Master Level Course Projects

2009-10-19T10:52:45Z

GiuseppinaGini:

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.

==== Evolutionary Optimization and Stochastic Optimization ====

{{Project template
|title=Combinatorial optimization based on stochastic relaxation
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc-AT-elet-DOT-polimi-DOT-it]), [[User:LuigiMalago|Luigi Malagò]] ([mailto:malago-AT-elet-DOT-polimi-DOT-it email])
|description=The project will focus on the study, implementation, comparison and analysis of different algorithms for the optimization of pseudo-Boolean functions, i.e., functions defined over binary variables with values in R. These functions have been studied a lot in the mathematical programming literature, and different algorithms have been proposed [1]. More recently, the same problems have been faced in evolutionary computations, with the use of genetic algorithms, and in particular estimation of distribution algorithms [2,3]. Estimation of distribution algorithms are a recent meta-heuristic, where classical crossover and mutation operators used in genetic algorithms are replaced with operators that come from statistics, such as sampling and estimation.

The focus will be on the implementation of existing algorithms able to combine different approaches (estimation and sampling, from one side, and exploitation of prior knowledge about the structure of problem, on the other), together with the comparison of the results with existing techniques that historically appear in different (and often separated) communities. Good coding (C/C++) abilities are required. Since the approach will be based on statistical models, the student is supposed to be comfortable with notions that come from probability and statistics courses.

Picture taken from http://www.ra.cs.uni-tuebingen.de/

;Bibliography
*[1] Boros, Endre and Boros, Endre and Hammer, Peter L. (2002) Pseudo-boolean optimization. Discrete Applied Mathematics.
*[2] Pelikan, Martin; Goldberg, David; Lobo, Fernando (1999), A Survey of Optimization by Building and Using Probabilistic Models, Illinois: Illinois Genetic Algorithms Laboratory (IlliGAL), University of Illinois at Urbana-Champaign.
*[3] Larrañga, Pedro; & Lozano, Jose A. (Eds.). Estimation of distribution algorithms: A new tool for evolutionary computation. Kluwer Academic Publishers, Boston, 2002.
*[4] Image Analysis, Random Fields Markov Chain Monte Carlo Methods

|start=Anytime
|number=1-2
|cfu=20-40
|image=stochastic.jpg}}

==== Evolutionary Computation ====

{{Project template
|title=Combining Estimation of Distribution Algorithms and other Evolutionary techniques for combinatorial optimization
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc-AT-elet-DOT-polimi-DOT-it]), [[User:LuigiMalago|Luigi Malagò]] ([mailto:malago-AT-elet-DOT-polimi-DOT-it email])
|description=The project will focus on the study, implementation, comparison and analysis of different algorithms for combinatorial optimization using techniques and algorithms proposed in Evolutionary Computation. In particular we are interested in the study of Estimation of Distribution Algorithms [1,2,3,4], a recent meta-heuristic, often presented as an evolution of Genetic Algorithms, where classical crossover and mutation operators, used in genetic algorithms, are replaced with operators that come from statistics, such as sampling and estimation.

The focus will be on the implementation of new hybrid algorithms able to combine estimation of distribution algorithms with different approaches available in the evolutionary computation literature, such as genetic algorithms and evolutionary strategies, together with other local search techniques. Good coding (C/C++) abilities are required. Some background in combinatorial optimization form the "Fondamenti di Ricerca Operativa" is desirable. The project could require some effort in order to build and consolidate some background in MCMC techniques, such as Gibbs and Metropolis samplers [4]. The project could be extended to master thesis, according to interesting and novel directions of research that will emerge in the first part of the work.

Picture taken from http://www.genetic-programming.org

;Bibliography
*[1] Pelikan, Martin; Goldberg, David; Lobo, Fernando (1999), A Survey of Optimization by Building and Using Probabilistic Models, Illinois: Illinois Genetic Algorithms Laboratory (IlliGAL), University of Illinois at Urbana-Champaign.
*[2] Larrañga, Pedro; & Lozano, Jose A. (Eds.). Estimation of distribution algorithms: A new tool for evolutionary computation. Kluwer Academic Publishers, Boston, 2002.
*[3] Lozano, J. A.; Larrañga, P.; Inza, I.; & Bengoetxea, E. (Eds.). Towards a new evolutionary computation. Advances in estimation of distribution algorithms. Springer, 2006.
*[4] Pelikan, Martin; Sastry, Kumara; & Cantu-Paz, Erick (Eds.). Scalable optimization via probabilistic modeling: From algorithms to applications. Springer, 2006.

|start=Anytime
|number=1-2
|cfu=5-10
|image=genetic.jpg}}

===== Sleep Staging =====

{{Project template
|title=Development of a computer-assisted CAP (Sleep cyclic alternating pattern) scoring method
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), Martin Mendez ([mailto:martin.mendez@polimi.it email]), Anna Maria Bianchi ([mailto:annamaria.bianchi@polimi.it email]), Mario Terzano (Ospedale di Parma)
|description=In 1985, Terzano describes for the first time the Cyclic Alternating Pattern [http://en.wikipedia.org/wiki/Cyclical_alternating_pattern] during sleep and, nowadays, CAP is widely accepted by the medical community as basic analysis of sleep. The CAP evaluation is of fundamental importance since it represents the mechanism developed by the brain evolution to monitor the inner and outer world and to assure the survival during sleep. However, visual detection of CAP in polisomnography (i.e., the standard procedure) is a slow and time-consuming process. This limiting factor generates the necessity of new computer-assisted scoring methods for fast CAP evaluation. This thesis deals with the development of a Decision Support System for CAP scoring based on features extraction at multi-system level (by statistical and signal analysis) and Pattern Recognition or Machine Learning approaches. This may allow the automatic detection of CAP sleep and could be integrated, through reinforcement learning techniques, with the corrections given by physicians.

;Tools and instruments
:Matlab, C/C++

;Bibliography
: Mario Terzano, Liborio Parrino. ''Atlas, rules, and recording techniques for the scoring of cyclic alternating pattern (CAP) in human sleep'', Sleep Medicine 2 (2001) 537–553. [http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6W6N-44DY2B4-8&_user=2620285&_coverDate=11%2F30%2F2001&_rdoc=1&_fmt=&_orig=search&_sort=d&view=c&_acct=C000058180&_version=1&_urlVersion=0&_userid=2620285&md5=aa61a060d005f23f6afed5c1fc2f1126]
|start=Anytime
|number=1-2
|cfu=5-20
|image=CAP_Sleep_Staging.jpg}}



==== BioSignal Analysis ====

{{Project template
|title=Human-computer interaction via voice recognition system
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=We want develop a system to allow a voice interaction between the user and the wheelchair.
This project consists in develop one of the solutions proposed in literature and extended the LURCH software to include this kind of interface.
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux

References:
* Phinx project [http://cmusphinx.org/]

|start= Anytime
|number=1-2
|cfu=2.5-10
|image=LURCH_wheelchair.jpg
}}

===== Brain-Computer Interface =====

{{Project template
|title=Driving an autonomous wheelchair with a P300-based BCI
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:BernardoDalSeno|Bernardo Dal Seno]] ([mailto:dalseno%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=This project pulls together different Airlab projects with the aim to drive an autonomous wheelchair ([[LURCH - The autonomous wheelchair|LURCH]]) with a [[Brain-Computer Interface|BCI]], through the development of key software modules. Depending on the effort the student is willing to put into it, the project can grow to a full experimental thesis.

;Tools and instruments
:C++, C, [http://www.bci2000.org/ BCI2000]
:Linux

;Bibliography
: R. Blatt et al. ''Brain Control of a Smart Wheelchair'' [http://www.booksonline.iospress.com/Content/View.aspx?piid=9401]
|start=November 2008
|number=1
|cfu=5-20
|image=LURCH_wheelchair.jpg}}

{{Project template
|title=Reproduction of an algorithm for the recognition of error potentials
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:BernardoDalSeno|Bernardo Dal Seno]] ([mailto:dalseno%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=Error potentials (ErrPs) are [http://en.wikipedia.org/wiki/Event-related_potential event-related potentials] present in the EEG (electroencephalogram) when a subject makes a mistake or when the machine a subject is interacting with works in an expected way. They could be used in the [[Brain-Computer Interface|BCI]] field to improve the performance of a BCI by automatically detecting classification errors.
The project aims at reproducing algorithms for ErrP detection from the literature.

;Tools and instruments
:Matlab

;Bibliography
:P.W. Ferrez, J. Millán. ''You Are Wrong! Automatic Detection of Interaction Errors from Brain Waves'' [ftp://ftp.idiap.ch/pub/reports/2005/ferrez_2005_ijcai.pdf]
:G. Schalk et al. ''EEG-based communication: presence of an error potential'' [http://scienceserver.cilea.it/cgi-bin/sciserv.pl?collection=journals&issn=13882457&volume=111&issue=12&firstpage=2138&form=html]
|start=This project has already been assigned
|number=1
|cfu=5-15
|image=Bci_arch.png}}

==== Computer Vision and Image Analysis ====

{{Project template
|title=Environment Monitoring
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this project is to develop a video surveillance system to track in 3D vehicles or people.
The idea is to use one or more calibrated camera to estimate the position and the trajectories of the moving objects in the scene.
The skills required for this project are:
* C/C++ and OpenCV library
* Linux o.s.
* Geometry/Image processing
* Probabilistic robotics/IMAD

The project can be turned into a thesis extending the algorithm for a generic outdoor environment.
|start=Anytime
|number=2-3
|cfu=10-15
|image=Danch4.png
}}

{{Project template
|title=Visual Merchandising
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this project is to develop algorithms to count the number of products on the shelves of a market.
The idea is to use a calibrated camera to recognize the shelves, estimate the scale and improve the image quality.
The skills required for this project are:
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

|start= As soon as possible
|number=2-3
|cfu=2.5-15
|image=VisualM.jpg
}}

{{Project template
|title=Analysis of patch recognition algorithms
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=Extract distinctive features from images is very important in computer vision application.
It can be used in algorithms for tasks like matching different views of an object or scene (e.g. for stereo vision) and object recognition.
The aim of this work is to integrate in an existent framework the existing solution proposed in literature.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

