Michele Tartari
388 lines
15 KiB
HTML
388 lines
15 KiB
HTML
<!DOCTYPE HTML>
|
||
<html>
|
||
<head>
|
||
<title>Michele Tartari - Projects</title>
|
||
<meta charset="utf-8" />
|
||
<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>
|
||
</head>
|
||
<body class="is-preload">
|
||
<div id="page-wrapper">
|
||
|
||
<!-- Header -->
|
||
<header id="header">
|
||
<h1 id="logo"><a href="index.html">Michele Tartari</a></h1>
|
||
<nav id="nav">
|
||
<ul>
|
||
<li><a href="index.html">Home</a></li>
|
||
<li>
|
||
<a href="projects.html">Projects</a>
|
||
<ul>
|
||
<li><a href="projects.html#robotics">Robotics</a></li>
|
||
<li><a href="projects.html#engineering">Engineering</a></li>
|
||
<li><a href="projects.html#hobbies">Hobbies</a></li>
|
||
<!-- <li><a href="projects.html#other">Others</a></li> -->
|
||
</ul>
|
||
</li>
|
||
<li><a href="curriculum.html">Curriculim</a></li>
|
||
<li><a href="contacts.html" class="button primary">Contact me</a></li>
|
||
</ul>
|
||
</nav>
|
||
</header>
|
||
|
||
<!-- Main -->
|
||
<div id="main" class="wrapper style1">
|
||
<div class="container">
|
||
<header class="major">
|
||
<h2>Projects</h2> <!--
|
||
<p>Ipsum dolor feugiat aliquam tempus sed magna lorem consequat accumsan</p> -->
|
||
</header>
|
||
|
||
<!-- Content -->
|
||
<section id="robotics">
|
||
<h2 style="color: #e44c65;">Robotics</h2>
|
||
<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>
|
||
|
||
<!-- Master Thesis -->
|
||
<table>
|
||
<td><b>Voice Controlled Mobile Robot for Indoor Applications</b></td>
|
||
<td style="text-align:right">
|
||
|
||
<i class="icon"><a 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>
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
This thesis proposes a design from scratch for a small mobile robot controlled by voice using ROS.
|
||
The results obtained show both the feasibility of using low power boards and some of their limitations.
|
||
(Research publication in preparation)
|
||
</p>
|
||
|
||
<!-- Recharge Electric Car -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Recharging Electric Cars with a Mobile Robot
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
|
||
<i class="icon"><a 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>
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
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 in simulation, using the Gazebo and ROS.
|
||
</p>
|
||
|
||
<!-- EKF Matlab -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Mobile Robot Self-Localization
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
|
||
<i class="icon"><a 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>
|
||
|
||
<i class="icon"><a href="https://github.com/m-tartari/ekf_matlab" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
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).
|
||
</p>
|
||
|
||
<!-- Biorobotics -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Onychophora-Inspired Firefighting Robot
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
|
||
<i class="icon"><a href="https://drive.google.com/open?id=1a_ZvgaQjzvedeo296zrDpdvNL_VJDWTX" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
|
||
|
||
<i class="icon"><a href="https://github.com/m-tartari/firebot" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
This project proposes a conceptual design for a firefighting robot suitable for indoor environments by taking inspiration from the biological world.
|
||
</p>
|
||
|
||
<!-- DESRO -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
3RRR Planar Parallel Manipulator
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
|
||
<i class="icon"><a href="https://drive.google.com/open?id=11lCJM3EjVsua379BKD5NcEDHQLL4jdQn" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
|
||
|
||
<i class="icon"><a href="https://github.com/m-tartari/3RRR_planar_parallel_manipulator" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
This project concerns the design and optimization of a 3RRR planar parallel manipulator using MATLAB and CATIA
|
||
</p>
|
||
|
||
<!-- OPTEC -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Point-to-Point Trajectory Optimization
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
|
||
<i class="icon"><a href="https://drive.google.com/open?id=11m7r7fLda_jpDEZ-9qAWvnfRN2kLkhlA" class="icon alt far fa-file-pdf"><span class="label">Slideshow</span></a></i>
|
||
|
||
<i class="icon"><a href="https://github.com/m-tartari/simple_trajectory_optimization" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
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.
|
||
</p>
|
||
|
||
<!-- SOFAR -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Simple Swarm
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
<i class="icon"><a href="https://github.com/m-tartari/simple_swarm" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
Simple simulation and visualization of swarms of differential drive robots following a leader. Developed using C++ and ROS.
|
||
</p>
|
||
|
||
<!-- ARPRO-IRP -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Industrial Robot Programming
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
<i class="icon"><a href="https://github.com/m-tartari/industrial_robot_programming" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
Industrial Robot Programming using VAL II and V+ tested on a PUMA and a RX90 robots.
|
||
</p>
|
||
|
||
<!-- MOBRO -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Modelling and Control of Manipulators
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
<i class="icon"><a href="https://github.com/m-tartari/modelling_and_control_of_manipulators" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
This contains several projects regarding modelling and control of various manipulators using MATLAB, Simulink and ADAMS.
