Difference between revisions of "First Level Course Projects"

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Here you can find a list of project proposals for the courses of "Progetto di Ingegneria Informatica" and "Progetto di Robotica"
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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.
 +
<!--==== Agents, Multiagent Systems, Agencies ====
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<!--==== Agents, Multiagent Systems, Agencies ====-->
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===== Brain-Computer Interface =====
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<!--==== BioSignal Analysis ====-->
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{{#ask: [[Category:ProjectProposal]]
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<!--==== Computer Vision and Image Analysis ====-->
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[[PrjResArea::BioSignal Analysis]]
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<!--==== E-Science ====-->
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[[PrjResTopic::Brain-Computer Interface]]
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==== Machine Learning ====
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[[PrjLevel::Bs]]
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[[PrjType::Course]] |
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?PrjTitle |
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?PrjImage |
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?PrjDescription |
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?PrjTutor |
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format = template |
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template = Template:ProjectProposalViz
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<!--==== Affective Computing ====
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<!--==== Computer Vision and Image Analysis ====
  
 
{{Project template
 
{{Project template
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|title=Reinforcement Learning in Poker
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|title=Video surveillance system for indoor Environment
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|tutor=Marcello Restelli
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|tutor=Matteo Matteucci (matteucci-AT-elet-DOT-polimi-DOT-it)
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|description=In this years, Artificial Intelligence research has shifted its attention from fully observable environments such as Chess to more challenging partially observable ones such as Poker.
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|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.
  
−
Up to this moment research in this kind of environments, which can be formalized as Partially Observable Stochastic Games, has been more from a game theoretic point of view, thus focusing on the pursue of optimality and equilibrium, with no attention to payoff maximization, which may be more interesting in many real-world contexts.
+
The project can be turned into a thesis extending the algorithm for camera network.
 +
|start=Anytime
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|number=2-3
 +
|cfu=2.5-15
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|image=Danch4.png
 +
}}
 +
-->
  
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On the other hand Reinforcement Learning techniques demonstrated to be successful in solving both fully observable problems, single and multi-agent, and single-agent partially observable ones, while lacking application to the partially observable multi-agent framework.
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<!--==== E-Science ====
 +
-->
  
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This research aims at studying the solution of Partially Observable Stochastic Games, analyzing the possibility to combine the Opponent Modeling concept with the well proven Reinforcement Learning solution techniques to solve problems in this framework, adopting Poker as testbed.  
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<!--==== Computational Intelligence and Games ====
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|image=PokerPRLT.png}}
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{{#ask: [[Category:ProjectProposal]]
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[[PrjResTopic::Computational Intelligence and Games]]
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[[PrjLevel::Bs]]
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[[PrjType::Course]] |
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?PrjCFUMin |
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?PrjCFUMax |
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?PrjResArea |
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?PrjResTopic |
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format = template |
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template = Template:ProjectProposalViz
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}}
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<!--==== Social Software and Semantic Web ====
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<!-- ===== Social Network Analysis =====
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{{#ask: [[Category:ProjectProposal]]
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[[PrjLevel::Bs]]
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[[PrjType::Course]]
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[[PrjResArea::Social Software and Semantic Web]] |
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[[PrjResTopic::Social Network Analysis]] |
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?PrjTitle |
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?PrjImage |
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?PrjDescription |
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?PrjTutor |
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?PrjStarts |
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?PrjStudMin |
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?PrjCFUMin |
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?PrjCFUMax |
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?PrjResTopic |
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format = template |
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template = Template:ProjectProposalViz
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}}
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<!--==== Philosophy of Artificial Intelligence ====
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<!--==== Machine Learning ====
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{{#ask: [[Category:ProjectProposal]]
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[[PrjResArea::Machine Learning]]
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[[PrjLevel::Bs]]
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[[PrjType::Course]] |
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?PrjTitle |
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?PrjImage |
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?PrjDescription |
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?PrjTutor |
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?PrjResArea |
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?PrjResTopic |
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format = template |
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template = Template:ProjectProposalViz
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}}
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-->
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==== Robotics ====
 +
 
 +
{{#ask: [[Category:ProjectProposal]]
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[[PrjResArea::Robotics]]
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[[PrjLevel::Bs]]
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[[PrjType::Course]] |
 +
?PrjTitle |
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?PrjImage |
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?PrjDescription |
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?PrjTutor |
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?PrjStarts |
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?PrjStudMin |
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?PrjStudMax |
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?PrjCFUMin |
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?PrjCFUMax |
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?PrjResArea |
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?PrjResTopic |
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format = template |
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template = Template:ProjectProposalViz
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}}
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 +
 
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<!--{{Project template
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|title=Simulation of 6-DOF Robot Manipulator
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|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
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* Implementing the trajectory planning routines
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* Implementing the control modules
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* 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
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|cfu=10-15
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|image=puma6dof1.jpg}}
  
 
{{Project template
 
{{Project template
−
|title=Reinforcement Learning in Poker
+
|title=Calibration of IMU-camera system
−
|tutor=Marcello Restelli
+
|tutor=[[User:MatteoMatteucci|Matteo Matteucci]], [[User:DavideMigliore|Davide Migliore]]
−
|description=In this years, Artificial Intelligence research has shifted its attention from fully observable environments such as Chess to more challenging partially observable ones such as Poker.
+
|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.  
  
