PhD Studentship: Robotic Active Capsule Endoscope (RACE): Advanced Design, Fabrication and Control - Investigating the Development of Two Advanced RACE Prototypes

Queen Mary University of London

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 by the 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 three years (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 IELTS 6.5+ 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/EU Applicants. (See: 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 studentship and 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.

Share this PhD
  Share by Email   Print this job   More sharing options
We value your feedback on the quality of our adverts. If you have a comment to make about the overall quality of this advert, or its categorisation then please send us your feedback
Advert information

Type / Role: