332 lines
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332 lines
14 KiB
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<li><a href="projects.html#robotics">Robotics</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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<!-- One -->
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<span class="image fit main"><img src="images/thesis.jpg" alt="" /></span>
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<div class="col-4 col-12-medium">
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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"
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><a
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target="_blank"
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rel="noopener noreferrer"
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href="https://drive.google.com/drive/folders/1Y7TJJN8z1llCkSTnpVHMELD3PqsX8VF9?usp=sharing"
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class="icon alt far fa-file-pdf"
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><span class="label">Slideshow</span></a
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></i
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>
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<i class="fa alt fa-slash fa-stack-1x"></i>
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</i>
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Master Thesis
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</p>
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<div class="col-8 col-12-medium">
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<p>
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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
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interaction has been conducted. Then, an analysis of the equipment selected took place, and, later, appropriate methodologies for voice
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recognition and user detection have been evaluated for this specific case. Finally, an overview of the complete software architecture of the
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system was given with three possible structures and their comparison. The results obtained show both the feasibility of using low power boards
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and some of their limitations.
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<em
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>(research publication available
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<a target="_blank" rel="noopener noreferrer" href="https://doi.org/10.1007/978-3-030-58380-4_7"><em>here</em></a
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>).</em
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>
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</p>
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<span class="image fit main"><img src="images/recharge_car.png" alt="" /></span>
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<div class="content">
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<header>
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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"
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><a
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target="_blank"
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rel="noopener noreferrer"
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href="https://drive.google.com/file/d/1wBfvAzy9N8uChNxNj9Kd_hcvI0Qq3uQj/view?usp=sharing"
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class="icon alt far fa-file-pdf"
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><span class="label">Slideshow</span></a
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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.
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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
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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
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environment in which the robot could be used.
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</p>
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<span class="image fit main bottom"><img src="images/self_loc.jpg" alt="" /></span>
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<div class="content">
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<header>
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<h2>Mobile Robot Self-Localization</h2>
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<p>
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<i class="icon"
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><a
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target="_blank"
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rel="noopener noreferrer"
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href="https://drive.google.com/file/d/1BgPj-fgtYDDEsFHmDk2fGVm7DCPFWEeN/view?usp=sharing"
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class="icon alt far fa-file-pdf"
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><span class="label">Slideshow</span></a
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></i
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>
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<i class="icon"
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><a target="_blank" rel="noopener noreferrer" href="https://github.com/m-tartari/ekf_matlab" class="icon brands alt fa-github"
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><span class="label">GitHub</span></a
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></i
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>
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</p>
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</header>
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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
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Extended Kalman filter (EKF). A first step included the development of a Kalman Filter for the self-localization. This has been then improved by
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implenting an Extended Kalman Filter that allowed to reduce. Finally a comparison in performance of the two has been done.
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</p>
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</section>
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<span class="image fit main"><img src="images/PVTOL.jpg" alt="" /></span>
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<div class="content">
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<header>
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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"
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><a
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target="_blank"
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rel="noopener noreferrer"
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href="https://drive.google.com/file/d/1TE3TWkXZjVq8OuBkLl497c_MQSs3MiLQ/view?usp=sharing"
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class="icon alt far fa-file-pdf"
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><span class="label">Slideshow</span></a
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></i
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>
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target="_blank"
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rel="noopener noreferrer"
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href="https://github.com/m-tartari/modelling_and_control_of_manipulators"
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class="icon brands alt fa-github"
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><span class="label">GitHub</span></a
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></i
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>
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</p>
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</header>
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<p>
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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
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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
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others, according to the situation to deal with.
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</p>
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