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Dry suits are user-friendly solutions to waterproof robots for amphibious applications. Our lab has previously designed and used dry suits for various limbless and limbed robots. However, tests remain to be done to understand their effects on locomotion. We are also investigating new methods to improve the design and manufacturing process for: (1) stronger resistance to tear, abrasion, and punctures; (2) easier and faster manufacturing processes; and (3) solutions to install smaller-sized wire outlets for sensor applications.

In this project, the student will: (1) work closely with local tailors and manufacturers to find reliable resources of raw materials; (2) design and manufacture sealing structures for various applications in amphibious robots, and (3) perform experiments on their effects on locomotion, such as the change of hydrodynamic drag or joint loads in various conditions.

Thus, we would prefer student that: (1) have a solid background in mechanical design and manufacturing, and (2) can fluent communicate with local businesses in English and French (additionally speaking German and/or Chinese would be a bonus). Students that are interested should send their CVs, transcripts (with relevant courses highlighted), and a brief summary of other relevant experience to the assistants.

Many quadruped robots use simple ball feet while animals usually have complex foot structures. Some studies have tried designing more complex actuated or adaptive feet for quadruped robots. However, few have systematically investigated the benefits of such feet when they are integrated into the robot, especially for the sprawling type quadrupeds. The lack of understanding also exists in animal locomotion because of the complexity and small dimensions of the structure.

To start understanding the role of biomimetic foot structures, this project aims to systematically compare the performance of a salamander robot equipped with ball feet and with passive adaptive feet in both simulation and hardware experiments. A semester project student can choose either one to work on while a master project student needs to do both parts.

For the simulation experiments, the student will: (1) build simplified models of the feet in our Mujoco-based simulation framework, FARMS, (2) optimize the design parameters using optimization or learning algorithms, and (3) compare the results with those using models with ball feet and with data collected in animal experiments. The student is thus required to have basic mechanical design abilities and be familiar with Python programming and optimization/learning algorithms. Students who have taken the Computational Motor Control course would also be preferred.

For the hardware experiments, the student will: (1) design and manufacture the feet based on previous studies, (2) integrate the feet into our salamander robot, and (3) perform systematic tests in different environments. The student is expected to be experienced in mechanical design and manufacturing and have basic knowledge of the mechanics of materials.

Students who are interested in this project shall send the following materials to the assistants: (1) resume, (2) transcript showing relevant courses and grades, and (3) other materials that can demonstrate your skills and project experience (such as videos, slides, Git repositories, etc.). The student should also specify which part of the project (simulation, hardware, or both) they are interested in.

3D printing of polymers is today a well-implemented process for many applications, including rapid prototyping. Several tens of thousands of parts are produced every year in the 3D printing workshop at SPOT, EPFL's main student makerspace. Most of these parts are produced by FDM 3D printing, using PETG filament. Every year, around 20 kg of thermoplastic waste is thus generated.

As part of its sustainability approach, SPOT has acquired a recycling line (grinding, drying, extrusion) to recycle this waste and produce new 3D printing filaments in-house. Two previous semester projects have optimized the recycling process. However, the filaments obtained can still present random defects (inclusions, diameter variations) which make them unreliable for mass 3d printing. Thus, a device has been designed and built in a previous semester project in order to detect those defects in the filament.

This project aims to further develop the device in order to improve filament quality control and to facilitate the correction of detected defects.

The various steps in the project involves:

• Adding a spool defect mapping function to the existing device.
• Adding a semi-automatic defect correction function.
• Characterizing the entire process and evaluate the device's efficiency.

The student is expected to be rigorous and patient, and to have good programming and prototyping skills (mechanical design, 3D printing, laser cutting, etc). A previous experience prototyping at SPOT is required.