References:
*Oxford website [http://www.robots.ox.ac.uk/~vgg/research/affine/index.html]
*Hess website [http://web.engr.oregonstate.edu/~hess/index.html]
*Feature FAST [http://mi.eng.cam.ac.uk/~er258/work/fast.html]

|start= Anytime
|number=2-3
|cfu=2.5-15
|image=Object.jpg
}}

{{Project template
|title=Catadioptric MonoSLAM
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this work is to investigate a SLAM solutions based on catadioptric camera, integrating the solution presented in literature into an existing frameword.
Improvements could be the basis for a tesi.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

References:
*Visual SLAM by Single Catadioptric Stereo [http://cv2.kaist.ac.kr/VisualSLAMBySingleCameraCatadioptricStereo.pdf]
*Catadioptric reconstruction [http://citeseer.ist.psu.edu/cache/papers/cs/23657/http:zSzzSzwww.cis.upenn.eduzSz~cgeyerzSzsfm_tr.pdf/geyer01structure.pdf]

|start= Anytime
|number=2-3
|cfu=2.5-15
|image=Photo.jpg
}}

{{Project template
|title=Trinocular Vision System (SUGR)
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=A Trinocular Vision System is a device composed by three cameras that allows to measure 3D data (in this case segments) directly from images.
The aim of this tesina/project is to implement a trinocular algorithm based on SUGR, a library for Uncertain Projective Geometry.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

|start= As soon as possible
|number=2-3
|cfu=2.5-15
|image=Trinoex.jpg
}}

{{Project template
|title=GIFT and features extraction and description
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The idea is to improve and optimize the solution proposed by Campari et al. in their paper, who propose to estimate invariant descriptor using geodesic features descriptor based on color information.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

|start= Anytime
|number=1-3
|cfu=10-20
|image=Palla_GIFT.jpg
}}

{{Project template
|title=Multimedia Indexing Framework
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this project is to develop a framework for multimedia indexing.
The idea is create an images database indexer that allows to make query using images or strings.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux

References:
*CBIR system definition [http://en.wikipedia.org/wiki/CBIR]
*Image database [http://www.cs.washington.edu/research/imagedatabase/]

|start= Anytime
|number=1-3
|cfu=2.5-15
|image=CIR.gif
}}

{{Project template
|title=humanoid vision
|tutor=[[User:Giuseppina Gini|Giuseppina Gini]] ([mailto:gini%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=Our goal is to develop vision capabilities for a humanoiud robot. In particular:
* NEURAL-BASED VISION SYSTEM - In this project we experiment different models of the neural structure of the visual cortex. In particular we collect couples of images with different fixation point and we reconstruct disparity, depth, shape recognition. A stereo disparity map is already available.
* RECOGNITION OF HAND MOTIONS - Develop a system able to recognize the hand gestures from images of people. Use this for robot interfacing.
* SEMANTIC MODELLING OF ACTIONS - Construct a semantic representation of actions to be matched against the data obtained from video/movements analysis.

|start= Anytime
|number=1-3
|cfu=2.5-15
|image=vision.jpg
}}

==== E-Science ====
{{Project template
|title=Knowledge discovery in life sciences
|tutor=[[User:Gini Giuseppina|Gini Giuseppina]] ([mailto:gini%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of those projects is to develop methods and applications in the broad area of life sciences applications. Basic knowledge of chemistry and biology is useful.
* DATA MINING FOR RULE INDUCTION - The project is about analysing large data sets to discover correlations between substructures and properties. CDK and WEKA are possible software to use.
* IReNNS: LEARNING FROM STRUCTURES - This project will develop IReNNS, a recurrent neural net package, and develop new applications.
* REC analysis in WEKA - The project is about theory and the implementation in Java of REC diagrams. A Matlab tool is available at http://www.cs.rpi.edu/~bij2/rec.html.
* HOW TO TEACH SCIENCE - Propose a web site to teach University students a scientific topic using active participation and virtual experimentation.
* CAUSAL REASONING - In this project we will develop the theory of causality proposed by Pearl and apply it to examples in biological sciences.
Other topics coming soon.

|start= Anytime
|number=2-3
|cfu=5-20
|image=life.jpg
}}

==== Machine Learning ====

{{Project template
|title=Statistical inference for phylogenetic trees
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc-AT-elet-DOT-polimi-DOT-it]), [[User:LuigiMalago|Luigi Malagò]] ([mailto:malago-AT-elet-DOT-polimi-DOT-it email])
|description=The project will focus on the study, implementation, comparison and analysis of different statistical inference techniques for phylogenetic trees. Phylogenetic trees [1, 2, 3] are evolutionary trees used to represent the relationships between different species with a common ancestor. Typical inference task concern the construction of a tree starting from DNA sequences, involving both the choice of the topology of the tree (i.e., model selection) and the values of the parameters (i.e., model fitting). The focus will be a probabilistic description of the tree, given by the introduction of stochastic variables associated to both internal nodes and leaves of the tree.

The project will focus on the understanding of the problem and on the implementation of different algorithms, so (C/C++ or Matlab or R) coding will be required. Since the approach will be based on statistical models, the student is supposed to be comfortable with notions that come from probability and statistics courses.

Picture taken from http://www.tolweb.org/tree/

;Bibliography
*[1] Felsenstein 2003: Inferring Phylogenies
*[2] Semple and Steel 2003: Phylogenetics: The mathematics of phylogenetics
*[3] Louis J. Billera, Susan P. Holmes and and Karen Vogtmann Geometry of the space of phylogenetic trees. Advances in Applied Math 27, 733-767 (2001)

|start=Anytime
|number=1-2
|cfu=20-40
|image=toloverview.jpg}}

{{Project template
|title=Reinforcement Learning Competition
|tutor=Marcello Restelli (restelli-AT-elet-DOT-polimi-DOT-it)
|description=This project has the goal of participating to (and possibly winning ;)) the 2009 Reinforcement Learning competition. To have an idea of what participate to such a competition means you can have a look at the website of the [http://rl-competition.org/content/view/51/79/ 2008 RL competition].
The problems that will be proposed are still unknown. As soon as the domains will be published, the work will start by analyzing their main characteristics and, then we will identify which RL algorithms are most suited for solving such problems. After an implementation phase, the project will required a long experimental period to tune the parameters of the learning algorithms in order to improve the performance as much as possible.
|start=January, 2009
|number=2-4
|cfu=10-20
|image=keepaway.gif}}

==== Computational Intelligence and Games ====

{{Project template
|title= AI in Racing Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=[http://torcs.sourceforge.net/ TORCS] is a state-of-the-art open source racing simulator that represents an ideal bechmark for machine learning techniques. At the same time, Machine Learning techniques could be used to improve the game experience in this kind of games. Several projects and theses are available on this topic, please contact us for additional information.
;References
*[http://gar.eecs.ucf.edu/ Drivatar in Forza Motorsport]
*[http://torcs.sourceforge.net/ TORCS]
*[http://cig.dei.polimi.it/ CIG@PoliMI]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=TORCS2.jpg}}

{{Project template
|title= Automatic Content Generation in Computer Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=The generation of customized game content for each player is an attractive direction to improve the game experience in the next-generation computer games. In this scenario, Machine Learning could play an important role to provide automatically such customized game content. Several projects and theses are available on this topic, please contact us for additional information.
Picutre taken from [http://gar.eecs.ucf.edu/]
;references
*[http://gar.eecs.ucf.edu/ Galactic Arm Race]
*[http://torcs.sourceforge.net/ TORCS]
*[http://cig.dei.polimi.it/ CIG@PoliMI]
*[http://julian.togelius.com/Togelius2007Towards.pdf J. Togelius, R. De Nardi and S. Lucas. Towards automatic personalised content creation for racing games]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=gar.jpg}}

{{Project template
|title= Human-Like AI in Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=Developing a human-like AI is a challenging and fascinating problem from the point of view of the Artificial Intelligence research. At the same time, it is also a significative prolem for the computer games development: playing against humans is generally more exciting than playing against computers.
Our projects and theses on this topic involve two different games: Unreal Tournament 2004 and TORCS.
Please contact us for additional information.
;References
*[http://research.microsoft.com/en-us/projects/drivatar/default.aspx Drivatar in Forza Motorsport]
*[http://torcs.sourceforge.net/ TORCS]
*[http://botprize.org/ Botprize]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=UT2004.png}}

{{Project template
|title= Data Mining in Computer Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=Today a lot of data can be extracted from popular games. The analysis of such data allow to discover a lot of interesting information about players, the game and the interaction between the game and different type of players.
Several theses and projects are available on this topic and involve different games: TORCS, Unreal Tournament and Quake Live.
Please contact us for additional information.
;References
*[http://torcs.sourceforge.net/ TORCS]
*[http://www.quakelive.com Quake Live]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=QLive.png}}

==== Social Software and Semantic Web ====

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==== Robotics ====

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{{Project template
|title=Calibration of IMU-camera system
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=This work is about the problem to calibrate a system composed by an XSense
Inertial Measurement Unit and a Fire-i Camera. The pro ject will be focus on
the problem to estimate both unknown rotation between the two devices and the
extrinsic/intrinsic parameters of the camera. This algorithm allows to use the
system for SLAM or robotics applications, like a wereable device for autonomous
navigation or augmented reality.

;Tools and instruments
:Matlab/C++

;Links
:Matlab Toolbox for mutual calibration [http://www.deec.uc.pt/~jlobo/InerVis_WebIndex/InerVis_Toolbox.html]
:List of pubblications[http://www.deec.uc.pt/~jlobo/InerVis_WebIndex/InerVis_Pubs.php]

|start=Anytime
|number=1
|cfu=5-20
|image=Imu_cam_big_sphere.gif}}

{{Project template
|title=MonoSLAM system implementation
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The aim of this proposal is to investigate the different monocamera SLAM solution proposed in literature.
After a deepen bibliography research, the work will be focused on developing one of these algorithms into an existing framework and, only for tesi option, investigate possible improvements.

