In order to strengthen our dedicated team in the Robotics Innovation Center (RIC) research department in Bremen we are looking for a
Master Thesis/Internship Hydrobatics (full-time/part-time, 3 – 9 months)
The Robotics Innovation Center research department, headed by Prof. Dr. Dr. h.c. Kirchner, develop robot systems that are used for complex tasks on land, under water, in the air, and in space. The recently established underactuated lab at DFKI-RIC is looking for outstanding students to join us in pushing the boundaries of highly dynamic and agile robots. Past internships and master thesis students have presented their work at the Summer of Underactuation events in 2022 and 2023.
Topic:
Recent developments in combining hydrodynamics with optimal control methods [1] have led to the field of Hydrobatics for non-holonomic Autonomous Underwater Vehicles (AUVs). The aim of this internship/master thesis would be to extend these methods to a new class of AUVs which are faster and more agile. The tasks include development of new control methods including various close-loop formulations of the actuation mechanisms, developing controllers and performing experiments in the Maritime Halle at DFKI RIC using the AUVs.
Our requirements:
Control theory: Whole body control (WBC), LQR, Trajectory Optimization, Rigid body kinematics and dynamics, Linear Algebra.
Programming: C/C++, Python, experience with WBC frameworks, Model based optimization frameworks (e.g. Drake, Crocoddyl), experience with developing controllers for real systems.
Literature:
1. Rust, L., Vyas, S., Wehbe, B. and Kirchner, F., 2023. AUV Trajectory Optimization with hydrodynamic forces for icy moon exploration. In 17th Symposium on Advanced Space Technologies in Robotics and Automation, 18-20 October 2023.
Please contact Dennis Mronga for further information and send your application via E-Mail to Dennis.Mronga@dfki.de.
Deutsches Forschungszentrum für Künstliche Intelligenz GmbH
Research Department
Robotics Innovation Center
Robert-Hooke-Str. 1
28359 Bremen, Germany
www.dfki.de/ric
Phone: +49 421 17845 6560
Dennis.Mronga@dfki.de
