BSc Thesis, MSc Thesis, Forschungspraxis Oppurtunity at Chair of Robotics and Systems Intelligence

22.04.2025, Studentische Hilfskräfte, Praktikantenstellen, Studienarbeiten

Background: Modern robotic systems increasingly aim for energy-efficient operation, especially as robots are deployed in dynamic and long-duration tasks. However, evaluating and optimising energy behaviour at the joint level remains a challenging and often overlooked area. Many joint architectures may appear similar in terms of function or kinematics but differ significantly in how they store, dissipate, or transfer energy. This project aims to investigate and compare the energy flow characteristics of different joint configurations, using a generalised joint model that incorporates mechanical, electromechanical, and control elements. Through simulation and experimental validation, the goal is to derive consistent metrics and visualisation tools to understand energy use and efficiency across joint types. This may support better decision-making in the early design phase of robotic systems.

Objectives:
Develop and validate a generalised energy model for robotic joints
Compare different joint architectures based on their energy behaviour
Quantify and visualise energy storage, dissipation, and flow over time
Support analysis with both simulation and physical experiments
Contribute toward energy-conscious joint design and evaluation practices

Possible Work Packages:
Review literature on energy modelling in robotic actuation and joint systems
Formalise a generalised model that includes elastic, dissipative, and actuation elements.
Simulate different joint architectures using the same task inputs and compare the energy profiles.
Design and execute experiments on a physical joint testbed to validate simulation results
Visualise and analyse the time-domain power and energy curves for different configurations.
Discuss implications for system design based on comparative findings.

Prerequisites:
Educational Background: Mechanical Engineering (with electronics knowledge), Mechatronics Engineering
Skills:
Good understanding of actuation principles and electromechanical systems
Familiarity with energy modelling and basic thermodynamics concepts
Experience with simulation tools (e.g., MATLAB/Simulink, Simscape, or Adams)
Basic understanding of embedded systems and motor control (for experimental parts)
Analytical thinking for interpreting energy flow and system response
Experience with DAQ systems and sensor integration (especially force/torque and electrical data)
Optional but helpful: familiarity with elastic actuators or compliant mechanisms
Advance CAD and prototyping skills for test setup modification
Mindset: A hands-on, "maker” attitude toward experimental and iterative problem-solving. Willingness to balance theoretical work with hands-on testing
GPA Requirement: Minimum GPA of 2.3
Language Requirement: C1 English
Expected Graduation: After December 2025

What do I offer?
A very challenging and scientifically satisfactory work.
Upon successful results, co-authorship in my publications.
Unlimited cold beverages.
Quarterly group dinners, during summer days, and barbecues.
Know-how about hardware development, design, machine tools, modelling, DAQs, sensors, experiment design, robotics, academic writing and presentation.

Application Process:

Please follow this link https://www.mehmetcanyildirim.com/for-students/supervision to reach the application form. It is essential for you to take the time to fill out the form in detail. Also, with this link, you will be able to check my other offerings as well; feel free to apply for more than one, but please make sure that you mention all these in your motivation letter. If you have further questions, please send me an email with the subject "MSc/BSc Thesis/Forschungspraxis/Internship/Semesterarbeit - Opening Title - Email Topic"

If you have a friend or a group of friends you enjoy working with, I encourage you to apply together. A group application will be a great opportunity if you have different backgrounds, like mechanical hardware and programming.

You can merge projects like Forschungspraxis+MSc Thesis.

Upon submission of your application, it will undergo a review process. If you are found to be a good fit for the topic, you will receive an invitation for an interview. We kindly ask that you refrain from sending follow-up emails to inquire about your application status until one week after the deadline for this call. You will receive an email notification if your application is unsuccessful, and all submitted information and documentation will be discarded.

Please note that part of the interview will include an oral evaluation of your background and comprehension of concepts pertinent to the thesis. Demonstrating thorough preparation, creativity, and initiative will be beneficial. Before the interview, you will be assigned a brief task (such as modelling, simulation, or a paper study), and additional questions will be related to this task during the interview.

Applications and theses must be submitted in English. Giving a final presentation and reporting for the non-thesis openings is also mandatory.

Kontakt: mehmet.yildirim@tum.de