Available theses (October 2012) MERLIN Group

Transcription

1 Available theses (October 2012) MERLIN Group Politecnico di Milano - Dipartimento di Elettronica e Informazione

2 MERLIN Group 2 Luca Bascetta bascetta@elet.polimi.it Gianni Ferretti ferretti@elet.polimi.it Gianantonio Magnani magnani@elet.polimi.it Paolo Rocco rocco@elet.polimi.it Andrea Zanchettin zanchettin@elet.polimi.it + Giovanni Buizza Avanzini, Nicola Ceriani, Amir Ghalamzan, Matteo Pirotta, Matteo Ragaglia, Antonio Valsecchi (PhD students)

3 MSc Theses at Politecnico di Milano 3 Expected effort Tesi 6 months full time Tesina 3 4 months full time Reviewer required Maximum increment for the final grade yes 7/110 (*) 8/110 (^) (*) Automation, Comp. Science, Electron. Eng. students (^) Mechanical Eng. students no 4/110 (*) 5/110 (^) (*) Automation, Comp. Science, Electron. Eng. students (^) Mechanical Eng. students

4 Safe Human-Robot Interaction (Safe HRI) 4

5 SAFE HRI Thesis 1 5 Safety-oriented control of human-like redundant manipulators methodologies to classify human-like trajectories for dual arm robots exist 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)? results will be applied to FRIDA prototype

6 SAFE HRI Thesis 2 6 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 humanlike collision free trajectories? results will be applied to FRIDA prototype

7 SAFE HRI Thesis 3 7 Collision avoidance strategies for dual arm manipulators collision avoidance strategies have been designed for single arm industrial robots a dual arm robot prototype is available in our lab how can we design a collision avoidance strategy that exploits and takes into account the presence of two arms? results will be applied to FRIDA prototype

8 SAFE HRI Thesis 4 8 Robot and obstacles representation for online motion planning efficient representations of 3D objects suitable for realtime purposes online adaptation of robot motion to avoid potential collisions application to ABB IRB140 robot

9 Intention estimation Thesis 1 9 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?

10 Intention estimation Thesis 2 10 Estimating the human intention: a Kalman filtering approach we have already studied the intention estimation problem (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 are we able to predict where humans are heading to, using Kalman filters based on our planner?

11 Dual arm robots Thesis 1 11 Human-like redundancy resolution during bimanual manipulation natural exploitation of kinematic redundancy during in-hand manipulation development of a model aimed at describing the redundancy resolution of human beings during twohanded manipulation possible implementation on FRIDA

12 Dual arm robots Thesis 2 12 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?

13 Industrial operations with force control 13 Robotized deburring of wheels

14 Force control Thesis 1 14 Walk-through programming of robots (manual guidance) we have developed a methodology for manual guidance of robots the method has still some problems when in contact with the environment how can we design a manual guidance which can discriminate between programming forces and contact forces? application on robot COMAU Smart Six

15 Force control Thesis 2 15 Force control (vision guided) during a robotic operation like deburring or contour following 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) can we design a high bandwidth force controller in spite of the mechanical resonances of the robot? application to COMAU Smart Six

16 Force control Thesis 3 16 Sensor-less manual guidance w/o detuning of the integral action manual guidance usually requires a F/T sensor or to detune the integral action in the position/velocity controller if a model of the robot is available, residual torques (due to interaction) can be estimated estimated reaction torques can then exploited to implement an admittance controller (making the robot compliant to external forces) application on robot COMAU Smart Six PID Robot Robot model

17 Force control Thesis 4 17 Teaching a task to an industrial robot new programming paradigms where the robot autonomously learns a task through observations open loop learning: extract as much as possible information from a set of observations closed loop learning: using minimal needed sensors, define a metric for a specific task in order to adapt and repeat the task for slightly different production shape application to COMAU Smart Six Teaching samples Open loop learning Closed loop learning Deburring example produced samples

18 QUADRIVIO project 18 Autonomous drive of an ATV (All Terrain Vehicle)

19 Quadrivio Thesis 1 19 ATV anti-rollover systems we have an instrumented ATV in our lab we have already studied the roll/tip-over problem the ATV roll/tip-over problem is extremely important for human and automatic riders as well what 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?

20 Quadrivio Thesis 2 20 Laser scanner stabilization the ATV is instrumented with an IMU and two laser scanners the laser scanner detects objects from 1 to 10 m far from the vehicle vehicle roll/pitch can induce large errors in laser measurements how can we estimate the vehicle roll/pitch and stabilize the laser scanner measurements?

21 Quadrivio Thesis 3 21 ATV tracking controller we have an instrumented ATV in our lab throttle, brake and steer can be remotely actuated we want to make it partly 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)?

22 HDD Thesis 1 22 Sliding mode control of a hard disk drive both the spindle motor and the voice coil motor in HDD may generate acoustic noise this problem has been tackled before with traditional control schemes we want now to use sliding mode control techniques work in cooperation with a major manufacturer of electronic devices, with application to an instrumented device

23 Shimmy in bicycles Thesis 1 23 Analysis of shimmy in a professional racing bicycle shimmy is a bicycle (or motorcycle) dynamic instability involving oscillations of the steering assembly at frequencies too high for pilot reaction. shimmy may unexpectedly arise at high speed and may be frightening and dangerous. despite the efforts of many researchers the conditions (bicycle geometry, stiffness and compliances, rider behaviour, ) causing the onset of shimmy are not known. investigating such conditions is the aim of the thesis, based on experimental data, kinematics and dynamics model, and nonlinear dynamics analysis tools.