Difference between revisions of "2nd Level Course Projects"
(New page: Here you can find a list of project proposals for the courses of "Laboratorio di Intelligenza Artificiale e Robotica" (5 CFU for each student) and "Soft Computing" (1 CFU for each student)...) |
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Revision as of 12:24, 10 November 2009
Here you can find a list of project proposals for the courses of "Laboratorio di Intelligenza Artificiale e Robotica" (5 CFU for each student) and "Soft Computing" (1 CFU for each student). See Project Proposals for other kinds of projects and theses.
Robotics
Wiki Page: | BringMeHome | |
Title: | BringMeHome | |
Description: | ||
Tutor: | [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 30 March 2013 | |
Students: | 1 - 2 | |
CFU: | 2 - 20 | |
Research Area: | Robotics | |
Research Topic: | E-2? - A robot for exhibitions |
Wiki Page: | CAN Bus bootloader for STM32 microcontrollers | |
Title: | CAN Bus bootloader for STM32 microcontrollers | |
Description: | JOINT PROJECT with the Embedded Systems group (contact: Patrick Bellasi http://home.dei.polimi.it/bellasi/)
In order to speed up the development and the maintenance of embedded applications, a way to update the firmware on a microcontroller without the need of connecting cables or programmers can be very handy. We are developing a framework for rapid prototyping of low-cost robots, with smart devices that exchange data on a CAN bus network. The CAN bus bootloader is one of the components we need for this project, enabling remote firmware upgrades of all the devices connected to the CAN network. This project aims to develop a CAN bus bootloader for STM32 ARM Cortex-M3 microcontrollers, and eventually for other architectures. | |
Tutor: | [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 March 2012 | |
Students: | 1 - 2 | |
CFU: | 2 - 5 | |
Research Area: | Robotics | |
Research Topic: | Robot development |
Wiki Page: | Cognitive SLAM | |
Title: | Cognitive SLAM | |
Description: | We have developed a system that is able to detect, recognize and track objects in an image taken from a low cost robot equipped with a IMU and a low cost camera. The system is capable to detect and recognize objects using a user defined fuzzy tree classifier. However the system performance is heavily dependent on high level feature extraction, such as geometric features. The problem is non trivial due to noisy low cost camera and changes in the light conditions. The aim of this project is to improve the feature extraction and description process, both in performance and quality, possible adding a more complete description or others type of features. The long term aim of the research is to have an autonomuos robot capable to create a semantic map of the envirorment, localize himself , make inference on the map, navigate into the envirorment using the objects as landmarks.
No special skills are required, except basic c and object oriented programming. | |
Tutor: | [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 January 2015 | |
Students: | 1 - 2 | |
CFU: | 5 - 20 | |
Research Area: | Robotics | |
Research Topic: | SLAM, Feature Extraction |
Wiki Page: | Designing Living Objects | |
Title: | Designing Living Objects | |
Description: | The aim of this activity is to investigate how one or more objects in an antropic environment (home, office, hospital) can be designed and implemented to have a character and to move, having nice interactions with people. The work to be done concerns the analysis, definition, design and implementation of at least one of these objects. | |
Tutor: | [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 15 October 2017 | |
Students: | 1 - 2 | |
CFU: | 5 - 20 | |
Research Area: | Robotics | |
Research Topic: | Living Objects |
Wiki Page: | Electromagnetic kicker for middle-size RoboCup soccer robots | |
Title: | Electromagnetic kicker for middle-size RoboCup soccer robots | |
Description: | The Milan RoboCup Team, a team of soccer robots that play in the Middle Size league of RoboCup (1) employs as kicker an electromagnetic device entirely designed within the AIRLab with external collaborations such as the Energetic department at Politecnico di Milano and the Electronics section at DEI. Basically, the device consists of a solenoid, a capacitor and a PIC-based board that controls (through an external integrated circuit) the charge of the capacitor at 400V (using the 24V batteries of the robot) and the generation of the magnetic field in the solenoid. The magnetic field accelerates a metallic cylinder that hits the soccer ball.
The aim of the project is to design, implement, test, and evaluate a new version of the device. While the charge phase, implemented by an ad-hoc IC controlled by the PIC, is quite efficient, some work has to be done in order to design a new solenoid and improve the way the PIC implements a sort of modulation of strength of the shoot, in order to implement small passages between robots. The final purpose is to improve the efficiency of the system, with the aim of minimize the energy consumed and maximize the energy transmitted to the ball, in order to obtain more powerful shots. The first part of the project is focused on some theoretical aspects in order to understand the current design and evaluate how to improve it, while the second phase will be focused on the implementation and test of a new prototype of the kicking device. Experience with PIC-based systems is a plus, but not required, while some experience with electronics circuits is highly recommended. Students are supposed to work in the lab following a set of safety guidelines and rules with circuits at 400V, with 10A pick current during charge phase, and even more during shots. Student from electronics engineering are really welcomed to choose this project. | |
Tutor: | [[LuigiMalago | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 October 2009 | |
Students: | 1 - 2 | |
CFU: | 5 - 5 | |
Research Area: | Robotics | |
Research Topic: | Milan Robocup Team |
Wiki Page: | Embedded registers view plug-in for Eclipse | |
Title: | Embedded registers view plug-in for Eclipse | |
Description: | JOINT PROJECT with the Embedded Systems group (contact: Patrick Bellasi http://home.dei.polimi.it/bellasi/)
When developing embedded applications it is frequently needed to look at *hardware register content* in order to *debug the code*. All commercial development suites offer register views that show their contents as well as the meaning of each bit. Open source development solutions currently lack this feature, meaning that you have to look to the correct memory location and map the content to the corresponding register bits manually. This seems to be one of the most limiting issues when developing embedded application using open source solutions. This project aims to fill this gap, developing an Eclipse plug-in that shows the register contents in a tree viewer, like most commercial suites do. | |
Tutor: | [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 30 May 2011 | |
Students: | 1 - 2 | |
CFU: | 2 - 5 | |
Research Area: | Robotics | |
Research Topic: | Robot development |
Wiki Page: | Odometric system for robots based on laser mice | |
Title: | Odometric system for robots based on laser mice | |
Description: | We developed an odometric system for robots by combining the reading of several laser mice. The system consists of a master PIC-based board and several slave boards where the sensors employed in optical mice are located. The readings are collected on the PIC and sent on the serial port to a PC which elaborates and combines the x and y readings in order to obtain a x,y,theta estimation of the movement of the robot.