The algorithms interested are based on [http://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm]:
*Extended Kalman Filter [http://www.doc.ic.ac.uk/~ajd/publications.html]
*Unscented Kalman Filter [http://www.cs.unc.edu/~welch/kalman/media/pdf/Julier1997_SPIE_KF.pdf]
*FastSLAM [http://robots.stanford.edu/papers.html]
*GraphSLAM [http://mi.eng.cam.ac.uk/~ee231/]

;Tools and instruments
:Matlab/C++

|start=Anytime
|number=1-2
|cfu=5-20
|image=KC_jc_third.jpg}}

{{Project template
|title=Humanoid robotics
|tutor=Giuseppina Gini(gini-AT-elet-DOT-polimi-DOT-it)
|description=this project is about developing various functions of humanoids, in particular related to sensing and cognition for manipulation. Possible specific projects are:
* BIOINSPIRED ROBOT HEAD FOR VISION - design and build a robot head able to host 2 cameras with 2dof of freedom each to create a human-like vision system. The movements can be obtained using 4 McKibben actuators for each camera, or electric actuators.
* NEW HARDWARE FOR MAXIMUMOne - the humanoid robot is moved by more than 20 actuators and needs input from all of them. The new architecture FPGA based will move the arm and the head.
* SIMULATOR OF HUMANOID ROBOT - complete the simulator of MaximumOne with all the dof. The simulator will use the same Matlab algorithms of the controller.
* INTEGRATING MANIPULATION AND VISION ON MAXIMUMOne - develop a natural vision system that uses the neck and the eyes movements to follow objects and to concentrate on grasping targets. The integration can be done in matlab/Simulink and integrated in the MaximumOne model.
* MANIPULATION ONTOLOGIES - develop an ontology approach to find the right way to grasp an object , considering both the object and the hand characteristics.
* PATH PLANNING AND COLLISION AVOIDANCE IN OOPS - Randomized path planning is a strategy to produce paths for complex devices. An open source project (OOPS) is available; the project is about integrating path planning with a robot simulator.

All the projects can be turned into a thesis.
|start=Anytime
|number=4-6
|cfu=5-20
|image=maximum.jpg}}

{{Project template
|title=Legged locomotion
|tutor=[[User:Giuseppina Gini|Giuseppina Gini]] ([mailto:gini%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description= The proposed projects in the area of walking robots will improve the performances of on-going systems.
* KINEMATIC/DYNAMIC MODEL OF WARUGADAR - develop a complete kinematic analysis of a quadruped robot, useful for planning the foot position on uneven terrains. The dynamic model will be useful for learning different gaits.
* GAIT GENERATION AND CONTROL FOR WARUGADAR - Study Central Pattern Generation, develop a CPG implementation in Matlab or Python. Adapt the method to a quadruped robot (Warugadar).
* ROBO FISH - Continue the development of hardware and software for the robotic fish Zoidberg2, and study a fish colony.
* EMBOT WALKING - complete the robot with 4 wheels used as feet. Control it and experiment.
* ROBOTIC EXPERIMENTS WITH BIOLOID - using Bioloid experiments hw and gaits, develop software for the humanoid challenges at ICRA2010.

All the projects can be turned into a thesis.
|start=Anytime
|number=2-5
|cfu=5-20
|image=leg.jpg}}

{{Project template
|title=Robotic prosthesis
|tutor=[[User:Giuseppina Gini|Giuseppina Gini]] ([mailto:gini%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description= The proposed projects in the development of an active hand prosthesis, novel in architecture since it considers anso the wrist. THe user interface is based on EMG signals.
* ADVANCED EMG ANALYSIS - To develop prosthesis and therapeutic tools we need to analyze EMG signals according to position, velocity, force. Starting from signal acquisition develop in Matlab a model for force and velocity control.
* HAND PROSTHESIS DESIGN - Define a virtual model of the hand prosthesis (actuation and sensors) and develop a controller based on multi-class classification of electro-myographic signals.

All the projects can be turned into a thesis.
|start=Anytime
|number=2-3
|cfu=5-20
|image=hand.jpg}}

File:Hand.jpg

2009-10-19T10:48:06Z

GiuseppinaGini:

Master Level Course Projects

2009-10-19T10:46:00Z

GiuseppinaGini:

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.

==== Evolutionary Optimization and Stochastic Optimization ====

{{Project template
|title=Combinatorial optimization based on stochastic relaxation
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc-AT-elet-DOT-polimi-DOT-it]), [[User:LuigiMalago|Luigi Malagò]] ([mailto:malago-AT-elet-DOT-polimi-DOT-it email])
|description=The project will focus on the study, implementation, comparison and analysis of different algorithms for the optimization of pseudo-Boolean functions, i.e., functions defined over binary variables with values in R. These functions have been studied a lot in the mathematical programming literature, and different algorithms have been proposed [1]. More recently, the same problems have been faced in evolutionary computations, with the use of genetic algorithms, and in particular estimation of distribution algorithms [2,3]. Estimation of distribution algorithms are a recent meta-heuristic, where classical crossover and mutation operators used in genetic algorithms are replaced with operators that come from statistics, such as sampling and estimation.

The focus will be on the implementation of existing algorithms able to combine different approaches (estimation and sampling, from one side, and exploitation of prior knowledge about the structure of problem, on the other), together with the comparison of the results with existing techniques that historically appear in different (and often separated) communities. Good coding (C/C++) abilities are required. Since the approach will be based on statistical models, the student is supposed to be comfortable with notions that come from probability and statistics courses.

Picture taken from http://www.ra.cs.uni-tuebingen.de/

;Bibliography
*[1] Boros, Endre and Boros, Endre and Hammer, Peter L. (2002) Pseudo-boolean optimization. Discrete Applied Mathematics.
*[2] Pelikan, Martin; Goldberg, David; Lobo, Fernando (1999), A Survey of Optimization by Building and Using Probabilistic Models, Illinois: Illinois Genetic Algorithms Laboratory (IlliGAL), University of Illinois at Urbana-Champaign.
*[3] Larrañga, Pedro; & Lozano, Jose A. (Eds.). Estimation of distribution algorithms: A new tool for evolutionary computation. Kluwer Academic Publishers, Boston, 2002.
*[4] Image Analysis, Random Fields Markov Chain Monte Carlo Methods

|start=Anytime
|number=1-2
|cfu=20-40
|image=stochastic.jpg}}

==== Evolutionary Computation ====

{{Project template
|title=Combining Estimation of Distribution Algorithms and other Evolutionary techniques for combinatorial optimization
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc-AT-elet-DOT-polimi-DOT-it]), [[User:LuigiMalago|Luigi Malagò]] ([mailto:malago-AT-elet-DOT-polimi-DOT-it email])
|description=The project will focus on the study, implementation, comparison and analysis of different algorithms for combinatorial optimization using techniques and algorithms proposed in Evolutionary Computation. In particular we are interested in the study of Estimation of Distribution Algorithms [1,2,3,4], a recent meta-heuristic, often presented as an evolution of Genetic Algorithms, where classical crossover and mutation operators, used in genetic algorithms, are replaced with operators that come from statistics, such as sampling and estimation.

The focus will be on the implementation of new hybrid algorithms able to combine estimation of distribution algorithms with different approaches available in the evolutionary computation literature, such as genetic algorithms and evolutionary strategies, together with other local search techniques. Good coding (C/C++) abilities are required. Some background in combinatorial optimization form the "Fondamenti di Ricerca Operativa" is desirable. The project could require some effort in order to build and consolidate some background in MCMC techniques, such as Gibbs and Metropolis samplers [4]. The project could be extended to master thesis, according to interesting and novel directions of research that will emerge in the first part of the work.

Picture taken from http://www.genetic-programming.org

;Bibliography
*[1] Pelikan, Martin; Goldberg, David; Lobo, Fernando (1999), A Survey of Optimization by Building and Using Probabilistic Models, Illinois: Illinois Genetic Algorithms Laboratory (IlliGAL), University of Illinois at Urbana-Champaign.
*[2] Larrañga, Pedro; & Lozano, Jose A. (Eds.). Estimation of distribution algorithms: A new tool for evolutionary computation. Kluwer Academic Publishers, Boston, 2002.
*[3] Lozano, J. A.; Larrañga, P.; Inza, I.; & Bengoetxea, E. (Eds.). Towards a new evolutionary computation. Advances in estimation of distribution algorithms. Springer, 2006.
*[4] Pelikan, Martin; Sastry, Kumara; & Cantu-Paz, Erick (Eds.). Scalable optimization via probabilistic modeling: From algorithms to applications. Springer, 2006.

|start=Anytime
|number=1-2
|cfu=5-10
|image=genetic.jpg}}

===== Sleep Staging =====

{{Project template
|title=Development of a computer-assisted CAP (Sleep cyclic alternating pattern) scoring method
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), Martin Mendez ([mailto:martin.mendez@polimi.it email]), Anna Maria Bianchi ([mailto:annamaria.bianchi@polimi.it email]), Mario Terzano (Ospedale di Parma)
|description=In 1985, Terzano describes for the first time the Cyclic Alternating Pattern [http://en.wikipedia.org/wiki/Cyclical_alternating_pattern] during sleep and, nowadays, CAP is widely accepted by the medical community as basic analysis of sleep. The CAP evaluation is of fundamental importance since it represents the mechanism developed by the brain evolution to monitor the inner and outer world and to assure the survival during sleep. However, visual detection of CAP in polisomnography (i.e., the standard procedure) is a slow and time-consuming process. This limiting factor generates the necessity of new computer-assisted scoring methods for fast CAP evaluation. This thesis deals with the development of a Decision Support System for CAP scoring based on features extraction at multi-system level (by statistical and signal analysis) and Pattern Recognition or Machine Learning approaches. This may allow the automatic detection of CAP sleep and could be integrated, through reinforcement learning techniques, with the corrections given by physicians.

