Semantic search
Wiki Page: | Odometric system for robots based on laser mice | |
Title: | Odometric system for robots based on laser mice | |
Description: | We developed an odometric system for robots by combining the reading of several laser mice. The system consists of a master PIC-based board and several slave boards where the sensors employed in optical mice are located. The readings are collected on the PIC and sent on the serial port to a PC which elaborates and combines the x and y readings in order to obtain a x,y,theta estimation of the movement of the robot.
The aim of the project is first to improve the current design of the PIC-based board, and realize a new working prototype, and then to implement and evaluate different algorithms able to estimate more precisely the x,y and theta odometric data from the mice readings. Experience with PIC-based systems and some experience with electronics circuits is a plus. Students are supposed to redesign the electronic board, improve the firmware of the PIC, and work on the algorithm that estimates the robot position on the PC. It would be also interesting to evaluate the possibility to embed the optimization and estimation algorithms in the firmware of the PIC in order to produce a stand-alone device. Ask the tutors of the project for extra material, such as data-sheets and other documentation. | |
Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 October 2009 | |
Students: | 1 - 2 | |
CFU: | 5 - 20 | |
Research Area: | Robotics | |
Research Topic: | Robot development | |
Level: | Master of Science | |
Type: | Course, Thesis |
Wiki Page: | P300 BCI | |
Title: | P300 BCI for ALS patient | |
Description: | Recovery, integration and adaptation of P300 BCI (hardware and software) stubs to generate a working interface for a speller. The aim is to develop a working prototype for an ALS affected patient. | |
Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 April 2011 | |
Students: | 1 - 3 | |
CFU: | 2 - 20 | |
Research Area: | BioSignal Analysis | |
Research Topic: | EEG analysis, classification algorithms | |
Level: | Master of Science, PhD | |
Type: | Thesis |
Wiki Page: | Poit cloud SLAM with Microsoft Kinect | |
Title: | Point cloud SLAM with Microsoft Kinect | |
Description: | Simultaneous Localization and Mapping (SLAM) is one of the basic functionalities required from an autonomous robot. In the past we have developed a framework for building SLAM algorithm based on the use of the Extended Kalman Filter and vision sensors. A recently available vision sensor which has tremendous potential for autonomous robots is the Microsoft Kinect RGB-D sensor. The thesis aims at the integration of the Kinect sensor in the framework developed for the development of a point cloud base system for SLAM.
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Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 January 2015 | |
Students: | 1 - 2 | |
CFU: | 10 - 20 | |
Research Area: | Computer Vision and Image Analysis | |
Research Topic: | None | |
Level: | Master of Science | |
Type: | Thesis |
Wiki Page: | R2P IMU firmware development | |
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:
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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 | |
Level: | Bachelor of Science, Master of Science | |
Type: | Course, Thesis |
Wiki Page: | ROS navigation local planner | |
Title: | ROS_navigation_local_planner | |
Description: | The project will be focused on the implementation of a planner and tracking algorithms for Ackermann vehicles | |
Tutor: | {{EmailViz|1=[[:User:MatteoMatteucci}}, MatteoMatteucci (), [[]] | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | October 2017 | |
Students: | 1 - 3 | |
CFU: | 2 - 20 | |
Research Area: | Robotics | |
Research Topic: | Local Planner | |
Level: | Master of Science | |
Type: | Thesis |
Wiki Page: | Real-time removal of ocular artifact from EEG | |
Title: | Real-time removal of ocular artifact from EEG | |
Description: | In a Brain-Computer Interface (BCI) based on electroencephalogram (EEG), one of the most important sources of noise is related to ocular movements. Algorithms have been devised to cancel the effect of such artifacts. The project consists in the in the implementation in real time of an existing algorithm (or one newly developed) in order to improve the performance of a BCI.
