Intelligent Materials and Systems Lab - User contributions [en]

Theses in Robotics

2026-01-26T10:39:15Z

Veix: /* List of potential thesis topics */

[[Category:IMS-robotics]]
<div class="toclimit-3">__TOC__</div>
= Projects in Advanced Robotics =
''The main objective of the follwing projects is to give students experience in working with advanced robotics tehcnology. Our group is active in several R&D projects involving human-robot collaboration, intuitive teleoperation of robots, and autonomous navigation of unmanned mobile platforms. Our main software platforms are [http://www.ros.org/ Robot Operating System (ROS)] for developing software for advanced robot systems and [http://gazebosim.org/ Gazebo] for running realistic robotic simulations.'' 
For further information, contact [[User:Karl|Karl Kruusamäe]].

The following is not an exhaustive list of all available thesis/research topics.

== Highlighted theses topics for 2025/2026 study year ==
# [[#Application of VLA (Vision-Language-Action) models in robotics|Application of VLA (Vision-Language-Action) models in robotics]]
# [[#LLM-based task planning for robots|LLM-based task planning for robots]]
# [[#ROBOTONT: analysis of different options as on-board computers|ROBOTONT: analysis of different options as on-board computers]]
# [[#SemuBOT: multiple topics|SemuBOT: multiple topics]]
# [[#ROBOTONT: integrating a graphical programming interface|ROBOTONT: integrating a graphical programming interface]]
# [[#Sign-language-based control for robots|Sign-language-based control for robots]]
# [[#Robotic Study Companion: a social robot for students in higher education|Robotic Study Companion: a social robot for students in higher education]]
# [[#Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle|Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle]]

== List of potential thesis topics ==
Our inventory includes but is not limited to:
<gallery mode="packed">
File:Youbot.png|120px|thumb|KUKA youBot
File:Ur5_left.png|120px|thumb|Universal Robot UR5
File:Franka_Emika_Panda.jpg|120px|thumb|Franka Emika Panda
File:Clearpath_Jackal.jpg|120px|thumb|Clearpath Jackal
File:Kinova_KG-3_Gripper.jpg|120px|thumb|Kinova 3-finger gripper
File:Xarm7.jpg|120px|thumb|UFACTORY xArm7
File:Robotont_banner.png|120px|thumb|robotont
File:Turtlebot3-waffle-pi.jpg|thumb|TurtleBot3
File:Parrot-bebop-2.jpg|thumb|Parrot Bebop 2
</gallery>

<hr>

=== ROBOTONT: Migrating Firmware Architecture to FreeRTOS and Evaluating micro-ROS Integration ===

This thesis continues the firmware development of the ROBOTONT mobile robot by modifying the existing firmware running on an STM microcontroller.
Although the architecture is [https://github.com/robotont/robotont-firmware/blob/v3.0-devel/docs/firmware_design.md modular by design], all components are executed within a single main loop, making extension and long-term maintenance difficult.

The goal of this thesis is to restructure the firmware using FreeRTOS by dividing functionality into separate tasks with defined responsibilities. In addition, the thesis examines whether micro-ROS can be implemented directly on the STM microcontroller to enable ROS-based communication at the firmware level. The work evaluates technical feasibility and resource usage to determine whether this approach is suitable for ROBOTONT.

=== ROBOTONT Lite ===
The goal of this thesis is to optimize ROBOTONT platform for cost by replacing the onboard compute and sensor with low-cost alternatives but ensuring ROS/ROS2 software compatibility.
<hr>

=== ROBOTONT: integrating a graphical programming interface ===
The goal of this thesis is to integrate graphical programming solution (e.g. Scratch or Blockly) to enable programming of Robotont by non-experts. E.g. https://doi.org/10.48550/arXiv.2011.13706
<hr>

=== SemuBOT: multiple topics ===
In 2023/2024 many topics are developed to support the development of open-source humanoid robot project SemuBOT (https://www.facebook.com/semubotmtu/)
<hr>

=== Robotic Study Companion: a social robot for students in higher education ===
Potential Topics:
* Enhance the Robot's Speech/Natural Language Capabilities
* Build a Local Language Model for the RSC
* Develop and Program the Robot’s Behavior and Personality
* Build a Digital Twin Simulation for Multimodal Interaction
* Explore the Use of the RSC as an Affective Robot to Address Students’ Academic Emotions
* Explore and Implement Cybersecurity Measures for Social Robot

[https://github.com/orgs/RobotStudyCompanion/discussions/3 More info on Github] | reach out to farnaz.baksh@ut.ee for more info
<hr>

=== Virtual reality user interface (VRUI) for intuitive teleoperation system ===
[[Image:LeapMotion.png|200px|thumb|right|Detecting 2 hands with Leap Motion Controller]]
Enhancing the user-experience of a virtual reality UI developed by [https://github.com/ut-ims-robotics/vrui_rviz Georg Astok]. Potentially adding [http://www.osvr.org/hardware-devs.html virtual reality capability] to a [https://www.youtube.com/watch?v=L25HHFd00rc gesture- and natural-language-based robot teleoperation system].
 
[[Image:Temoto-working-principle-in-pics.png|x160px|Gesture-based teleoperation]]
<hr>

=== Modeling humans for human-robot interaction ===
True human-robot collaboration means that the robot must understand the actions, intention, and state of its human partner. This work invovlves using cameras and other human sensors for digitally representing and modelling humans. There are multiple stages for modeling: a) physical models of human kinematics and dynamics; b) higher level-models for recognizing human intent. 
[[Image:Skeletal ROS.PNG|x160px|ROS & Kinect & Skeleton-Markers Package]]
<hr>

=== Robotic avatar for telepresence ===
Integrating hand gestures and head movements to control a robot avatar in virtual reality user interface.
<hr>

=== Detection of hardware and software resources for smart integration of robots ===
Vast majority of today’s robotic applications rely on hard-coded device and algorithm usage. This project focuses on developing a Resource Snooper software, that can detect addition or removal of resources for the benefit of dynamic reconfiguration of robotic systems. This project is developed as a subsystem of [https://utnuclearroboticspublic.github.io/temoto2/index.html TeMoto].
<hr>

=== Human-Robot and Robot-Robot collaboration applications ===
Creating a demo or analysis of software capabilities related to human-robot or tobot-robot teams
* human-robot collaborative assembly
* distributed mapping; analysis and demo of existing ROS (e.g., segmap https://youtu.be/JJhEkIA1xSE) packages for multi-robot mapping
* Inaccessible region teamwork
**youbot+drone - a drone maps the environment (for example a maze) and ground vehicle uses this information to traverse the maze
**youbot+robotont - youbot cannot go up ledges but it can lift smaller robot, such as robotont, up a ledge.
<hr>

=== Mirroring human hand movements on industrial robots ===
The goal of this project is to integrate continuous control of industrial robot manipulator with a gestural telerobotics interface. The recommended tools for this thesis project are Leap Motion Controller or a standard web camera, Ultraleap, Universal Robot UR5 manipulator, and ROS.
<hr>

=== ROBOTONT: TeMoto for robotont ===
Swarm-management and UMRF-based task loading for robotont using [https://github.com/temoto-framework TeMoto] framework.
<hr>

=== Enhancing teleoperation control interface with augmented cues to provoke caution===
The task is to create a telerobot control interface where video feed from the remote site and/or a mixed-reality scene is augmented with visual cues to provoke caution in human operator.
<hr>

=== Robot-to-human interaction ===
As robots and autonomous machines start sharing the same space a humans, their actions need to be understood by the people occupying the same space. For instance, a human worker needs to understand what the robot partner is planning next or a pedestrian needs to clearly comprehend the behaviour of a driverless vehicle. To reduce the ambiguity, the robot needs mechanisms to convey its intent (whatever it is going to do next). The aim of the thesis is to outline existing methods for machines to convey their intent and develop a unified model interface for expressing that intent.
<hr>

=== Gaze-based handover prediction ===
When human needs to pass an object to a robot manipulator, the robot must understand where in 3D space the object handover occurs and then plan an appropriate motion. Human gaze can be used as the input for predicting which object to track. This thesis activities involve camera-based eye tracking and safe motion-planning.
<hr>

=== ROBOTONT: Human-height human-robot interface for Robotont ground robot ===
Robotont is an ankle-high flat mobile robot. For humans to interact with Robotont, there is a need for a compact and lightweight mechanical structure that is tall enough for comfortable human-robot interaction. The objective of the thesis is to develop the mechanical designs and build prototypes that ensure stable operation and meet the aesthetic requirements for use in public places.
<hr>

=== Stratos Explore Ultraleap demonstrator for robotics ===
The aim of this thesis is to systematically analyze the strengths and limitations of the Stratos Explore Ultraleap device in the context of controlling a robot. Subsequently implement a demonstrator application for showing off its applicability for robot control.
<hr>

=== Mixed-reality scene creation for vehicle teleoperation ===
Fusing different sensory feeds for creating high-usability teleoperation scene.
<hr>

=== Validation study for AR-based robot user-interfaces ===
Designing and carrying out a user study to validate the functionality and usability of an human-robot interface.
<hr>

=== Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle ===
The goal of this thesis is to develop the methodology for measuring the operator's situation awareness while operating an autonomous urban vehicle. Potential metrics could include driving accuracy, speed, and latency. This thesis will be conducted as part of the activities at the [https://adl.cs.ut.ee Autonomous Driving Lab].
<hr>

=== Sign-language-based control for robots ===
The goal of this thesis is to design and implement the means for interacting with a robot via conventional sign language, i.e. the human can command a robot by using sign language.
<hr>

=== LLM-based task planning for robots ===
The goal of this thesis is to enable high level task planning for autonomous robots for general purpose tasks. The thesis would leverage the LLM's reasoning and TeMoto Action Engine to achieve natural task negotiation, planning, and execution.
<hr>

=== ROBOTONT: Development of CoppeliaSim-based simulation and a digital twin ===
The objective of the thesis is to develop an easy to use simulation for Robotont gen3 using CoppeliaSim (https://www.coppeliarobotics.com/).
<hr>

=== Application of VLA (Vision-Language-Action) models in robotics ===
The goal of this thesis is to apply VLA models to real-world robotics. The thesis project will involve topics related to robots, machine learning, transformers.
<hr>

= Completed projects =
== PhD theses ==
*Robert Valner, [https://hdl.handle.net/10062/105994 Design of TeMoto, a software framework for dependable, adaptive, and collaborative autonomous robots] [TeMoto – töökindlate, adaptiivsete ja koostöövõimeliste autonoomsete robotite arendamise tarkvararaamistik], PhD thesis, 2024
*Houman Masnavi, [https://hdl.handle.net/10062/91394 Visibility aware navigation] [Nähtavust arvestav navigatsioon], PhD thesis, 2023