−
Up to this moment research in this kind of environments, which can be formalized as Partially Observable Stochastic Games, has been more from a game theoretic point of view, thus focusing on the pursue of optimality and equilibrium, with no attention to payoff maximization, which may be more interesting in many real-world contexts.
+
;Tools and instruments
 +
:Matlab/C++
  
−
On the other hand Reinforcement Learning techniques demonstrated to be successful in solving both fully observable problems, single and multi-agent, and single-agent partially observable ones, while lacking application to the partially observable multi-agent framework.
+
;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]
  
−
This research aims at studying the solution of Partially Observable Stochastic Games, analyzing the possibility to combine the Opponent Modeling concept with the well proven Reinforcement Learning solution techniques to solve problems in this framework, adopting Poker as testbed.  
+
|start=Anytime
−
|image=PokerPRLT.png}}
+
|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.
 +
* 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}}
 +
 
 +
{{Project template
 +
|title=Legged locomotion
 +
|tutor=[[User:GiuseppinaGini|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.
  
−
<!--==== Ontologies and Semantic Web ====-->
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All the projects can be turned into a thesis.
−
<!--==== Philosophy of Artificial Intelligence ====-->
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|start=Anytime
−
<!--==== Robotics ====-->
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|number=2-5
−
<!--==== Soft Computing ====-->
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|cfu=5-20
 +
|image=leg.jpg}}

Latest revision as of 16:20, 3 October 2011

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.


Robotics

Wiki Page: BringMeHome
E2LateralHeadCutSmall.JPG
Title: BringMeHome
Description:
Tutor: [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: 30 March 2013
Students: 1 - 2
CFU: 2 - 20
Research Area: Robotics
Research Topic: E-2? - A robot for exhibitions
Wiki Page: CAN Bus bootloader for STM32 microcontrollers
STM32-H103-1.jpg
Title: CAN Bus bootloader for STM32 microcontrollers
Description: JOINT PROJECT with the Embedded Systems group (contact: Patrick Bellasi http://home.dei.polimi.it/bellasi/)

In order to speed up the development and the maintenance of embedded applications, a way to update the firmware on a microcontroller without the need of connecting cables or programmers can be very handy. We are developing a framework for rapid prototyping of low-cost robots, with smart devices that exchange data on a CAN bus network. The CAN bus bootloader is one of the components we need for this project, enabling remote firmware upgrades of all the devices connected to the CAN network.

This project aims to develop a CAN bus bootloader for STM32 ARM Cortex-M3 microcontrollers, and eventually for other architectures.

Tutor: [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: 1 March 2012
Students: 1 - 2
CFU: 2 - 5
Research Area: Robotics
Research Topic: Robot development
Wiki Page: Designing Living Objects
EmotionalTrashBin.jpg
Title: Designing Living Objects
Description: The aim of this activity is to investigate how one or more objects in an antropic environment (home, office, hospital) can be designed and implemented to have a character and to move, having nice interactions with people. The work to be done concerns the analysis, definition, design and implementation of at least one of these objects.
Tutor: [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
  • Some part "<nowiki>…</nowiki>" of the query was not understood.
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)
Start: 15 October 2017
Students: 1 - 2
CFU: 5 - 20
Research Area: Robotics
Research Topic: Living Objects
Wiki Page: Embedded registers view plug-in for Eclipse
STM32-H103-1.jpg
Title: Embedded registers view plug-in for Eclipse
Description: JOINT PROJECT with the Embedded Systems group (contact: Patrick Bellasi http://home.dei.polimi.it/bellasi/)

When developing embedded applications it is frequently needed to look at *hardware register content* in order to *debug the code*. All commercial development suites offer register views that show their contents as well as the meaning of each bit. Open source development solutions currently lack this feature, meaning that you have to look to the correct memory location and map the content to the corresponding register bits manually. This seems to be one of the most limiting issues when developing embedded application using open source solutions.

This project aims to fill this gap, developing an Eclipse plug-in that shows the register contents in a tree viewer, like most commercial suites do.

