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Robotic Active Capsule Endoscope (RACE): advanced design, fabrication and control School of Engineering and Materials Science

Fully Funded PhD Research Studentship

Queen Mary University of London


Dr M Hasan Shaheed, Dr Mo Thaha and Professor Kaspar Althoefar

ARQ - Advanced Robotics @ Queen Mary

Application Deadline: 19-03-2018

Project detail: The project will investigate the development of two advanced RACE prototypes, wired and wireless versions, capable of forward, backward and rotational movements in a lower Gastrointestinal (GI) track phantom. The proposed prototypes will be designed and fabricated on the basis of reviewing the limitations of the current prototypes, fabricated using Queen Mary Innovation (QMI) Proof-of-Concept funding, to secure patents as guided bythe QMI assigned patent attorney ‘Kilburn and Strode’. The current prototypes are facilitated with basic control mechanism and advanced closed-loop control methodologies are required to be designed for smooth navigation of the RACE prototypes based on real-time position and orientation parameters sensing. Two methods will be investigated to obtain real-time position and orientation of the capsule:
(i) accelerometer inserted inside the capsule and
(ii) fluoroscopy.

As a first step, a Proportional Integral and Derivative (PID) control method will be developed and implemented to establish the feasibility of feedback control of the capsule based on the obtained parameters. However, as the overall system is supposed to be highly nonlinear, a nonlinear control approach is expected to achieve better performance. As such, an artificial intelligence (AI) based such as fuzzy-logic based control approach will then be investigated. To reduce the possibility of tissue damage a nonlinear model predictive control (NMPC) approach incorporating

(i) the model of the capsule and
(ii) the model of the interaction dynamics between the capsule and GI tract surface will be investigated.

EPSRC DTP Research Studentship Details:

Available to Home/EU Applicants only.

Full Time programme only

Applicant required to start in October 2018

The studentship arrangement will cover tuition fees and provide an annual stipend for up to threeyears (Currently set as £16,553 in 2017/18).

The minimum requirement for this studentship opportunity is a good Honours degree (minimum 2(i)honours or equivalent) or MSc/MRes in a relevant discipline.

If English is not your first language then you will require a valid English certificate equivalent to IELTS6.5+ overall with a minimum score of 6 in Writing and 5.5 in all sections (Reading, Listening, Speaking).

Please note that this studentship is only available to Home/EUApplicants. (Check the website for details)

Supervisor Contact Details

For informal enquiries about this position, please contact Dr M Hasan Shaheed

Tel: 020 7882 3319

Application Method:

To apply for this studentshipand for entry on to the Mechanical Engineering programme (Full Time) please follow the instructions detailed on the following webpage:

Further Guidance:

Please be sure to include a reference to ‘2018 SEMS EPSRC DTP Shaheed' to associate your application with this studentship opportunity

International Jobs

In addition to the job opportunities advertised for specific research projects, we also support applicants for the following fellowships to work within the centre:

Please contact Miss Raphaele Raupp if you want to discuss specific details about any of the fellowships listed above