Markus Wulfmeier










Projects

(Please find the most up-to-date information in my CV)

Recent:

Shell Eco Marathon - Autonomy Prototype

'For the past 30 years the Shell Eco Marathon (SEM) has aspired to expose the engineers of the future to the mobility challenges of the future by affording them a hands­-on opportunity to develop the mindset and the skills to turn their ideas around these important issues into reality. From the outset student teams were designing cars to address problems of fuel efficiency, long before others were taking this issue seriously. Later electric cars and those powered by other sources of fuel joined the line­up on the starting grid, ensuring that students were consistently pushing the boundaries to deliver our aspirations for future mobility. Hosted at the Queen Elizabeth Olympic Park in London Make the Future London is the latest offering in this series of events and home to the 2016 Shell Eco-Marathon.'
Personal Role: Lead Motion Planning Software Team

LUTZ Pathfinder Project

'ORI works on all aspects of mobile autonomy. We use flagship projects to force the development and evaluation of emerging technology. One such standout project is the deployment and testing of a complete autonomy system on small “pods” for urban use. Self-driving vehicles equipped with Oxford-developed autonomy software were tested successfully in public for the first time in the UK in October 2016. The demonstration, which took place on pavements around Milton Keynes, was coordinated by the Transport Systems Catapult (TSC) and marked the conclusion of the LUTZ Pathfinder project, which began developing autonomous technology in 2014. In the future, it is expected that vehicles like those demonstrated in Milton Keynes will be used for local transportation in urban areas.'
Personal Role: Motion Planning Software Team (Focus on high-level navigation planning)

Previous:

SmokeBot - Robots for First Responders in Dangerous, Low Vision Scenarios

'SmokeBot is driven by the application needs for robots that operate in domains with restricted visibility. The focus is on civil robots supporting fire brigades in search and rescue missions, e.g. in post-disaster management operations in response to tunnel fires. Existing sensor technology and the related cognitive approaches cannot cope with such demanding conditions. SmokeBot addresses this shortcoming and can thus bring about a step change for robotics. It will deliver software and hardware components which facilitate robot systems to perform under harsh conditions of smoke, dust or fog.'
Personal Role: Project Setup and Organisation - Only during Grant Proposal Phase

GPU-Based Rigid Body Dynamics for Motion Planning and Control of Robots

'The use of GPUs has in the last years shifted from the initial application in graphics computation to more general purposes in various research areas. The benefits of GPU against CPU-based computation are founded in their highly parallel computation power and thus a distinct gain in operations per second and throughput for easily dividable tasks. In this work, the parallel capabilities of GPUs are applied to the calculation of rigid body dynamics, in particular to solving the forward dynamics problem. Forward or direct dynamics describe the calculation of accelerations for all robotic joints caused by acting joint torques and external forces. This calculation can include the six degree of freedom floating base for mobile robots.'
Personal Role: Master's Thesis Project

Particle Image Velocimetry Method for Analysis of Mars-Rover Wheel-Terrain Interaction Phenomena

'Experimental analysis of running gear–soil interaction traditionally focuses on the measurement of forces and torques developed by the running gear. This type of measurement provides useful information about running gear performance but it does not allow for explicit investigation of soil failure behavior. This paper describes a methodology based on particle image velocimetry for analyzing soil motion from a sequence of images. A procedure for systematically identifying experimental and processing settings is presented. Soil motion is analyzed for a rigid wheel traveling on a Mars regolith simulant while operating against a glass wall, thereby imposing plain strain boundary conditions. An off-the-shelf high speed camera is used to collect images of the soil flow. Experimental results show that it is possible to accurately compute soil deformation characteristics without the need of markers. Measured soil velocity fields are used to calculate strain fields.'
Personal Role: Bachelor's Thesis Project