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Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 October 2009 | |
Students: | 1 - 2 | |
CFU: | 2.5 - 5 | |
Research Area: | BioSignal Analysis | |
Research Topic: | Brain-Computer Interface | |
Level: | Bachelor of Science, Master of Science | |
Type: | Course |
Wiki Page: | Robocentric MoonSLAM | |
Title: | Robocentric implementation in the MoonSLAM framework | |
Description: | Simultaneous Localization and Mapping (SLAM) is one of the basic functionalities required from an autonomous robot. In the past we have developed a framework for building SLAM algorithm based on the use of the Extended Kalman Filter and vision sensors. The actual implementation of the EKF SLAM in the framework developed uses a world-centric approach, but from the literature it is known that a robocentric approach can provide higher performances on small maps. We would like to have both implementation to compare the results in two scenarios: pure visual odometry, conditional independent submapping.
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Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 April 2012 | |
Students: | 1 - 2 | |
CFU: | 20 - 20 | |
Research Area: | Robotics | |
Research Topic: | None | |
Level: | Master of Science | |
Type: | Thesis |
Wiki Page: | Robot Games | |
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 | |
Level: | Bachelor of Science, Master of Science | |
Type: | Course, Thesis |
Wiki Page: | Scan Matching Odometry and Multisensor SLAM | |
Title: | Scan Matching Odometry and Multisensor SLAM | |
Description: | Starting from some C/C++ code for laser scan alignment and the covariance information associated to the matching, we are interested in the development of a library for the matching and fusion of laser scans under the ROS (www.ros.org) environment. From this we are interested in the development of an odometric system based on laser scan matching and in a Simultaneous Localization and Mapping system integrating scan matching with visual SLAM. The result is a complete navigation system that fuses laser and visual information to build consisten maps in an EKF-based environment.
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Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 April 2012 | |
Students: | 1 - 2 | |
CFU: | 10 - 20 | |
Research Area: | Robotics | |
Research Topic: | None | |
Level: | Bachelor of Science, Master of Science | |
Type: | Thesis |
Wiki Page: | Scripting language on embedded platforms | |
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 | |
Level: | Bachelor of Science, Master of Science | |
Type: | Course |
Wiki Page: | Self calibration of multiple odometric sensors | |
Title: | Self calibration of multiple odometric sensors mounted on the same platform | |
Description: | An odometric sensor measures the path followed by a robot in an incremental way (e.g., wheel mounted encoders, visual odometry, scan matching based odometry, etc.) . Having several odometry sensors mounted on the same platform can significantly improve the accuracy and robustness of the overall system but requires proper calibration of relative positioning and possible biases. We are interested in the development of techniques for the self calibration of a multi sensor based odometry sensor. These techniques could be inspired by classical non-linear optimization techniques used in the hand and eye problem but they could use techniques from Simultaneous Localization and Mapping. According to the setup, some information on the real position of the system may exists (i.e., external tracking system or GPS); the approach should be able to use this information as well.
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Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 April 2012 | |
Students: | 1 - 2 | |
CFU: | 20 - 20 | |
Research Area: | Robotics | |
Research Topic: | None | |
Level: | Master of Science | |
Type: | Thesis |
Wiki Page: | Simulation in robotics using UDK USARSIM | |
Title: | Simulation_in_robotics_using_UDK_USARSIM | |
Description: | USARSim (Unified System for Automation and Robot Simulation) is a high-fidelity simulation of robots and environments based on UDK (Unreal Development Kit), the free edition of the Unreal Engine 3 game engine. It is intended as a research tool and is the basis for the RoboCup Rescue Virtual Robot Competition.
The proposed project is aimed at extending USARSim along two directions:
Results will be included in the USARSim project and used by the RoboCup community. | |
Tutor: | [[FrancescoAmigoni | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 April 2014 | |
Students: | 1 - 2 | |
CFU: | 10 - 20 | |
Research Area: | Robotics | |
Research Topic: | RoboCup Rescue | |
Level: | Master of Science | |
Type: | Thesis |
Wiki Page: | Soccer Robots | |
Title: | Soccer Robots | |
Description: | Projects are available in different areas:
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 | |
Level: | Bachelor of Science, Master of Science | |
Type: | Course, Thesis |
Wiki Page: | Social Network Data Extraction from Online Communities | |
Title: | Social Network Data Extraction From Online Communities | |
Description: | With the growth of the Web and the emergence of online communities, a huge amount of data regarding social relationships is now available, that was unthinkable until a few years ago. The network of connections may unveil precious information about communities structures and dynamics and the spreading of information in the Web.