== Master's theses ==
*Asier Mandiola Arrizabalaga, Haptic-Based Teleoperation of Robots, MS thesis, 2025
*Dāvis Krūminš, Web-based Robotics Lab for Effortless ROS2 Development, MS thesis, 2025
*Julian Rene Leclerc, Natural Language Human-Robot Interaction: A Modular Framework for Conversational Robot Control Using Large Language Models, MS thesis, 2025
*Miriam Calafa’, Designing Multimodal Emotional Expression for a Robotic Study Companion, MS thesis, 2025
*Iryna Hurova, Model-based Planning Using GPU-accelerated Simulator as a World Model, MS thesis, 2025
*Sander Toma Võrk, Elektrooniliste termomeetrite automaatse kalibreerimissüsteemi väljatöötamine ja rakendamine, MS thesis, 2025
*Carl Hjalmar Love Hult, SurfMotion: An Open Source Pipeline for Robotic Pipe Cutting and Welding, MS thesis, 2025
*Paola Avalos Conchas, Socially Aware Planning for Indoor Navigation, MS thesis, 2025
*Robert Allik, Validation of NoMaD as a Global Planner for Mobile Robots, MS thesis, 2024
*Rauno Põlluäär, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79393 Designing and Implementing a Bird’s-eye View Interface for a Self-driving Vehicle’s Teleoperation System] [Isejuhtiva sõiduki kaugjuhtimissüsteemile linnuvaate kasutajaliidese loomine], MS thesis, 2024
*Gautier Reynes, VR-Enhanced Remote Inspection Framework for Semi-Autonomous Robot Fleet, MS thesis, 2024
*Eva Mõtshärg, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=77385 3D-prinditava kere disain ja analüüs vabavaralisele haridusrobotile Robotont] [Design and Analysis of a 3D Printable Chassis for the Open Source Educational Robot Robotont], MS thesis, 2023
*Farnaz Baksh, [https://dspace.ut.ee/items/a7a9cc15-27e9-450c-94e8-3267f0c95c56 An Open-source Robotic Study Companion for University Students] [Avatud lähtekoodiga robotõpikaaslane üliõpilastele], MS thesis, 2023
*Igor Rybalskii, [http://hdl.handle.net/10062/83028 Augmented reality (AR) for enabling human-robot collaboration with ROS robots] [Liitreaalsus inimese ja roboti koostöö võimaldamiseks ROS-i robotitega], MS thesis, 2022
*Md. Maniruzzaman, [http://hdl.handle.net/10062/83025 Object search and retrieval in indoor environment using a Mobile Manipulator] [Objektide otsimine ja teisaldamine siseruumides mobiilse manipulaatori abil], MS thesis, 2022
*Allan Kustavus, [http://hdl.handle.net/10062/72651 Design and Implementation of a Generalized Resource Management Architecture in the TeMoto Software Framework] [Üldise ressursihalduri disain ja teostus TeMoto tarkvara raamistikule], MS thesis, 2021
*Kristina Meister, [http://hdl.handle.net/10062/72350 External human-vehicle interaction - a study in the context of an autonomous ride-hailing service], MS thesis, 2021
*Muhammad Usman, [http://hdl.handle.net/10062/72126 Development of an Optimization-Based Motion Planner and Its ROS Interface for a Non-Holonomic Mobile Manipulator] [Optimeerimisele baseeruva liikumisplaneerija arendamine ja selle ROSi liides mitteholonoomse mobiilse manipulaatori jaoks], MS thesis, 2020
*Maarika Oidekivi, [http://hdl.handle.net/10062/72119 Masina kavatsuse väljendamine ja tõlgendamine] [Communicating and interpreting machine intent], MS thesis, 2020
*Houman Masnavi, [http://hdl.handle.net/10062/72118 Multi-Robot Motion Planning for Shared Payload Transportation] [Rajaplaneerimine multi-robot süsteemile jagatud lasti transportimisel], MS thesis, 2020
*Fabian Ernesto Parra Gil, [http://hdl.handle.net/10062/72112 Implementation of Robot Manager Subsystem for Temoto Software Framework] [Robotite Halduri alamsüsteemi väljatöötamine tarkvararaamistikule TEMOTO], MS thesis, 2020
*Zafarullah, [http://hdl.handle.net/10062/72125 Gaze Assisted Neural Network based Prediction of End-Point of Human Reaching Trajectories], MS thesis, 2020
*Madis K Nigol, [http://hdl.handle.net/10062/64339 Õppematerjalid robotplatvormile Robotont] [Study materials for robot platform Robotont], MS thesis, 2019
*Renno Raudmäe, [http://hdl.handle.net/10062/64341 Avatud robotplatvorm Robotont] [Open source robotics platform Robotont], MS thesis, 2019
*Asif Sattar, [http://hdl.handle.net/10062/64352 Human detection and distance estimation with monocular camera using YOLOv3 neural network] [Inimeste tuvastamine ning kauguse hindamine kasutades kaamerat ning YOLOv3 tehisnärvivõrku], MS thesis, 2019
*Ragnar Margus, [http://hdl.handle.net/10062/64337 Kergliiklusvahendite jagamisteenuseks vajaliku positsioneerimismooduli loomine ja uurimine] [Develoment and testing of a IoT module for electric vehicle sharing service], MS thesis, 2019
*Pavel Šumejko, [http://hdl.handle.net/10062/64320 Robust Solution for Extrinsic Calibration of a 2D Laser-Rangefinder and a Monocular USB Camera] [Meetod 2D laserkaugusmõõdiku ja USB-kaamera väliseks kalibreerimiseks], MS thesis, 2019
*Dzvezdana Arsovska, [http://hdl.handle.net/10062/64321 Building an Efficient and Secure Software Supply Pipeline for Aerial Robotics Application] [Efektiivne ja turvaline tarkvaraarendusahel lennurobootika rakenduses], MS thesis, 2019
*Tõnis Tiimus, [http://hdl.handle.net/10062/60713 Visuaalselt esilekutsutud potentsiaalidel põhinev aju-arvuti liides robootika rakendustes] [A VEP-based BCI for robotics applications], MS thesis, 2018
*Martin Appo, [http://hdl.handle.net/10062/60718 Hardware-agnostic compliant control ROS package for collaborative industrial manipulators] [Riistvarapaindlik ROSi tarkvarapakett tööstuslike robotite mööndlikuks juhtimiseks], MS thesis, 2018
*Hassan Mahmoud Shehawy Elhanash, [http://hdl.handle.net/10062/60711 Optical Tracking of Forearm for Classifying Fingers Poses] [Küünarvarre visuaalne jälgimine ennustamaks sõrmede asendeid], MS thesis, 2018

== Bachelor's theses ==
*Kaarel-Richard Kaarelson, [https://thesis.cs.ut.ee/12b3ed0c-b3c1-473e-ae13-5063fde9850a TeMoto Action Assistant: A Web-Based Human–Robot Interface for Designing UMRF Graphs] [TeMoto Action Assistant: Veebipõhine Inimese ja Roboti Interaktsiooni Tööriist UMRF Graafide Loomiseks], BS thesis, 2025
*Oliver Voorel, Humanoidrobot Semuboti toitesüsteemi uuendamine, BS thesis, 2025
*Karl Rahn, Millimeeterlaine radari integreerimine avatud lähtekoodiga muruniiduki platvormil Open Mower, BS thesis, 2025
*Mattias Mäe, Sõiduki kaugjuhtimise viivituse mõõtmine, BS thesis, 2025
*Jürgen Kottise, Dockeri konteineritel põhinev haldustarkvara Robotont 3 õpperobotile, BS thesis, 2025
*Martin Kaur, Servodel põhinev sotsiaalse robotkäe süsteem SemuBotile, BS thesis, 2025
*Karl-Jürgen Siilak, Mass Portal Grand Pharaoh XD 3D-printeri uuendamine, BS thesis, 2025
*Usman Ali Khan, Graphical programming interface for ROBOTONT, an open-source educational robot, BS thesis, 2025
*Robina Zvirgzdina, Development of an Autonomous Open-Source Inventory Performance Robot for the University of Tartu Library, BS thesis, 2025
*Omar Huseynli, ROS integration for the Semubot robot, BS thesis, 2025
*Albert Unn, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79937 Suhtlusvõimekuse arendamine sotsiaalsele humanoidrobotile SemuBot] [Developing the ability to communicate for SemuBot, a social humanoid robot], BS thesis, 2024
*Veronika-Marina Volynets, [https://hdl.handle.net/10062/99943 Development of Control Electronics and Program for Robotont's Height Adjustment Mechanism] [Juhtelektroonika ja programmi väljatöötamine Robotondi kõrguse reguleerimise mehhanismile], BS thesis, 2024
*Nikita Kurenkov, [https://hdl.handle.net/10062/99880 Flexible Screen Integration and Development of Neck Movement Mechanism for Social Humanoid Robot SemuBot] [Humanoidroboti näo lahenduse leidmine ja rakendamine; humanoidroboti jaoks kaela mehhanismi väljatöötamine], BS thesis, 2024
*Elchin Huseynov, [https://hdl.handle.net/10062/99668 Design and Control of a Social Humanoid Robot - SemuBot’s Hand] [Sotsiaalse Humanoidroboti Disain ja Juhtimine - SemuBoti Käsi], BS thesis, 2024
*Veronika Podliesnova, [https://hdl.handle.net/10062/99636 Real-Time Detection of Robot Failures by Monitoring Operator’s Brain Activity with EEG-based Brain-Computer Interface] [Reaalajas Robotirikke Tuvastamine Operaatori Ajutegevuse Jälgimise teel EEG-põhise Aju-Arvuti Liidese abil], BS thesis, 2024
*Märten Josh Peedimaa, [https://hdl.handle.net/not-yet Rhea: An Open-Source Table Tennis Ball Launcher Robot for Multiball Training] [Avatud lähtekoodiga lauatennise palliviske robot mitmikpall treenimiseks], BS thesis, 2024
*Karl Sander Vinkel, [https://hdl.handle.net/not-yet Laadimisjaama ja transportkesta väljatöötamine õpperobotile Robotont] [Development of charging dock and transport case for Robotont], BS thesis, 2024
*Raimo Köidam, [https://hdl.handle.net/not-yet Valguslahenduse tarkvara väljatöötamine õpperobotile Robotont] [Development of light solution software for the educational robot Robotont], BS thesis, 2024
*Robert Valge, [https://hdl.handle.net/not-yet Toitepinge ja tarbevoolu monitoorimine ning toitehalduse püsivara loomine õpperobotil Robotont] [Monitoring supply voltage and current consumption and creating firmware for Robotont’s power management system], BS thesis, 2024
*Leonid Tšigrinski, [https://hdl.handle.net/not-yet Õpperoboti Robotont püsivara arhitektuuri uuendamine] [Education robot "Robotont" firmware architecture updating], BS thesis, 2024
*Andres Sakk, [https://hdl.handle.net/not-yet Avatud robotplatvormi Robotont 3 kasutajaliidese väljatöötamine] [Development of a user interface for the open robotics platform Robotont 3], BS thesis, 2024
*Kaur Kullamäe, [https://hdl.handle.net/not-yet Elektroonikalahendus ja püsivara robotkäe juhtimiseks sotsiaalsel humanoidrobotil SemuBot] [Building the SemuBot arm electronics system], BS thesis, 2024
*Kristjan Madis Kask, [https://hdl.handle.net/not-yet Käe mehaanika disain sotsiaalsele humanoidrobotile SemuBot] [Arm mechanics design for social humanoid robot SemuBot], BS thesis, 2024
*Sven-Ervin Paap, [https://hdl.handle.net/not-yet ROS2 draiver õpperobotile Robotont] [ROS2 driver for the educational robot Robotont], BS thesis, 2024
*Timur Nizamov, [https://hdl.handle.net/10062/99592 Audio System for the Social Humanoid Robot SemuBot] [Helisüsteem sotsiaalsele humanoidrobotile SemuBot], BS thesis, 2024
*Georgs Narbuts, [https://hdl.handle.net/10062/99554 Holonomic Motion Drive System of a Social Humanoid Robot SemuBot] [Sotsiaalse humanoidroboti SemuBoti holonoomne liikuv ajamisüsteem], BS thesis, 2024
*Iryna Hurova, [https://hdl.handle.net/10062/90638 Kitting station of the learning factory] [Õppetehase komplekteerimisjaam], BS thesis, 2023
*Paola Avalos Conchas, [https://hdl.handle.net/10062/90641 Payload transportation system of a learning factory] [Õppetehase kasuliku koorma transpordisüsteem], BS thesis, 2023
*Pille Pärnalaas, [https://hdl.handle.net/10062/93431 Pöördpõik ajami arendus robotplatvormile Robotont] [Development of swerve drive for robotic platform Robotont], BS thesis, 2023
*Carl Hjalmar Love Hult, [https://hdl.handle.net/10062/90673 Using and Evaluating the Real-time Spatial Perception System Hydra in Real-world Scenarios] [Reaalajas toimiva ruumilise taju süsteemi Hydra kasutamine ja hindamine praktilistes stsenaariumides], BS thesis, 2023
*Priit Rooden, [https://hdl.handle.net/10062/93432 Autonoomse laadimislahenduse väljatöötamine õpperobotile Robotont] [Development of an autonomous charging solution for the robot platform Robotont], BS thesis, 2023
*Marko Muro, [https://hdl.handle.net/10062/93429 Robotondi akulahenduse ning 12 V pingeregulaatori prototüüpimine] [Prototyping battery solution and 12 V voltage regulator for Robotont], BS thesis, 2023
*Danel Leppenen, [https://hdl.handle.net/10062/93427 Nav2 PYIF: Python-based Motion Planning for ROS 2 Navigation 2] [Nav 2 PYIF: Pythoni põhine liikumise planeerija ROS 2 Navigation 2-le], BS thesis, 2023
*Kertrud Geddily Küüt, [https://hdl.handle.net/10062/93424 Kõrgust reguleeriv mehhanism Robotondile] [Height adjusting mechanism for Robotont], BS thesis, 2023
*Ingvar Drikkit, [https://hdl.handle.net/10062/93421 Lisaseadmete võimekuse arendamine haridusrobotile Robotont] [Developing add-on device support for the educational robot Robotont], BS thesis, 2023
*Kristo Pool, [https://hdl.handle.net/10062/93430 MoveIt 2 õppematerjalid] [Learning materials for MoveIt 2], BS thesis, 2023
*Erki Veeväli, [https://hdl.handle.net/10062/93434 Development of a Continuous Teleoperation System for Urban Road Vehicle] [Linnasõiduki pideva kaugjuhtimissüsteemi arendus], BS thesis, 2023
*Aleksandra Doroshenko, [https://hdl.handle.net/10062/93420 Haiglates inimesi juhatava roboti disain] [Hospital guide robot design], BS thesis, 2023
*Hui Shi, [http://hdl.handle.net/10062/83043 Expanding the Open-source ROS Software Pack age opencv_apps with Dedicated Blob Detection Functionality] [Avatud lähtekoodiga ROS-i tarkvarakimbu opencv_apps laiendamine laigutuvasti funktsioonaalsusega], BS thesis, 2022
*Dāvis Krūmiņš, [http://hdl.handle.net/10062/83040 Web-based learning and software development environment for remote access of ROS robots] [Veebipõhine õppe- ja tarkvaraarenduse keskkond ROS robotite juurdepääsuks kaugteel], BS thesis, 2022
*Anna Jakovleva, [http://hdl.handle.net/10062/83037 Roboquiz - an interactive human-robot game] [Roboquiz - interaktiivne inimese ja roboti mäng], BS thesis, 2022
*Kristjan Laht, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=74702&year=2022Robot Localization with Fiducial Markers] [Roboti lokaliseerimine koordinaatmärkidega], BS thesis, 2022
*Hans Pärtel Pani, [http://hdl.handle.net/10062/83008 ROS draiver pehmerobootika haaratsile] [ROS Driver for Soft Robotic Gripper], BS thesis, 2022
*Markus Erik Sügis, [http://hdl.handle.net/10062/83015 Jagatud juhtimise põhimõttel realiseeritud robotite kaugjuhtimissüsteem] [A continuous teleoperating system based on shared control concept], BS thesis, 2022
*Taaniel Küla, [http://hdl.handle.net/10062/83007 ROS2 platvormile keevitusroboti tarkvara portotüübi loomine kasutades UR5 robot-manipulaatorit] [Welding robot software prototype for ROS2 using UR5 robot arm], BS thesis, 2022
*Rauno Põlluäär, [http://hdl.handle.net/10062/72672 Veebirakendus-põhine kasutajaliides avatud robotplatvormi Robotont juhtimiseks ja haldamiseks] [Web application-based user interface for controlling and managing open-source robotics platform Robotont], BS thesis, 2021
*Hendrik Olesk, [http://hdl.handle.net/10062/72664 Nägemisulatuses kaugjuhitava mobiilse robotmanipulaatori kasutajamugavuse tõstmine] [Improving the usability of a mobile manipulator robot for line-of-sight remote control], BS thesis, 2021
*Tarvi Tepandi, [http://hdl.handle.net/10062/72665 Segareaalsusel põhinev kasutajaliides mobiilse roboti kaugjuhtimiseks Microsoft HoloLens 2 vahendusel] [Mixed-reality user interface for teleoperating mobile robots with Microsoft HoloLens 2], BS thesis, 2021
*Rudolf Põldma, [http://hdl.handle.net/10062/72674 Tartu linna Narva maantee ringristmiku digikaksik] [Digital twin for Narva street roundabout in Tartu], BS thesis, 2021
*Kwasi Akuamoah Boateng, [http://hdl.handle.net/10062/72804 Digital Twin of a Teaching and Learning Robotics Lab] [Robotite õpetamise ja õppimise labori digitaalne kaksik], BS thesis, 2021
*Karina Sein, [http://hdl.handle.net/10062/72102 Eestikeelse kõnesünteesi võimaldamine robootika arendusplatvormil ROS] [Enabling Estonian speech synthesis on the Robot Operating System (ROS)], BS thesis, 2020
*Ranno Mäesepp, [http://hdl.handle.net/10062/72100 Takistuste vältimise lahendus õpperobotile Robotont] [Obstacle avoidance solution for educational robot platform Robotont], BS thesis, 2020
*Igor Rybalskii, [http://hdl.handle.net/10062/72060 Gesture Detection Software for Human-Robot Collaboration] [Žestituvastus tarkvara inimese ja roboti koostööks], BS thesis, 2020
*Meelis Pihlap, [http://hdl.handle.net/10062/64292 Mitme roboti koostöö funktsionaalsuste väljatöötamine tarkvararaamistikule TeMoto] [Multi-robot collaboration functionalities for robot software development framework TeMoto], BS thesis, 2019
*Kaarel Mark, [http://hdl.handle.net/10062/64290 Liitreaalsuse kasutamine tootmisprotsessis asukohtade määramisel] [Augmented reality for location determination in manufacturing], BS thesis, 2019
*Kätriin Julle, [http://hdl.handle.net/10062/64279 Roboti KUKA youBot riistvara ja ROS-tarkvara uuendamine] [Upgrading robot KUKA youBot’s hardware and ROS-software], BS thesis, 2019
*Georg Astok, [http://hdl.handle.net/10062/64274 Roboti juhtimine virtuaalreaalsuses kasutades ROS-raamistikku] [Creating virtual reality user interface using only ROS framework], BS thesis, 2019
*Martin Hallist, [http://hdl.handle.net/10062/64275 Robotipõhine kaugkohalolu käte liigutuste ülekandmiseks] [Teleoperation robot for arms motions], BS thesis, 2019
*Ahmed Hassan Helmy Mohamed, [http://hdl.handle.net/10062/63946 Software integration of autonomous robot system for mixing and serving drinks] [Jooke valmistava ja serveeriva robotsüsteemi tarkvaralahendus], BS thesis, 2019
*Kristo Allaje, [http://hdl.handle.net/10062/60294 Draiveripakett käte jälgimise seadme Leap Motion™ kontroller kasutamiseks robootika arendusplatvormil ROS] [Driver package for using Leap Motion™ controller on the robotics development platform ROS], BS thesis, 2018
*Martin Maidla, [http://hdl.handle.net/10062/60288 Avatud robotiarendusplatvormi Robotont omniliikumise ja odomeetria arendamine] [Omnimotion and odometry development for open robot development platform Robotont], BS thesis, 2018
*Raid Vellerind, [http://hdl.handle.net/10062/56559 Avatud robotiarendusplatvormi ROS võimekuse loomine Tartu Ülikooli Robotexi robootikaplatvormile] [ROS driver development for the University of Tartu’s Robotex robotics platform], BS thesis, 2017
*Kalle-Gustav Kruus, [http://hdl.handle.net/10062/32440 Jalgpalliroboti löögimehhanismi elektroonikalahendus] [Driver circuit for a kicking mechanism of a football robot], BS thesis, 2013
*Sven Kautlenbach, [http://hdl.handle.net/10062/25570 Autonoomne seade elastsusmooduli mõõtmiseks] [Electronic device for Young’s modulus measurements], BS thesis, 2011

