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)
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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.
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===== Brain-Computer Interface =====
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{{#ask: [[Category:ProjectProposal]]
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[[PrjResArea::BioSignal Analysis]]
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[[PrjResTopic::Brain-Computer Interface]]
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<!--==== Affective Computing ====
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<!--==== Computer Vision and Image Analysis ====
  
==== Affective Computing ====
 
 
{{Project template
 
{{Project template
|title= Affective VideoGames
+
|title=Video surveillance system for indoor Environment
|tutor= Cristiano Alessandro (alessandro-AT-elet-DOT-polimi-DOT-it),  Simone Tognetti (togetti-AT-elet-DOT-polimi-DOT-it)
+
|tutor=Matteo Matteucci (matteucci-AT-elet-DOT-polimi-DOT-it)
|description=The goal of this activity is to develop an interactive video game (Car game, Shoot them up, Strategic game ..) able to adapt its behaviour in order to maximize your enjoyment. The game will measure your excitement by analizing your biological signals, which mirror your emotional state. The system will be able to adjust some parameters (i.e difficulty of car game circuits, opponents strength ...) in order to keep you egnagemet constant: "In your flow zone!".  
+
|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.  
Project phases:  
+
The skills required for this project are:
* Design and implementation of the game (it is possible to start from avaliable open source game)
+
* C/C++ and OpenCV library
* Design of experimental protocol used to stimulate particular emotions
+
* Linux o.s.
* Data acquisition by using biological sensors during the playing experience
+
* Off-line classification of data with available tools
+
* Design and development of an on-line classifier system for emotion recognition
+
* Closed loop control: the game reacts to the user emotional state changing its behaviour.
+
 
+
These projects allow to experiment with biological-data acquisition tools and videogame design.  
+
 
+
Each project consists in the realization of one or more phases depending on the difficulty/cfu to be achieved and on the competences of
+
the candidate(s)
+
  
 +
The project can be turned into a thesis extending the algorithm for camera network.
 
|start=Anytime
 
|start=Anytime
|number=1 to 3  
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|number=2-3
|cfu=2.5 to 20
+
|cfu=2.5-15
|image=AffectiveGaming.jpg}}
+
|image=Danch4.png
 +
}}
 +
-->
  
 +
<!--==== E-Science ====
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-->
  
{{Project template
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<!--==== Computational Intelligence and Games ====
|title= Affective recognition in multimedia contexts
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|tutor= Cristiano Alessandro (alessandro-AT-elet-DOT-polimi-DOT-it),  Simone Tognetti (togetti-AT-elet-DOT-polimi-DOT-it)
+
|description=The goal of this activity is to develop an interactive multimedia application (advertisement, e-learning, reccomendation system) able to capture your emotional state (interests, excitement, anger, joy) while watching at images, earing sounds etc. The application will measure your excitement by analyzing your biological signals, which mirror your emotional state. The system could be used to give feedback on the quality of multimedia content (i.e goodness of the advertisement, enjoyment of the movie ...)
+
Project phases:
+
* Design and implementation of the multimedia application.
+
* Design of experimental protocol used to stimulate particular emotions.
+
* Data acquisition by using biological sensors during the multimedia experience.
+
* Off-line classification of data with available tools.
+
* Design and development of on-line classifier system for emotion recognition
+
* Closed loop control: the multimedia application will provide contents according to your enjoyment. 
+
  
These projects allow to experiment with biological-data acquisition tools and multimedia application design.
+
{{#ask: [[Category:ProjectProposal]]
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[[PrjResTopic::Computational Intelligence and Games]]
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[[PrjLevel::Bs]]
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template = Template:ProjectProposalViz
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<!--==== Social Software and Semantic Web ====
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<!-- ===== Social Network Analysis =====
  
Each project consists on the realization of one or more phases depending on the difficulty/cfu to be achieved and to the competences of
+
{{#ask: [[Category:ProjectProposal]]
the candidate(s)
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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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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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format = template |
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template = Template:ProjectProposalViz
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}}
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==== Robotics ====
  
|start=Anytime
+
{{#ask: [[Category:ProjectProposal]]
|number=1 to 3
+
[[PrjResArea::Robotics]]
|cfu=2.5 to 20
+
[[PrjLevel::Bs]]
|image=MultimediaAffective.jpg}}
+
[[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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}}
  