Aim of this project is to design and develop a software tool to extract this kind of information from a single social network platform (decided by the student). It may be required also some kind of analysis or visual representation of the collected data. | |
Tutor: | [[DavidLaniado | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | ||
Students: | 1 - 2 | |
CFU: | 5 - 20 | |
Research Area: | Social Software and Semantic Web | |
Research Topic: | Social Network Analysis | |
Level: | Bachelor of Science, Master of Science | |
Type: | Course, Thesis |
Wiki Page: | Stability and motion control of a balancing robot | |
Title: | Stability and motion control of a balancing robot | |
Description: | This project is focused on the control of both stability and motion of TiltOne, a balancing robot.
TiltOne is a robot with only two wheels that can stand in vertical position following an unstable equilibrium point. The control is applied by commanding an amount of torque to the wheels, allowing the robot to mantain it's gravity center vertical aligned to the wheel axis. The aim of the project proposal is to implement and compare different control solutions, based on classical approach (as PID and LQR control) and Machine Learning approach (as Reinforcement Learning control policies), that allow the robot to move following a given trajectory at a given speed. | |
Tutor: | [[AndreaBonarini | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 March 2010 | |
Students: | 1 - 2 | |
CFU: | 5 - 20 | |
Research Area: | Robotics | |
Research Topic: | Robot development | |
Level: | Master of Science | |
Type: | Course, Thesis |
Wiki Page: | Statistical inference for phylogenetic trees | |
Title: | Statistical inference for phylogenetic trees | |
Description: | The project will focus on the study, implementation, comparison, and analysis of different statistical inference techniques for phylogenetic trees. Phylogenetic trees (1, 2, 3) are evolutionary trees used to represent the relationships between different species with a common ancestor. Typical inference tasks concern the construction of a tree starting from DNA sequences, involving both the choice of the topology of the tree (i.e., model selection) and the values of the parameters (i.e., model fitting). The focus will be a probabilistic description of the tree, given by the introduction of stochastic
variables associated to both internal nodes and leaves of the tree. The project will focus on the understanding of the problem and on the implementation of different algorithms, so (C/C++ or Matlab or R) coding will be required. Since the approach will be based on statistical models, the student is supposed to be comfortable with notions that come from probability and statistics courses. The project is thought to be extended to master thesis, according to interesting and novel directions of research that will emerge in the first part of the work. Possible ideas may concern the proposal and implementation of new algorithms, based on recent approaches to phylogenetic inference available in the literature, as in (3) and (4). In this case the thesis requires some extra effort in order to build and consolidate some background in math in oder to understand some recent literature, especially in (mathematical) statistics and, for example, in the emerging field of algebraic statistics (5). Other possible novel applications of phylogenetic trees have been proposed in contexts different from biology, as in (6). Malware (malicious software) is software designed to infiltrate a computer without the owner's informed consent. Often malwares are related to previous programs thought evolutionary relationships, i.e., new malwares appear as small mutations of previous softwares. We are interested in the use of techniques from phylogenetic trees to create a taxonomy of real world malwares. Picture taken from http://www.tolweb.org/tree/ and http://www.blogscienze.com Bibliography
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Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 October 2009 | |
Students: | 1 - 2 | |
CFU: | 5 - 20 | |
Research Area: | Machine Learning | |
Research Topic: | Information Geometry, Stocastic Optimization, Evolutionary Computation | |
Level: | Master of Science | |
Type: | Course, Thesis |
Wiki Page: | Tesi/Stage in Milestone | |
Title: | Tesi/Stage in Milestone | |