[[Category:Theses Topics]]

Theses in Robotics

2024-08-27T08:58:34Z

Veix: /* List of potential thesis topics */

[[Category:IMS-robotics]]
<div class="toclimit-3">__TOC__</div>
= Projects in Advanced Robotics =
''The main objective of the follwing projects is to give students experience in working with advanced robotics tehcnology. Our group is active in several R&D projects involving human-robot collaboration, intuitive teleoperation of robots, and autonomous navigation of unmanned mobile platforms. Our main software platforms are [http://www.ros.org/ Robot Operating System (ROS)] for developing software for advanced robot systems and [http://gazebosim.org/ Gazebo] for running realistic robotic simulations.'' 
For further information, contact [[User:Karl|Karl Kruusamäe]].

The following is not an exhaustive list of all available thesis/research topics.

== Highlighted theses topics for 2023/2024 study year ==
# [[#ROBOTONT: analysis of different options as on-board computers|ROBOTONT: analysis of different options as on-board computers]]
# [[#SemuBOT: multiple topics|SemuBOT: multiple topics]]
# [[#Robotic Study Companion: a social robot for students in higher education|Robotic Study Companion: a social robot for students in higher education]]
# [[#Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle|Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle]]
# [[#ROBOTONT: ROS2 support for robotont|ROBOTONT: ROS2 support for robotont]]
# [[#Continuous teleoperation setup for controlling mobile robot on streets|Continuous teleoperation setup for controlling mobile robot on streets]]
# [[#Stratos Explore Ultraleap demonstrator for robotics|Stratos Explore Ultraleap demonstrator for robotics]]
# [[#Mixed-reality scene creation for vehicle teleoperation|Mixed-reality scene creation for vehicle teleoperation]]

== List of potential thesis topics ==
Our inventory includes but is not limited to:
<gallery mode="packed">
File:Youbot.png|120px|thumb|KUKA youBot
File:Ur5_left.png|120px|thumb|Universal Robot UR5
File:Franka_Emika_Panda.jpg|120px|thumb|Franka Emika Panda
File:Clearpath_Jackal.jpg|120px|thumb|Clearpath Jackal
File:Kinova_KG-3_Gripper.jpg|120px|thumb|Kinova 3-finger gripper
File:Xarm7.jpg|120px|thumb|UFACTORY xArm7
File:Robotont_banner.png|120px|thumb|robotont
File:Turtlebot3-waffle-pi.jpg|thumb|TurtleBot3
File:Parrot-bebop-2.jpg|thumb|Parrot Bebop 2
</gallery>

<hr>
=== ROBOTONT: Docker-Driven ROS Environment Switching ===
This thesis focuses on integrating Docker containers to manage and switch between different ROS (Robot Operating System) environments on Robotont. Currently, ROS is installed natively on Robotont's Ubuntu-based onboard computer, limiting flexibility in system recovery and configuration switching. The goal is to develop a Docker-based solution that allows users to switch between ROS environments directly from Robotont’s existing low-level menu interface.
<hr>

=== ROBOTONT: designing and implementing a communication protocol for additional devices ===
Robotont currently includes a designated area on its front for attaching additional devices, such as an ultrasonic range finder, a servo motor connected to an Arduino, or a MikroBUS device. This thesis aims to design and implement a standard communication protocol that will enable seamless integration and control of these devices through the high-level ROS framework running on Robotont’s onboard computer.
<hr>

=== ROBOTONT: analysis of different options as on-board computers ===
Currently ROBOTONT uses Intel NUC as an onboard computer. The goal of this thesis is to validate Robotont's software stack on alternative compute devices (e.g. Raspi4, Intel Compute Stick, and NVIDIA Jetson Nano) and benchmark their performance for the most popular Robotont use-case demos (e.g. webapp teleop, ar-tag steering, 2D mapping, and 3D mapping). The objetive is to propose at least two different compute solutions: one that optimizes cost and another that optimizes for the performance.
<hr>

=== ROBOTONT Lite ===
The goal of this thesis is to optimize ROBOTONT platform for cost by replacing the onboard compute and sensor with low-cost alternatives but ensuring ROS/ROS2 software compatibility.
<hr>

=== ROBOTONT: integrating a graphical programming interface ===
The goal of this thesis is to integrate graphical programming solution (e.g. Scratch or Blockly) to enable programming of Robotont by non-experts.
<hr>

=== SemuBOT: multiple topics ===
In 2023/2024 many topics are developed to support the development of open-source humanoid robot project SemuBOT (https://www.facebook.com/semubotmtu/)
<hr>

=== Robotic Study Companion: a social robot for students in higher education ===
Potential Topics:
* Enhancing the RSC Speech/NLP Capabilities
* Build the RSC Human-Robot Multimodal Interaction
* Developing the RSC Personalities/Behaviour
* Create a WebApp for Monitoring Student Performance via the RSC
* Exploring the RSC use as an Affective Robot with a focus on Students’ Academic Emotions
[https://github.com/Farnaz03/RoboticStudyCompanion Github] | reach out to farnaz.baksh@ut.ee for more info
<hr>

=== ROBOTONT: Quick launch demo suite and the final complete release of its ROS1 software ===
The goal of this thesis is to refine existing robotont demos (e.g. ar-tag steering, follow-the-leader, dancing-with-robot, LEAP-based control etc) and package them in an easy to use way for quick deployment by anyone during public events such as science popularization workshops and school visits.
The results of this work will be packaged as the final ROS1 release of Robotont software as the EOL for ROS1 is in May 2025.
<hr>

=== ROBOTONT: ROS support, demos, and educational materials for open-source mobile robot ===
[[Image:RosLarge.png|left|100px|ROS]]
The project involves many potential theses topic on open-source robot platform ROBOTONT. The nature of the thesis can be software development to improve the platform's capabilites, simulation of specific scenarios, and/or demonstration of ROBOTONT in real-life setting. A more detailed thesis topic will be outlined during in-person meeting 
[[Image:Ros_equation.png|x100px|What is ROS?]]
<hr>

=== Virtual reality user interface (VRUI) for intuitive teleoperation system ===
[[Image:LeapMotion.png|200px|thumb|right|Detecting 2 hands with Leap Motion Controller]]
Enhancing the user-experience of a virtual reality UI developed by [https://github.com/ut-ims-robotics/vrui_rviz Georg Astok]. Potentially adding [http://www.osvr.org/hardware-devs.html virtual reality capability] to a [https://www.youtube.com/watch?v=L25HHFd00rc gesture- and natural-language-based robot teleoperation system].
 
