environments.

Barbero, Marta (2018) Reinforcement learning for robot navigation in constrained environments.

Bhole, Ajinkya (2018) Towards KriCatch : A Slip Catching Practice System for the game of Cricket.

Graziosi, Damiano (2018) Toward spatial impedance estimation for robotic systems.

Lankhorst, T.J.W. (2018) An architectural approach to cyber-physical system design.

Meijering, R. (2018) Vision-based control of the SHERPA arm.

Meyere, K.P. de (2018) Model making and haptic controller design for the ReFlex TakkTile.

Niehoff, Dennis (2018) Evaluation of Motion Control Algorithms for Miniaturized Agents Moving Inside 3D Fluidic Microchannels.

Ridder, L.W. van de (2018) Improvements to a tool-chain for model-driven design of Embedded Control Software.

Snippe, M.J.W. (2018) On the application of extreme interaction torque with an underactuated UAV.

Teeffelen, K.J. van (2018) Intuitive Impedance Modulation in Haptic Control using Electromyography.

Vries, J.F. de (2018) Redesign & Implementation of a Moment Exchange Unicycle Robot.

2017

Abdelhady, M.A. (2017) Reuse-oriented SLAM framework using component-based approach.

Abdelmoeti, Samer (2017) Self-powered Vibration Control using Piezoelectric Materials in High Precision Machines.

Cardenas, Carlos A. (2017) Development of a safety-aware intrinsically passive controller for a multi-DOF manipulator.

Den, Michael ten (2017) Design of a pneumatic Dual-Drive Planetary actuator to improve the velocity of MR guided manipulators.

Ellery, D. (2017) Writing reusable code for robotics.

Fahmi, S. (2017) Respiratory motion estimation of the liver with abdominal motion as a surrogate : a supervised learning approach.

Fahmi, Shamel (2017) Respiratory motion estimation of the liver with abdominal motion as a surrogate : a supervised learning approach.

Geurts, Peter (2017) Development of a vane motor servo system for precision positioning in an MRI- or CT-environment.

Jager, J (2017) Joint level modelling, characterisation and torque control of the SHERPA robotic arm.

Opheusden, L.M.E. van (2017) Design of a control strategy for obstacle crossing in a lower limb exoskeleton for SCI patients.

Trouwborst, C. (2017) Towards increased autonomy of a rail-guided robot for the inspection of ballast water tanks.

2016

Abdelaziz, Mohamed Essam Mohamed Kassem (2016) Designing, implementing and integrating a controller for the MRI compatible robotic breast biopsy system.

Brink, F. van den (2016) Manipulation of soft grippers for pick-and-place tasks.

Bukai, E. (2016) Design of a novel needle steering manipulator for minimally invasive guided breast biopsy.

Chan, N. P.K. (2016) On Analysis and Design of Algorithms for Robust Estimation from Relative Measurements.

Noshahri, H. (2016) Reducing fuel consumption for Trailing Suction Hopper Dredgers using automatic steering.

Rossides, Charalambos (2016) Design and implementation of a modular, customizable and multi-modality compatible actuator with position feedback.

Spoor, R.J.F. (2016) Design of an Ultrasound Guided Breast Biopsy End-effector.

Talele, A.S.T. (2016) Inertia driven controlled passive actuation with the Dual-Hemi CVT.

2015

Baarsma, Jort Harm (2015) Docking a UAV using a robotic arm and computer vision.

Bartelds, J.T. (2015) Understanding the critical design parameters of aerial manipulators during physical interaction.

Frijnts, S. (2015) Design of a target lock for an endoscope using TeleFLEX.

Grinten, B.A. van der (2015) Port based Hamiltonian modelling of flapping wing aeroelasticity using vacuum chamber and wind tunnel measurements.

Ling, Chen (2015) Design and implementation of a control structure for a quadrupe robot.

Portema, Eric (2015) Design of the ActInArm : a novel planar active arm support for assisting people with Duchenne Muscular Dystrophy during table-top tasks.

Roo, M. de (2015) Optimal Event Handling by Multiple UAVs.

Vos, Peter-Jan (2015) Demonstrator combining ROS/TERRA-LUNA.

Weijers, F. (2015) Experimental evaluation of a safety aware impedance controller design.

Weijers, Martijn (2015) Minimum swing control of a UAV with a cable suspended load.

Wopereis, H.W. (2015) Bilateral Human-Robot Control for Semi-Autonomous UAV Navigation.

2014

Russcher, K.J. (2014) Optimization of Bipedal Walker Gaits with Constant Knee Stiffness.

Straatman, W. (2014) Developing an autopilot for the peregrine falcon Robird.

Stroeken, K.L.J. (2014) Floor vibration isolation of a coriolis mass-flow meter using filtering techniques.

Vaseur, C.S.E. (2014) Robird wind tunnel test setup design.

Wanders, I. (2014) Design and analysis of an optimal hopper for use in resonance-based locomotion.