Michele Tartari
247 lines
12 KiB
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247 lines
12 KiB
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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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<li><a href="projects.html#robotics">Robotics</a></li>
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<li><a href="contacts.html" class="button primary">Contact me</a></li>
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<!-- <h2>Michele Tartari</h2>
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<h3>Robotics Engineer</h3>-->
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<h2>Robotics Engineer</h2>
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<p>See some of my works below. Send a message to get in touch.</p>
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<ul class="icons">
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<li><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>
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<li><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>
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<span class="image fit main"><img src="images/thesis.jpg" alt="" /></span>
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<header>
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<h2>Voice Controlled Mobile Robot for Indoor Applications</h2>
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<p>
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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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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.
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Finally, an overview of the complete software architecture of the system was given with three possible structures and their comparison.
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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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<em>(Research publication in preparation)</em>
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<span class="image fit main"><img src="images/recharge_car.png" alt="" /></span>
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<h2>Recharging Electric Cars with a Mobile Robot</h2>
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<p>
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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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<p>
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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. 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.
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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.
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<span class="image fit main bottom"><img src="images/self_loc.jpg" alt="" /></span>
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<h2>Mobile Robot Self-Localization</h2>
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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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<p>
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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).
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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.
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Finally a comparison in performance of the two has been done.
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<span class="image fit main"><img src="images/PVTOL.jpg" alt="" /></span>
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<h2>Control of a Nonlinear System (PVTOL aircraft)</h2>
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<p>
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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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</p>
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</header>
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<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>
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