;Tools and instruments
:Matlab, C/C++

;Bibliography
: Mario Terzano, Liborio Parrino. ''Atlas, rules, and recording techniques for the scoring of cyclic alternating pattern (CAP) in human sleep'', Sleep Medicine 2 (2001) 537–553. [http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6W6N-44DY2B4-8&_user=2620285&_coverDate=11%2F30%2F2001&_rdoc=1&_fmt=&_orig=search&_sort=d&view=c&_acct=C000058180&_version=1&_urlVersion=0&_userid=2620285&md5=aa61a060d005f23f6afed5c1fc2f1126]
|start=Anytime
|number=1-2
|cfu=5-20
|image=CAP_Sleep_Staging.jpg}}



==== BioSignal Analysis ====

{{Project template
|title=Human-computer interaction via voice recognition system
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=We want develop a system to allow a voice interaction between the user and the wheelchair.
This project consists in develop one of the solutions proposed in literature and extended the LURCH software to include this kind of interface.
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux

References:
* Phinx project [http://cmusphinx.org/]

|start= Anytime
|number=1-2
|cfu=2.5-10
|image=LURCH_wheelchair.jpg
}}

===== Brain-Computer Interface =====

{{Project template
|title=Driving an autonomous wheelchair with a P300-based BCI
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:BernardoDalSeno|Bernardo Dal Seno]] ([mailto:dalseno%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=This project pulls together different Airlab projects with the aim to drive an autonomous wheelchair ([[LURCH - The autonomous wheelchair|LURCH]]) with a [[Brain-Computer Interface|BCI]], through the development of key software modules. Depending on the effort the student is willing to put into it, the project can grow to a full experimental thesis.

;Tools and instruments
:C++, C, [http://www.bci2000.org/ BCI2000]
:Linux

;Bibliography
: R. Blatt et al. ''Brain Control of a Smart Wheelchair'' [http://www.booksonline.iospress.com/Content/View.aspx?piid=9401]
|start=November 2008
|number=1
|cfu=5-20
|image=LURCH_wheelchair.jpg}}

{{Project template
|title=Reproduction of an algorithm for the recognition of error potentials
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:BernardoDalSeno|Bernardo Dal Seno]] ([mailto:dalseno%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=Error potentials (ErrPs) are [http://en.wikipedia.org/wiki/Event-related_potential event-related potentials] present in the EEG (electroencephalogram) when a subject makes a mistake or when the machine a subject is interacting with works in an expected way. They could be used in the [[Brain-Computer Interface|BCI]] field to improve the performance of a BCI by automatically detecting classification errors.
The project aims at reproducing algorithms for ErrP detection from the literature.

;Tools and instruments
:Matlab

;Bibliography
:P.W. Ferrez, J. Millán. ''You Are Wrong! Automatic Detection of Interaction Errors from Brain Waves'' [ftp://ftp.idiap.ch/pub/reports/2005/ferrez_2005_ijcai.pdf]
:G. Schalk et al. ''EEG-based communication: presence of an error potential'' [http://scienceserver.cilea.it/cgi-bin/sciserv.pl?collection=journals&issn=13882457&volume=111&issue=12&firstpage=2138&form=html]
|start=This project has already been assigned
|number=1
|cfu=5-15
|image=Bci_arch.png}}

==== Computer Vision and Image Analysis ====

{{Project template
|title=Environment Monitoring
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this project is to develop a video surveillance system to track in 3D vehicles or people.
The idea is to use one or more calibrated camera to estimate the position and the trajectories of the moving objects in the scene.
The skills required for this project are:
* C/C++ and OpenCV library
* Linux o.s.
* Geometry/Image processing
* Probabilistic robotics/IMAD

The project can be turned into a thesis extending the algorithm for a generic outdoor environment.
|start=Anytime
|number=2-3
|cfu=10-15
|image=Danch4.png
}}

{{Project template
|title=Visual Merchandising
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this project is to develop algorithms to count the number of products on the shelves of a market.
The idea is to use a calibrated camera to recognize the shelves, estimate the scale and improve the image quality.
The skills required for this project are:
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

|start= As soon as possible
|number=2-3
|cfu=2.5-15
|image=VisualM.jpg
}}

{{Project template
|title=Analysis of patch recognition algorithms
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=Extract distinctive features from images is very important in computer vision application.
It can be used in algorithms for tasks like matching different views of an object or scene (e.g. for stereo vision) and object recognition.
The aim of this work is to integrate in an existent framework the existing solution proposed in literature.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

References:
*Oxford website [http://www.robots.ox.ac.uk/~vgg/research/affine/index.html]
*Hess website [http://web.engr.oregonstate.edu/~hess/index.html]
*Feature FAST [http://mi.eng.cam.ac.uk/~er258/work/fast.html]

|start= Anytime
|number=2-3
|cfu=2.5-15
|image=Object.jpg
}}

{{Project template
|title=Catadioptric MonoSLAM
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this work is to investigate a SLAM solutions based on catadioptric camera, integrating the solution presented in literature into an existing frameword.
Improvements could be the basis for a tesi.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

References:
*Visual SLAM by Single Catadioptric Stereo [http://cv2.kaist.ac.kr/VisualSLAMBySingleCameraCatadioptricStereo.pdf]
*Catadioptric reconstruction [http://citeseer.ist.psu.edu/cache/papers/cs/23657/http:zSzzSzwww.cis.upenn.eduzSz~cgeyerzSzsfm_tr.pdf/geyer01structure.pdf]

|start= Anytime
|number=2-3
|cfu=2.5-15
|image=Photo.jpg
}}

{{Project template
|title=Trinocular Vision System (SUGR)
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=A Trinocular Vision System is a device composed by three cameras that allows to measure 3D data (in this case segments) directly from images.
The aim of this tesina/project is to implement a trinocular algorithm based on SUGR, a library for Uncertain Projective Geometry.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

|start= As soon as possible
|number=2-3
|cfu=2.5-15
|image=Trinoex.jpg
}}

{{Project template
|title=GIFT and features extraction and description
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The idea is to improve and optimize the solution proposed by Campari et al. in their paper, who propose to estimate invariant descriptor using geodesic features descriptor based on color information.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

|start= Anytime
|number=1-3
|cfu=10-20
|image=Palla_GIFT.jpg
}}

{{Project template
|title=Multimedia Indexing Framework
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this project is to develop a framework for multimedia indexing.
The idea is create an images database indexer that allows to make query using images or strings.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux

References:
*CBIR system definition [http://en.wikipedia.org/wiki/CBIR]
*Image database [http://www.cs.washington.edu/research/imagedatabase/]

|start= Anytime
|number=1-3
|cfu=2.5-15
|image=CIR.gif
}}

==== E-Science ====
{{Project template
|title=Knowledge discovery in life sciences
|tutor=[[User:Gini Giuseppina|Gini Giuseppina]] ([mailto:gini%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of those projects is to develop methods and applications in the broad area of life sciences applications. Basic knowledge of chemistry and biology is useful.
* DATA MINING FOR RULE INDUCTION - The project is about analysing large data sets to discover correlations between substructures and properties. CDK and WEKA are possible software to use.
* IReNNS: LEARNING FROM STRUCTURES - This project will develop IReNNS, a recurrent neural net package, and develop new applications.
* REC analysis in WEKA - The project is about theory and the implementation in Java of REC diagrams. A Matlab tool is available at http://www.cs.rpi.edu/~bij2/rec.html.
* HOW TO TEACH SCIENCE - Propose a web site to teach University students a scientific topic using active participation and virtual experimentation.
* CAUSAL REASONING - In this project we will develop the theory of causality proposed by Pearl and apply it to examples in biological sciences.
Other topics coming soon.

|start= Anytime
|number=2-3
|cfu=5-20
|image=life.jpg
}}

==== Machine Learning ====

{{Project template
|title=Statistical inference for phylogenetic trees
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc-AT-elet-DOT-polimi-DOT-it]), [[User:LuigiMalago|Luigi Malagò]] ([mailto:malago-AT-elet-DOT-polimi-DOT-it email])
|description=The project will focus on the study, implementation, comparison and analysis of different statistical inference techniques for phylogenetic trees. Phylogenetic trees [1, 2, 3] are evolutionary trees used to represent the relationships between different species with a common ancestor. Typical inference task concern the construction of a tree starting from DNA sequences, involving both the choice of the topology of the tree (i.e., model selection) and the values of the parameters (i.e., model fitting). The focus will be a probabilistic description of the tree, given by the introduction of stochastic variables associated to both internal nodes and leaves of the tree.

The project will focus on the understanding of the problem and on the implementation of different algorithms, so (C/C++ or Matlab or R) coding will be required. Since the approach will be based on statistical models, the student is supposed to be comfortable with notions that come from probability and statistics courses.