[[Image:Temoto-working-principle-in-pics.png|x160px|Gesture-based teleoperation]]
<hr>
=== Health monitor for intuitive telerobot ===
Intelligent status and error handling for an intuitive telerobotic system.
<hr>
=== 3D scanning of industrial objects ===
Using laser sensors and cameras to create accurate models of industrial products for quality control or further processing.
<hr>
=== Modeling humans for human-robot interaction ===
True human-robot collaboration means that the robot must understand the actions, intention, and state of its human partner. This work invovlves using cameras and other human sensors for digitally representing and modelling humans. There are multiple stages for modeling: a) physical models of human kinematics and dynamics; b) higher level-models for recognizing human intent. 
[[Image:Skeletal ROS.PNG|x160px|ROS & Kinect & Skeleton-Markers Package]]
<hr>
=== Robotic avatar for telepresence ===
Integrating hand gestures and head movements to control a robot avatar in virtual reality user interface.
<hr>
=== Detection of hardware and software resources for smart integration of robots ===
Vast majority of today’s robotic applications rely on hard-coded device and algorithm usage. This project focuses on developing a Resource Snooper software, that can detect addition or removal of resources for the benefit of dynamic reconfiguration of robotic systems. This project is developed as a subsystem of [https://utnuclearroboticspublic.github.io/temoto2/index.html TeMoto].
<hr>
=== Sonification of feedback during teleoperation of robots ===
Humans are used to receiving auditory feedback in their everyday lives. It helps us make decision and be aware of potential dangers. Telerobotic interfaces can deploy the same idea to improve the Situational Awareness and robotic task efficiency. The thesis project involves a study about different sonification solutions and implementation of it in a telerobotic application using ROS.
<hr>
=== Human-Robot and Robot-Robot collaboration applications ===
Creating a demo or analysis of software capabilities related to human-robot or tobot-robot teams
* human-robot collaborative assembly
* distributed mapping; analysis and demo of existing ROS (e.g., segmap https://youtu.be/JJhEkIA1xSE) packages for multi-robot mapping
* Inaccessible region teamwork
**youbot+drone - a drone maps the environment (for example a maze) and ground vehicle uses this information to traverse the maze
**youbot+robotont - youbot cannot go up ledges but it can lift smaller robot, such as robotont, up a ledge.
<hr>

=== Mirroring human hand movements on industrial robots ===
The goal of this project is to integrate continuous control of industrial robot manipulator with a gestural telerobotics interface. The recommended tools for this thesis project are Leap Motion Controller or a standard web camera, Ultraleap, Universal Robot UR5 manipulator, and ROS.
<hr>
=== ROBOTONT: TeMoto for robotont ===
Swarm-management for robotont using [https://temoto-telerobotics.github.io TeMoto] framework.
<hr>

=== Enhancing teleoperation control interface with augmented cues to provoke caution===
The task is to create a telerobot control interface where video feed from the remote site and/or a mixed-reality scene is augmented with visual cues to provoke caution in human operator.
<hr>
=== Robot-to-human interaction ===
As robots and autonomous machines start sharing the same space a humans, their actions need to be understood by the people occupying the same space. For instance, a human worker needs to understand what the robot partner is planning next or a pedestrian needs to clearly comprehend the behaviour of a driverless vehicle. To reduce the ambiguity, the robot needs mechanisms to convey its intent (whatever it is going to do next). The aim of the thesis is to outline existing methods for machines to convey their intent and develop a unified model interface for expressing that intent.
<hr>
=== Gaze-based handover prediction ===
When human needs to pass an object to a robot manipulator, the robot must understand where in 3D space the object handover occurs and then plan an appropriate motion. Human gaze can be used as the input for predicting which object to track. This thesis activities involve camera-based eye tracking and safe motion-planning.
<hr>
=== Real-world demonstrator for MIR+UR+TeMoto integration ===
Integration of mobile manipulator (MIR100 + UR5e + Robotiq gripper) to demonstrate TeMoto in a collaborative application.
<hr>
=== ROBOTONT: Human-height human-robot interface for Robotont ground robot ===
Robotont is an ankle-high flat mobile robot. For humans to interact with Robotont, there is a need for a compact and lightweight mechanical structure that is tall enough for comfortable human-robot interaction. The objective of the thesis is to develop the mechanical designs and build prototypes that ensure stable operation and meet the aesthetic requirements for use in public places.
<hr>
=== Stratos Explore Ultraleap demonstrator for robotics ===
The aim of this thesis is to systematically analyze the strengths and limitations of the Stratos Explore Ultraleap device in the context of controlling a robot. Subsequently implement a demonstrator application for showing off its applicability for robot control.
<hr>
=== Continuous teleoperation setup for controlling mobile robot on streets ===
The task in this device is analyse available options for building a teleopearation cockpit for continuously controlling a mobile robot moving on the streets. The contribution of the thesis is to set up the system, validate its usability, and benchmark its capabilities/limitations on the [https://adl.cs.ut.ee/lab/vehicle ADL vehicle]
<hr>

=== ROBOTONT: ROS2 support for robotont ===
Creating ROS2 support for robotont mobile platform
<hr>
=== Mixed-reality scene creation for vehicle teleoperation ===
Fusing different sensory feeds for creating high-usability teleoperation scene.
<hr>
=== Validation study for AR-based robot user-interfaces ===
Designing and carrying out a user study to validate the functionality and usability of an human-robot interface.
<hr>
=== Replication of the MIT Hydra demo ===
The goal of the thesis is to use the Hydra software package and integrate it for a robot used at IMS Robotics (e.g., TIAGo, Jackal, Robotont).
 Hydra takes sensor data in input (stereo or RGB-D camera images and IMU data) and produces a hierarchical model of the environment, by estimating the trajectory of the robot (including loop closures), building a metric-semantic 3D mesh, and segmenting objects, places, and rooms in an indoor environment. These representations are combined into a 3D scene graph, which enables novel approaches for hierarchical loop closure detection and ensures the representations remain consistent after loop closure. Hydra is implemented in C++ and is ROS-compatible. It uses a neural-network based image segmentation front-end, but it otherwise relies on an efficient and multi-threaded CPU-based implementation, which is suitable for mobile robot deployment.
 LINKS:
 Video: https://youtu.be/qZg2lSeTuvM
 Code: https://github.com/MIT-SPARK/Hydra
 Paper: http://www.roboticsproceedings.org/rss18/p050.pdf
<hr>

=== Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle ===
The goal of this thesis is to develop the methodology for measuring the operator's situation awareness while operating an autonomous urban vehicle. Potential metrics could include driving accuracy, speed, and latency. This thesis will be conducted as part of the activities at the [https://adl.cs.ut.ee Autonomous Driving Lab].
<hr>

= Completed projects =
== PhD theses ==
*Houman Masnavi, [https://hdl.handle.net/10062/91394 Visibility aware navigation] [Nähtavust arvestav navigatsioon], PhD thesis, 2023

== Masters's theses ==
*Robert Allik, Validation of NoMaD as a Global Planner for Mobile Robots, MS thesis, 2024
*Rauno Põlluäär, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79393 Designing and Implementing a Bird’s-eye View Interface for a Self-driving Vehicle’s Teleoperation System] [Isejuhtiva sõiduki kaugjuhtimissüsteemile linnuvaate kasutajaliidese loomine], MS thesis, 2024
*Eva Mõtshärg, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=77385 3D-prinditava kere disain ja analüüs vabavaralisele haridusrobotile Robotont] [Design and Analysis of a 3D Printable Chassis for the Open Source Educational Robot Robotont], MS thesis, 2023
*Farnaz Baksh, [https://dspace.ut.ee/items/a7a9cc15-27e9-450c-94e8-3267f0c95c56 An Open-source Robotic Study Companion for University Students] [Avatud lähtekoodiga robotõpikaaslane üliõpilastele], MS thesis, 2023
*Igor Rybalskii, [http://hdl.handle.net/10062/83028 Augmented reality (AR) for enabling human-robot collaboration with ROS robots] [Liitreaalsus inimese ja roboti koostöö võimaldamiseks ROS-i robotitega], MS thesis, 2022
*Md. Maniruzzaman, [http://hdl.handle.net/10062/83025 Object search and retrieval in indoor environment using a Mobile Manipulator] [Objektide otsimine ja teisaldamine siseruumides mobiilse manipulaatori abil], MS thesis, 2022
*Allan Kustavus, [http://hdl.handle.net/10062/72651 Design and Implementation of a Generalized Resource Management Architecture in the TeMoto Software Framework] [Üldise ressursihalduri disain ja teostus TeMoto tarkvara raamistikule], MS thesis, 2021
*Kristina Meister, [http://hdl.handle.net/10062/72350 External human-vehicle interaction - a study in the context of an autonomous ride-hailing service], MS thesis, 2021
*Muhammad Usman, [http://hdl.handle.net/10062/72126 Development of an Optimization-Based Motion Planner and Its ROS Interface for a Non-Holonomic Mobile Manipulator] [Optimeerimisele baseeruva liikumisplaneerija arendamine ja selle ROSi liides mitteholonoomse mobiilse manipulaatori jaoks], MS thesis, 2020
*Maarika Oidekivi, [http://hdl.handle.net/10062/72119 Masina kavatsuse väljendamine ja tõlgendamine] [Communicating and interpreting machine intent], MS thesis, 2020
*Houman Masnavi, [http://hdl.handle.net/10062/72118 Multi-Robot Motion Planning for Shared Payload Transportation] [Rajaplaneerimine multi-robot süsteemile jagatud lasti transportimisel], MS thesis, 2020
*Fabian Ernesto Parra Gil, [http://hdl.handle.net/10062/72112 Implementation of Robot Manager Subsystem for Temoto Software Framework] [Robotite Halduri alamsüsteemi väljatöötamine tarkvararaamistikule TEMOTO], MS thesis, 2020
*Zafarullah, [http://hdl.handle.net/10062/72125 Gaze Assisted Neural Network based Prediction of End-Point of Human Reaching Trajectories], MS thesis, 2020
*Madis K Nigol, [http://hdl.handle.net/10062/64339 Õppematerjalid robotplatvormile Robotont] [Study materials for robot platform Robotont], MS thesis, 2019
*Renno Raudmäe, [http://hdl.handle.net/10062/64341 Avatud robotplatvorm Robotont] [Open source robotics platform Robotont], MS thesis, 2019
*Asif Sattar, [http://hdl.handle.net/10062/64352 Human detection and distance estimation with monocular camera using YOLOv3 neural network] [Inimeste tuvastamine ning kauguse hindamine kasutades kaamerat ning YOLOv3 tehisnärvivõrku], MS thesis, 2019
*Ragnar Margus, [http://hdl.handle.net/10062/64337 Kergliiklusvahendite jagamisteenuseks vajaliku positsioneerimismooduli loomine ja uurimine] [Develoment and testing of a IoT module for electric vehicle sharing service], MS thesis, 2019
*Pavel Šumejko, [http://hdl.handle.net/10062/64320 Robust Solution for Extrinsic Calibration of a 2D Laser-Rangefinder and a Monocular USB Camera] [Meetod 2D laserkaugusmõõdiku ja USB-kaamera väliseks kalibreerimiseks], MS thesis, 2019
*Dzvezdana Arsovska, [http://hdl.handle.net/10062/64321 Building an Efficient and Secure Software Supply Pipeline for Aerial Robotics Application] [Efektiivne ja turvaline tarkvaraarendusahel lennurobootika rakenduses], MS thesis, 2019
*Tõnis Tiimus, [http://hdl.handle.net/10062/60713 Visuaalselt esilekutsutud potentsiaalidel põhinev aju-arvuti liides robootika rakendustes] [A VEP-based BCI for robotics applications], MS thesis, 2018
*Martin Appo, [http://hdl.handle.net/10062/60718 Hardware-agnostic compliant control ROS package for collaborative industrial manipulators] [Riistvarapaindlik ROSi tarkvarapakett tööstuslike robotite mööndlikuks juhtimiseks], MS thesis, 2018
*Hassan Mahmoud Shehawy Elhanash, [http://hdl.handle.net/10062/60711 Optical Tracking of Forearm for Classifying Fingers Poses] [Küünarvarre visuaalne jälgimine ennustamaks sõrmede asendeid], MS thesis, 2018

