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" (5 CFU for each student).  See [[Project Proposals]] for other kinds of projects and theses.
 
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.
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<!--==== BioSignal Analysis ====
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==== BioSignal Analysis ====
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===== Brain-Computer Interface =====
 
===== Brain-Computer Interface =====
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{{Project template
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{{#ask: [[Category:ProjectProposal]]  
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|title=Driving an autonomous wheelchair with a P300-based BCI
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[[PrjResArea::BioSignal Analysis]]
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|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])
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[[PrjResTopic::Brain-Computer Interface]]
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|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.
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[[PrjLevel::Bs]]
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[[PrjType::Course]] |
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;Tools and instruments
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?PrjTitle |
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:C++, C, [http://www.bci2000.org/ BCI2000]
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?PrjImage |
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:Linux
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?PrjDescription |
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?PrjTutor |
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;Bibliography
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?PrjStarts |
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: R. Blatt et al. ''Brain Control of a Smart Wheelchair'' [http://www.booksonline.iospress.com/Content/View.aspx?piid=9401]
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?PrjStudMin |
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|start=November 2008
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?PrjStudMax |
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|number=1
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?PrjCFUMin |
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|cfu=5-20
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?PrjCFUMax |
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|image=LURCH_wheelchair.jpg}}
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?PrjResArea |
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?PrjResTopic |
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{{Project template
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format = template |
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|title=Online automatic tuning of the number of repetitions in a P300-based BCI
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template = Template:ProjectProposalViz
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|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])
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}}
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|description=In a [http://en.wikipedia.org/wiki/P300_(Neuroscience) P300]-based [[Brain-Computer_Interface|BCI]], (visual) stimuli are presented to the user, and the intention of the user is recognized when a P300 potential is recognized in response of the desired stimulus.  In order to improve accuracy, many stimulation rounds are usually performed before making a decision.  The exact number of repetitions depends on the user and the goodness of the classifier, but it is usually fixed a-priori.  The aim of this project is to adapt the number of repetitions to changing conditions, so as to achieve the maximum accuracy with the minimum time.
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Depending on the effort the student is willing to put into it, the project can grow to a full experimental thesis.
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<!--==== Affective Computing ====
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;Tools and instruments
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<!--==== Computer Vision and Image Analysis ====
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:C++, [http://www.bci2000.org/ BCI2000]
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;Bibliography
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: E. Donchin, K.M. Spencer, R. Wijesinghe. ''The Mental Prosthesis: Assessing the Speed of a P300-Based Brain-Computer Interface'' [http://www.cs.cmu.edu/~tanja/BCI/P300Speed_2000.pdf]
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|start=Anytime
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|number=1
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|cfu=5-20
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|image=B_p300_speller.jpg}}
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{{Project template
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|title=Reproduction of an algorithm for the recognition of error potentials
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|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])
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|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.
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The project aims at reproducing algorithms for ErrP detection from the literature.
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;Tools and instruments
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:Matlab
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;Bibliography
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: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]
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: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]
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|start=Anytime
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|number=1
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|cfu=5-15
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|image=Bci_arch.png}}
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<!--==== Affective Computing ====-->
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==== Computer Vision and Image Analysis ====
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{{Project template
 
{{Project template
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|image=Danch4.png  
 