Picture taken from http://www.tolweb.org/tree/

;Bibliography
*[1] Felsenstein 2003: Inferring Phylogenies
*[2] Semple and Steel 2003: Phylogenetics: The mathematics of phylogenetics
*[3] Louis J. Billera, Susan P. Holmes and and Karen Vogtmann Geometry of the space of phylogenetic trees. Advances in Applied Math 27, 733-767 (2001)

|start=Anytime
|number=1-2
|cfu=20-40
|image=toloverview.jpg}}

{{Project template
|title=Reinforcement Learning Competition
|tutor=Marcello Restelli (restelli-AT-elet-DOT-polimi-DOT-it)
|description=This project has the goal of participating to (and possibly winning ;)) the 2009 Reinforcement Learning competition. To have an idea of what participate to such a competition means you can have a look at the website of the [http://rl-competition.org/content/view/51/79/ 2008 RL competition].
The problems that will be proposed are still unknown. As soon as the domains will be published, the work will start by analyzing their main characteristics and, then we will identify which RL algorithms are most suited for solving such problems. After an implementation phase, the project will required a long experimental period to tune the parameters of the learning algorithms in order to improve the performance as much as possible.
|start=January, 2009
|number=2-4
|cfu=10-20
|image=keepaway.gif}}

==== Computational Intelligence and Games ====

{{Project template
|title= AI in Racing Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=[http://torcs.sourceforge.net/ TORCS] is a state-of-the-art open source racing simulator that represents an ideal bechmark for machine learning techniques. At the same time, Machine Learning techniques could be used to improve the game experience in this kind of games. Several projects and theses are available on this topic, please contact us for additional information.
;References
*[http://gar.eecs.ucf.edu/ Drivatar in Forza Motorsport]
*[http://torcs.sourceforge.net/ TORCS]
*[http://cig.dei.polimi.it/ CIG@PoliMI]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=TORCS2.jpg}}

{{Project template
|title= Automatic Content Generation in Computer Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=The generation of customized game content for each player is an attractive direction to improve the game experience in the next-generation computer games. In this scenario, Machine Learning could play an important role to provide automatically such customized game content. Several projects and theses are available on this topic, please contact us for additional information.
Picutre taken from [http://gar.eecs.ucf.edu/]
;references
*[http://gar.eecs.ucf.edu/ Galactic Arm Race]
*[http://torcs.sourceforge.net/ TORCS]
*[http://cig.dei.polimi.it/ CIG@PoliMI]
*[http://julian.togelius.com/Togelius2007Towards.pdf J. Togelius, R. De Nardi and S. Lucas. Towards automatic personalised content creation for racing games]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=gar.jpg}}

{{Project template
|title= Human-Like AI in Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=Developing a human-like AI is a challenging and fascinating problem from the point of view of the Artificial Intelligence research. At the same time, it is also a significative prolem for the computer games development: playing against humans is generally more exciting than playing against computers.
Our projects and theses on this topic involve two different games: Unreal Tournament 2004 and TORCS.
Please contact us for additional information.
;References
*[http://research.microsoft.com/en-us/projects/drivatar/default.aspx Drivatar in Forza Motorsport]
*[http://torcs.sourceforge.net/ TORCS]
*[http://botprize.org/ Botprize]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=UT2004.png}}

{{Project template
|title= Data Mining in Computer Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=Today a lot of data can be extracted from popular games. The analysis of such data allow to discover a lot of interesting information about players, the game and the interaction between the game and different type of players.
Several theses and projects are available on this topic and involve different games: TORCS, Unreal Tournament and Quake Live.
Please contact us for additional information.
;References
*[http://torcs.sourceforge.net/ TORCS]
*[http://www.quakelive.com Quake Live]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=QLive.png}}

==== Social Software and Semantic Web ====

{{#ask: [[Category:ProjectProposal]]
[[PrjLevel::Bs]]
[[PrjType::Course]]
[[PrjResArea::Social Software and Semantic Web]] |
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format = template |
template = Template:ProjectProposalViz
}}



==== Robotics ====

{{#ask: [[Category:ProjectProposal]]
[[PrjResTopic::Robogames]]|
?PrjTitle |
?PrjImage |
?PrjDescription |
?PrjTutor |
?PrjStarts |
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format = template |
template = Template:ProjectProposalViz
}}

{{#ask: [[Category:ProjectProposal]]
[[PrjResTopic::Robot_development]]|
?PrjTitle |
?PrjImage |
?PrjDescription |
?PrjTutor |
?PrjStarts |
?PrjStudMin |
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?PrjCFUMin |
?PrjCFUMax |
?PrjResArea |
?PrjResTopic |
?PrjLevel |
?PrjType |
format = template |
template = Template:ProjectProposalViz
}}

{{Project template
|title=Calibration of IMU-camera system
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=This work is about the problem to calibrate a system composed by an XSense
Inertial Measurement Unit and a Fire-i Camera. The pro ject will be focus on
the problem to estimate both unknown rotation between the two devices and the
extrinsic/intrinsic parameters of the camera. This algorithm allows to use the
system for SLAM or robotics applications, like a wereable device for autonomous
navigation or augmented reality.

;Tools and instruments
:Matlab/C++

;Links
:Matlab Toolbox for mutual calibration [http://www.deec.uc.pt/~jlobo/InerVis_WebIndex/InerVis_Toolbox.html]
:List of pubblications[http://www.deec.uc.pt/~jlobo/InerVis_WebIndex/InerVis_Pubs.php]

|start=Anytime
|number=1
|cfu=5-20
|image=Imu_cam_big_sphere.gif}}

{{Project template
|title=MonoSLAM system implementation
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The aim of this proposal is to investigate the different monocamera SLAM solution proposed in literature.
After a deepen bibliography research, the work will be focused on developing one of these algorithms into an existing framework and, only for tesi option, investigate possible improvements.

The algorithms interested are based on [http://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm]:
*Extended Kalman Filter [http://www.doc.ic.ac.uk/~ajd/publications.html]
*Unscented Kalman Filter [http://www.cs.unc.edu/~welch/kalman/media/pdf/Julier1997_SPIE_KF.pdf]
*FastSLAM [http://robots.stanford.edu/papers.html]
*GraphSLAM [http://mi.eng.cam.ac.uk/~ee231/]

;Tools and instruments
:Matlab/C++

|start=Anytime
|number=1-2
|cfu=5-20
|image=KC_jc_third.jpg}}

{{Project template
|title=Humanoid robotics
|tutor=Giuseppina Gini(gini-AT-elet-DOT-polimi-DOT-it)
|description=this project is about developing various functions of humanoids, in particular related to sensing and cognition for manipulation. Possible specific projects are:
* BIOINSPIRED ROBOT HEAD FOR VISION - design and build a robot head able to host 2 cameras with 2dof of freedom each to create a human-like vision system. The movements can be obtained using 4 McKibben actuators for each camera, or electric actuators.
* NEW HARDWARE FOR MAXIMUMOne - the humanoid robot is moved by more than 20 actuators and needs input from all of them. The new architecture FPGA based will move the arm and the head.
* SIMULATOR OF HUMANOID ROBOT - complete the simulator of MaximumOne with all the dof. The simulator will use the same Matlab algorithms of the controller.
* INTEGRATING MANIPULATION AND VISION ON MAXIMUMOne - develop a natural vision system that uses the neck and the eyes movements to follow objects and to concentrate on grasping targets. The integration can be done in matlab/Simulink and integrated in the MaximumOne model.
* MANIPULATION ONTOLOGIES - develop an ontology approach to find the right way to grasp an object , considering both the object and the hand characteristics.
* PATH PLANNING AND COLLISION AVOIDANCE IN OOPS - Randomized path planning is a strategy to produce paths for complex devices. An open source project (OOPS) is available; the project is about integrating path planning with a robot simulator.

All the projects can be turned into a thesis.
|start=Anytime
|number=4-6
|cfu=5-20
|image=maximum.jpg}}

{{Project template
|title=Legged locomotion
|tutor=[[User:Giuseppina Gini|Giuseppina Gini]] ([mailto:gini%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description= The proposed projects in the area of walking robots will improve the performances of on-going systems.
* KINEMATIC/DYNAMIC MODEL OF WARUGADAR - develop a complete kinematic analysis of a quadruped robot, useful for planning the foot position on uneven terrains. The dynamic model will be useful for learning different gaits.
* GAIT GENERATION AND CONTROL FOR WARUGADAR - Study Central Pattern Generation, develop a CPG implementation in Matlab or Python. Adapt the method to a quadruped robot (Warugadar).
* ROBO FISH - Continue the development of hardware and software for the robotic fish Zoidberg2, and study a fish colony.
* EMBOT WALKING - complete the robot with 4 wheels used as feet. Control it and experiment.
* ROBOTIC EXPERIMENTS WITH BIOLOID - using Bioloid experiments hw and gaits, develop software for the humanoid challenges at ICRA2010.

All the projects can be turned into a thesis.
|start=Anytime
|number=2-5
|cfu=5-20
|image=leg.jpg}}

{{Project template
|title=Robotic prosthesis
|tutor=[[User:Giuseppina Gini|Giuseppina Gini]] ([mailto:gini%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description= The proposed projects in the development of an active hand prosthesis, novel in architecture since it considers anso the wrist. THe user interface is based on EMG signals.
* ADVANCED EMG ANALYSIS - To develop prosthesis and therapeutic tools we need to analyze EMG signals according to position, velocity, force. Starting from signal acquisition develop in Matlab a model for force and velocity control.
* HAND PROSTHESIS DESIGN - Define a virtual model of the hand prosthesis (actuation and sensors) and develop a controller based on multi-class classification of electro-myographic signals.

All the projects can be turned into a thesis.
|start=Anytime
|number=2-3
|cfu=5-20
|image=hand.jpg}}

2009-10-19T10:07:33Z

GiuseppinaGini:

Master Level Course Projects

2009-10-19T10:06:28Z

GiuseppinaGini:

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.

==== Evolutionary Optimization and Stochastic Optimization ====

{{Project template
|title=Combinatorial optimization based on stochastic relaxation
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc-AT-elet-DOT-polimi-DOT-it]), [[User:LuigiMalago|Luigi Malagò]] ([mailto:malago-AT-elet-DOT-polimi-DOT-it email])
|description=The project will focus on the study, implementation, comparison and analysis of different algorithms for the optimization of pseudo-Boolean functions, i.e., functions defined over binary variables with values in R. These functions have been studied a lot in the mathematical programming literature, and different algorithms have been proposed [1]. More recently, the same problems have been faced in evolutionary computations, with the use of genetic algorithms, and in particular estimation of distribution algorithms [2,3]. Estimation of distribution algorithms are a recent meta-heuristic, where classical crossover and mutation operators used in genetic algorithms are replaced with operators that come from statistics, such as sampling and estimation.

The focus will be on the implementation of existing algorithms able to combine different approaches (estimation and sampling, from one side, and exploitation of prior knowledge about the structure of problem, on the other), together with the comparison of the results with existing techniques that historically appear in different (and often separated) communities. Good coding (C/C++) abilities are required. Since the approach will be based on statistical models, the student is supposed to be comfortable with notions that come from probability and statistics courses.

