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D
DiffDrivePlanner +	A Search-Based Trajectory Planner for differential drive vehicles in ROS Context
Driving an autonomous wheelchair with a P300-based BCI +	This project pulls together different Airlab projects with the aim to drive an autonomous wheelchair (LURCH) with a 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.
Drone Laser Game +	The goal of the project is to develop a laser game between flying drones, one of which autonomous and the other remotely controlled.
E
E-2? - A robot for exhibitions +	A robot to interact with people at an exhibition
E-2? Behaviors +	development of behaviors for E-2?
E-2? Body +	Development of a new body for E-2?
E2GoHome +	The goal of the project is to develop a system to bring E-2? home while maintaining a relationship with people that interacts with it.
EKF on Manifolds +	Extended Kalman Filtering operating on Lie Groups
Effects of Continuous and Discrete Perception and Decision in Exploration +	A study of how exploration is affected by employing continuous or discrete perception and decision
Effects of Rates of Perception and Decision in Exploration +	A study of how exploration is affected by perception and decision rates
Electromagnetic kicker for middle-size RoboCup soccer robots +	The Milan RoboCup Team, a team of soccer robots that play in the Middle Size league of RoboCup (1) employs as kicker an electromagnetic device entirely designed within the AIRLab with external collaborations such as the Energetic department at Politecnico di Milano and the Electronics section at DEI. Basically, the device consists of a solenoid, a capacitor and a PIC-based board that controls (through an external integrated circuit) the charge of the capacitor at 400V (using the 24V batteries of the robot) and the generation of the magnetic field in the solenoid. The magnetic field accelerates a metallic cylinder that hits the soccer ball. The aim of the project is to design, implement, test, and evaluate a new version of the device. While the charge phase, implemented by an ad-hoc IC controlled by the PIC, is quite efficient, some work has to be done in order to design a new solenoid and improve the way the PIC implements a sort of modulation of strength of the shoot, in order to implement small passages between robots. The final purpose is to improve the efficiency of the system, with the aim of minimize the energy consumed and maximize the energy transmitted to the ball, in order to obtain more powerful shots. The first part of the project is focused on some theoretical aspects in order to understand the current design and evaluate how to improve it, while the second phase will be focused on the implementation and test of a new prototype of the kicking device. Experience with PIC-based systems is a plus, but not required, while some experience with electronics circuits is highly recommended. Students are supposed to work in the lab following a set of safety guidelines and rules with circuits at 400V, with 10A pick current during charge phase, and even more during shots. Student from electronics engineering are really welcomed to choose this project. # http://www.er.ams.eng.osaka-u.ac.jp/robocup-mid/index.cgi
Embedded registers view plug-in for Eclipse +	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.
Emergent Semantics in Wikipedia +	Represent Wikipedia's pages as a graph with connections' weight realized by means of a "social similarity" metrics and detect an emergent semantics in it.
Emotional Bioinspired Control +	A control system able to control motors to emulate the movement of biological entities, with the possibility to show emotional features at control level.
EmotionalBlueTrashBin +	The goal of the project is to build an emotuional, mobile trash bin.
EmotionalLamp +	Lamp showing emotion reactions
EmotionalSoundExpression +	Expressing emotions with sounds, related to external events.
EmotionalTrashBin +	Development of an emotional trash bin
Environment Monitoring +	The goal of this project is to develop a video surveillance system to track in 3D vehicles or people. The idea is to use one or more calibrated camera to estimate the position and the trajectories of the moving objects in the scene. The skills required for this project are: * C/C++ and OpenCV library * Linux o.s. * Geometry/Image processing * Probabilistic robotics/IMAD
Exploratory data analysis by genetic feature extraction +	Understanding the waves in EEG signals is an hard task and psicologists often need automatic tools to perform this task. In this project we are interested in using a genetic algorithm developed for P300 feature extraction in order to extract useful informations from Error Potentials. The project is a collaboration with the psicology department od Padua University. *B. Dal Seno, M. Matteucci, and L. Mainardi. "A genetic algorithm for automatic feature extraction in P300 detection" (http://home.dei.polimi.it/dalseno/papers/2008/ijcnn08.pdf) *B. Dal Seno, M. Matteucci, L. Mainardi, F. Piccione, and S. Silvoni. "Single-trial P300 detection in healthy and ALS subjects by means of a genetic algorithm" (http://home.dei.polimi.it/dalseno/papers/2008/grazGa08.pdf)
Extended Kalman Filtering on Manifolds +	Extended Kalman filtering is a well known technique for the estimation of the state of a dynamical system also used in robotics for localization and mapping. However in the basic formulation it assumes all variables to live in an Euclidean space while some components may span over the non-Euclidean 2D or 3D rotation group SO(2) or SO(3). It is thus possible to write tha Extended Kalman filter to operate on Lie Groups to take into account the presence of manifolds (http://www.ethaneade.org/latex2html/lie/lie.html). We are interestend in investigation this further applying it to the EKF-SLAM framework we have developed. '''''Material:''''' *papers about Manifold based optimization and space representations *C++ framework for EKF-SLAM '''''Expected outcome:''''' *An extended Kalman filter which uses this new representation '''''Required skills or skills to be acquired:''''' *Good mathematical background *C++ programming under Linux
Extending a search engine with semantic information +	We are used to keyword-based search engines, where only documents matching the exact words in the query are retrieved. In a traditional search engine, if you submit the query "a dinosaur in a university in Lombardy" you won't probably find a document containing the phrase "a velociraptor in Politecnico di Milano", even though it's more or less what you were looking for. Aim of this project is to expand a traditional search engine with semantic information, so that also documents containing words related to the ones in the query can be retrieved. Existing thesauri and ontologies can be used, as well as more dynamic and collaborative sources of knowledge such as user tags and wikipedia pages and categories. Starting points for this work can be the projects "SeQuEx - Semantic Query Expansion" and "Enriching search results with semantic metadata".
Extraction +	This project is aimed at removing the ontology building bottleneck, semi-automatically building an ontology starting from a set of textual documents related to a specific domain.
F
FCBot +	The goal of the project is to develop a game based on the popular game "Quattro Cantoni".
Face detection +	Detect faces in a crowded environment

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