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Human Walking Gait Modelling & Estimation for Physical Human-Robot Interaction with an Aerial Robot
(2021)This Master's Thesis further develops the control and estimation for guidance of humans using a tethered aerial robot, which can be used in Physical Human Robot Interaction applications e.g. guidance of visually impaired people. An existing Admittance based control law for human guidance presented in Tognon et. al 2020 is further improved for adaptation to human walking. While the previous control law only used the position-error from the ...Master Thesis -
Share to learn? The role of actor attitudes and information exchange for policy-oriented learning concerning carbon sinks in forests vs. timber
(2021)Climate change and its effects require effective solutions to mitigate and avoid greenhouse gas emissions. The Kyoto Protocol and the Paris Agreement translate global to Swiss mitigation targets, which bring in forests and timber as potential carbon sinks. However, it remains unclear how the sinks are best combined in a local context, especially when forest stands simultaneously fulfill multiple functions. As a result, there is a potential ...Master Thesis -
New perspectives with dynamically tunable optical lattices in the IMPACT experiment
(2021)Master Thesis -
Fraud Detection in Ethereum Using Web-scraping and Natural Language Processing Techniques
(2021)The objective of this thesis is to discern Ethereum fraudulent smart contracts (defined as smart contracts related to Ponzi schemes) from non-fraudulent ones on the Ethereum blockchain. For this purpose, we employ web scraping techniques in order to retrieve data on the transactions of each smart contract. More importantly, we retrieve the opcodes sequence of each smart contract, which is to say the set of instructions that determine the ...Master Thesis -
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A Methodological Approach to the Assessment of the Greenhouse Gas Mitigation Potential of Container-Based Sanitation Systems
(2021)Container-based sanitation (CBS) is a safely managed sanitation service designed for regions with limited sanitation and water infrastructure (WHO/UNICEF, 2018). CBS services replace unsafe sanitation practices in low- and middle-income regions and thus avoid greenhouse gas (GHG) emissions from uncontrolled degradation of excreta in the environment (Harroff et al., 2019). CBS provides waterless toilets with sealable containers that separate ...Master Thesis -
OpenCL support for Enzian
(2021)Recently, there has been growing interest in custom and reconfigurable hardware. However, commercial hardware platforms have limitations for research, because they are optimized for specific use-cases or have proprietary parts. To address this problem, the Systems Group at ETH built Enzian, a new computing platform tailored for research and for exploring novel hardware/software co-designs. However, there is a lack of existing use ...Master Thesis -
Gauge Fixing Independence and the Partition Function of BF Theory
(2021)In the first part of this thesis, we give an interpretation of the gauge-fixed partition function of a quantum field theory known as abelian BF theory in terms of certain regularized determinants. We proceed to formulate a partial statement concerning gauge fixing independence of the partition function and show how this result applies to the analytic torsion and the value at zero of the Ruelle zeta function. In the second part, we show ...Master Thesis -
Identification of Limit Cycle Dynamics with Linear Periodic Models for Airborne Wind Energy Applications
(2021)Limit cycle oscillations are phenomena of nonlinear dynamical systems characterized by a periodic, locally-stable and self-sustained state trajectory of the system. While these phenomena naturally emerge in many applications, systems controlled in closed-loop along a periodic trajectory can also be considered as limit cycles. In this work, local dynamics around the limit cycle are subjected to a coordinate transformation via transversal ...Master Thesis -
Optimizing Declarative Power Sequencing
(2021)Managing a modern computing platform’s power and clock infrastructure is an increasingly complex task. Failure to manage it correctly can result in grave consequences, up to the destruction of vital components. The increasing complexity, coupled with a desire for remote monitoring and management, has led to the task of managing power moving away from hard-wired solutions or simple hardware controllers, and on to baseboard management ...Master Thesis