== Bachelor's theses ==
*Albert Unn, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79937 Suhtlusvõimekuse arendamine sotsiaalsele humanoidrobotile SemuBot] [Developing the ability to communicate for SemuBot, a social humanoid robot], BS thesis, 2024
*Veronika-Marina Volynets, [https://hdl.handle.net/10062/99943 Development of Control Electronics and Program for Robotont's Height Adjustment Mechanism] [Juhtelektroonika ja programmi väljatöötamine Robotondi kõrguse reguleerimise mehhanismile], BS thesis, 2024
*Nikita Kurenkov, [https://hdl.handle.net/10062/99880 Flexible Screen Integration and Development of Neck Movement Mechanism for Social Humanoid Robot SemuBot] [Humanoidroboti näo lahenduse leidmine ja rakendamine; humanoidroboti jaoks kaela mehhanismi väljatöötamine], BS thesis, 2024
*Elchin Huseynov, [https://hdl.handle.net/10062/99668 Design and Control of a Social Humanoid Robot - SemuBot’s Hand] [Sotsiaalse Humanoidroboti Disain ja Juhtimine - SemuBoti Käsi], BS thesis, 2024
*Veronika Podliesnova, [https://hdl.handle.net/10062/99636 Real-Time Detection of Robot Failures by Monitoring Operator’s Brain Activity with EEG-based Brain-Computer Interface] [Reaalajas Robotirikke Tuvastamine Operaatori Ajutegevuse Jälgimise teel EEG-põhise Aju-Arvuti Liidese abil], BS thesis, 2024
*Märten Josh Peedimaa, [https://hdl.handle.net/not-yet Rhea: An Open-Source Table Tennis Ball Launcher Robot for Multiball Training] [Avatud lähtekoodiga lauatennise palliviske robot mitmikpall treenimiseks], BS thesis, 2024
*Karl Sander Vinkel, [https://hdl.handle.net/not-yet Laadimisjaama ja transportkesta väljatöötamine õpperobotile Robotont] [Development of charging dock and transport case for Robotont], BS thesis, 2024
*Raimo Köidam, [https://hdl.handle.net/not-yet Valguslahenduse tarkvara väljatöötamine õpperobotile Robotont] [Development of light solution software for the educational robot Robotont], BS thesis, 2024
*Robert Valge, [https://hdl.handle.net/not-yet Toitepinge ja tarbevoolu monitoorimine ning toitehalduse püsivara loomine õpperobotil Robotont] [Monitoring supply voltage and current consumption and creating firmware for Robotont’s power management system], BS thesis, 2024
*Leonid Tšigrinski, [https://hdl.handle.net/not-yet Õpperoboti Robotont püsivara arhitektuuri uuendamine] [Education robot "Robotont" firmware architecture updating], BS thesis, 2024
*Andres Sakk, [https://hdl.handle.net/not-yet Avatud robotplatvormi Robotont 3 kasutajaliidese väljatöötamine] [Development of a user interface for the open robotics platform Robotont 3], BS thesis, 2024
*Kaur Kullamäe, [https://hdl.handle.net/not-yet Elektroonikalahendus ja püsivara robotkäe juhtimiseks sotsiaalsel humanoidrobotil SemuBot] [Building the SemuBot arm electronics system], BS thesis, 2024
*Kristjan Madis Kask, [https://hdl.handle.net/not-yet Käe mehaanika disain sotsiaalsele humanoidrobotile SemuBot] [Arm mechanics design for social humanoid robot SemuBot], BS thesis, 2024
*Sven-Ervin Paap, [https://hdl.handle.net/not-yet ROS2 draiver õpperobotile Robotont] [ROS2 driver for the educational robot Robotont], BS thesis, 2024
*Timur Nizamov, [https://hdl.handle.net/10062/99592 Audio System for the Social Humanoid Robot SemuBot] [Helisüsteem sotsiaalsele humanoidrobotile SemuBot], BS thesis, 2024
*Georgs Narbuts, [https://hdl.handle.net/10062/99554 Holonomic Motion Drive System of a Social Humanoid Robot SemuBot] [Sotsiaalse humanoidroboti SemuBoti holonoomne liikuv ajamisüsteem], BS thesis, 2024
*Iryna Hurova, [https://hdl.handle.net/10062/90638 Kitting station of the learning factory] [Õppetehase komplekteerimisjaam], BS thesis, 2023
*Paola Avalos Conchas, [https://hdl.handle.net/10062/90641 Payload transportation system of a learning factory] [Õppetehase kasuliku koorma transpordisüsteem], BS thesis, 2023
*Pille Pärnalaas, [https://hdl.handle.net/10062/93431 Pöördpõik ajami arendus robotplatvormile Robotont] [Development of swerve drive for robotic platform Robotont], BS thesis, 2023
*Priit Rooden, [https://hdl.handle.net/10062/93432 Autonoomse laadimislahenduse väljatöötamine õpperobotile Robotont] [Development of an autonomous charging solution for the robot platform Robotont], BS thesis, 2023
*Marko Muro, [https://hdl.handle.net/10062/93429 Robotondi akulahenduse ning 12 V pingeregulaatori prototüüpimine] [Prototyping battery solution and 12 V voltage regulator for Robotont], BS thesis, 2023
*Danel Leppenen, [https://hdl.handle.net/10062/93427 Nav2 PYIF: Python-based Motion Planning for ROS 2 Navigation 2] [Nav 2 PYIF: Pythoni põhine liikumise planeerija ROS 2 Navigation 2-le], BS thesis, 2023
*Kertrud Geddily Küüt, [https://hdl.handle.net/10062/93424 Kõrgust reguleeriv mehhanism Robotondile] [Height adjusting mechanism for Robotont], BS thesis, 2023
*Ingvar Drikkit, [https://hdl.handle.net/10062/93421 Lisaseadmete võimekuse arendamine haridusrobotile Robotont] [Developing add-on device support for the educational robot Robotont], BS thesis, 2023
*Kristo Pool, [https://hdl.handle.net/10062/93430 MoveIt 2 õppematerjalid] [Learning materials for MoveIt 2], BS thesis, 2023
*Erki Veeväli, [https://hdl.handle.net/10062/93434 Development of a Continuous Teleoperation System for Urban Road Vehicle] [Linnasõiduki pideva kaugjuhtimissüsteemi arendus], BS thesis, 2023
*Aleksandra Doroshenko, [https://hdl.handle.net/10062/93420 Haiglates inimesi juhatava roboti disain] [Hospital guide robot design], BS thesis, 2023
*Hui Shi, [http://hdl.handle.net/10062/83043 Expanding the Open-source ROS Software Pack age opencv_apps with Dedicated Blob Detection Functionality] [Avatud lähtekoodiga ROS-i tarkvarakimbu opencv_apps laiendamine laigutuvasti funktsioonaalsusega], BS thesis, 2022
*Dāvis Krūmiņš, [http://hdl.handle.net/10062/83040 Web-based learning and software development environment for remote access of ROS robots] [Veebipõhine õppe- ja tarkvaraarenduse keskkond ROS robotite juurdepääsuks kaugteel], BS thesis, 2022
*Anna Jakovleva, [http://hdl.handle.net/10062/83037 Roboquiz - an interactive human-robot game] [Roboquiz - interaktiivne inimese ja roboti mäng], BS thesis, 2022
*Kristjan Laht, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=74702&year=2022Robot Localization with Fiducial Markers] [Roboti lokaliseerimine koordinaatmärkidega], BS thesis, 2022
*Hans Pärtel Pani, [http://hdl.handle.net/10062/83008 ROS draiver pehmerobootika haaratsile] [ROS Driver for Soft Robotic Gripper], BS thesis, 2022
*Markus Erik Sügis, [http://hdl.handle.net/10062/83015 Jagatud juhtimise põhimõttel realiseeritud robotite kaugjuhtimissüsteem] [A continuous teleoperating system based on shared control concept], BS thesis, 2022
*Taaniel Küla, [http://hdl.handle.net/10062/83007 ROS2 platvormile keevitusroboti tarkvara portotüübi loomine kasutades UR5 robot-manipulaatorit] [Welding robot software prototype for ROS2 using UR5 robot arm], BS thesis, 2022
*Rauno Põlluäär, [http://hdl.handle.net/10062/72672 Veebirakendus-põhine kasutajaliides avatud robotplatvormi Robotont juhtimiseks ja haldamiseks] [Web application-based user interface for controlling and managing open-source robotics platform Robotont], BS thesis, 2021
*Hendrik Olesk, [http://hdl.handle.net/10062/72664 Nägemisulatuses kaugjuhitava mobiilse robotmanipulaatori kasutajamugavuse tõstmine] [Improving the usability of a mobile manipulator robot for line-of-sight remote control], BS thesis, 2021
*Tarvi Tepandi, [http://hdl.handle.net/10062/72665 Segareaalsusel põhinev kasutajaliides mobiilse roboti kaugjuhtimiseks Microsoft HoloLens 2 vahendusel] [Mixed-reality user interface for teleoperating mobile robots with Microsoft HoloLens 2], BS thesis, 2021
*Rudolf Põldma, [http://hdl.handle.net/10062/72674 Tartu linna Narva maantee ringristmiku digikaksik] [Digital twin for Narva street roundabout in Tartu], BS thesis, 2021
*Kwasi Akuamoah Boateng, [http://hdl.handle.net/10062/72804 Digital Twin of a Teaching and Learning Robotics Lab] [Robotite õpetamise ja õppimise labori digitaalne kaksik], BS thesis, 2021
*Karina Sein, [http://hdl.handle.net/10062/72102 Eestikeelse kõnesünteesi võimaldamine robootika arendusplatvormil ROS] [Enabling Estonian speech synthesis on the Robot Operating System (ROS)], BS thesis, 2020
*Ranno Mäesepp, [http://hdl.handle.net/10062/72100 Takistuste vältimise lahendus õpperobotile Robotont] [Obstacle avoidance solution for educational robot platform Robotont], BS thesis, 2020
*Igor Rybalskii, [http://hdl.handle.net/10062/72060 Gesture Detection Software for Human-Robot Collaboration] [Žestituvastus tarkvara inimese ja roboti koostööks], BS thesis, 2020
*Meelis Pihlap, [http://hdl.handle.net/10062/64292 Mitme roboti koostöö funktsionaalsuste väljatöötamine tarkvararaamistikule TeMoto] [Multi-robot collaboration functionalities for robot software development framework TeMoto], BS thesis, 2019
*Kaarel Mark, [http://hdl.handle.net/10062/64290 Liitreaalsuse kasutamine tootmisprotsessis asukohtade määramisel] [Augmented reality for location determination in manufacturing], BS thesis, 2019
*Kätriin Julle, [http://hdl.handle.net/10062/64279 Roboti KUKA youBot riistvara ja ROS-tarkvara uuendamine] [Upgrading robot KUKA youBot’s hardware and ROS-software], BS thesis, 2019
*Georg Astok, [http://hdl.handle.net/10062/64274 Roboti juhtimine virtuaalreaalsuses kasutades ROS-raamistikku] [Creating virtual reality user interface using only ROS framework], BS thesis, 2019
*Martin Hallist, [http://hdl.handle.net/10062/64275 Robotipõhine kaugkohalolu käte liigutuste ülekandmiseks] [Teleoperation robot for arms motions], BS thesis, 2019
*Ahmed Hassan Helmy Mohamed, [http://hdl.handle.net/10062/63946 Software integration of autonomous robot system for mixing and serving drinks] [Jooke valmistava ja serveeriva robotsüsteemi tarkvaralahendus], BS thesis, 2019
*Kristo Allaje, [http://hdl.handle.net/10062/60294 Draiveripakett käte jälgimise seadme Leap Motion™ kontroller kasutamiseks robootika arendusplatvormil ROS] [Driver package for using Leap Motion™ controller on the robotics development platform ROS], BS thesis, 2018
*Martin Maidla, [http://hdl.handle.net/10062/60288 Avatud robotiarendusplatvormi Robotont omniliikumise ja odomeetria arendamine] [Omnimotion and odometry development for open robot development platform Robotont], BS thesis, 2018
*Raid Vellerind, [http://hdl.handle.net/10062/56559 Avatud robotiarendusplatvormi ROS võimekuse loomine Tartu Ülikooli Robotexi robootikaplatvormile] [ROS driver development for the University of Tartu’s Robotex robotics platform], BS thesis, 2017

[[Category:Theses Topics]]

Theses in Robotics

2024-08-27T08:55:36Z

Veix: /* List of potential thesis topics */

[[Category:IMS-robotics]]
<div class="toclimit-3">__TOC__</div>
= Projects in Advanced Robotics =
''The main objective of the follwing projects is to give students experience in working with advanced robotics tehcnology. Our group is active in several R&D projects involving human-robot collaboration, intuitive teleoperation of robots, and autonomous navigation of unmanned mobile platforms. Our main software platforms are [http://www.ros.org/ Robot Operating System (ROS)] for developing software for advanced robot systems and [http://gazebosim.org/ Gazebo] for running realistic robotic simulations.'' 
For further information, contact [[User:Karl|Karl Kruusamäe]].