The aim of the project is first to improve the current design of the PIC-based board, and realize a new working prototype, and then to implement and evaluate different algorithms able to estimate more precisely the x,y and theta odometric data from the mice readings. Experience with PIC-based systems and some experience with electronics circuits is a plus. Students are supposed to redesign the electronic board, improve the firmware of the PIC, and work on the algorithm that estimates the robot position on the PC. It would be also interesting to evaluate the possibility to embed the optimization and estimation algorithms in the firmware of the PIC in order to produce a stand-alone device. Ask the tutors of the project for extra material, such as data-sheets and other documentation. | |
Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 October 2009 | |
Students: | 1 - 2 | |
CFU: | 5 - 20 | |
Research Area: | Robotics | |
Research Topic: | Robot development |
Wiki Page: | R2P IMU firmware development | |
Title: | Embedded Inertial Measurement Unit for Unmanned Aerial Vehihcles | |
Description: | We have developed the electronics of an Inertial Measurement Unit based on an ARM microcontroller to be integrated on an autonomous embedded aerial platform. The IMU has already some attitude heading reference system (AHRS) code implemented, but we are interested in:
Material
Expected outcome:
Required skills or skills to be acquired:
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Tutor: | [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 January 2015 | |
Students: | 1 - 2 | |
CFU: | 2 - 20 | |
Research Area: | Robotics | |
Research Topic: | Robot development |
Wiki Page: | Robot Games | |
Title: | Robot Games | |
Description: | Projects may include the design of an interactive game on an existing or a new robot, and its evaluation. These projects allow to experiment with real mobile robots and interaction devices. Some games may be designed for disabled children. The project can be considered a MS thesis if it can produce a new game and, possibly, a new robot, and includes adapting the behavior of the robot to the player. | |
Tutor: | [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | ||
Students: | 1 - 2 | |
CFU: | 2 - 20 | |
Research Area: | Robotics | |
Research Topic: | Robogames |
Wiki Page: | Scripting language on embedded platforms | |
Title: | Scripting language on embedded platforms | |
Description: | JOINT PROJECT with the Embedded Systems group (contact: Patrick Bellasi http://home.dei.polimi.it/bellasi/)
When developing embedded applications it is common the need to test some algorithm in some fast way, without to re-program the whole firmware every time. PAWN (http://www.compuphase.com/pawn/) is a *simple and lightweight scripting language with a C-like syntax*. Execution speed, stability, simplicity and a small footprint were essential design criteria for both the language and the abstract machine, making PAWN suitable for embedded applications. This project aims to port the abstract machine to ARM Cortex-M3 microcontrollers, add a set of functions to interface with the underlying hardware peripherals and then to embed it as ChibiOS/RT (http://www.chibios.org) thread. | |
Tutor: | [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 30 May 2011 | |
Students: | 1 - 2 | |
CFU: | 2 - 5 | |
Research Area: | Robotics | |
Research Topic: | Robot development |
Wiki Page: | Soccer Robots | |
Title: | Soccer Robots | |
Description: | Projects are available in different areas:
The project can be turned into a thesis by facing different problems in depth. | |
Tutor: | [[MarcelloRestelli | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 January 2009 | |
Students: | 1 - 2 | |
CFU: | 5 - 20 | |
Research Area: | Robotics | |
Research Topic: | Robot development |
Wiki Page: | Stability and motion control of a balancing robot | |
Title: | Stability and motion control of a balancing robot | |
Description: | This project is focused on the control of both stability and motion of TiltOne, a balancing robot.
TiltOne is a robot with only two wheels that can stand in vertical position following an unstable equilibrium point. The control is applied by commanding an amount of torque to the wheels, allowing the robot to mantain it's gravity center vertical aligned to the wheel axis. The aim of the project proposal is to implement and compare different control solutions, based on classical approach (as PID and LQR control) and Machine Learning approach (as Reinforcement Learning control policies), that allow the robot to move following a given trajectory at a given speed. | |
Tutor: | [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 March 2010 | |
Students: | 1 - 2 | |
CFU: | 5 - 20 | |
Research Area: | Robotics | |
Research Topic: | Robot development |