Available Thesis

List of available Thesis

In the following the students can find some proposal of actually available thesis. Students can select their interesting thesis argument simply by sending an e-mail to Dr. Andrea Bonci (see "contacts"). Each proposal, in the field "Thesis type", shows if the argument is appropriate for a Bechelor Thesis or a Master Thesis, if both tipology are showed it means that the activity can be partially developed for Bechelor Thesis and in full for Master Thesis.

Title: Real-time control of quadrotor aerial vehicles Category : Flying Robots Thesis Type : Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to achieve high-performance maneuvers with a quadrotor helicopter using a real-time control. The given mathematical model of the quadrotor will be the base of this work. The low-level and/or high-level control strategy need to be developed
Title : Dynamical Model of Legged Robots Category : Logged Robotics Thesis Type : Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to investigate the dynamical model of a quadrupedal legged robot with terrain perception capabilities and to make a basically control of a legged robot
Title : Modeling and Control of a mobile robot able to balance itself on a single Ball Category : Balancing Robots Thesis Type : Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to analyze the robot balancing on a ball and to design a specific controller for it. The controller is going to be designed to ensure a highly dynamic and maneuverable motion of the robot. In order to achieve high performance the controller will be implemented to the linear way. Three (or at least two) different control loops are needed to guarantee full performance: Acceleration (Angle) control: Inputs signals are the body angles, neglect position Velocity control: Input signal is velocity (speed and direction), neglect position Position control: Input signals are the relativ position and the maximum speed
Title : Modeling and Control of a self-balancing autonomous bicycle Category : Autonomous vehicles Thesis Type : Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to develop a new dynamic model of a bicycle from the perspective of its control and also to design a basic specific controller. The controller is going to be designed to ensure not only the self balancing as far as the highly maneuverable motion of the bicycle. In order to achieve high performance of the vehicle the controller will be implemented initially to the linear way.
Title : Development of Dynamic Model and control of a Ducted Fan VTOL UAV Category: Flying Robots Thesis Type: Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to develop the dynamic model of the Ducted-Fan VTOL UAV and to design its specific controller. The propeller of the VTOL is a coaxial counter rotors combined with fixed- wings. It is not only designed to take-off and land vertically, but it can also hover as a helicopter.
Title : Model and control of a single leg hopping Robot Category : Legged Robotics Thesis Type : Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to model a single leg hopping robot wich is able to balance and moves itself on a flat floor. It allows to augment skills on low-level control system, high level supervisory control and postural controllers, the project will cover nearly every aspect of legged robotic locomotion.
Title : Embedded control system of a single leg hopping Robot Category : Legged Robotics Thesis Type : Tirocinio Triennale (Bachelor Thesis), Tirocinio Magistrale (Master Thesis)
	Description: The goal of the project is to develop the embedded autonomous controller of a single leg hopping robot wich is able to self-balancing and to moves itself on a flat floor. The variation of tasks in this project allows to acquire skills on design and programming of embedded control systems, mechanical and electronic adaptations capability, implementation of a low-level control, and capability to evaluate postural controllers, the project will cover nearly every aspect of legged robotic locomotion.
Title : Embedded control system of an autonomous bicycle Category : Autonomous Vehicles Thesis Type : Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to improve the embedded autonomous controller of an autonomous bicycle wich is able to self-balancing and to moves itself without the rider. The tasks in this project allows to acquire skills on embedded control systems, mechanical and electronic adaptations capability, implementation of a low-level and high-level control.
Title : Embedded control system of Ducted-Fan aerial vehicle Category : Aerial Vehicles Thesis Type : Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to improve the embedded autonomous controller of a Ducted-Fan VTOL UAV wich makes able this aerial vehicle to fly in a free space. The tasks in this project allows to acquire skills on embedded control systems, electronic adaptations capability, implementation of a low-level and high-level control.
Title : Embedded control system of a mobile robot balanced on a single Ball Category : Balancing Robots Thesis Type : Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to develop the embedded autonomous controller of a robot balancing on a ball wich is able to self-balancing and to moves itself autonomously. The variation of tasks in this project allows to acquire skills on embedded control systems, mechanical and electronic adaptations capability, motors control, sensor measurements for control pourposes, implementation of a low-level and high-level control.
Title : Embedded control system of qudrotor aerial vehicles Category : Aerial Vehicles Thesis Type : Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to improve the embedded autonomous controller of a Quadrotor UAV and to makes it able to fly in a free space. The tasks in this project allows to acquire skills on embedded control of aerial systems, mechanical and electronic adaptations capability, wireless communication, implementation of a low-level and high-level control.
Title : Embedded control system of an autonomous two wheels self-balancing mobile robot Category : Balancing Robots Thesis Type : Bachelor Thesis (Tirocinio Triennale), Master Thesis (Tirocinio Magistrale)
	Description: The goal of the project is to develop the embedded autonomous controller of a robot balancing on two wheels (Segway like) wich is able to self-balancing and to moves itself on a flat floor. The variation of tasks in this project allows to acquire skills on embedded control systems, mechanical and electronic adaptations capability, implementation of a low-level and high-level control.
Title : Android smartphone application for wireless control of autonomous robots Category: Smartphone Wireless Control Thesis Type : Bachelor Thesis (Tirocinio Triennale)
	Description: The goal of the project is to develop an application on Android smartphones that is able to subtitute the more used joystick or radiocontroller for control planning pourposes of an autonomous robot. The app will be used for real time planning of the vehicle movements, it will be able to use most of the sensors of an Android Smatphone. The tasks in this project allows to acquire skills on android programming, wireless communications and inertial sensors knowledge, all of these used for control pourposes.
Title : DC Motor Control Category: Motor Control Thesis Type : Bachelor Thesis (Tirocinio Triennale)
	Description: The goal of the project is to develop an embedded control of a DC motor, the controller must be able to control all the parameters of the DC motor as the velocity, the position and the current. The tasks in this project allows to acquire skills on the control of a DC Motor, one of the more used motor on the actuators market .
Title : Camera Vision for autonomous vehicles Category: Camera Vision Thesis Type : Bachelor Thesis (Tirocinio Triennale)
	Description: The goal of the project is to develop the video image processing and transmission of a serial camera installed on autonomous vehicles. The images produced by the vehicle's cameras have a wide field of view. The appearance of an object traveling across one of these images changes significantly due to the lens distortion. This poses a major challenge for localization and mapping problems. The tasks in this project allows to improve skills on video camera image processing and localization.