The following is not an exhaustive list of all available thesis/research topics.

== Highlighted theses topics for 2023/2024 study year ==
# [[#ROBOTONT: analysis of different options as on-board computers|ROBOTONT: analysis of different options as on-board computers]]
# [[#SemuBOT: multiple topics|SemuBOT: multiple topics]]
# [[#Robotic Study Companion: a social robot for students in higher education|Robotic Study Companion: a social robot for students in higher education]]
# [[#Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle|Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle]]
# [[#ROBOTONT: ROS2 support for robotont|ROBOTONT: ROS2 support for robotont]]
# [[#Continuous teleoperation setup for controlling mobile robot on streets|Continuous teleoperation setup for controlling mobile robot on streets]]
# [[#Stratos Explore Ultraleap demonstrator for robotics|Stratos Explore Ultraleap demonstrator for robotics]]
# [[#Mixed-reality scene creation for vehicle teleoperation|Mixed-reality scene creation for vehicle teleoperation]]

== List of potential thesis topics ==
Our inventory includes but is not limited to:
<gallery mode="packed">
File:Youbot.png|120px|thumb|KUKA youBot
File:Ur5_left.png|120px|thumb|Universal Robot UR5
File:Franka_Emika_Panda.jpg|120px|thumb|Franka Emika Panda
File:Clearpath_Jackal.jpg|120px|thumb|Clearpath Jackal
File:Kinova_KG-3_Gripper.jpg|120px|thumb|Kinova 3-finger gripper
File:Xarm7.jpg|120px|thumb|UFACTORY xArm7
File:Robotont_banner.png|120px|thumb|robotont
File:Turtlebot3-waffle-pi.jpg|thumb|TurtleBot3
File:Parrot-bebop-2.jpg|thumb|Parrot Bebop 2
</gallery>

<hr>
=== ROBOTONT: Docker-Driven ROS Environment Switching ===
This project focuses on integrating Docker containers to manage and switch between different ROS (Robot Operating System) environments on Robotont. Currently, ROS is installed natively on Robotont's Ubuntu-based onboard computer, limiting flexibility in system recovery and configuration switching. The goal is to develop a Docker-based solution that allows users to switch between ROS environments directly from Robotont’s existing low-level menu interface.
<hr>

=== ROBOTONT: designing and implementing a communication protocol for additional devices ===
Robotont currently includes a designated area on its front for attaching additional devices, such as an ultrasonic range finder, a servo motor connected to an Arduino, or a MikroBUS device. This project aims to design and implement a standard communication protocol that will enable seamless integration and control of these devices through the high-level ROS framework running on Robotont’s onboard computer.
<hr>

=== ROBOTONT: analysis of different options as on-board computers ===
Currently ROBOTONT uses Intel NUC as an onboard computer. The goal of this thesis is to validate Robotont's software stack on alternative compute devices (e.g. Raspi4, Intel Compute Stick, and NVIDIA Jetson Nano) and benchmark their performance for the most popular Robotont use-case demos (e.g. webapp teleop, ar-tag steering, 2D mapping, and 3D mapping). The objetive is to propose at least two different compute solutions: one that optimizes cost and another that optimizes for the performance.
<hr>

=== ROBOTONT Lite ===
The goal of this thesis is to optimize ROBOTONT platform for cost by replacing the onboard compute and sensor with low-cost alternatives but ensuring ROS/ROS2 software compatibility.
<hr>

=== ROBOTONT: integrating a graphical programming interface ===
The goal of this thesis is to integrate graphical programming solution (e.g. Scratch or Blockly) to enable programming of Robotont by non-experts.
<hr>

=== SemuBOT: multiple topics ===
In 2023/2024 many topics are developed to support the development of open-source humanoid robot project SemuBOT (https://www.facebook.com/semubotmtu/)
<hr>

=== Robotic Study Companion: a social robot for students in higher education ===
Potential Topics:
* Enhancing the RSC Speech/NLP Capabilities
* Build the RSC Human-Robot Multimodal Interaction
* Developing the RSC Personalities/Behaviour
* Create a WebApp for Monitoring Student Performance via the RSC
* Exploring the RSC use as an Affective Robot with a focus on Students’ Academic Emotions
[https://github.com/Farnaz03/RoboticStudyCompanion Github] | reach out to farnaz.baksh@ut.ee for more info
<hr>

=== ROBOTONT: Quick launch demo suite and the final complete release of its ROS1 software ===
The goal of this thesis is to refine existing robotont demos (e.g. ar-tag steering, follow-the-leader, dancing-with-robot, LEAP-based control etc) and package them in an easy to use way for quick deployment by anyone during public events such as science popularization workshops and school visits.
The results of this work will be packaged as the final ROS1 release of Robotont software as the EOL for ROS1 is in May 2025.
<hr>

=== ROBOTONT: ROS support, demos, and educational materials for open-source mobile robot ===
[[Image:RosLarge.png|left|100px|ROS]]
The project involves many potential theses topic on open-source robot platform ROBOTONT. The nature of the thesis can be software development to improve the platform's capabilites, simulation of specific scenarios, and/or demonstration of ROBOTONT in real-life setting. A more detailed thesis topic will be outlined during in-person meeting 
[[Image:Ros_equation.png|x100px|What is ROS?]]
<hr>

=== Virtual reality user interface (VRUI) for intuitive teleoperation system ===
[[Image:LeapMotion.png|200px|thumb|right|Detecting 2 hands with Leap Motion Controller]]
Enhancing the user-experience of a virtual reality UI developed by [https://github.com/ut-ims-robotics/vrui_rviz Georg Astok]. Potentially adding [http://www.osvr.org/hardware-devs.html virtual reality capability] to a [https://www.youtube.com/watch?v=L25HHFd00rc gesture- and natural-language-based robot teleoperation system].
 
[[Image:Temoto-working-principle-in-pics.png|x160px|Gesture-based teleoperation]]
<hr>
=== Health monitor for intuitive telerobot ===
Intelligent status and error handling for an intuitive telerobotic system.
<hr>
=== 3D scanning of industrial objects ===
Using laser sensors and cameras to create accurate models of industrial products for quality control or further processing.
<hr>
=== Modeling humans for human-robot interaction ===
True human-robot collaboration means that the robot must understand the actions, intention, and state of its human partner. This work invovlves using cameras and other human sensors for digitally representing and modelling humans. There are multiple stages for modeling: a) physical models of human kinematics and dynamics; b) higher level-models for recognizing human intent. 
[[Image:Skeletal ROS.PNG|x160px|ROS & Kinect & Skeleton-Markers Package]]
<hr>
=== Robotic avatar for telepresence ===
Integrating hand gestures and head movements to control a robot avatar in virtual reality user interface.
<hr>
=== Detection of hardware and software resources for smart integration of robots ===
Vast majority of today’s robotic applications rely on hard-coded device and algorithm usage. This project focuses on developing a Resource Snooper software, that can detect addition or removal of resources for the benefit of dynamic reconfiguration of robotic systems. This project is developed as a subsystem of [https://utnuclearroboticspublic.github.io/temoto2/index.html TeMoto].
<hr>
=== Sonification of feedback during teleoperation of robots ===
Humans are used to receiving auditory feedback in their everyday lives. It helps us make decision and be aware of potential dangers. Telerobotic interfaces can deploy the same idea to improve the Situational Awareness and robotic task efficiency. The thesis project involves a study about different sonification solutions and implementation of it in a telerobotic application using ROS.
<hr>
=== Human-Robot and Robot-Robot collaboration applications ===
Creating a demo or analysis of software capabilities related to human-robot or tobot-robot teams
* human-robot collaborative assembly
* distributed mapping; analysis and demo of existing ROS (e.g., segmap https://youtu.be/JJhEkIA1xSE) packages for multi-robot mapping
* Inaccessible region teamwork
**youbot+drone - a drone maps the environment (for example a maze) and ground vehicle uses this information to traverse the maze
**youbot+robotont - youbot cannot go up ledges but it can lift smaller robot, such as robotont, up a ledge.
<hr>

=== Mirroring human hand movements on industrial robots ===
The goal of this project is to integrate continuous control of industrial robot manipulator with a gestural telerobotics interface. The recommended tools for this thesis project are Leap Motion Controller or a standard web camera, Ultraleap, Universal Robot UR5 manipulator, and ROS.
<hr>
=== ROBOTONT: TeMoto for robotont ===
Swarm-management for robotont using [https://temoto-telerobotics.github.io TeMoto] framework.
<hr>

=== Enhancing teleoperation control interface with augmented cues to provoke caution===
The task is to create a telerobot control interface where video feed from the remote site and/or a mixed-reality scene is augmented with visual cues to provoke caution in human operator.
<hr>
=== Robot-to-human interaction ===
As robots and autonomous machines start sharing the same space a humans, their actions need to be understood by the people occupying the same space. For instance, a human worker needs to understand what the robot partner is planning next or a pedestrian needs to clearly comprehend the behaviour of a driverless vehicle. To reduce the ambiguity, the robot needs mechanisms to convey its intent (whatever it is going to do next). The aim of the thesis is to outline existing methods for machines to convey their intent and develop a unified model interface for expressing that intent.
<hr>
=== Gaze-based handover prediction ===
When human needs to pass an object to a robot manipulator, the robot must understand where in 3D space the object handover occurs and then plan an appropriate motion. Human gaze can be used as the input for predicting which object to track. This thesis activities involve camera-based eye tracking and safe motion-planning.
<hr>
=== Real-world demonstrator for MIR+UR+TeMoto integration ===
Integration of mobile manipulator (MIR100 + UR5e + Robotiq gripper) to demonstrate TeMoto in a collaborative application.
<hr>
=== ROBOTONT: Human-height human-robot interface for Robotont ground robot ===
Robotont is an ankle-high flat mobile robot. For humans to interact with Robotont, there is a need for a compact and lightweight mechanical structure that is tall enough for comfortable human-robot interaction. The objective of the thesis is to develop the mechanical designs and build prototypes that ensure stable operation and meet the aesthetic requirements for use in public places.
<hr>
=== Stratos Explore Ultraleap demonstrator for robotics ===
The aim of this thesis is to systematically analyze the strengths and limitations of the Stratos Explore Ultraleap device in the context of controlling a robot. Subsequently implement a demonstrator application for showing off its applicability for robot control.
<hr>
=== Continuous teleoperation setup for controlling mobile robot on streets ===
The task in this device is analyse available options for building a teleopearation cockpit for continuously controlling a mobile robot moving on the streets. The contribution of the thesis is to set up the system, validate its usability, and benchmark its capabilities/limitations on the [https://adl.cs.ut.ee/lab/vehicle ADL vehicle]
<hr>

=== ROBOTONT: ROS2 support for robotont ===
Creating ROS2 support for robotont mobile platform
<hr>
=== Mixed-reality scene creation for vehicle teleoperation ===
Fusing different sensory feeds for creating high-usability teleoperation scene.
<hr>
=== Validation study for AR-based robot user-interfaces ===
Designing and carrying out a user study to validate the functionality and usability of an human-robot interface.
<hr>
=== Replication of the MIT Hydra demo ===
The goal of the thesis is to use the Hydra software package and integrate it for a robot used at IMS Robotics (e.g., TIAGo, Jackal, Robotont).
 Hydra takes sensor data in input (stereo or RGB-D camera images and IMU data) and produces a hierarchical model of the environment, by estimating the trajectory of the robot (including loop closures), building a metric-semantic 3D mesh, and segmenting objects, places, and rooms in an indoor environment. These representations are combined into a 3D scene graph, which enables novel approaches for hierarchical loop closure detection and ensures the representations remain consistent after loop closure. Hydra is implemented in C++ and is ROS-compatible. It uses a neural-network based image segmentation front-end, but it otherwise relies on an efficient and multi-threaded CPU-based implementation, which is suitable for mobile robot deployment.
 LINKS:
 Video: https://youtu.be/qZg2lSeTuvM
 Code: https://github.com/MIT-SPARK/Hydra
 Paper: http://www.roboticsproceedings.org/rss18/p050.pdf
<hr>

=== Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle ===
The goal of this thesis is to develop the methodology for measuring the operator's situation awareness while operating an autonomous urban vehicle. Potential metrics could include driving accuracy, speed, and latency. This thesis will be conducted as part of the activities at the [https://adl.cs.ut.ee Autonomous Driving Lab].
<hr>

= Completed projects =
== PhD theses ==
*Houman Masnavi, [https://hdl.handle.net/10062/91394 Visibility aware navigation] [Nähtavust arvestav navigatsioon], PhD thesis, 2023

== Masters's theses ==
*Robert Allik, Validation of NoMaD as a Global Planner for Mobile Robots, MS thesis, 2024
*Rauno Põlluäär, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79393 Designing and Implementing a Bird’s-eye View Interface for a Self-driving Vehicle’s Teleoperation System] [Isejuhtiva sõiduki kaugjuhtimissüsteemile linnuvaate kasutajaliidese loomine], MS thesis, 2024
*Eva Mõtshärg, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=77385 3D-prinditava kere disain ja analüüs vabavaralisele haridusrobotile Robotont] [Design and Analysis of a 3D Printable Chassis for the Open Source Educational Robot Robotont], MS thesis, 2023
*Farnaz Baksh, [https://dspace.ut.ee/items/a7a9cc15-27e9-450c-94e8-3267f0c95c56 An Open-source Robotic Study Companion for University Students] [Avatud lähtekoodiga robotõpikaaslane üliõpilastele], MS thesis, 2023
*Igor Rybalskii, [http://hdl.handle.net/10062/83028 Augmented reality (AR) for enabling human-robot collaboration with ROS robots] [Liitreaalsus inimese ja roboti koostöö võimaldamiseks ROS-i robotitega], MS thesis, 2022
*Md. Maniruzzaman, [http://hdl.handle.net/10062/83025 Object search and retrieval in indoor environment using a Mobile Manipulator] [Objektide otsimine ja teisaldamine siseruumides mobiilse manipulaatori abil], MS thesis, 2022
*Allan Kustavus, [http://hdl.handle.net/10062/72651 Design and Implementation of a Generalized Resource Management Architecture in the TeMoto Software Framework] [Üldise ressursihalduri disain ja teostus TeMoto tarkvara raamistikule], MS thesis, 2021
*Kristina Meister, [http://hdl.handle.net/10062/72350 External human-vehicle interaction - a study in the context of an autonomous ride-hailing service], MS thesis, 2021
*Muhammad Usman, [http://hdl.handle.net/10062/72126 Development of an Optimization-Based Motion Planner and Its ROS Interface for a Non-Holonomic Mobile Manipulator] [Optimeerimisele baseeruva liikumisplaneerija arendamine ja selle ROSi liides mitteholonoomse mobiilse manipulaatori jaoks], MS thesis, 2020
*Maarika Oidekivi, [http://hdl.handle.net/10062/72119 Masina kavatsuse väljendamine ja tõlgendamine] [Communicating and interpreting machine intent], MS thesis, 2020
*Houman Masnavi, [http://hdl.handle.net/10062/72118 Multi-Robot Motion Planning for Shared Payload Transportation] [Rajaplaneerimine multi-robot süsteemile jagatud lasti transportimisel], MS thesis, 2020
*Fabian Ernesto Parra Gil, [http://hdl.handle.net/10062/72112 Implementation of Robot Manager Subsystem for Temoto Software Framework] [Robotite Halduri alamsüsteemi väljatöötamine tarkvararaamistikule TEMOTO], MS thesis, 2020
*Zafarullah, [http://hdl.handle.net/10062/72125 Gaze Assisted Neural Network based Prediction of End-Point of Human Reaching Trajectories], MS thesis, 2020
*Madis K Nigol, [http://hdl.handle.net/10062/64339 Õppematerjalid robotplatvormile Robotont] [Study materials for robot platform Robotont], MS thesis, 2019
*Renno Raudmäe, [http://hdl.handle.net/10062/64341 Avatud robotplatvorm Robotont] [Open source robotics platform Robotont], MS thesis, 2019
*Asif Sattar, [http://hdl.handle.net/10062/64352 Human detection and distance estimation with monocular camera using YOLOv3 neural network] [Inimeste tuvastamine ning kauguse hindamine kasutades kaamerat ning YOLOv3 tehisnärvivõrku], MS thesis, 2019
*Ragnar Margus, [http://hdl.handle.net/10062/64337 Kergliiklusvahendite jagamisteenuseks vajaliku positsioneerimismooduli loomine ja uurimine] [Develoment and testing of a IoT module for electric vehicle sharing service], MS thesis, 2019
*Pavel Šumejko, [http://hdl.handle.net/10062/64320 Robust Solution for Extrinsic Calibration of a 2D Laser-Rangefinder and a Monocular USB Camera] [Meetod 2D laserkaugusmõõdiku ja USB-kaamera väliseks kalibreerimiseks], MS thesis, 2019
*Dzvezdana Arsovska, [http://hdl.handle.net/10062/64321 Building an Efficient and Secure Software Supply Pipeline for Aerial Robotics Application] [Efektiivne ja turvaline tarkvaraarendusahel lennurobootika rakenduses], MS thesis, 2019
*Tõnis Tiimus, [http://hdl.handle.net/10062/60713 Visuaalselt esilekutsutud potentsiaalidel põhinev aju-arvuti liides robootika rakendustes] [A VEP-based BCI for robotics applications], MS thesis, 2018
*Martin Appo, [http://hdl.handle.net/10062/60718 Hardware-agnostic compliant control ROS package for collaborative industrial manipulators] [Riistvarapaindlik ROSi tarkvarapakett tööstuslike robotite mööndlikuks juhtimiseks], MS thesis, 2018
*Hassan Mahmoud Shehawy Elhanash, [http://hdl.handle.net/10062/60711 Optical Tracking of Forearm for Classifying Fingers Poses] [Küünarvarre visuaalne jälgimine ennustamaks sõrmede asendeid], MS thesis, 2018

== Bachelor's theses ==
*Albert Unn, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79937 Suhtlusvõimekuse arendamine sotsiaalsele humanoidrobotile SemuBot] [Developing the ability to communicate for SemuBot, a social humanoid robot], BS thesis, 2024
*Veronika-Marina Volynets, [https://hdl.handle.net/10062/99943 Development of Control Electronics and Program for Robotont's Height Adjustment Mechanism] [Juhtelektroonika ja programmi väljatöötamine Robotondi kõrguse reguleerimise mehhanismile], BS thesis, 2024
*Nikita Kurenkov, [https://hdl.handle.net/10062/99880 Flexible Screen Integration and Development of Neck Movement Mechanism for Social Humanoid Robot SemuBot] [Humanoidroboti näo lahenduse leidmine ja rakendamine; humanoidroboti jaoks kaela mehhanismi väljatöötamine], BS thesis, 2024
*Elchin Huseynov, [https://hdl.handle.net/10062/99668 Design and Control of a Social Humanoid Robot - SemuBot’s Hand] [Sotsiaalse Humanoidroboti Disain ja Juhtimine - SemuBoti Käsi], BS thesis, 2024
*Veronika Podliesnova, [https://hdl.handle.net/10062/99636 Real-Time Detection of Robot Failures by Monitoring Operator’s Brain Activity with EEG-based Brain-Computer Interface] [Reaalajas Robotirikke Tuvastamine Operaatori Ajutegevuse Jälgimise teel EEG-põhise Aju-Arvuti Liidese abil], BS thesis, 2024
*Märten Josh Peedimaa, [https://hdl.handle.net/not-yet Rhea: An Open-Source Table Tennis Ball Launcher Robot for Multiball Training] [Avatud lähtekoodiga lauatennise palliviske robot mitmikpall treenimiseks], BS thesis, 2024
*Karl Sander Vinkel, [https://hdl.handle.net/not-yet Laadimisjaama ja transportkesta väljatöötamine õpperobotile Robotont] [Development of charging dock and transport case for Robotont], BS thesis, 2024
*Raimo Köidam, [https://hdl.handle.net/not-yet Valguslahenduse tarkvara väljatöötamine õpperobotile Robotont] [Development of light solution software for the educational robot Robotont], BS thesis, 2024
*Robert Valge, [https://hdl.handle.net/not-yet Toitepinge ja tarbevoolu monitoorimine ning toitehalduse püsivara loomine õpperobotil Robotont] [Monitoring supply voltage and current consumption and creating firmware for Robotont’s power management system], BS thesis, 2024
*Leonid Tšigrinski, [https://hdl.handle.net/not-yet Õpperoboti Robotont püsivara arhitektuuri uuendamine] [Education robot "Robotont" firmware architecture updating], BS thesis, 2024
*Andres Sakk, [https://hdl.handle.net/not-yet Avatud robotplatvormi Robotont 3 kasutajaliidese väljatöötamine] [Development of a user interface for the open robotics platform Robotont 3], BS thesis, 2024
*Kaur Kullamäe, [https://hdl.handle.net/not-yet Elektroonikalahendus ja püsivara robotkäe juhtimiseks sotsiaalsel humanoidrobotil SemuBot] [Building the SemuBot arm electronics system], BS thesis, 2024
*Kristjan Madis Kask, [https://hdl.handle.net/not-yet Käe mehaanika disain sotsiaalsele humanoidrobotile SemuBot] [Arm mechanics design for social humanoid robot SemuBot], BS thesis, 2024
*Sven-Ervin Paap, [https://hdl.handle.net/not-yet ROS2 draiver õpperobotile Robotont] [ROS2 driver for the educational robot Robotont], BS thesis, 2024
*Timur Nizamov, [https://hdl.handle.net/10062/99592 Audio System for the Social Humanoid Robot SemuBot] [Helisüsteem sotsiaalsele humanoidrobotile SemuBot], BS thesis, 2024
*Georgs Narbuts, [https://hdl.handle.net/10062/99554 Holonomic Motion Drive System of a Social Humanoid Robot SemuBot] [Sotsiaalse humanoidroboti SemuBoti holonoomne liikuv ajamisüsteem], BS thesis, 2024
*Iryna Hurova, [https://hdl.handle.net/10062/90638 Kitting station of the learning factory] [Õppetehase komplekteerimisjaam], BS thesis, 2023
*Paola Avalos Conchas, [https://hdl.handle.net/10062/90641 Payload transportation system of a learning factory] [Õppetehase kasuliku koorma transpordisüsteem], BS thesis, 2023
*Pille Pärnalaas, [https://hdl.handle.net/10062/93431 Pöördpõik ajami arendus robotplatvormile Robotont] [Development of swerve drive for robotic platform Robotont], BS thesis, 2023
*Priit Rooden, [https://hdl.handle.net/10062/93432 Autonoomse laadimislahenduse väljatöötamine õpperobotile Robotont] [Development of an autonomous charging solution for the robot platform Robotont], BS thesis, 2023
*Marko Muro, [https://hdl.handle.net/10062/93429 Robotondi akulahenduse ning 12 V pingeregulaatori prototüüpimine] [Prototyping battery solution and 12 V voltage regulator for Robotont], BS thesis, 2023
*Danel Leppenen, [https://hdl.handle.net/10062/93427 Nav2 PYIF: Python-based Motion Planning for ROS 2 Navigation 2] [Nav 2 PYIF: Pythoni põhine liikumise planeerija ROS 2 Navigation 2-le], BS thesis, 2023
*Kertrud Geddily Küüt, [https://hdl.handle.net/10062/93424 Kõrgust reguleeriv mehhanism Robotondile] [Height adjusting mechanism for Robotont], BS thesis, 2023
*Ingvar Drikkit, [https://hdl.handle.net/10062/93421 Lisaseadmete võimekuse arendamine haridusrobotile Robotont] [Developing add-on device support for the educational robot Robotont], BS thesis, 2023
*Kristo Pool, [https://hdl.handle.net/10062/93430 MoveIt 2 õppematerjalid] [Learning materials for MoveIt 2], BS thesis, 2023
*Erki Veeväli, [https://hdl.handle.net/10062/93434 Development of a Continuous Teleoperation System for Urban Road Vehicle] [Linnasõiduki pideva kaugjuhtimissüsteemi arendus], BS thesis, 2023
*Aleksandra Doroshenko, [https://hdl.handle.net/10062/93420 Haiglates inimesi juhatava roboti disain] [Hospital guide robot design], BS thesis, 2023
*Hui Shi, [http://hdl.handle.net/10062/83043 Expanding the Open-source ROS Software Pack age opencv_apps with Dedicated Blob Detection Functionality] [Avatud lähtekoodiga ROS-i tarkvarakimbu opencv_apps laiendamine laigutuvasti funktsioonaalsusega], BS thesis, 2022
*Dāvis Krūmiņš, [http://hdl.handle.net/10062/83040 Web-based learning and software development environment for remote access of ROS robots] [Veebipõhine õppe- ja tarkvaraarenduse keskkond ROS robotite juurdepääsuks kaugteel], BS thesis, 2022
*Anna Jakovleva, [http://hdl.handle.net/10062/83037 Roboquiz - an interactive human-robot game] [Roboquiz - interaktiivne inimese ja roboti mäng], BS thesis, 2022
*Kristjan Laht, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=74702&year=2022Robot Localization with Fiducial Markers] [Roboti lokaliseerimine koordinaatmärkidega], BS thesis, 2022
*Hans Pärtel Pani, [http://hdl.handle.net/10062/83008 ROS draiver pehmerobootika haaratsile] [ROS Driver for Soft Robotic Gripper], BS thesis, 2022
*Markus Erik Sügis, [http://hdl.handle.net/10062/83015 Jagatud juhtimise põhimõttel realiseeritud robotite kaugjuhtimissüsteem] [A continuous teleoperating system based on shared control concept], BS thesis, 2022
*Taaniel Küla, [http://hdl.handle.net/10062/83007 ROS2 platvormile keevitusroboti tarkvara portotüübi loomine kasutades UR5 robot-manipulaatorit] [Welding robot software prototype for ROS2 using UR5 robot arm], BS thesis, 2022
*Rauno Põlluäär, [http://hdl.handle.net/10062/72672 Veebirakendus-põhine kasutajaliides avatud robotplatvormi Robotont juhtimiseks ja haldamiseks] [Web application-based user interface for controlling and managing open-source robotics platform Robotont], BS thesis, 2021
*Hendrik Olesk, [http://hdl.handle.net/10062/72664 Nägemisulatuses kaugjuhitava mobiilse robotmanipulaatori kasutajamugavuse tõstmine] [Improving the usability of a mobile manipulator robot for line-of-sight remote control], BS thesis, 2021
*Tarvi Tepandi, [http://hdl.handle.net/10062/72665 Segareaalsusel põhinev kasutajaliides mobiilse roboti kaugjuhtimiseks Microsoft HoloLens 2 vahendusel] [Mixed-reality user interface for teleoperating mobile robots with Microsoft HoloLens 2], BS thesis, 2021
*Rudolf Põldma, [http://hdl.handle.net/10062/72674 Tartu linna Narva maantee ringristmiku digikaksik] [Digital twin for Narva street roundabout in Tartu], BS thesis, 2021
*Kwasi Akuamoah Boateng, [http://hdl.handle.net/10062/72804 Digital Twin of a Teaching and Learning Robotics Lab] [Robotite õpetamise ja õppimise labori digitaalne kaksik], BS thesis, 2021
*Karina Sein, [http://hdl.handle.net/10062/72102 Eestikeelse kõnesünteesi võimaldamine robootika arendusplatvormil ROS] [Enabling Estonian speech synthesis on the Robot Operating System (ROS)], BS thesis, 2020
*Ranno Mäesepp, [http://hdl.handle.net/10062/72100 Takistuste vältimise lahendus õpperobotile Robotont] [Obstacle avoidance solution for educational robot platform Robotont], BS thesis, 2020
*Igor Rybalskii, [http://hdl.handle.net/10062/72060 Gesture Detection Software for Human-Robot Collaboration] [Žestituvastus tarkvara inimese ja roboti koostööks], BS thesis, 2020
*Meelis Pihlap, [http://hdl.handle.net/10062/64292 Mitme roboti koostöö funktsionaalsuste väljatöötamine tarkvararaamistikule TeMoto] [Multi-robot collaboration functionalities for robot software development framework TeMoto], BS thesis, 2019
*Kaarel Mark, [http://hdl.handle.net/10062/64290 Liitreaalsuse kasutamine tootmisprotsessis asukohtade määramisel] [Augmented reality for location determination in manufacturing], BS thesis, 2019
*Kätriin Julle, [http://hdl.handle.net/10062/64279 Roboti KUKA youBot riistvara ja ROS-tarkvara uuendamine] [Upgrading robot KUKA youBot’s hardware and ROS-software], BS thesis, 2019
*Georg Astok, [http://hdl.handle.net/10062/64274 Roboti juhtimine virtuaalreaalsuses kasutades ROS-raamistikku] [Creating virtual reality user interface using only ROS framework], BS thesis, 2019
*Martin Hallist, [http://hdl.handle.net/10062/64275 Robotipõhine kaugkohalolu käte liigutuste ülekandmiseks] [Teleoperation robot for arms motions], BS thesis, 2019
*Ahmed Hassan Helmy Mohamed, [http://hdl.handle.net/10062/63946 Software integration of autonomous robot system for mixing and serving drinks] [Jooke valmistava ja serveeriva robotsüsteemi tarkvaralahendus], BS thesis, 2019
*Kristo Allaje, [http://hdl.handle.net/10062/60294 Draiveripakett käte jälgimise seadme Leap Motion™ kontroller kasutamiseks robootika arendusplatvormil ROS] [Driver package for using Leap Motion™ controller on the robotics development platform ROS], BS thesis, 2018
*Martin Maidla, [http://hdl.handle.net/10062/60288 Avatud robotiarendusplatvormi Robotont omniliikumise ja odomeetria arendamine] [Omnimotion and odometry development for open robot development platform Robotont], BS thesis, 2018
*Raid Vellerind, [http://hdl.handle.net/10062/56559 Avatud robotiarendusplatvormi ROS võimekuse loomine Tartu Ülikooli Robotexi robootikaplatvormile] [ROS driver development for the University of Tartu’s Robotex robotics platform], BS thesis, 2017

