Michele Tartari
388 lines
16 KiB
HTML
388 lines
16 KiB
HTML
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<h1 id="logo"><a href="index.html">Michele Tartari</a></h1>
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<li><a href="index.html">Home</a></li>
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<a href="projects.html">Projects</a>
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<ul>
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<li><a href="projects.html#robotics">Robotics</a></li>
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<li><a href="projects.html#engineering">Engineering</a></li>
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<li><a href="projects.html#hobbies">Hobbies</a></li>
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<!-- <li><a href="projects.html#other">Others</a></li> -->
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<li><a href="curriculum.html">Curriculim</a></li>
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<header class="major">
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<h2>Projects</h2> <!--
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<p>Ipsum dolor feugiat aliquam tempus sed magna lorem consequat accumsan</p> -->
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</header>
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<!-- Content -->
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<section id="robotics">
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<h2 style="color: #e44c65;">Robotics</h2>
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<p style="margin-top: -20px;">Here there is a collection of all the projects that are strictly related to the design, development and functioning of robots:</p>
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<!-- Master Thesis -->
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<table>
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<td><b>Voice Controlled Mobile Robot for Indoor Applications</b></td>
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<td style="text-align:right">
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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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<i class="fa-stack">
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<i class="fa icon brands alt fa-github fa-stack-1x"></i>
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<i class="fa alt fa-slash fa-stack-1x "></i>
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</i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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This thesis proposes a design from scratch for a small mobile robot controlled by voice using ROS.
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The results obtained show both the feasibility of using low power boards and some of their limitations.
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(Research publication in preparation)
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</p>
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<!-- Recharge Electric Car -->
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<table>
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<td>
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<b>
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Recharging Electric Cars with a Mobile Robot
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</b>
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</td>
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<td style="text-align:right">
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<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>
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<i class="fa-stack">
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<i class="fa icon brands alt fa-github fa-stack-1x"></i>
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<i class="fa alt fa-slash fa-stack-1x "></i>
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</i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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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.
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This was done in simulation, using the Gazebo and ROS.
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</p>
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<!-- EKF Matlab -->
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<table>
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<td>
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<b>
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Mobile Robot Self-Localization
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</b>
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</td>
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<td style="text-align:right">
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<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>
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<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>
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</td>
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</table>
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<p style="margin-top: -20px;">
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For this project we worked using Matlab on data retrieved from a differential drive robot for its localization in a certain area by the means of the Extended Kalman filter (EKF).
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</p>
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<!-- Biorobotics -->
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<table>
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<td>
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<b>
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Onychophora-Inspired Firefighting Robot
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</b>
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</td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://drive.google.com/open?id=1a_ZvgaQjzvedeo296zrDpdvNL_VJDWTX" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/firebot" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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This project proposes a conceptual design for a firefighting robot suitable for indoor environments by taking inspiration from the biological world.
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</p>
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<!-- DESRO -->
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<table>
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<td>
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<b>
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3RRR Planar Parallel Manipulator
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</b>
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</td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://drive.google.com/open?id=11lCJM3EjVsua379BKD5NcEDHQLL4jdQn" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/3RRR_planar_parallel_manipulator" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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This project concerns the design and optimization of a 3RRR planar parallel manipulator using MATLAB and CATIA
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</p>
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<!-- OPTEC -->
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<table>
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<td>
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<b>
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Point-to-Point Trajectory Optimization
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</b>
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</td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://drive.google.com/open?id=11m7r7fLda_jpDEZ-9qAWvnfRN2kLkhlA" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/simple_trajectory_optimization" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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For this project we worked to find the optimal trajectory for a simple model of a robot performing point-to-point navigation in a room with some obstacles using MATLAB.
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</p>
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<!-- SOFAR -->
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<table>
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<td>
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<b>
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Simple Swarm
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</b>
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</td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/simple_swarm" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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Simple simulation and visualization of swarms of differential drive robots following a leader. Developed using C++ and ROS.
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</p>
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<!-- ARPRO-IRP -->
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<table>
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<td>
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<b>
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Industrial Robot Programming
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</b>
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</td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/industrial_robot_programming" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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Industrial Robot Programming using VAL II and V+ tested on a PUMA and a RX90 robots.