|image=Danch4.png  
 
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==== Machine Learning ====
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<!--==== Computational Intelligence and Games ====
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{{Project template
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|title= Learning API for TORCS
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|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
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|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. We already organized two successfull competitions based on TORCS where competitors have been asked to develop a controller using their preferred machine learning techniques. The goal of this project is to extend the existing C++ API (available [http://cig.dei.polimi.it/ here]) to simplify the development of controller using a learning framework.
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Such an extension can be partially developed by porting an existing Java API for TORCS that already provides a lot of functionalities for machine learning approaches.
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|start=Anytime
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|number=1 to 2
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|cfu=5 to 12.5
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|image=TORCS.jpg}}
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{{Project template
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{{#ask: [[Category:ProjectProposal]]
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|title= EyeBot
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[[PrjResTopic::Computational Intelligence and Games]]
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|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it), Alessandro Giusti (giusti-AT-elet-DOT-polimi-DOT-it), and Pierluigi Taddei (taddei-AT-elet-DOT-polimi-DOT-it)
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[[PrjLevel::Bs]]
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|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. We already organized two successfull competitions based on TORCS where competitors have been asked to develop a controller using their preferred machine learning techniques. So far, the controller developed for TORCS used as input only information extracted directly from the state of the game. The goal of this project is to extend the existing controller API (see [http://cig.dei.polimi.it/ here]) to use the visual information (e.g. the screenshots of the game) as input to the controllers. A successfull project will include both the development of the API and some basic imaga preprocessing to extract information from the images.
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[[PrjType::Course]] |
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|start=Anytime
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?PrjTitle |
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|number=1 to 2
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?PrjImage |
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|cfu=5 to 12.5
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?PrjDescription |
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|image=TORCS2.jpg}}
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?PrjTutor |
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?PrjStarts |
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{{Project template
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?PrjStudMin |
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|title= SmarTrack
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?PrjStudMax |
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|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
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?PrjCFUMin |
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|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.
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?PrjCFUMax |
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The goal of this project is to apply machine learning techniques for the generation of customized tracks in
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?PrjResArea |
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[http://torcs.sourceforge.net/ TORCS], a state-of-the-art open source racing simulator. The project include different activities: the automatic generation of tracks, the section of relevant features to characterize a track and the analysis of an interest measure. 
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?PrjResTopic |
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|start=Anytime
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format = template |
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template = Template:ProjectProposalViz
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|cfu=5 to 12.5
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}}
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|image=TORCS3.jpg}}
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<!--==== Social Software and Semantic Web ====
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{{Project template
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|title= TORCS competition
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<!-- ===== Social Network Analysis =====  
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|tutor= Daniele Loiacono (loiacono-AT-elet-DOT-polimi-DOT-it)
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|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. We already organized two successfull competitions based on TORCS where competitors have been asked to develop a controller using their preferred machine learning techniques.
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The goal of this project is to apply any machine learning technique to develop a successfull controller following the competition rules (available [http://cig.dei.polimi.it/?page_id=67 here])
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|start=Anytime
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|number=1 to 2
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|cfu=5 to 12.5
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|image=TORCS.jpg}}
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==== Ontologies and Semantic Web ====
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===== Wiki Analysis =====
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{{#ask: [[Category:ProjectProposal]]  
 
{{#ask: [[Category:ProjectProposal]]  
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[[PrjLevel::Bs]]
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[[PrjType::Course]]
 
[[PrjResArea::Social Software and Semantic Web]] |
 
[[PrjResArea::Social Software and Semantic Web]] |
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[[PrjResTopic::Social Network Analysis]] |
 
?PrjTitle |
 
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template = Template:ProjectProposalViz
 
template = Template:ProjectProposalViz
 
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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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format = template |
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template = Template:ProjectProposalViz
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==== Robotics ====
  
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{{#ask: [[Category:ProjectProposal]]
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[[PrjResArea::Robotics]]
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[[PrjLevel::Bs]]
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[[PrjType::Course]] |
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?PrjImage |
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?PrjTutor |
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format = template |
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template = Template:ProjectProposalViz
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<!--==== Philosophy of Artificial Intelligence ====-->
 
  
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==== Robotics ====
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<!--{{Project template
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{{Project template
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|title=Simulation of 6-DOF Robot Manipulator
 
|title=Simulation of 6-DOF Robot Manipulator
 
|tutor=Marcello Restelli (restelli-AT-elet-DOT-polimi-DOT-it)
 
|tutor=Marcello Restelli (restelli-AT-elet-DOT-polimi-DOT-it)
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|cfu=5-20
 
|cfu=5-20
 
|image=Imu_cam_big_sphere.gif}}
 
|image=Imu_cam_big_sphere.gif}}
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{{Project template
 
