Recap of the folders in this repository
Master's degree thesis [ENG]
- Uppaal
- C
- C ++
Robotic applications in service sectors such as hospitals, home care and education are rapidly becoming a basic technology as they can support people in need of care in a wide variety of tasks. Their use poses several ethical and technological questions. The scientific community wonders how service robotics can be a step forward in human care and help, and how robotic care systems can be built where the human is the main subject. Therefore, there is a growing demand for frameworks that support robotic application designers in a "human-aware" development process. Politecnico di Milano has developed a framework for the development of robotic applications in service environments that can manage the unpredictability of human behaviour. The framework presents a formal model of human beings with a probabilistic formulation of free will, to make sure that they can ignore robot instructions or make autonomous decisions. This thesis project illustrates the formalization of a more sophisticated human decision-making process based on the theory "Layered Reference Model of the Brain ", to be added to pre-existing human models so that the pre-existing framework can manage the unpredictability of human beings cognitively. This model has been made accessible to potential users through integration with the framework’s automatic model generator. In addition, the model has been compared with the current one through the formal verification of a significant human-robot interaction. The effects of the new parameters introduced have also been analyzed, which can describe new human behaviours, for example, if a human being is more determined or more distracted, extending the results obtained through the formal verification of a scenario.
I'm working on it, the project is not finished
ball_and_beam_control [ENG] (team-work)
- MatLab
- Simulink
Development of different controllers (LQR,LQG,Pole-placement,PID,MPC) for the "ball and beam model".
- C3R_ACL_report : report describing all the passages and choices taken during the development with the related results
- at this moment,I do not have the matlab and simulink files of the code to share to you.
- Solidworks
- Gazebo
- Rviz
- ROS
Creation of a URDF using Solidworks and insertion of the model in ROS using Gazebo-Rviz for visualization
- [barchelor's degree thesis](barchelor's degree thesis/barchelor's degree thesis.pdf): pdf file, explain all the work
- Matlab
- Simulink
Control of an irrigation channels system with different control structures (centralized, decentralized, distributed)
- report_dc_motor_separately_excited, pdf file, description of the project
- demd_e2_dcMotor_separatelyExcited : Matlab file, compile it to initialize the data needed for the controller in the simulink file.
- demd_dcMotor_separatelyExcit_f1 : Simulink file, simulate the dc motor-controller model
- Matlab
Control of an irrigation channels system with different control structure (centralized, decentralized, distribuited)
- 26_IrrigationChannel : pdf file, detailed description of the system and the objectives of the work
- mainMAT26IrrigationChannel_v3 : Matlab file, main of the project
project_robotics_1 [ENG]
- ROS
- rviz
- PlotJuggler
- Clion
- Oracle virtualBox
Computation of the odometry (Euler, Runge-Kutta), and wheel control speed of an omnidirectional robot, starting from different bags.
- Project1 : pdf file, detailed description of the objectives of the project
- instructions: txt file, detailed description of all the files of the project and how to launch it
- launch->project_1.launch: launch file
project_robotics_2 [ENG]
- ROS
- rviz
- PlotJuggler
- Clion
- Oracle virtualBox
write the launch files:
- to create the enviroment map (from a bag);
- to perform the amcl based localization (from a bag); and write a service to save an image with the map and the trajectory of the robot (omnidirectional one)
- Second Project 2022 : pdf file, detailed description of the project objectives
- instructions : txt file, detailed description of all the files of the project and how to launch it
- launch : folder, all the files used to launch it
project_software_engineering [ENG] (Team-work)
- StarUMl
- Oracle virtualBox
- Microsoft studio code - Clion
- Python
- Html
- Django
Phases of designing an application and basic development
- se_ukraine_finder_final_report: pdf file, detailed description
- SE_slide_presentation : pdf file, presentation
trajectory_tracking_drone [ENG] (Team - work)
- MatLab
Optimal trajectory tracking if a quadcopter along a race-track
- project_presentation_drone: pdf file, presentation
- Report: pdf file, detailed description
- Codice: folder , collection of all code files
Collection of personal projects done to improve and maintain the code skills