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</p>
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<!-- MOBRO -->
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<table>
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<td>
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<b>
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Modelling and Control of Manipulators
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</b>
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</td>
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<td style="text-align:right">
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<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>
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</td>
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</table>
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<p style="margin-top: -20px;">
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This contains several projects regarding modelling and control of various manipulators using MATLAB, Simulink and ADAMS.
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</p>
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</section>
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<hr />
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<!-- Engineering Projects -->
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<section id="engineering">
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<h2 style="color: #e44c65;">Engineering</h2>
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<p style="margin-top: -20px;">Here there is a collection of all the projects that are related to all the other fields of engineering:</p>
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<!-- Tongji Theis -->
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<table>
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<td><b>Solar Panel Fault Detection Method Based on Infrared Image Processing</b></td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://drive.google.com/file/d/0B1z42QMR-0UtYzBYSVhRV3ZPWk0/view?usp=sharing" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
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<i class="fa-stack">
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<i class="fa icon brands alt fa-github fa-stack-1x"></i>
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<i class="fa alt fa-slash fa-stack-1x "></i>
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</i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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My Chinese bachelor thesis that proposes a method to detect malfunctioning solar panels by processing thermal images using MATLAB.
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</p>
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<!-- Unibo Thesis -->
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<table>
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<td><b>Design of a Testing Machine for Flexure Hinges</b></td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://drive.google.com/file/d/0B1z42QMR-0UtSkxRVzJPTk1IX0k/view?usp=sharing" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
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<i class="fa-stack">
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<i class="fa icon brands alt fa-github fa-stack-1x"></i>
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<i class="fa alt fa-slash fa-stack-1x "></i>
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</i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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My Italian bachelor thesis that proposes a design from scratch of a machine for the empirical characterization of flexure hinges.
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</p>
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<!-- NOLCO -->
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<table>
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<td>
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<b>
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Control of a Nonlinear System
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</b>
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</td>
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<td style="text-align:right">
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<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>
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<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>
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</td>
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</table>
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<p style="margin-top: -20px;">
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The aim of this project was to implement control laws for a nonlinear system (based on the model of a PVTOL aircraft).
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</p>
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<!-- Multi-body -->
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<table>
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<td>
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<b>
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Multi-Body System’s Kinematic Analysis
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</b>
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</td>
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<td style="text-align:right">
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<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>
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/multi-body-kinematics" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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For this project the kinematic analysis has been performed upon agiven mechanism using MATLAB.
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It has been then validated by comparing it to the ADAMS model of the same mechanism.
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</p>
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<!-- SIPRO -->
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<table>
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<td>
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<b>
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Signal Processing
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</b>
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</td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/signal_processing" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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Several Signal processing projects developed using MATLAB.
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</p>
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<!-- RETSY -->
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<table>
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<td>
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<b>
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Real Time Systems
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</b>
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</td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/real_time_systems" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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Several real-time systems' projects developed using C++ and OIL, and run using Trampoline RTOS on a Teensy board.
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</p>
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</section>
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<hr />
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<!-- Hobbies -->
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<section id="hobbies">
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<h2 style="color: #e44c65;">Hobbies</h2>
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<p style="margin-top: -20px;">Here there is a collection of projects related to things I do for fun:</p>
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<!-- Medieval Furniture -->
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<table>
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<td>
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<b>
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Medieval Furniture
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</b>
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</td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/medieval_furniture" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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A collection of pdf and CAD models to create late XIV century furniture and medieval camp equipment. These objects are being realized by <a target="_blank" rel="noopener noreferrer" href="http://www.compagniadarmedelsantoluca.it/">Compagnia d'Arme del Santo Luca</a>.
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</p>
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<!-- Pinterest -->
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<table>
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<td>
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<b>
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Pinterest Pinner
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</b>
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</td>
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<td style="text-align:right">
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<i class="icon"><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/pinterest_pinner" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
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</td>
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</table>
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<p style="margin-top: -20px;">
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Publishes all photos from a <a target="_blank" rel="noopener noreferrer" href="http://www.compagniadarmedelsantoluca.it/">selected website</a> into a target Pinterest board using Python3 and the Pinterest API.
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</p>
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</section>
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<hr />
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