|
||
</p>
|
||
</section>
|
||
<hr />
|
||
|
||
<!-- Engineering Projects -->
|
||
<section id="engineering">
|
||
<h2 style="color: #e44c65;">Engineering</h2>
|
||
<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>
|
||
|
||
<!-- Tongji Theis -->
|
||
<table>
|
||
<td><b>Solar Panel Fault Detection Method Based on Infrared Image Processing</b></td>
|
||
<td style="text-align:right">
|
||
|
||
<i class="icon"><a 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>
|
||
<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>
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
My Chinese bachelor thesis that proposes a method to detect malfunctioning solar panels by processing thermal images using MATLAB.
|
||
</p>
|
||
|
||
<!-- Unibo Thesis -->
|
||
<table>
|
||
<td><b>Design of a Testing Machine for Flexure Hinges</b></td>
|
||
<td style="text-align:right">
|
||
|
||
<i class="icon"><a 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>
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
My Italian bachelor thesis that proposes a design from scratch of a machine for the empirical characterization of flexure hinges.
|
||
</p>
|
||
|
||
<!-- NOLCO -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Control of a Nonlinear System
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
|
||
<i class="icon"><a 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>
|
||
|
||
<i class="icon"><a href="https://github.com/m-tartari/modelling_and_control_of_manipulators" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
The aim of this project was to implement control laws for a nonlinear system (based on the model of a PVTOL aircraft).
|
||
</p>
|
||
|
||
<!-- Multi-body -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Multi-Body System’s Kinematic Analysis
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
|
||
<i class="icon"><a 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>
|
||
|
||
<i class="icon"><a href="https://github.com/m-tartari/multi-body-kinematics" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
For this project the kinematic analysis has been performed upon agiven mechanism using MATLAB.
|
||
It has been then validated by comparing it to the ADAMS model of the same mechanism.
|
||
</p>
|
||
|
||
<!-- SIPRO -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Signal Processing
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
<i class="icon"><a href="https://github.com/m-tartari/signal_processing" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
Several Signal processing projects developed using MATLAB.
|
||
</p>
|
||
|
||
<!-- RETSY -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Real Time Systems
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
<i class="icon"><a href="https://github.com/m-tartari/real_time_systems" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
Several real-time systems' projects developed using C++ and OIL, and run using Trampoline RTOS on a Teensy board.
|
||
</p>
|
||
</section>
|
||
<hr />
|
||
|
||
<!-- Hobbies -->
|
||
<section id="hobbies">
|
||
<h2 style="color: #e44c65;">Hobbies</h2>
|
||
<p style="margin-top: -20px;">Here there is a collection of projects related to things I do for fun:</p>
|
||
|
||
<!-- Medieval Furniture -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Medieval Furniture
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
<i class="icon"><a href="https://github.com/m-tartari/medieval_furniture" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
A collection of pdf and CAD models to create late XIV century furniture and medieval camp equipment. These objects are being realized by <a href="http://www.compagniadarmedelsantoluca.it/">Compagnia d'Arme del Santo Luca</a>.
|
||
</p>
|
||
|
||
<!-- Pinterest -->
|
||
<table>
|
||
<td>
|
||
<b>
|
||
Pinterest Pinner
|
||
</b>
|
||
</td>
|
||
<td style="text-align:right">
|
||
<i class="icon"><a href="https://github.com/m-tartari/pinterest_pinner" class="icon brands alt fa-github"><span class="label">GitHub</span></a></i>
|
||
|
||
</td>
|
||
</table>
|
||
<p style="margin-top: -20px;">
|
||
Publishes all photos from a <a href="http://www.compagniadarmedelsantoluca.it/">selected website</a> into a target Pinterest board using Python3 and the Pinterest API.
|
||
</p>
|
||
</section>
|
||
<hr />
|
||
|
||
</div>
|
||
</div>
|
||
|
||
<!-- Footer -->
|
||
<footer id="footer">
|
||
<ul class="icons">
|
||
<li><a href="#" class="icon brands alt fa-linkedin-in"><span class="label">LinkedIn</span></a></li>
|
||
<li><a href="#" class="icon brands alt fa-github"><span class="label">GitHub</span></a></li>
|
||
<li><a href="#" class="icon solid alt fa-envelope"><span class="label">Email</span></a></li>
|
||
</ul>
|
||
<ul class="copyright">
|
||
<li>© Michele Tartari. All rights reserved.</li>
|
||
</ul>
|
||
</footer>
|
||
</div>
|
||
|
||
<!-- Scripts -->
|
||
<script src="assets/js/jquery.min.js"></script>
|
||
<script src="assets/js/jquery.scrolly.min.js"></script>
|
||
<script src="assets/js/jquery.dropotron.min.js"></script>
|
||
<script src="assets/js/jquery.scrollex.min.js"></script>
|
||
<script src="assets/js/browser.min.js"></script>
|
||
<script src="assets/js/breakpoints.min.js"></script>
|
||
<script src="assets/js/util.js"></script>
|
||
<script src="assets/js/main.js"></script>
|
||
</body>
|
||
</html> |