available theses (october 2011)

Available theses (October 2011)

MERLIN Group

Politecnico di Milano - Dipartimento di Elettronica e Informazione

2MERLIN Group

MERLIN Group – Dipartimento di Elettronica e Informa zione

LucaBascetta

[email protected]

GianniFerretti

[email protected]

GianantonioMagnani

[email protected]

PaoloRocco

[email protected]

AndreaZanchettin

[email protected]

+ Nicola Ceriani, Amir Ghalamzan, Gianpaolo Rizzi ….

3MSc Theses at Politecnico di Milano

“Tesi” “Tesina”

Expected effort ≈ 6 months full time

≈ 3÷4 months full time


Reviewer required

yes no

Maximum increment for the final grade

7/110 4/110

4ROSETTA project


5ROSETTA project

CAD production

dataTask

CAD input

Rosetta ObjectivesDual arm robot control -1. Wide and flexible use2. Easy to integrate3. Easy to instruct4. Easy to work with


Knowledgebase

Task

Userinput

6ROSETTA – safety issues

Robot Co-workerCo-operation


HelperCo-existence IntrusionInspector

7ROSETTA – Thesis 1

Sensor fusion in a robotic cell for situation interpretation

� in the ROSETTA cell we will have both supervisory cameras and a sensor distributed along the arms

� how can we fuse the


information coming from these sensors?

� can we answer questions like: there is a human in a certain position near the robot and the most probable impact point is the (head/torso/arms/legs)?


Cooperation, coexistence and interference with robots

� depending on situation interpretation we will enforce a certain safety behaviour of the robot

� the main task will be


suspended, or executed at lower speed exploiting redundancy to reduce danger potential, or the robot will be stopped

� how to select best policies for all these situations?

� results will be demonstrated on the FRIDA prototype


Path planning with obstacle avoidance and human-like motion

� we have developed algorithms for collision free path planning

� we also have a methodology to assign human-like trajectories


to a redundant robot arm� can we combine these

methodologies, having human-like collision free trajectories?

� results will be applied to FRIDA prototype


Safety-oriented control of human-like redundant manipulators

� methodology to classify human-like trajectories are available in the literature

� a sensor-based control


� a sensor-based control algorithm has been recently developed

� can we combine the two approaches (e.g. accounting for non-human-like motion as an additional source of “physiological” danger)?


Human-like redundancy resolution during bimanual manipulation

� natural exploitation of kinematic redundancy during in-hand manipulation

� development of a model


� development of a model aimed at describing the redundancy resolution of human beings during two-handed manipulation

� possible implementation on FRIDA


Resolution of kinematic redundancy

� a Matlab toolbox to customize the redundancy resolution has been deployed

� developing an interface between this toolbox and


between this toolbox and commercial programming tools (e.g. ABB Robot Studio)


Linking a safety controller to a knowledge integration framework

� in ROSETTA a knowledge integration framework (KIF) is being developed, where all the information concerning production and safety will be

Knowledgebase

Task


production and safety will be stored in the form of ontologies

� how can we interface a safety controller to this KIF?

� what are the information we want to retrieve from and store inside the server?


Task-based programming of a robot

� within the ROSETTA project some methodologies have been developed for high-level (task based) programming of robots


� examples have been provided for assembly of small parts

� can we replicate such examples with our own prototype of FRIDA?

15FIDELIO project


Robotized deburring of wheels

16FIDELIO – Thesis 1

Using a camera to characterize a metallic burr

� before deburring the wheel, burr must be localized and characterized

� the deburring tool correct velocity and contact force


depend on the volume of the material to be removed

� how can the robot automatically scan a wheel localizing burrs and measuring their length/thickness?


Programming an industrial robot by human demonstration

� we are developing a methodology for manual guidance

� we will have a human worker


perform a first debur holding the tool at the robot end-effector

� several measurements will be taken

� what are the algorithms to be used for best replication of the human operation?

� demonstration on robot COMAU Smart Six


Hybrid force-vision control

� during the robotic deburringoperation the robot exploits force and vision measurements in order to track the edge

� vision helps in adapting to


rapid curvature variation (the task execution speed can be increased)

� how can we detect the edge to be deburred in realtime?

19Other theses in industrial robotics - Thesis 1

Interfacing new sensors to the robot controllers for demo purposes

� we have in our lab two industrial robots with open controllers

� soon we will have a FRIDA prototype, again with open


controller� there are a lot of new sensors

which can be exploited for demo purposes (Kinect, Wii Mote,…)

� can we make FRIDA replicate our motion, captured by a Kinect?

20QUADRIVIO project


Autonomous drive of an ATV (All Terrain Vehicle)

21Quadrivio – Thesis 1

Virtual rider of an ATV

� we have an instrumented ATV in our lab

� we want to make it partly autonomous with sensor based navigation

� planning the path in a rough


� planning the path in a rough and/or sloping terrain, taking into account the vehicle stability problem is a hard task

� how can the robot find its best path in a rough terrain with obstacles?


ATV tracking controller


� throttle, brake and steer can be remotely actuated

� we want to make it partly autonomous with sensor based


autonomous with sensor based navigation

� how can we design a controller to track a desired path acting on steer, throttle and brake (and ensuring the vehicle stability)?


ATV anti-rollover systems


� we have already studied the roll/tip-over problem

� the ATV roll/tip-over problem is extremely important for human


extremely important for human and automatic riders as well

� which is the best roll/tip-over index?

� are we able to automatically react to an incipient roll/tip-over in order to stabilize the vehicle?

24Intention estimation – Thesis 1

Generation of human walking paths: an optimal control approach

� we have collected a thousand human walking trajectories using MOCAP

� how humans plan their paths?


� do they optimize an energy criterion?

� are we able to find the suitable cost function (of an optimal control problem) to replicate human walking paths?

25Intention estimation – Thesis 2

Estimating the human intention: a Kalman filtering approach

� we have already studied the intention estimation problem in the ROSETTA project (adopting a complex stochastic approach)

� we know how to plan human


walking paths at least in simple environments

� walking people can be tracked by visual systems (as in the ROSETTA project)

� are we able to predict where human are heading to using Kalman filters based on our planner?

26Continuum robots – Thesis 1

Continuum robots: modeling and control

� we have studied modeling and control of flexible manipulators (space robots)

� there is again an increased interest in flexible robotics, in


the context of continuum robots� important examples of

continuum robots are the tools for minimal invasive surgery

� how can we model and control these robots?

27Robotics for kayakers – Thesis 1

A robotic kayak ergometer for intelligent training

� development of a robot-based kayak training machine

� characterization of the paddling motion

� implementation of a


� implementation of a rehabilitation-like human-robot interface

� utilization of the robot as an haptic interface to mimic the paddle/water interaction

available theses (october 2011)

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