Picture taken from http://www.ra.cs.uni-tuebingen.de/

;Bibliography
*[1] Boros, Endre and Boros, Endre and Hammer, Peter L. (2002) Pseudo-boolean optimization. Discrete Applied Mathematics.
*[2] Pelikan, Martin; Goldberg, David; Lobo, Fernando (1999), A Survey of Optimization by Building and Using Probabilistic Models, Illinois: Illinois Genetic Algorithms Laboratory (IlliGAL), University of Illinois at Urbana-Champaign.
*[3] Larrañga, Pedro; & Lozano, Jose A. (Eds.). Estimation of distribution algorithms: A new tool for evolutionary computation. Kluwer Academic Publishers, Boston, 2002.
*[4] Image Analysis, Random Fields Markov Chain Monte Carlo Methods

|start=Anytime
|number=1-2
|cfu=20-40
|image=stochastic.jpg}}

==== Evolutionary Computation ====

{{Project template
|title=Combining Estimation of Distribution Algorithms and other Evolutionary techniques for combinatorial optimization
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc-AT-elet-DOT-polimi-DOT-it]), [[User:LuigiMalago|Luigi Malagò]] ([mailto:malago-AT-elet-DOT-polimi-DOT-it email])
|description=The project will focus on the study, implementation, comparison and analysis of different algorithms for combinatorial optimization using techniques and algorithms proposed in Evolutionary Computation. In particular we are interested in the study of Estimation of Distribution Algorithms [1,2,3,4], a recent meta-heuristic, often presented as an evolution of Genetic Algorithms, where classical crossover and mutation operators, used in genetic algorithms, are replaced with operators that come from statistics, such as sampling and estimation.

The focus will be on the implementation of new hybrid algorithms able to combine estimation of distribution algorithms with different approaches available in the evolutionary computation literature, such as genetic algorithms and evolutionary strategies, together with other local search techniques. Good coding (C/C++) abilities are required. Some background in combinatorial optimization form the "Fondamenti di Ricerca Operativa" is desirable. The project could require some effort in order to build and consolidate some background in MCMC techniques, such as Gibbs and Metropolis samplers [4]. The project could be extended to master thesis, according to interesting and novel directions of research that will emerge in the first part of the work.

Picture taken from http://www.genetic-programming.org

;Bibliography
*[1] Pelikan, Martin; Goldberg, David; Lobo, Fernando (1999), A Survey of Optimization by Building and Using Probabilistic Models, Illinois: Illinois Genetic Algorithms Laboratory (IlliGAL), University of Illinois at Urbana-Champaign.
*[2] Larrañga, Pedro; & Lozano, Jose A. (Eds.). Estimation of distribution algorithms: A new tool for evolutionary computation. Kluwer Academic Publishers, Boston, 2002.
*[3] Lozano, J. A.; Larrañga, P.; Inza, I.; & Bengoetxea, E. (Eds.). Towards a new evolutionary computation. Advances in estimation of distribution algorithms. Springer, 2006.
*[4] Pelikan, Martin; Sastry, Kumara; & Cantu-Paz, Erick (Eds.). Scalable optimization via probabilistic modeling: From algorithms to applications. Springer, 2006.

|start=Anytime
|number=1-2
|cfu=5-10
|image=genetic.jpg}}

===== Sleep Staging =====

{{Project template
|title=Development of a computer-assisted CAP (Sleep cyclic alternating pattern) scoring method
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), Martin Mendez ([mailto:martin.mendez@polimi.it email]), Anna Maria Bianchi ([mailto:annamaria.bianchi@polimi.it email]), Mario Terzano (Ospedale di Parma)
|description=In 1985, Terzano describes for the first time the Cyclic Alternating Pattern [http://en.wikipedia.org/wiki/Cyclical_alternating_pattern] during sleep and, nowadays, CAP is widely accepted by the medical community as basic analysis of sleep. The CAP evaluation is of fundamental importance since it represents the mechanism developed by the brain evolution to monitor the inner and outer world and to assure the survival during sleep. However, visual detection of CAP in polisomnography (i.e., the standard procedure) is a slow and time-consuming process. This limiting factor generates the necessity of new computer-assisted scoring methods for fast CAP evaluation. This thesis deals with the development of a Decision Support System for CAP scoring based on features extraction at multi-system level (by statistical and signal analysis) and Pattern Recognition or Machine Learning approaches. This may allow the automatic detection of CAP sleep and could be integrated, through reinforcement learning techniques, with the corrections given by physicians.

;Tools and instruments
:Matlab, C/C++

;Bibliography
: Mario Terzano, Liborio Parrino. ''Atlas, rules, and recording techniques for the scoring of cyclic alternating pattern (CAP) in human sleep'', Sleep Medicine 2 (2001) 537–553. [http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6W6N-44DY2B4-8&_user=2620285&_coverDate=11%2F30%2F2001&_rdoc=1&_fmt=&_orig=search&_sort=d&view=c&_acct=C000058180&_version=1&_urlVersion=0&_userid=2620285&md5=aa61a060d005f23f6afed5c1fc2f1126]
|start=Anytime
|number=1-2
|cfu=5-20
|image=CAP_Sleep_Staging.jpg}}



==== BioSignal Analysis ====

{{Project template
|title=Human-computer interaction via voice recognition system
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=We want develop a system to allow a voice interaction between the user and the wheelchair.
This project consists in develop one of the solutions proposed in literature and extended the LURCH software to include this kind of interface.
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux

References:
* Phinx project [http://cmusphinx.org/]

|start= Anytime
|number=1-2
|cfu=2.5-10
|image=LURCH_wheelchair.jpg
}}

===== Brain-Computer Interface =====

{{Project template
|title=Driving an autonomous wheelchair with a P300-based BCI
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:BernardoDalSeno|Bernardo Dal Seno]] ([mailto:dalseno%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=This project pulls together different Airlab projects with the aim to drive an autonomous wheelchair ([[LURCH - The autonomous wheelchair|LURCH]]) with a [[Brain-Computer Interface|BCI]], through the development of key software modules. Depending on the effort the student is willing to put into it, the project can grow to a full experimental thesis.

;Tools and instruments
:C++, C, [http://www.bci2000.org/ BCI2000]
:Linux

;Bibliography
: R. Blatt et al. ''Brain Control of a Smart Wheelchair'' [http://www.booksonline.iospress.com/Content/View.aspx?piid=9401]
|start=November 2008
|number=1
|cfu=5-20
|image=LURCH_wheelchair.jpg}}

{{Project template
|title=Reproduction of an algorithm for the recognition of error potentials
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:BernardoDalSeno|Bernardo Dal Seno]] ([mailto:dalseno%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=Error potentials (ErrPs) are [http://en.wikipedia.org/wiki/Event-related_potential event-related potentials] present in the EEG (electroencephalogram) when a subject makes a mistake or when the machine a subject is interacting with works in an expected way. They could be used in the [[Brain-Computer Interface|BCI]] field to improve the performance of a BCI by automatically detecting classification errors.
The project aims at reproducing algorithms for ErrP detection from the literature.

;Tools and instruments
:Matlab

;Bibliography
:P.W. Ferrez, J. Millán. ''You Are Wrong! Automatic Detection of Interaction Errors from Brain Waves'' [ftp://ftp.idiap.ch/pub/reports/2005/ferrez_2005_ijcai.pdf]
:G. Schalk et al. ''EEG-based communication: presence of an error potential'' [http://scienceserver.cilea.it/cgi-bin/sciserv.pl?collection=journals&issn=13882457&volume=111&issue=12&firstpage=2138&form=html]
|start=This project has already been assigned
|number=1
|cfu=5-15
|image=Bci_arch.png}}

==== Computer Vision and Image Analysis ====

{{Project template
|title=Environment Monitoring
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this project is to develop a video surveillance system to track in 3D vehicles or people.
The idea is to use one or more calibrated camera to estimate the position and the trajectories of the moving objects in the scene.
The skills required for this project are:
* C/C++ and OpenCV library
* Linux o.s.
* Geometry/Image processing
* Probabilistic robotics/IMAD

The project can be turned into a thesis extending the algorithm for a generic outdoor environment.
|start=Anytime
|number=2-3
|cfu=10-15
|image=Danch4.png
}}

{{Project template
|title=Visual Merchandising
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this project is to develop algorithms to count the number of products on the shelves of a market.
The idea is to use a calibrated camera to recognize the shelves, estimate the scale and improve the image quality.
The skills required for this project are:
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

|start= As soon as possible
|number=2-3
|cfu=2.5-15
|image=VisualM.jpg
}}

{{Project template
|title=Analysis of patch recognition algorithms
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=Extract distinctive features from images is very important in computer vision application.
It can be used in algorithms for tasks like matching different views of an object or scene (e.g. for stereo vision) and object recognition.
The aim of this work is to integrate in an existent framework the existing solution proposed in literature.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

References:
*Oxford website [http://www.robots.ox.ac.uk/~vgg/research/affine/index.html]
*Hess website [http://web.engr.oregonstate.edu/~hess/index.html]
*Feature FAST [http://mi.eng.cam.ac.uk/~er258/work/fast.html]

|start= Anytime
|number=2-3
|cfu=2.5-15
|image=Object.jpg
}}

{{Project template
|title=Catadioptric MonoSLAM
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this work is to investigate a SLAM solutions based on catadioptric camera, integrating the solution presented in literature into an existing frameword.
Improvements could be the basis for a tesi.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

References:
*Visual SLAM by Single Catadioptric Stereo [http://cv2.kaist.ac.kr/VisualSLAMBySingleCameraCatadioptricStereo.pdf]
*Catadioptric reconstruction [http://citeseer.ist.psu.edu/cache/papers/cs/23657/http:zSzzSzwww.cis.upenn.eduzSz~cgeyerzSzsfm_tr.pdf/geyer01structure.pdf]

|start= Anytime
|number=2-3
|cfu=2.5-15
|image=Photo.jpg
}}

{{Project template
|title=Trinocular Vision System (SUGR)
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=A Trinocular Vision System is a device composed by three cameras that allows to measure 3D data (in this case segments) directly from images.
The aim of this tesina/project is to implement a trinocular algorithm based on SUGR, a library for Uncertain Projective Geometry.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

|start= As soon as possible
|number=2-3
|cfu=2.5-15
|image=Trinoex.jpg
}}

{{Project template
|title=GIFT and features extraction and description
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The idea is to improve and optimize the solution proposed by Campari et al. in their paper, who propose to estimate invariant descriptor using geodesic features descriptor based on color information.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux
* Geometry/Image processing

|start= Anytime
|number=1-3
|cfu=10-20
|image=Palla_GIFT.jpg
}}

{{Project template
|title=Multimedia Indexing Framework
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The goal of this project is to develop a framework for multimedia indexing.
The idea is create an images database indexer that allows to make query using images or strings.

