♻️ refactor: format code

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2022-07-07 11:54:43 +02:00
parent 14e5edd35a
commit bfd15205cf
18 changed files with 14772 additions and 5116 deletions
+251 -167
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@@ -1,160 +1,228 @@
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<h2>Voice Controlled Mobile Robot for Indoor Applications</h2>
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://drive.google.com/drive/folders/1Y7TJJN8z1llCkSTnpVHMELD3PqsX8VF9?usp=sharing" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
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Master Thesis</p>
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<p>This thesis proposes a design for a small mobile robot controlled by voice. Firstly a preliminary analysis of the state of art of human-robot interaction has been conducted.
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Finally, an overview of the complete software architecture of the system was given with three possible structures and their comparison.
The results obtained show both the feasibility of using low power boards and some of their limitations.
<em>(research publication available <a target="_blank" rel="noopener noreferrer" href="https://doi.org/10.1007/978-3-030-58380-4_7"><em>here</em></a>).</em>
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</section>
<!-- One -->
<section id="one" class="spotlight style1 bottom">
<span class="image fit main"><img src="images/thesis.jpg" alt="" /></span>
<div class="content">
<div class="container">
<div class="row">
<div class="col-4 col-12-medium">
<header>
<h2>Voice Controlled Mobile Robot for Indoor Applications</h2>
<p>
<i class="icon"
><a
target="_blank"
rel="noopener noreferrer"
href="https://drive.google.com/drive/folders/1Y7TJJN8z1llCkSTnpVHMELD3PqsX8VF9?usp=sharing"
class="icon alt far fa-file-pdf"
><span class="label">Slideshow</span></a
></i
>
<i class="fa-stack">
<i class="fa icon brands alt fa-github fa-stack-1x"></i>
<i class="fa alt fa-slash fa-stack-1x"></i>
</i>
Master Thesis
</p>
</header>
</div>
<div class="col-8 col-12-medium">
<p>
This thesis proposes a design for a small mobile robot controlled by voice. Firstly a preliminary analysis of the state of art of human-robot
interaction has been conducted. Then, an analysis of the equipment selected took place, and, later, appropriate methodologies for voice
recognition and user detection have been evaluated for this specific case. Finally, an overview of the complete software architecture of the
system was given with three possible structures and their comparison. The results obtained show both the feasibility of using low power boards
and some of their limitations.
<em
>(research publication available
<a target="_blank" rel="noopener noreferrer" href="https://doi.org/10.1007/978-3-030-58380-4_7"><em>here</em></a
>).</em
>
</p>
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<span class="image fit main"><img src="images/recharge_car.png" alt="" /></span>
<div class="content">
<header>
<h2>Recharging Electric Cars with a Mobile Robot</h2>
<p>
<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://drive.google.com/file/d/1wBfvAzy9N8uChNxNj9Kd_hcvI0Qq3uQj/view?usp=sharing" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
<i class="fa-stack">
<i class="fa icon brands alt fa-github fa-stack-1x"></i>
<i class="fa alt fa-slash fa-stack-1x "></i>
</i>
</p>
</header>
<p>
The aim of this project was to prove the possibility to design an autonomous mobile robot whose task was to recharge electric cars in a parking lot. This was done by the means of a simulation, using the Gazebo simulator and a ROS based software architecture to control both the cars and the mobile robot.
We also simulated a world with a gas station and a small parking lot, consisting of four parking spots, to give an idea of the possible environment in which the robot could be used.
</p>
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<!-- Two -->
<section id="two" class="spotlight style2 right">
<span class="image fit main"><img src="images/recharge_car.png" alt="" /></span>
<div class="content">
<header>
<h2>Recharging Electric Cars with a Mobile Robot</h2>
<p>
<i class="icon"
><a
target="_blank"
rel="noopener noreferrer"
href="https://drive.google.com/file/d/1wBfvAzy9N8uChNxNj9Kd_hcvI0Qq3uQj/view?usp=sharing"
class="icon alt far fa-file-pdf"
><span class="label">Slideshow</span></a
></i
>
<i class="fa-stack">
<i class="fa icon brands alt fa-github fa-stack-1x"></i>
<i class="fa alt fa-slash fa-stack-1x"></i>
</i>
</p>
</header>
<p>
The aim of this project was to prove the possibility to design an autonomous mobile robot whose task was to recharge electric cars in a parking lot.