  
{{Project template
+
<!--{{Project template
|title= Affective robotics
+
|tutor= Cristiano Alessandro (alessandro-AT-elet-DOT-polimi-DOT-it),  Simone Tognetti (togetti-AT-elet-DOT-polimi-DOT-it)
+
|description=The goal of this activity is to develop an rehabilitation robotic game able to capture your emotional state (interests, excitement, anger, joy, stress) while interacting with the robot. The application will measure your excitement by analyzing your biological signals, which mirror your emotional state. The system could be used to adapt the therapy (executed by the game) according to the patient's needs. We believe the quality of the therapy is related to the subject's emotional state. The long term goal is to keep the user into a specific emotional state in order to maximize the therapy efficacy.
+
Project phases:
+
* Design and implementation of the robotic game on the available robot.
+
* Design of experimental protocol used to stimulate particular emotions.
+
* Data acquisition by using biological sensors during the interaction with the robot.
+
* Off-line classification of data with available tools.
+
* Design and development of on-line classifier system for emotion recognition
+
* Closed loop control: the therapy will be adapted to the patient's needs. 
+
 
+
These projects allow to experiment with biological-data acquisition tools, robots and videogame design.
+
 
+
Each project consists on the realization of one or more phases depending on the difficulty/cfu to be achieved and to the competences of
+
the candidate(s)
+
 
+
|start=Anytime
+
|number=1 to 3
+
|cfu=2.5 to 20
+
|image=SimoAffective.jpg}}
+
 
+
 
+
{{Project template
+
|title= Driving companions
+
|tutor= Cristiano Alessandro (alessandro-AT-elet-DOT-polimi-DOT-it),  Simone Tognetti (togetti-AT-elet-DOT-polimi-DOT-it)
+
|description=The goal of this activity is to develop an applicationable to capture your emotional state (stress, attention level .. ) while driving standard cars. The application will measure the driver's stress level by analyzing his biological signals, which mirror the physiological state, and could be used to give feedbacks to the driver in dangerous situations.
+
Project phases:
+
* Design of experimental protocol used to stimulate particular emotions.
+
* Data acquisition by using biological sensors while driving in different conditions (city, highway, country ..)
+
* Off-line classification of data with available tools.
+
* Design and development of on-line classifier system for emotion recognition
+
* Closed loop control: the car will give audio/visual feedbacks to the user letting him know its physiological state
+
 
+
These projects allow to experiment with biological-data acquisition tools, robots and videogame design.
+
 
+
Each project consists on the realization of one or more phases depending on the difficulty/cfu to be achieved and to the competences of
+
the candidate(s)
+
 
+
|start=Anytime
+
|number=1 to 3
+
|cfu=2.5 to 20
+
|image=CarAffective.jpg}}
+
 
+
<!--==== Computer Vision and Image Analysis ====-->
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<!--==== E-Science ====-->
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<!--==== Machine Learning ====-->
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<!--==== Ontologies and Semantic Web ====-->
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<!--==== Philosophy of Artificial Intelligence ====-->
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==== Robotics ====
+
{{Project template
+
 
|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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{{Project template
 
{{Project template
|title= Robot games
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|title=Calibration of IMU-camera system
|tutor= Andrea Bonarini (bonarini-AT-elet-DOT-polimi-DOT-it)
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|tutor=[[User:MatteoMatteucci|Matteo Matteucci]], [[User:DavideMigliore|Davide Migliore]]
|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]) 
+
|description=This work is about the problem to calibrate a system composed by an XSense
Projects are available in different areas:
+
Inertial Measurement Unit and a Fire-i Camera. The pro ject will be focus on  
* Design and implementation of the game on one of the available robots
+
the problem to estimate both unknown rotation between the two devices and the
* Design of the game and a new suitable robot
+
extrinsic/intrinsic parameters of the camera. This algorithm allows to use the
* Implementation/setting of a suitable robot
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system for SLAM or robotics applications, like a wereable device for autonomous
* Evaluation of the game with users (in collaboration with [http://www.elet.polimi.it/people/garzotto Franca Garzotto])
+
navigation or augmented reality.  
  
These projects allow to experiment with real mobile robots and real interaction devices.
+
;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]
  
The project can be turned into a thesis by producing a new game and robot.
 
 
|start=Anytime
 
|start=Anytime
|number=1-2
+
|number=1
|cfu=5-12.5
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|cfu=5-20
|image=Robowii_robot.jpg}}
+
|image=Imu_cam_big_sphere.gif}}
 +
-->
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 +
{{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.
  
<!--==== Soft Computing ====-->
+
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.
 +
 
 +
All the projects can be turned into a thesis.
 +
|start=Anytime
 +
|number=2-5
 +
|cfu=5-20
 +
|image=leg.jpg}}

Latest revision as of 17:20, 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
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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
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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
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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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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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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