Tutor: [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
  • Some part "<nowiki>…</nowiki>" of the query was not understood.
  • The symbol "[[" was used in a place where it is not useful.
  • The part "]]" of the query was not understood. Results might not be as expected.
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), [[MartinoMigliavacca | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
  • Some part "<nowiki>…</nowiki>" of the query was not understood.
  • The symbol "[[" was used in a place where it is not useful.
  • The part "]]" of the query was not understood. Results might not be as expected.
  • Some subquery has no valid condition.
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Start: 30 May 2011
Students: 1 - 2
CFU: 2 - 5
Research Area: Robotics
Research Topic: Robot development
Wiki Page: R2P IMU firmware development
R2P IMU.png
Title: Embedded Inertial Measurement Unit for Unmanned Aerial Vehihcles
Description: We have developed the electronics of an Inertial Measurement Unit based on an ARM microcontroller to be integrated on an autonomous embedded aerial platform. The IMU has already some attitude heading reference system (AHRS) code implemented, but we are interested in:
  • implementing embedded algorithms for the estimation of the IMU attitude to be compared with the actual one (e.g., Kalman filter, DCM, Madgwick, etc.)
  • developing a, easy to use, procedure for the calibration of IMU parameters
  • making a comparison with commercial units using a robot arm as testbed
  • validate the accuracy of the IMU on a flying platform
  • integrate the measurements from a GPS to reduce drift and provide accurate positiong (this will make it definitely a MS thesis)

Material

  • electronic board and eclipse based C development toolkit for ARM processors
  • papers describing the algorithms we are interested in implementing

Expected outcome:

  • few different AHRS algorithms with comparative results
  • user-friendly procedure to calibrate the IMU
  • a sistem which integrated IMU and GPS to provide accurate positioning

Required skills or skills to be acquired:

  • C programming on ARM microcontroller
  • background on kalman filtering and attitude estimation
Tutor: [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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), [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: 1 January 2015
Students: 1 - 2
CFU: 2 - 20
Research Area: Robotics
Research Topic: Robot development
Wiki Page: Robot Games
Spykeecontorri.jpg
Title: Robot Games
Description: Projects may include the design of an interactive game on an existing or a new robot, and its evaluation. These projects allow to experiment with real mobile robots and interaction devices. Some games may be designed for disabled children. The project can be considered a MS thesis if it can produce a new game and, possibly, a new robot, and includes adapting the behavior of the robot to the player.
Tutor: [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start:
Students: 1 - 2
CFU: 2 - 20
Research Area: Robotics
Research Topic: Robogames
Wiki Page: Scripting language on embedded platforms
STM32-H103-1.jpg
Title: Scripting language on embedded platforms
Description: JOINT PROJECT with the Embedded Systems group (contact: Patrick Bellasi http://home.dei.polimi.it/bellasi/)

When developing embedded applications it is common the need to test some algorithm in some fast way, without to re-program the whole firmware every time. PAWN (http://www.compuphase.com/pawn/) is a *simple and lightweight scripting language with a C-like syntax*. Execution speed, stability, simplicity and a small footprint were essential design criteria for both the language and the abstract machine, making PAWN suitable for embedded applications.

This project aims to port the abstract machine to ARM Cortex-M3 microcontrollers, add a set of functions to interface with the underlying hardware peripherals and then to embed it as ChibiOS/RT (http://www.chibios.org) thread.

Tutor: [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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  • The part "]]" of the query was not understood. Results might not be as expected.
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Start: 30 May 2011
Students: 1 - 2
CFU: 2 - 5
Research Area: Robotics
Research Topic: Robot development
Wiki Page: Soccer Robots
RIeRO.jpg
Title: Soccer Robots
Description: Projects are available in different areas:
  • Implementation of mechanical and electronical parts of the robots for the management of the ball and kicking
  • Design of robot behaviors (fuzzy systems)
  • Coordination of robots
  • New sensors


These projects allow to experiment with real mobile robots. Participation to the championships is a unique experience (2000 people, with 800 robots playing all sort of games...)

The project can be turned into a thesis by facing different problems in depth.

Tutor: [[MarcelloRestelli | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
  • Some part "<nowiki>…</nowiki>" of the query was not understood.
  • The symbol "[[" was used in a place where it is not useful.
  • The part "]]" of the query was not understood. Results might not be as expected.
  • Some subquery has no valid condition.
)
Start: 1 January 2009
Students: 1 - 2
CFU: 5 - 20
Research Area: Robotics
Research Topic: Robot development



Title: Humanoid robotics
Maximum.jpg
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.
  • 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.

Tutor: Giuseppina Gini(gini-AT-elet-DOT-polimi-DOT-it)
Start: Anytime
Number of students: 4-5
CFU: 5-20



Title: Legged locomotion
Leg.jpg
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.

Tutor: Giuseppina Gini (email)
Start: Anytime
Number of students: 2-5
CFU: 5-20


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