The course provides the basic elements of two of the pillars of Industry 4.0: Mobile Robotics and Mixed Reality using concepts of both measurement (Perception) and planning / control (Action). As for mobile robotics, the theoretical bases of the methods of localization, kinematics, planning and control of the path with robotic vehicles As for the Mixed Reality, the technological and cognitive bases are illustrated together with the main software tools (Unity) and hardware ( different sensors such as time-flight, electromyographic, physiological cameras, eye trackers, etc.).
Interactive lesson – Alessandro Assirelli Program 1. Introduction to optimal control and how can we solve it 2.CasADi (click here: intro_casadi) 3. Trajectory optimization 4. MPC (click here: Main_OCP) YOU CAN DOWNLOAD ALL THE MATLAB CODES HERE
Some preliminary indications Here the main points for the mobile robot simulator to be developed in Unity: Build a realistic mobile robot model. To do so use WheelColliders elements that allow to input torque to each wheel. You can follow…
We have prepared all the necessary materials for acquisitions: encoder of the two wheels gyro velocity output a reference system ground truth to compare your algorithm and eventually optimise parameters Send an email to alessandro.luchetti@unitn.it to schedule a day to…
In the meanwhile take a look at these posts: HERE THE MATERIAL YOU NEED FOR HOMEWORK. Please send an email to alessandro.luchetti@unitn.it to schedule a meeting.
USER EXPERIENCE: An interactive Augmented Reality demo on loaded pallet shape measurement and checking by three simulated Time-of-Flight cameras will be provided to the user wearing a HoloLens 2 head-mounted display. After the pallet enters the scanning area, the point…
In this work, we address the problem of estimating the 6DoF pose of objects in 2D equirectangular images. This challenge allows the transition to the objects’ 3D model from their current pose. In particular, it finds application in the educational…
GOAL A shared Augmented Reality Demo for the daily activity of setting up a table where both a therapist and a patient can interact with visual cues superimposed on the real environment to assess and train the patient performances in…