Description: | Sono disponibili tre tesi/stage in collaborazione con Milestone (http://www.milestone.it) nell’ambito dei videogiochi di corse automobilistiche e motociclistiche. I candidati ideali devono avere una forte motivazione personale, passione per i videogiochi e conoscenza del C++
Per maggiori informazioni, inviare una mail a lanzi@elet.polimi.it Comportamenti di Gruppo in Videogiochi di Corse Automobilistiche Questa tesi prevede lo studio delle dinamiche dei comportamenti dei piloti in competizioni automobilistiche su circuito e lo sviluppo di una intelligenza artificiale in grado di imitare i comportamenti di un vero mevero pilota. In particolare, il lavoro di tesi si concentrerà su comportamenti di gruppo come i sorpassi, le manovre per evitare collisioni con altri veicoli, il recupero da situazioni di emergenza, ecc. Terminatala fase di analisi e l’implementazione di un prototipo, verrà valutata la possibilità di inserire tale implementazione all’interno di un videogioco di ultima generazione. Comportamenti di Gruppo in Videogiochi di Corse Motociclistiche Questa tesi prevede lo studio delle dinamiche dei comportamenti dei piloti in competizioni motociclistiche su circuito e lo sviluppo di una intelligenza artificiale in grado di imitare i comportamenti di un vero vero pilota. In particolare, il lavoro di tesi si concentrerà su comportamenti di gruppo come i sorpassi, le manovre per evitare collisioni con altre moto, il recupero da situazioni di emergenza, ecc. Terminata la fase di analisi e l’implementazione di un prototipo, verrà valutata la possibilità di inserire tale implementazione all’interno di un videogioco di ultima generazione. Intelligenza Artificiale in Videogiochi di Corse Motociclistiche La tesi prevede l’analisi e l’implementazione dell’intelligenza artificiale per un videogioco di corse motociclistiche. Il sistema dovrà essere in grado di eseguire in modo corretto ed efficace un insieme di manovre complesse quali: l’accelerazione da fermo, la frenata in situazioni limite, l’approccio ad una curva che preveda la fase di stacco, di impostazione, di percorrenza e di uscita, l’approccio a serie di curve, ecc. Si valuterà la possibilità di inserire tale implementazione all’interno di un videogioco di ultima generazione. | |
Tutor: | [[PierLucaLanzi | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 18 November 2009 | |
Students: | 1 - 3 | |
CFU: | 5 - 20 | |
Research Area: | Computational Intelligence and Games | |
Level: | Bachelor of Science, Master of Science | |
Type: | Thesis |
Wiki Page: | Unmanned Aerial Vehicles Visual Navigation | |
Title: | A critical review on the state of the art in visual navigation for unmanned aerial vehicles | |
Description: | Visual navigation is becoming more and more important in the development of unmanned aerial vehicles (UAV). The goal of this thesis/tesina is to review in a structured way the current state of art in the field from different perspective: research teams, projects, platforms, tasks, algorithms. The latter is the most important aspect obviously and the project should provide a clear view on what is done today, and obtaining which results. Two kind of operations are of most interest: tracking of fixed and mobile targets (and how this impact on the UAV path), navigation on a geo-referenced map. Implementing one of the standard approaches on a mini unmanned aerial vehicle would be the ideal ending of the work to turn it into a thesis.
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Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 January 2015 | |
Students: | 1 - 2 | |
CFU: | 10 - 20 | |
Research Area: | Robotics | |
Research Topic: | None | |
Level: | Bachelor of Science, Master of Science | |
Type: | Thesis |
Wiki Page: | Use case design and implementation for semantic annotations | |
Title: | Use case design and implementation for semantic annotation | |
Description: | Semantic annotations offer a variety of possibilities to enhance the user experience while browsing the Web. Aim of this project is to propose one scenario in which their usefulness is exploited for a specific community of users. In detail the project requires to design a simple ontology which describes some kind of domain to annotate resources on the Web and implement an interface to query it and insert assertions inside a semantic store (through SPARQL).