{{Project template
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|title= Robot games
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|title=Humanoid robotics
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|tutor= Andrea Bonarini (bonarini-AT-elet-DOT-polimi-DOT-it)
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|tutor=Giuseppina Gini(gini-AT-elet-DOT-polimi-DOT-it)
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|description=The goal of this activity is to develop an interactive game with robots using commercial devices such as the WII Mote (see the [http://airwiki.elet.polimi.it/mediawiki/index.php/Robogames Robogames page]) 
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|description=this project is about developing various functions of humanoids, in particular related to sensing and cognition for manipulation. Possible specific projects are:
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Projects are available in different areas:
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* 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.
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* Design and implementation of the game on one of the available robots
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* 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.
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* Design of the game and a new suitable robot
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* SIMULATOR OF HUMANOID ROBOT - complete the simulator of MaximumOne with all the dof. The simulator will use the same Matlab algorithms of the controller.
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* Implementation/setting of a suitable robot
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* 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.
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* Evaluation of the game with users (in collaboration with [http://www.elet.polimi.it/people/garzotto Franca Garzotto])
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* 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.
  
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These projects allow to experiment with real mobile robots and real interaction devices.
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All the projects can be turned into a thesis.
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The project can be turned into a thesis by producing a new game and robot.
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|start=Anytime
 
|start=Anytime
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|number=1-2
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|number=4-5
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|cfu=5-12.5
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|cfu=5-20
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|image=Meccano-spyke-medium.jpg|{width} 50}}
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|image=maximum.jpg}}
  
 
{{Project template
 
{{Project template
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|title= Robocup: soccer robots
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|title=Legged locomotion
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|tutor= Andrea Bonarini (bonarini-AT-elet-DOT-polimi-DOT-it), Marcello Restelli (restelli-AT-elet-DOT-polimi-DOT-it)
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|tutor=[[User:GiuseppinaGini|Giuseppina Gini]] ([mailto:gini%40%65%6c%65%74%2e%70%6f%6c%69%6d%69%2e%69%74 email])
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|description=The goal of this activity is to finalize the team of robots that will participate to the robocup world championship in Graz next summer (see the [http://www.robocup.org Robocup page] and the [http://robocup.elet.polimi.it MRT Team page])
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|description= The proposed projects in the area of walking robots will improve the performances of on-going systems.
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Projects are available in different areas:
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* 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.
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* Implementation of mechanical and electronical parts of the robots for the management of the ball and kicking
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* 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).
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* Design of robot behaviors (fuzzy systems)
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* ROBO FISH - Continue the development of hardware and software for the robotic fish Zoidberg2, and study a fish colony.
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* Coordination of robots
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* EMBOT WALKING - complete the robot with 4 wheels used as feet. Control it and experiment.
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* New sensors
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* ROBOTIC EXPERIMENTS WITH BIOLOID -  using Bioloid experiments hw and gaits, develop software for the humanoid challenges at ICRA2010.
  
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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...)
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All the projects can be turned into a thesis.
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The project can be turned into a thesis by facing different problems in depth.
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|start=Anytime
 
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|cfu=5-12.5
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|image=RIeRO.jpg}}
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|image=leg.jpg}}
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<!--==== Soft Computing ====-->
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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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  • The symbol "[[" was used in a place where it is not useful.
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  • Some subquery has no valid condition.
)
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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), [[MartinoMigliavacca | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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  • The symbol "[[" was used in a place where it is not useful.
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  • Some subquery has no valid condition.
)
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.
  • The symbol "[[" was used in a place where it is not useful.
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  • Some subquery has no valid condition.
)
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.
  • Some subquery has no valid condition.
), [[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.
)
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
  • 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.
), [[MartinoMigliavacca | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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  • The symbol "[[" was used in a place where it is not useful.
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), [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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  • The symbol "[[" was used in a place where it is not useful.
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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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), [[MartinoMigliavacca | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: 30 May 2011
Students: 1 - 2
CFU: 2 - 5
Research Area: Robotics
Research Topic: Robot development
Wiki Page: Soccer Robots
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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
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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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