Research @ ARC

FYP FAQ

Q: I am interested in Robotics. How do I do a FYP related to Robotics?

A: There is a full list of FYP topics under ARC here. If any of the topics there interest you, you can contact the corresponding person in charge who is also listed on that same page. Please include your CV and your FYP module code in the email.

Q: Is there a deadline for applications?

A: Yes, the deadline depends on your home department or any other programme you are under and this have been made known to you commonly via email. We also have an internal deadline of 15th May 2020. Additionally, note that the topics here are allocated on a First-Come-First-Serve basis so please contact us ASAP if you are interested in a topic.

Q: Are the topics listed for individual FYP? Would I be working alone for these projects?

A: It depends on the topics but most topics here are part of a larger project. This means that you will be working alongside other staff researchers and students in the projects. However, FYPs are graded at an individual level.

Q: Are the FYPs limited to the specialisation students or FoE students only?​

A: No. We welcome all students.

Q: I am really interested in a specific field in robotics which is not listed here. Can I self-propose my own topic?​

A: Please contact Assoc Prof Marcelo at mpeangh-spamblocktag-(a)nus.edu.sg.

Q: My question is not listed here. Is there anyone I can ask?​

For further inquiries, email robotics-spamblocktag-(a)nus.edu.sg.

Final Year Projects AY20/21

List of Robotics FYP Topics for AY20/21

The following are topics for FYPs of AY20/21 sorted into four main areas of research:
– Autonomous Mobile Robots
– Soft Robotics

For more information on these topics, watch the recording of our Zoom with ARC event here.

If you are interested in a topic listed here, please email the contact person listed with the following:
– the topic you are interested in
– your CV
– your home department
– your FYP module code. If you are under any specific specialisation or programme (eg. iDP, Capstone Project, etc.)

Have a question? Check out the FAQ page for FYP students here. For further inquiries, email robotics-spamblocktag-(a)nus.edu.sg.

Autonomous Mobile Robots

1. Tree-Inspection Robot

We are looking for a group of students to build a tree-inspection robot that involves climbing. We are also interested in the intelligent part, particularly on the utilisation of visual images to identify areas of concers (eg. cavity).

Contact person: Krittin at mpekrk-spamblocktag-(a)nus.edu.sg

Soft Robotics

1. Development of a soft wearable sensing array for analysis of sports biomechanics

Biomechanical studies in sport are important to improve technique and performance as well as to prevent injuries. In this project, we will work on designing a wearable system to study joint positions – primarily elbow and wrist positions using soft sensors. The sensor manufacturing technique will be taught, and the student will be expected to come up with a custom shape and mounting for the sensor as per the application. The design will be influenced by the biomechanics of the sport (tentatively Tennis) and the related motions. The device needs to provide as low mechanical impedance as possible to ensure that it does not impede training. Biomechanical knowledge will be utilized to create a multi sensor mounting to account of the multitude of movements at the given joints (such a pronation, radial and ulnar deviation at the wrist, elbow flexion etc.). Real time sensor data will be collected, labelled by an expert, and be used to train a model. The objective is to use the trained model for detection of flawed technique and wrong habits that are normally picked up by amateur as well as well-versed players.

Contact person: May at biekpm-spamblocktag-(a)nus.edu.sg

Mobile Manipulator

The combined manipulator arm and base platform can be operated autonomously and remotely to assist human in collaborative environment. The manipulator arm is a Kuka (LBR iiwa 14 R820) with 7 degree of freedom (DOF) mounted with Robotiq 3 finger gripper. The base platform is omnidirectional with zero radius turn capabilities, configured to be highly maneuverable in order to cater the different workspace environment. The base system can also be mounted with front and bottom camera for obstacle/object detection. The setup is being used in exploration of Human Robot Interaction for workshop environment, under grant from A* research.

Indoor Self-Driving Vehicles

Current research outcomes of self-driving vehicles (like cars, buses and trucks) are largely implemented for public open roads. These high-speed autonomous navigational application use cases generally are still governed by highway codes and rule-based driving regulations.

Within indoor commute of pedestrians at high-density, where people move in a more organic and spontaneous pathways along corridors and at times even cross-path or against human traffic flow, autonomous navigation and travel will pose a different set of challenges. In addition, indoor corridors could be narrow and include obstacles, an Autonomous Wheelchair to effectively and efficiently able to make this user trip, will require enhanced sensory fusion perception capabilities to better achieve its advanced path planning and localization processes.

The targeted research outcome is achieving a socially graceful navigation in pedestrian (non-road) environments using multiple sensory and fusion technologies and AI (i.e., Deep Learning). New sensory fusion methods, localization and navigation techniques will be demonstrated.

Furthermore, navigating in a socially acceptable manner is an increasing demand by the public; therefore, the social science observation of human-robot interaction between, will be even more required for applicational use. Finally, narrow corridors and crowded and dynamic environments will need beyond current and even next-gen sensory technologies to navigate in such tight spaces.

Self-Driving Buses

This project aims to develop the perception stack for the self-driving bus. The 12-meter bus should be able to perform typical feeder services autonomously. The focus of the perception module we are developing for this autonomous bus aims to detect and track all dynamic actors in the environment and predict the future location of each actor. Using the predicted future positions of the obstacles, the bus is then able to plan safer and more comfortable paths.

This project is done in collaboration with ST Engineering Land Systems.

Soft End-Effectors

A sensorized robotic manipulator system is developed for
(i) agriculture such as fruit and vegetable picking and sorting,
(ii) food packaging such as but not limited to cakes, fruits, pies, etc.,
(iii) advanced manufacturing such as handling glassware, electronic components, etc., and
(iv) service robots.
It provides safe, compliant and efficient grasping which leads to improvements in grasping performance of tasks deemed previously to be too delicate for traditional robotic end-effector.

Soft Actuators

The figure on the left shows some examples of soft actuators. The top one is made from silicone elastomer; the middle one is made from nylon fabrics; the bottom one is made from 3D printing. These actuators are driven by pneumatic power. When certain pneumatic pressures are applied to the prototypes, they can have different actuation profiles. The top actuator has a helix shape and the other two actuators bend in a plane.

Unmanned Surface Vehicle (USV)

The USV (BBASV 2.0) can operate independently and cooperatively to perform tasks remotely and autonomously on surface water. The motors are placed in vector configuration for holonomic drive, thus providing the vehicle with 4 degree of freedom (DOF). It also has a Launch and Recovery System (LARS) that allows for autonomous deployment of AUV from the ASV, allowing them to work in tandem. The vehicle is made to withstand up to Sea-state 3. The system of the vehicle can be easily configured to cater the specific needs of different stakeholders. The NUS Bumblebee USV team participated in the 2018 Maritime RobotX Challenge in Hawaii and emerged as Champions.

Autonomous Underwater Vehicles (AUV)

The AUV can be operated autonomously and remotely to perform tasks in the water with 6 degree of freedom (DOF), up to 100 meter deep. It has a front facing and bottom facing camera, along with a front facing sonar for long distance object detection. It navigate using its on board Inertia Measurement Unit (IMU), Doppler Velocity Logger (DVL), and Acoustics System. The vehicle is highly modular to be configured in order to cater the different underwater challenges. The NUS Bumblebee AUV team achieved second position at the 2018 International Robosub Competition held in San Diego, USA.