Skills
* C/C++ and OpenCV library
* Matlab (optionally)
* Linux

References:
*CBIR system definition [http://en.wikipedia.org/wiki/CBIR]
*Image database [http://www.cs.washington.edu/research/imagedatabase/]

|start= Anytime
|number=1-3
|cfu=2.5-15
|image=CIR.gif
}}


==== Machine Learning ====

{{Project template
|title=Statistical inference for phylogenetic trees
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc-AT-elet-DOT-polimi-DOT-it]), [[User:LuigiMalago|Luigi Malagò]] ([mailto:malago-AT-elet-DOT-polimi-DOT-it email])
|description=The project will focus on the study, implementation, comparison and analysis of different statistical inference techniques for phylogenetic trees. Phylogenetic trees [1, 2, 3] are evolutionary trees used to represent the relationships between different species with a common ancestor. Typical inference task concern the construction of a tree starting from DNA sequences, involving both the choice of the topology of the tree (i.e., model selection) and the values of the parameters (i.e., model fitting). The focus will be a probabilistic description of the tree, given by the introduction of stochastic variables associated to both internal nodes and leaves of the tree.

The project will focus on the understanding of the problem and on the implementation of different algorithms, so (C/C++ or Matlab or R) coding will be required. Since the approach will be based on statistical models, the student is supposed to be comfortable with notions that come from probability and statistics courses.

Picture taken from http://www.tolweb.org/tree/

;Bibliography
*[1] Felsenstein 2003: Inferring Phylogenies
*[2] Semple and Steel 2003: Phylogenetics: The mathematics of phylogenetics
*[3] Louis J. Billera, Susan P. Holmes and and Karen Vogtmann Geometry of the space of phylogenetic trees. Advances in Applied Math 27, 733-767 (2001)

|start=Anytime
|number=1-2
|cfu=20-40
|image=toloverview.jpg}}

{{Project template
|title=Reinforcement Learning Competition
|tutor=Marcello Restelli (restelli-AT-elet-DOT-polimi-DOT-it)
|description=This project has the goal of participating to (and possibly winning ;)) the 2009 Reinforcement Learning competition. To have an idea of what participate to such a competition means you can have a look at the website of the [http://rl-competition.org/content/view/51/79/ 2008 RL competition].
The problems that will be proposed are still unknown. As soon as the domains will be published, the work will start by analyzing their main characteristics and, then we will identify which RL algorithms are most suited for solving such problems. After an implementation phase, the project will required a long experimental period to tune the parameters of the learning algorithms in order to improve the performance as much as possible.
|start=January, 2009
|number=2-4
|cfu=10-20
|image=keepaway.gif}}

==== Computational Intelligence and Games ====

{{Project template
|title= AI in Racing Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=[http://torcs.sourceforge.net/ TORCS] is a state-of-the-art open source racing simulator that represents an ideal bechmark for machine learning techniques. At the same time, Machine Learning techniques could be used to improve the game experience in this kind of games. Several projects and theses are available on this topic, please contact us for additional information.
;References
*[http://gar.eecs.ucf.edu/ Drivatar in Forza Motorsport]
*[http://torcs.sourceforge.net/ TORCS]
*[http://cig.dei.polimi.it/ CIG@PoliMI]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=TORCS2.jpg}}

{{Project template
|title= Automatic Content Generation in Computer Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=The generation of customized game content for each player is an attractive direction to improve the game experience in the next-generation computer games. In this scenario, Machine Learning could play an important role to provide automatically such customized game content. Several projects and theses are available on this topic, please contact us for additional information.
Picutre taken from [http://gar.eecs.ucf.edu/]
;references
*[http://gar.eecs.ucf.edu/ Galactic Arm Race]
*[http://torcs.sourceforge.net/ TORCS]
*[http://cig.dei.polimi.it/ CIG@PoliMI]
*[http://julian.togelius.com/Togelius2007Towards.pdf J. Togelius, R. De Nardi and S. Lucas. Towards automatic personalised content creation for racing games]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=gar.jpg}}

{{Project template
|title= Human-Like AI in Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=Developing a human-like AI is a challenging and fascinating problem from the point of view of the Artificial Intelligence research. At the same time, it is also a significative prolem for the computer games development: playing against humans is generally more exciting than playing against computers.
Our projects and theses on this topic involve two different games: Unreal Tournament 2004 and TORCS.
Please contact us for additional information.
;References
*[http://research.microsoft.com/en-us/projects/drivatar/default.aspx Drivatar in Forza Motorsport]
*[http://torcs.sourceforge.net/ TORCS]
*[http://botprize.org/ Botprize]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=UT2004.png}}

{{Project template
|title= Data Mining in Computer Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=Today a lot of data can be extracted from popular games. The analysis of such data allow to discover a lot of interesting information about players, the game and the interaction between the game and different type of players.
Several theses and projects are available on this topic and involve different games: TORCS, Unreal Tournament and Quake Live.
Please contact us for additional information.
;References
*[http://torcs.sourceforge.net/ TORCS]
*[http://www.quakelive.com Quake Live]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=QLive.png}}

==== Social Software and Semantic Web ====

{{#ask: [[Category:ProjectProposal]]
[[PrjLevel::Bs]]
[[PrjType::Course]]
[[PrjResArea::Social Software and Semantic Web]] |
?PrjTitle |
?PrjImage |
?PrjDescription |
?PrjTutor |
?PrjStarts |
?PrjStudMin |
?PrjStudMax |
?PrjCFUMin |
?PrjCFUMax |
?PrjResArea |
?PrjResTopic |
format = template |
template = Template:ProjectProposalViz
}}



==== Robotics ====

{{#ask: [[Category:ProjectProposal]]
[[PrjResTopic::Robogames]]|
?PrjTitle |
?PrjImage |
?PrjDescription |
?PrjTutor |
?PrjStarts |
?PrjStudMin |
?PrjStudMax |
?PrjCFUMin |
?PrjCFUMax |
?PrjResArea |
?PrjResTopic |
?PrjLevel |
?PrjType |
format = template |
template = Template:ProjectProposalViz
}}

{{#ask: [[Category:ProjectProposal]]
[[PrjResTopic::Robot_development]]|
?PrjTitle |
?PrjImage |
?PrjDescription |
?PrjTutor |
?PrjStarts |
?PrjStudMin |
?PrjStudMax |
?PrjCFUMin |
?PrjCFUMax |
?PrjResArea |
?PrjResTopic |
?PrjLevel |
?PrjType |
format = template |
template = Template:ProjectProposalViz
}}

{{Project template
|title=Calibration of IMU-camera system
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=This work is about the problem to calibrate a system composed by an XSense
Inertial Measurement Unit and a Fire-i Camera. The pro ject will be focus on
the problem to estimate both unknown rotation between the two devices and the
extrinsic/intrinsic parameters of the camera. This algorithm allows to use the
system for SLAM or robotics applications, like a wereable device for autonomous
navigation or augmented reality.

;Tools and instruments
:Matlab/C++

;Links
:Matlab Toolbox for mutual calibration [http://www.deec.uc.pt/~jlobo/InerVis_WebIndex/InerVis_Toolbox.html]
:List of pubblications[http://www.deec.uc.pt/~jlobo/InerVis_WebIndex/InerVis_Pubs.php]

|start=Anytime
|number=1
|cfu=5-20
|image=Imu_cam_big_sphere.gif}}

{{Project template
|title=MonoSLAM system implementation
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]] ([mailto:matteucc%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email]), [[User:DavideMigliore|Davide Migliore]] ([mailto:migliore%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description=The aim of this proposal is to investigate the different monocamera SLAM solution proposed in literature.
After a deepen bibliography research, the work will be focused on developing one of these algorithms into an existing framework and, only for tesi option, investigate possible improvements.

The algorithms interested are based on [http://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm]:
*Extended Kalman Filter [http://www.doc.ic.ac.uk/~ajd/publications.html]
*Unscented Kalman Filter [http://www.cs.unc.edu/~welch/kalman/media/pdf/Julier1997_SPIE_KF.pdf]
*FastSLAM [http://robots.stanford.edu/papers.html]
*GraphSLAM [http://mi.eng.cam.ac.uk/~ee231/]

;Tools and instruments
:Matlab/C++

|start=Anytime
|number=1-2
|cfu=5-20
|image=KC_jc_third.jpg}}

{{Project template
|title=Legged locomotion
|tutor=[[User:Giuseppina Gini|Giuseppina Gini]] ([mailto:gini%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
|description= The proposed projects in the area of walking robots will improve the performances of on-going systems.
* KINEMATIC/DYNAMIC MODEL OF WARUGADAR - develop a complete kinematic analysis of a quadruped robot, useful for planning the foot position on uneven terrains. The dynamic model will be useful for learning different gaits.
* GAIT GENERATION AND CONTROL FOR WARUGADAR - Study Central Pattern Generation, develop a CPG implementation in Matlab or Python. Adapt the method to a quadruped robot (Warugadar).
* ROBO FISH - Continue the development of hardware and software for the robotic fish Zoidberg2, and study a fish colony.
* EMBOT WALKING - complete the robot with 4 wheels used as feet. Control it and experiment.
* ROBOTIC EXPERIMENTS WITH BIOLOID - using Bioloid experiments hw and gaits, develop software for the humanoid challenges at ICRA2010.

|start=Anytime
|number=2-5
|cfu=5-20
|image=leg.jpg}}

File:Maximum.jpg

2009-10-19T09:52:03Z

GiuseppinaGini:

First Level Course Projects

2009-10-19T09:49:25Z

GiuseppinaGini:

Here you can find a list of project proposals for the courses of "Progetto di Ingegneria Informatica" and "Progetto di Robotica" (5 CFU for each student). See [[Project Proposals]] for other kinds of projects and theses.