One possible example is the annotation of mp3 files available on the Web. They can be classified in genres or associated to datatype properties, such as rating, title, length and release date... also exploiting data already available in http://musicbrainz.org/ | |
Tutor: | [[DavideEynard | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | ||
Students: | 1 - 2 | |
CFU: | 5 - 10 | |
Research Area: | Social Software and Semantic Web | |
Research Topic: | Semantic Annotations | |
Level: | Bachelor of Science, Master of Science | |
Type: | Course, Thesis |
Wiki Page: | Visibility Rating under Foggy Conditions | |
Title: | Visibility Rating under Foggy Conditions | |
Description: | The aim of this project is to try different approaches to evaluate the visibility range under foggy condition using a camera mounted on a car | |
Tutor: | [[VincenzoCaglioti | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 October 2009 | |
Students: | 1 | |
CFU: | 5 | |
Research Area: | Computer Vision and Image Analysis | |
Research Topic: | Vision | |
Level: | Bachelor of Science | |
Type: | Course |
Wiki Page: | Visual Odometry for an Omni-directional Camera | |
Title: | Visual Odometry for an Omni-directional Camera | |
Description: | An omnidirectional camera can acquire panoramic views of the surrounding environment. The purpose of this thesis is to design, develop, and test an odometric system (odometry = measurement of the path) based on the images taken by an omnidirectional camera during motion. The reference paper to start from is (Taddei, Ferran, Caglioti. IJCV 2012) and the result should be able to extract “feature points” from the images, match them in a robust way, and then apply the machinery for visual odometry on the resulting set of correspondences. A calibration procedure for the system should be provided together with an experimental validatio of the resulting system.
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Tutor: | [[VincenzoCaglioti | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 April 2012 | |
Students: | 1 - 2 | |
CFU: | 10 - 20 | |
Research Area: | Computer Vision and Image Analysis | |
Research Topic: | None | |
Level: | Bachelor of Science, Master of Science | |
Type: | Thesis |
Wiki Page: | Visual stabilization techniques for tracking with a moving camera | |
Title: | Visual stabilization techniques for tracking with a moving camera | |
Description: | Target tracking in video sequences can suffer poor performances if the camera is moving (e.g, wind, hand held device, aerial tracking system). The aim of the project is to investigate the state of the art in image stabilization and registration in non static or cluttered scenes. Possible ideas to be investigated include: homography tracking or smoothing, 3D camera motion estimation, image registration and mosicing. As a by product of the work, a tool for the performance evaluation of image stabilization algorithms should be designed.
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Tutor: | [[MatteoMatteucci | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | 1 April 2012 | |
Students: | 1 - 2 | |
CFU: | 10 - 20 | |
Research Area: | Computer Vision and Image Analysis | |
Research Topic: | None | |
Level: | Bachelor of Science, Master of Science | |
Type: | Thesis |
Wiki Page: | Wikipedia Page Social Network | |
Title: | Wikipedia Page Social Network | |
Description: | Goal of this project is to study the social network of Wikipedia pages, where two pages are connected if they share at least one main contributor. This social network can be studied to reveal interesting information; for example, it is possible to extract clusters of pages which apparently have nothing in common. A metric of distance between pages in the network can be defined, and compared with other metrics, such as the distance in the category tree or in the hyperlink graph. | |
Tutor: | [[DavidLaniado | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | ||
Students: | 1 - 2 | |
CFU: | 5 - 20 | |
Research Area: | Social Software and Semantic Web | |
Research Topic: | Social Network Analysis | |
Level: | Bachelor of Science, Master of Science | |
Type: | Course, Thesis |
Wiki Page: | Wikipedia Tripartite Graph | |
Title: | Wikipedia Tripartite Graph | |
Description: | When a user edits a Wikipedia page, we can establish a link among her, the page and the categories to which the page belongs. A model to represent this information is a tripartite graph. Aim of this project is to build a tripartite graph from Wikipedia users, pages and categories, and mine the outcome network to extract emergent semantics. | |
Tutor: | [[DavidLaniado | ]] (, , , , , , , , , , , , , , , , , , … further resultswarning.png
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Start: | ||
Students: | 1 - 2 | |
CFU: | 20 - 20 | |
Research Area: | Social Software and Semantic Web | |
Research Topic: | Social Network Analysis, Semantic Tagging | |
Level: | Master of Science | |
Type: | Thesis |