This was done by the means of a simulation, using the Gazebo simulator and a ROS based software architecture to control both the cars and the mobile
robot. We also simulated a world with a gas station and a small parking lot, consisting of four parking spots, to give an idea of the possible
environment in which the robot could be used.
</p>
<!-- <ul class="actions">
<li><a href="#" class="button">Learn More</a></li>
</ul> -->
</div>
<a href="#three" class="goto-next scrolly">Next</a>
</section>
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<section id="three" class="spotlight style3 left">
<span class="image fit main bottom"><img src="images/self_loc.jpg" alt="" /></span>
<div class="content">
<header>
<h2>Mobile Robot Self-Localization</h2>
<p>
<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://drive.google.com/file/d/1BgPj-fgtYDDEsFHmDk2fGVm7DCPFWEeN/view?usp=sharing" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
&nbsp;&nbsp;
<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/ekf_matlab" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
</p>
</header>
<p>
For this project we worked with the data retrieved from a differential drive robot for its localization in a certain area by the means of the Extended Kalman filter (EKF).
A first step included the development of a Kalman Filter for the self-localization. This has been then improved by implenting an Extended Kalman Filter that allowed to reduce.
Finally a comparison in performance of the two has been done.
</p>
</div>
<a href="#four" class="goto-next scrolly">Next</a>
</section>
<!-- Three -->
<section id="three" class="spotlight style3 left">
<span class="image fit main bottom"><img src="images/self_loc.jpg" alt="" /></span>
<div class="content">
<header>
<h2>Mobile Robot Self-Localization</h2>
<p>
<i class="icon"
><a
target="_blank"
rel="noopener noreferrer"
href="https://drive.google.com/file/d/1BgPj-fgtYDDEsFHmDk2fGVm7DCPFWEeN/view?usp=sharing"
class="icon alt far fa-file-pdf"
><span class="label">Slideshow</span></a
></i
>
&nbsp;&nbsp;
<i class="icon"
><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/ekf_matlab" class="icon brands alt fa-github"
><span class="label">GitHub</span></a
></i
>
</p>
</header>
<p>
For this project we worked with the data retrieved from a differential drive robot for its localization in a certain area by the means of the
Extended Kalman filter (EKF). A first step included the development of a Kalman Filter for the self-localization. This has been then improved by
implenting an Extended Kalman Filter that allowed to reduce. Finally a comparison in performance of the two has been done.
</p>
</div>
<a href="#four" class="goto-next scrolly">Next</a>
</section>
<!-- Four -->
<section id="four" class="spotlight style2 right">
<span class="image fit main"><img src="images/PVTOL.jpg" alt="" /></span>
<div class="content">
<header>
<h2>Control of a Nonlinear System (PVTOL aircraft)</h2>
<p>
<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://drive.google.com/file/d/1TE3TWkXZjVq8OuBkLl497c_MQSs3MiLQ/view?usp=sharing" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
&nbsp;&nbsp;
<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/modelling_and_control_of_manipulators" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
</p>
</header>
<p>The aim of this project was to implement a control law for a nonlinear system (based on the model of a PVTOL aircraft), using the proper approach depending on the range of settings given in the four subsequent tasks. This shows the various theories and which is to be preferred over to the others, according to the situation to deal with.</p>
<!-- <ul class="actions">
<!-- Four -->
<section id="four" class="spotlight style2 right">
<span class="image fit main"><img src="images/PVTOL.jpg" alt="" /></span>
<div class="content">
<header>
<h2>Control of a Nonlinear System (PVTOL aircraft)</h2>
<p>
<i class="icon"
><a
target="_blank"
rel="noopener noreferrer"
href="https://drive.google.com/file/d/1TE3TWkXZjVq8OuBkLl497c_MQSs3MiLQ/view?usp=sharing"
class="icon alt far fa-file-pdf"
><span class="label">Slideshow</span></a
></i
>
&nbsp;&nbsp;
<i class="icon"
><a
target="_blank"
rel="noopener noreferrer"
href="https://github.com/m-tartari/modelling_and_control_of_manipulators"
class="icon brands alt fa-github"
><span class="label">GitHub</span></a
></i
>
</p>
</header>
<p>
The aim of this project was to implement a control law for a nonlinear system (based on the model of a PVTOL aircraft), using the proper approach
depending on the range of settings given in the four subsequent tasks. This shows the various theories and which is to be preferred over to the
others, according to the situation to deal with.
</p>
<!-- <ul class="actions">
<li><a href="#" class="button">Learn More</a></li>
</ul> -->
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</section>
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