==== BioSignal Analysis ====

===== Brain-Computer Interface =====
{{#ask: [[Category:ProjectProposal]]
[[PrjResArea::BioSignal Analysis]]
[[PrjResTopic::Brain-Computer Interface]]
[[PrjLevel::Bs]]
[[PrjType::Course]] |
?PrjTitle |
?PrjImage |
?PrjDescription |
?PrjTutor |
?PrjStarts |
?PrjStudMin |
?PrjStudMax |
?PrjCFUMin |
?PrjCFUMax |
?PrjResArea |
?PrjResTopic |
format = template |
template = Template:ProjectProposalViz
}}



==== Computer Vision and Image Analysis ====

{{Project template
|title=Video surveillance system for indoor Environment
|tutor=Matteo Matteucci (matteucci-AT-elet-DOT-polimi-DOT-it)
|description=The goal of this project is to develop a video surveillance system based on background subtraction algorithm. The idea is to use a single static camera to track moving objects in a known environment.
The skills required for this project are:
* C/C++ and OpenCV library
* Linux o.s.

The project can be turned into a thesis extending the algorithm for camera network.
|start=Anytime
|number=2-3
|cfu=2.5-15
|image=Danch4.png
}}



==== Computational Intelligence and Games ====
{{Project template
|title= AI in Racing Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=[http://torcs.sourceforge.net/ TORCS] is a state-of-the-art open source racing simulator that represents an ideal bechmark for machine learning techniques. At the same time, Machine Learning techniques could be used to improve the game experience in this kind of games. Several projects and theses are available on this topic, please contact us for additional information.
;References
*[http://gar.eecs.ucf.edu/ Drivatar in Forza Motorsport]
*[http://torcs.sourceforge.net/ TORCS]
*[http://cig.dei.polimi.it/ CIG@PoliMI]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=TORCS2.jpg}}

{{Project template
|title= Automatic Content Generation in Computer Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=The generation of customized game content for each player is an attractive direction to improve the game experience in the next-generation computer games. In this scenario, Machine Learning could play an important role to provide automatically such customized game content. Several projects and theses are available on this topic, please contact us for additional information.
Picutre taken from [http://gar.eecs.ucf.edu/]
;references
*[http://gar.eecs.ucf.edu/ Galactic Arm Race]
*[http://torcs.sourceforge.net/ TORCS]
*[http://cig.dei.polimi.it/ CIG@PoliMI]
*[http://julian.togelius.com/Togelius2007Towards.pdf J. Togelius, R. De Nardi and S. Lucas. Towards automatic personalised content creation for racing games]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=gar.jpg}}

{{Project template
|title= Human-Like AI in Games
|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
|description=Developing a human-like AI is a challenging and fascinating problem from the point of view of the Artificial Intelligence research. At the same time, it is also a significative prolem for the computer games development: playing against humans is generally more exciting than playing against computers.
Our projects and theses on this topic involve two different games: Unreal Tournament 2004 and TORCS.
Please contact us for additional information.
;References
*[http://research.microsoft.com/en-us/projects/drivatar/default.aspx Drivatar in Forza Motorsport]
*[http://torcs.sourceforge.net/ TORCS]
*[http://botprize.org/ Botprize]
*[http://home.dei.polimi.it/loiacono/uploads/Teaching/HomePage/AIRLab_AA20092010.pdf Daniele Loiacono's AI&R Lab Projects]
|start=Anytime
|number=1 to 2
|cfu=5-20
|image=UT2004.png}}

==== Social Software and Semantic Web ====



{{#ask: [[Category:ProjectProposal]]
[[PrjLevel::Bs]]
[[PrjType::Course]]
[[PrjResArea::Social Software and Semantic Web]] |

?PrjTitle |
?PrjImage |
?PrjDescription |
?PrjTutor |
?PrjStarts |
?PrjStudMin |
?PrjStudMax |
?PrjCFUMin |
?PrjCFUMax |
?PrjResArea |
?PrjResTopic |
format = template |
template = Template:ProjectProposalViz
}}



==== Robotics ====
{{Project template
|title=Simulation of 6-DOF Robot Manipulator
|tutor=Marcello Restelli (restelli-AT-elet-DOT-polimi-DOT-it)
|description=The goal of this project is to develop a simulator for a 6-DOF robot manipulator, using the [http://www.ode.org/ ode] (open dynamics engine) library for simulating the rigid body dynamics. The project involves three different phases:
* Building the physical model of the manipulator
* Implementing the forward and inverse kinematic routines
* Implementing the trajectory planning routines
* Implementing the control modules
* Implementing an interface to control the robot movements

This project allows to put into practice what has been explained during the first part of the course of Robotics.

The project can be turned into a thesis, by using the simulated manipulator to perform some learning experiments.
|start=Anytime
|number=2-3
|cfu=10-15
|image=puma6dof1.jpg}}

{{Project template
|title=Calibration of IMU-camera system
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]], [[User:DavideMigliore|Davide Migliore]]
|description=This work is about the problem to calibrate a system composed by an XSense
Inertial Measurement Unit and a Fire-i Camera. The pro ject will be focus on
the problem to estimate both unknown rotation between the two devices and the
extrinsic/intrinsic parameters of the camera. This algorithm allows to use the
system for SLAM or robotics applications, like a wereable device for autonomous
navigation or augmented reality.

;Tools and instruments
:Matlab/C++

;Links
:Matlab Toolbox for mutual calibration [http://www.deec.uc.pt/~jlobo/InerVis_WebIndex/InerVis_Toolbox.html]
:List of pubblications[http://www.deec.uc.pt/~jlobo/InerVis_WebIndex/InerVis_Pubs.php]

|start=Anytime
|number=1
|cfu=5-20
|image=Imu_cam_big_sphere.gif}}

{{Project template
|title=Humanoid robotics
|tutor=Giuseppina Gini(gini-AT-elet-DOT-polimi-DOT-it)
|description=this project is about developing various functions of humanoids, in particular related to sensing and cognition for manipulation. Possible specific projects are:
* BIOINSPIRED ROBOT HEAD FOR VISION - design and build a robot head able to host 2 cameras with 2dof of freedom each to create a human-like vision system. The movements can be obtained using 4 McKibben actuators for each camera, or electric actuators.
* NEW HARDWARE FOR MAXIMUMOne - the humanoid robot is moved by more than 20 actuators and needs input from all of them. The new architecture FPGA based will move the arm and the head.
* SIMULATOR OF HUMANOID ROBOT - complete the simulator of MaximumOne with all the dof. The simulator will use the same Matlab algorithms of the controller.
* INTEGRATING MANIPULATION AND VISION ON MAXIMUMOne - develop a natural vision system that uses the neck and the eyes movements to follow objects and to concentrate on grasping targets. The integration can be done in matlab/Simulink and integrated in the MaximumOne model.
* MANIPULATION ONTOLOGIES - develop an ontology approach to find the right way to grasp an object , considering both the object and the hand characteristics.
* PATH PLANNING AND COLLISION AVOIDANCE IN OOPS - Randomized path planning is a strategy to produce paths for complex devices. An open source project (OOPS) is available; the project is about integrating path planning with a robot simulator.

All the projects can be turned into a thesis.
|start=Anytime
|number=4-5
|cfu=5-20
|image=maximum.jpg}}

{{#ask: [[Category:ProjectProposal]]
[[PrjResArea::Robotics]] |

?PrjTitle |
?PrjImage |
?PrjDescription |
?PrjTutor |
?PrjStarts |
?PrjStudMin |
?PrjStudMax |
?PrjCFUMin |
?PrjCFUMax |
?PrjResArea |
?PrjResTopic |
format = template |
template = Template:ProjectProposalViz
}}

High-level architecture for the control of humanoid robot

2009-10-07T10:01:40Z

GiuseppinaGini: /* Project short description */

== '''Part 1: project profile''' ==

=== Project name ===

High-level architecture for the control of humanoid robot

=== Project short description ===

This project is aimed at designing and constructing a bio-inspired brain for the control of humanoid robots. The brain should be able to combine sensory information and human orders to produce a voluntary movement.
At present the project has developed a model of the V1 cortex; future steps will include V2 area and analysis of movements.

=== Dates ===

Start date: 2008/10/1

End date: 2011/9/30

=== Website(s) ===

(void)

=== People involved ===

===== Project head(s) =====

G. Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

(void)

===== Students currently working on the project =====

Flavio Mutti - [[User:FlavioMutti]]

===== Students who worked on the project in the past =====

(void)

===== External personnel =====

(void)

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Transportation of heavy loads (e.g. robot parts). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Death ray testing: on the robot will be mounted professor Azzoide's death ray projector. When testing it on live animals (e.g. pigeons, pigs, camels) we will make sure that people stay away from the test area.

== '''Part 2: project description''' ==

coming soon...

High-level architecture for the control of humanoid robot

2009-10-07T09:59:52Z

GiuseppinaGini: /* Dates */

== '''Part 1: project profile''' ==

=== Project name ===

High-level architecture for the control of humanoid robot

=== Project short description ===

This project is aimed at designing and constructing a bio-inspired brain for the control of humanoid robots. The brain should be able to combine sensory information and human orders to produce a voluntary movement.

=== Dates ===

Start date: 2008/10/1

End date: 2011/9/30

=== Website(s) ===

(void)

=== People involved ===

===== Project head(s) =====

G. Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

(void)

===== Students currently working on the project =====

Flavio Mutti - [[User:FlavioMutti]]

===== Students who worked on the project in the past =====

(void)

===== External personnel =====

(void)

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Transportation of heavy loads (e.g. robot parts). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Death ray testing: on the robot will be mounted professor Azzoide's death ray projector. When testing it on live animals (e.g. pigeons, pigs, camels) we will make sure that people stay away from the test area.

== '''Part 2: project description''' ==

coming soon...