395 lines
15 KiB
HTML
395 lines
15 KiB
HTML
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<li><a href="index.html">Home</a></li>
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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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<ul class="icons">
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<li>
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<a
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target="_blank"
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rel="noopener noreferrer"
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href="https://www.linkedin.com/in/m-tartari/"
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href="https://github.com/m-tartari"
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<a href="#one" class="goto-next scrolly">Next</a>
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</section>
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<!-- One -->
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<section id="one" class="spotlight style1 bottom">
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<span class="image fit main">
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<img src="images/thesis.jpg" alt="" />
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</span>
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<div class="content">
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<div class="container">
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<div class="row">
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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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</header>
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</div>
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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
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controlled by voice. Firstly a preliminary analysis of the
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state of art of human-robot interaction has been conducted.
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Then, an analysis of the equipment selected took place, and,
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later, appropriate methodologies for voice recognition and
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user detection have been evaluated for this specific case.
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Finally, an overview of the complete software architecture of
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the system was given with three possible structures and their
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comparison. The results obtained show both the feasibility of
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using low power boards and some of their limitations.
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<em
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>(research publication available
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<a
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target="_blank"
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rel="noopener noreferrer"
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href="https://doi.org/10.1007/978-3-030-58380-4_7"
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><em>here</em></a
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>).</em
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>
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</p>
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</div>
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</div>
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</div>
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</div>
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<a href="#two" class="goto-next scrolly">Next</a>
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</section>
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<!-- Two -->
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<section id="two" class="spotlight style2 right">
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<span class="image fit main"
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><img src="images/recharge_car.png" alt=""
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/></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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></i
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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 prove the possibility to design an
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autonomous mobile robot whose task was to recharge electric cars in
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a parking lot. This was done by the means of a simulation, using the
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Gazebo simulator and a ROS based software architecture to control
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both the cars and the mobile robot. We also simulated a world with a
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gas station and a small parking lot, consisting of four parking
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spots, to give an idea of the possible environment in which the
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robot could be used.
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</p>
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<li><a href="#" class="button">Learn More</a></li>
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</section>
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<!-- Three -->
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<section id="three" class="spotlight style3 left">
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<span class="image fit main bottom"
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><img src="images/self_loc.jpg" alt=""
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/></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
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target="_blank"
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rel="noopener noreferrer"
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href="https://github.com/m-tartari/ekf_matlab"
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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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For this project we worked with the data retrieved from a
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differential drive robot for its localization in a certain area by
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the means of the Extended Kalman filter (EKF). A first step included
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the development of a Kalman Filter for the self-localization. This
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has been then improved by implenting an Extended Kalman Filter that
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allowed to reduce. Finally a comparison in performance of the two
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has been done.
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</p>
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</div>
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<a href="#four" class="goto-next scrolly">Next</a>
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</section>
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<section id="four" class="spotlight style2 right">
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<span class="image fit main"
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><img src="images/PVTOL.jpg" alt=""
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/></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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<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://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
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nonlinear system (based on the model of a PVTOL aircraft), using the
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proper approach depending on the range of settings given in the four
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subsequent tasks. This shows the various theories and which is to be
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preferred over to the others, according to the situation to deal
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with.
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</p>
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<!-- <ul class="actions">
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<li><a href="#" class="button">Learn More</a></li>
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