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- R2P IMU firmware development (PrjTitle Embedded Inertial Measurement Unit for Unmanned Aerial Vehihcles PrjImage Image:R2P_IMU.png PrjDescription 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)
- electronic board and eclipse based C development toolkit for ARM processors
- papers describing the algorithms we are interested in implementing
- 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
- C programming on ARM microcontroller
- background on kalman filtering and attitude estimation PrjTutor AndreaBonarini MartinoMigliavacca MatteoMatteucci PrjStarts 1 January 2015 PrjStudMin 1 PrjStudMax 2 PrjCFUMin 2 PrjCFUMax 20 PrjResArea Robotics PrjResTopic Robot development PrjLevel Bachelor of Science Master of Science PrjType Course Thesis)
- J.R. Wolpaw et al. Brain-computer interfaces for communication and control (http://tinyurl.com/yhq27pq)
- R.J. Croff, R.J. Barry. Removal of ocular artifact from the EEG: a review (http://tinyurl.com/ykk6ks9) PrjTutor MatteoMatteucci PrjStarts 1 October 2009 PrjStudMin 1 PrjStudMax 2 PrjCFUMin 2.5 PrjCFUMax 5 PrjResArea BioSignal Analysis PrjResTopic Brain-Computer Interface PrjLevel Bachelor of Science Master of Science PrjType Course)
- A framework for multisensor SLAM using the world centric approach
- Papers and report about robocentric slam
- a fully functional robocentric version of the MoonSLAM framework
- Basic background in computer vision
- Background in Kalman filtering
- C++ programming under Linux PrjTutor MatteoMatteucci SimoneCeriani PrjStarts 1 April 2012 PrjStudMin 1 PrjStudMax 2 PrjCFUMin 20 PrjCFUMax 20 PrjResArea Robotics PrjResTopic None PrjLevel Master of Science PrjType Thesis)
- a MS thesis which describes the scan matching algorithms
- a BS thesis which implements a prototype of the system
- a complete system that build maps integrating laser scan and visual informtion
- Background on Kalman filtering
- C++ programming under Linux PrjTutor MatteoMatteucci SimoneCeriani DavideCucci PrjStarts 1 April 2012 PrjStudMin 1 PrjStudMax 2 PrjCFUMin 10 PrjCFUMax 20 PrjResArea Robotics PrjResTopic None PrjLevel Bachelor of Science Master of Science PrjType Thesis)
- datasets with real data
- a few odometric system implementations
- C++ libraries for non linear optimization
- software for the self calibration of a set of odometry systems mounted on the same robot
- C++ programming under Linux PrjTutor MatteoMatteucci SimoneCeriani DavideCucci PrjStarts 1 April 2012 PrjStudMin 1 PrjStudMax 2 PrjCFUMin 20 PrjCFUMax 20 PrjResArea Robotics PrjResTopic None PrjLevel Master of Science PrjType Thesis)
- Felsenstein 2003: Inferring Phylogenies
- Semple and Steel 2003: Phylogenetics: The mathematics of phylogenetics
- Louis J. Billera, Susan P. Holmes and and Karen Vogtmann Geometry of the space of phylogenetic trees. Advances in Applied Math 27, 733-767 (2001)
- Evans, S.N. and Speed, T.P. (1993). Invariants of some probability models used in phylogenetic inference. Annals of Statistics 21, 355-377.
- Lior Pachter, Bernd Sturmfels 2005, Algebraic Statistics for Computational Biology.
- A. Walenstein, E-Md. Karim, A. Lakhotia, and L. Parida. Malware Phylogeny Generation Using Permutations of Code, Journal in Computer Virology, v1.1, 2005. PrjTutor MatteoMatteucci LuigiMalago StefanoZanero PrjStarts 1 October 2009 PrjStudMin 1 PrjStudMax 2 PrjCFUMin 5 PrjCFUMax 20 PrjResArea Machine Learning PrjResTopic Information Geometry Stocastic Optimization Evolutionary Computation PrjLevel Master of Science PrjType Course Thesis)
- papers from major journals and conferences
- reports from research projects
- a report with a detailed review of the state of the art organized according to the main relevant aspects (to be identified during the work)
- an implementation of some state of the art algorithms for tracking or navigation
- proficiency in english
- basic understanding of computer vision
- basic understanding of filtering techniques PrjTutor MatteoMatteucci PrjStarts 1 January 2015 PrjStudMin 1 PrjStudMax 2 PrjCFUMin 10 PrjCFUMax 20 PrjResArea Robotics PrjResTopic None PrjLevel Bachelor of Science Master of Science PrjType Thesis)
- a huge corpus of literature on the topic
- datasets to test the approach upon
- C++ library for image processing and computer vision (OpenCV)
- software for the stabilization of videos from a moving camera showing moving objects in cluttered environments
- a tool for the objective evaluation of image stabilization algorithms
- computer vision and 3D reconstruction
- C++ programming under Linux PrjTutor MatteoMatteucci PrjStarts 1 April 2012 PrjStudMin 1 PrjStudMax 2 PrjCFUMin 10 PrjCFUMax 20 PrjResArea Computer Vision and Image Analysis PrjResTopic None PrjLevel Bachelor of Science Master of Science PrjType Thesis)