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m-tartari
2024-01-23 13:30:15 +01:00
parent 7186f03407
commit fe9d6087b7
5 changed files with 1269 additions and 599 deletions
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index.html
+94 -31
View File
@@ -1,4 +1,4 @@
<!DOCTYPE html>
<!doctype html>
<!--
Based on Landed by HTML5 UP @ajlkn
Free for personal and commercial use under the CCA 3.0 license (html5up.net/license)
@@ -7,10 +7,15 @@
<head>
<title>Michele Tartari</title>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1, user-scalable=no" />
<meta
name="viewport"
content="width=device-width, initial-scale=1, user-scalable=no"
/>
<link rel="stylesheet" href="assets/css/main.css" />
<link rel="icon" type="image/png" href="images/robot.png" />
<noscript><link rel="stylesheet" href="assets/css/noscript.css" /></noscript>
<noscript
><link rel="stylesheet" href="assets/css/noscript.css"
/></noscript>
</head>
<body class="is-preload landing">
<div id="page-wrapper">
@@ -30,7 +35,9 @@
</ul>
</li>
<li><a href="curriculum.html">Curriculim</a></li>
<li><a href="contacts.html" class="button primary">Contact me</a></li>
<li>
<a href="contacts.html" class="button primary">Contact me</a>
</li>
</ul>
</nav>
</header>
@@ -46,17 +53,29 @@
<p>See some of my works below. Send a message to get in touch.</p>
<ul class="icons">
<li>
<a target="_blank" rel="noopener noreferrer" href="https://www.linkedin.com/in/m-tartari/" class="icon brands alt fa-linkedin-in"
<a
target="_blank"
rel="noopener noreferrer"
href="https://www.linkedin.com/in/m-tartari/"
class="icon brands alt fa-linkedin-in"
><span class="label">LinkedIn</span></a
>
</li>
<li>
<a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari" class="icon brands alt fa-github"
<a
target="_blank"
rel="noopener noreferrer"
href="https://github.com/m-tartari"
class="icon brands alt fa-github"
><span class="label">GitHub</span></a
>
</li>
<li>
<a target="_blank" rel="noopener noreferrer" href="mailto:michele.tartari+web@live.com" class="icon solid alt fa-envelope"
<a
target="_blank"
rel="noopener noreferrer"
href="mailto:michele.tartari+web@live.com"
class="icon solid alt fa-envelope"
><span class="label">Email</span></a
>
</li>
@@ -69,7 +88,9 @@
<!-- One -->
<section id="one" class="spotlight style1 bottom">
<span class="image fit main"><img src="images/thesis.jpg" alt="" /></span>
<span class="image fit main">
<img src="images/thesis.jpg" alt="" />
</span>
<div class="content">
<div class="container">
<div class="row">
@@ -96,14 +117,23 @@
</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.
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
<a
target="_blank"
rel="noopener noreferrer"
href="https://doi.org/10.1007/978-3-030-58380-4_7"
><em>here</em></a
>).</em
>
</p>
@@ -116,7 +146,9 @@
<!-- Two -->
<section id="two" class="spotlight style2 right">
<span class="image fit main"><img src="images/recharge_car.png" alt="" /></span>
<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>
@@ -138,10 +170,14 @@
</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.
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>
@@ -152,7 +188,9 @@
<!-- Three -->
<section id="three" class="spotlight style3 left">
<span class="image fit main bottom"><img src="images/self_loc.jpg" alt="" /></span>
<span class="image fit main bottom"
><img src="images/self_loc.jpg" alt=""
/></span>
<div class="content">
<header>
<h2>Mobile Robot Self-Localization</h2>
@@ -168,16 +206,24 @@
>
&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"
><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.
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>
@@ -185,7 +231,9 @@
<!-- Four -->
<section id="four" class="spotlight style2 right">
<span class="image fit main"><img src="images/PVTOL.jpg" alt="" /></span>
<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>
@@ -212,9 +260,12 @@
</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.
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>
@@ -291,17 +342,29 @@
<footer id="footer">
<ul class="icons">
<li>
<a target="_blank" rel="noopener noreferrer" href="https://www.linkedin.com/in/m-tartari/" class="icon brands alt fa-linkedin-in"
<a
target="_blank"
rel="noopener noreferrer"
href="https://www.linkedin.com/in/m-tartari/"
class="icon brands alt fa-linkedin-in"
><span class="label">LinkedIn</span></a
>
</li>
<li>
<a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari" class="icon brands alt fa-github"
<a
target="_blank"
rel="noopener noreferrer"
href="https://github.com/m-tartari"
class="icon brands alt fa-github"
><span class="label">GitHub</span></a
>
</li>
<li>
<a target="_blank" rel="noopener noreferrer" href="mailto:michele.tartari+web@live.com" class="icon solid alt fa-envelope"
<a
target="_blank"
rel="noopener noreferrer"
href="mailto:michele.tartari+web@live.com"
class="icon solid alt fa-envelope"
><span class="label">Email</span></a
>
</li>