SAAS
Topic
Visual localization system for docking manuevers based on on-board camera
Aim of work
Tasks
Supervisor
•
The aim of the work is an overview of visual localization techniques based
on on-board camera of the mobile robot and preparation of the system for
localization for docking manuevers.
• An overview of visual localization techniques using onboard camera.
• Practical implementation of visual localization for mobile wheeled robot
based on on-board camera.
• Tests of prepared system and experimental results analysis.
Dr inż. Marcin Kiełczewski
Guardian
Comments
Topic
Implementation of control algorithms for an underwater vehicle model
Aim of work
Tasks
Supervisor
Brief description of the scope of work:
• Derivation of equations of motion for the underwater vehicle model
(based on the
• literature).
• Short review of the existing and new control methods.
• Implementation of the equations in Matlab/Simulink environment to
perform simulation
• Studies
Dr hab. inż. Przemysław Herman
Guardian
Comments
Initial data:
• report on the modeling and control of the chosen algorithms.
• literature on modeling and control of underwater vehicle and other
vehicles models.
General characteristics of work: The work is a review and simulation study.
Topic
Implementation of control algorithms for an airship model
Aim of work
Tasks
Brief description of the scope of work:
• Derivation of equations of motion for the airship model (based
on the literature).
• Short review of the existing and new control methods.
•
Supervisor
Implementation of the equations in Matlab/Simulink
environment to perform simulation
• Studies
Dr hab. inż. Przemysław Herman
Guardian
Comments
Topic
Initial data:
• report on the modeling and control of the chosen algorithms.
• literature on modeling and control of underwater vehicle and other
vehicles models.
• Studies
General characteristics of work: The work is a review and simulation study.
Implementation of control algorithms for an airship model
Aim of work
Tasks
Supervisor
Brief description of the scope of work:
• Derivation of equations of motion for the airship model (based
on the literature).
• Short review of the existing and new control methods.
• Implementation of the equations in Matlab/Simulink
environment to perform simulation
Dr hab. inż. Przemysław Herman
Guardian
Comments
Initial data:
•
report on the modeling and control of the chosen algorithms.
•
literature on modeling and control of airships and other vehicles
models.
General characteristics of work: The work is a review and simulation study.
Topic
Implementation of optimal control algorithm for unicycle
Aim of work
Control of a two-wheeled robot (unicycle type) position with use of optimal control
algorithm.
Tasks
Supervisor
Guardian



review of optimal controllers for unicycle robot
preparation of a software for a chosen unicycle
implementation of a chosen control algorithm for unicycle and realization of
movement tests
Dr inż. Bartłomiej Krysiak
Comments
Topic
Human-Inspired Control of Bipedal Walking Robots
Aim of work
Aim of this work is to collect real data from a walking human using OptiTrack
system available at Chair of Control and Systems Engineering. Based on these
data one has to parameterise them using some angles. Next a stable gait can be
produced and realized in control algorithm of bipedal walking robot. This work
requires skills both in experiments and theory. To realize this work full support
will be provided and some initial results are available.
Tasks
Supervisor
Prof. dr hab. inż. Krzysztof Kozłowski
Guardian
Comments
Topic
Control of a flying one-leg robot.
Aim of work
Aim of this is to develop control output regulation algorithm for a one leg-flying
robot. This work requires both theoretical and experimental skills. To realize this
work full support will be provided and some initial results are available.
Tasks
Supervisor
Prof. dr hab. inż. Krzysztof Kozłowski
Guardian
Comments
Topic
Formation Control of NonholonomicVehicles
Aim of work
Aim of this work is to study distributed control of a system of mobile robots.
Control algorithms are based on a small gain approach. It requires skills in
simulation using MATLAB and experiments using robots available at Chair of
Control and Systems Engineering. Radio communication software within
framework of the thesis will be developed. To realize this work full support will
be provided and some initial results are available.
Tasks
Supervisor
Guardian
Prof. dr hab. inż. Krzysztof Kozłowski
Comments
Topic
Control of mobile robot formation under inconsistent measurements.
Aim of work
Aim of this work is to develop control algorithms of a set of mobile robots
assuming that position measurements are available based on OptiTrack system.
Robots are supposed to move in environment in which static obstacles are
presents. This work requires skills in both in theory and experiments. To realize
this work full support will be provided and some initial results are available.
Tasks
Supervisor
Prof. dr hab. inż. Krzysztof Kozłowski
Guardian
Comments
Topic
Control of a car-like vehicle using transverse functions.
Aim of work
Analysis of a controller using transverse functions based on simulations and
experiments. Application of the controller in practice.
Tasks
Supervisor
Dr inż. Dariusz Pazderski
Guardian
Comments
Topic
Design of miniature light manipulator for surgery purposes
Aim of work
Design of a mechanical and control elements of light miniature manipulator for
usage in medical surgery.
Tasks





Supervisor
Guardian
review of existing miniature manipulative robots’ constructions and control
techniques
design of a mechanical structure of miniature light manipulator
design of a movement control algorithm
fabrication of designed system
realization of exemplary movement tests
Dr inż. Bartłomiej Krysiak
Comments
Topic
Control algorithm for support of manual movement control for a
quadrocopter
Aim of work
Design of a control algorithm for a quadrocopter for supporting of a manual
position control
Tasks



Supervisor
review of control algorithms used for control of quadrocopters
simulations with use of chosen control algorithm in a case of supported
manual control of quadrocopter (i.e. automatic stabilization of a tilt)
experimental test with use of quadrocopter
Dr inż. Bartłomiej Krysiak
Guardian
Comments
Topic
Probabilistic methods in sensor integration
Aim of work
Tasks
Theoretical background
Bayesian method
Kalman filter
Particle filter
other methods
2. Experimental results
1.




Supervisor
Dr Magdalena Szymkowiak
Guardian
Comments
Topic
Multiple mobile robot control in the environment with non-convex static
obstacles.
Aim of work
Tasks
Supervisor
Guardian


review of the existing control algorithms,
implementation of the method,
test for different scenarios.
Dr inż. Wojciech Kowalczyk
Comments