[[Category:Theses Topics]]

Theses in Robotics

2024-08-27T08:54:32Z

Veix: /* List of potential thesis topics */

[[Category:IMS-robotics]]
<div class="toclimit-3">__TOC__</div>
= Projects in Advanced Robotics =
''The main objective of the follwing projects is to give students experience in working with advanced robotics tehcnology. Our group is active in several R&D projects involving human-robot collaboration, intuitive teleoperation of robots, and autonomous navigation of unmanned mobile platforms. Our main software platforms are [http://www.ros.org/ Robot Operating System (ROS)] for developing software for advanced robot systems and [http://gazebosim.org/ Gazebo] for running realistic robotic simulations.'' 
For further information, contact [[User:Karl|Karl Kruusamäe]].

The following is not an exhaustive list of all available thesis/research topics.

== Highlighted theses topics for 2023/2024 study year ==
# [[#ROBOTONT: analysis of different options as on-board computers|ROBOTONT: analysis of different options as on-board computers]]
# [[#SemuBOT: multiple topics|SemuBOT: multiple topics]]
# [[#Robotic Study Companion: a social robot for students in higher education|Robotic Study Companion: a social robot for students in higher education]]
# [[#Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle|Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle]]
# [[#ROBOTONT: ROS2 support for robotont|ROBOTONT: ROS2 support for robotont]]
# [[#Continuous teleoperation setup for controlling mobile robot on streets|Continuous teleoperation setup for controlling mobile robot on streets]]
# [[#Stratos Explore Ultraleap demonstrator for robotics|Stratos Explore Ultraleap demonstrator for robotics]]
# [[#Mixed-reality scene creation for vehicle teleoperation|Mixed-reality scene creation for vehicle teleoperation]]

== List of potential thesis topics ==
Our inventory includes but is not limited to:
<gallery mode="packed">
File:Youbot.png|120px|thumb|KUKA youBot
File:Ur5_left.png|120px|thumb|Universal Robot UR5
File:Franka_Emika_Panda.jpg|120px|thumb|Franka Emika Panda
File:Clearpath_Jackal.jpg|120px|thumb|Clearpath Jackal
File:Kinova_KG-3_Gripper.jpg|120px|thumb|Kinova 3-finger gripper
File:Xarm7.jpg|120px|thumb|UFACTORY xArm7
File:Robotont_banner.png|120px|thumb|robotont
File:Turtlebot3-waffle-pi.jpg|thumb|TurtleBot3
File:Parrot-bebop-2.jpg|thumb|Parrot Bebop 2
</gallery>

<hr>
=== ROBOTONT: Docker-Driven ROS Environment Switching
This project focuses on integrating Docker containers to manage and switch between different ROS (Robot Operating System) environments on Robotont. Currently, ROS is installed natively on Robotont's Ubuntu-based onboard computer, limiting flexibility in system recovery and configuration switching. The goal is to develop a Docker-based solution that allows users to switch between ROS environments directly from Robotont’s existing low-level menu interface.
<hr>

=== ROBOTONT: designing and implementing a communication protocol for additional devices ===
Robotont currently includes a designated area on its front for attaching additional devices, such as an ultrasonic range finder, a servo motor connected to an Arduino, or a MikroBUS device. This project aims to design and implement a standard communication protocol that will enable seamless integration and control of these devices through the high-level ROS framework running on Robotont’s onboard computer.
<hr>

=== ROBOTONT: analysis of different options as on-board computers ===
Currently ROBOTONT uses Intel NUC as an onboard computer. The goal of this thesis is to validate Robotont's software stack on alternative compute devices (e.g. Raspi4, Intel Compute Stick, and NVIDIA Jetson Nano) and benchmark their performance for the most popular Robotont use-case demos (e.g. webapp teleop, ar-tag steering, 2D mapping, and 3D mapping). The objetive is to propose at least two different compute solutions: one that optimizes cost and another that optimizes for the performance.
<hr>

=== ROBOTONT Lite ===
The goal of this thesis is to optimize ROBOTONT platform for cost by replacing the onboard compute and sensor with low-cost alternatives but ensuring ROS/ROS2 software compatibility.
<hr>

=== ROBOTONT: integrating a graphical programming interface ===
The goal of this thesis is to integrate graphical programming solution (e.g. Scratch or Blockly) to enable programming of Robotont by non-experts.
<hr>

=== SemuBOT: multiple topics ===
In 2023/2024 many topics are developed to support the development of open-source humanoid robot project SemuBOT (https://www.facebook.com/semubotmtu/)
<hr>

=== Robotic Study Companion: a social robot for students in higher education ===
Potential Topics:
* Enhancing the RSC Speech/NLP Capabilities
* Build the RSC Human-Robot Multimodal Interaction
* Developing the RSC Personalities/Behaviour
* Create a WebApp for Monitoring Student Performance via the RSC
* Exploring the RSC use as an Affective Robot with a focus on Students’ Academic Emotions
[https://github.com/Farnaz03/RoboticStudyCompanion Github] | reach out to farnaz.baksh@ut.ee for more info
<hr>

=== ROBOTONT: Quick launch demo suite and the final complete release of its ROS1 software ===
The goal of this thesis is to refine existing robotont demos (e.g. ar-tag steering, follow-the-leader, dancing-with-robot, LEAP-based control etc) and package them in an easy to use way for quick deployment by anyone during public events such as science popularization workshops and school visits.
The results of this work will be packaged as the final ROS1 release of Robotont software as the EOL for ROS1 is in May 2025.
<hr>

=== ROBOTONT: ROS support, demos, and educational materials for open-source mobile robot ===
[[Image:RosLarge.png|left|100px|ROS]]
The project involves many potential theses topic on open-source robot platform ROBOTONT. The nature of the thesis can be software development to improve the platform's capabilites, simulation of specific scenarios, and/or demonstration of ROBOTONT in real-life setting. A more detailed thesis topic will be outlined during in-person meeting 
[[Image:Ros_equation.png|x100px|What is ROS?]]
<hr>

=== Virtual reality user interface (VRUI) for intuitive teleoperation system ===
[[Image:LeapMotion.png|200px|thumb|right|Detecting 2 hands with Leap Motion Controller]]
Enhancing the user-experience of a virtual reality UI developed by [https://github.com/ut-ims-robotics/vrui_rviz Georg Astok]. Potentially adding [http://www.osvr.org/hardware-devs.html virtual reality capability] to a [https://www.youtube.com/watch?v=L25HHFd00rc gesture- and natural-language-based robot teleoperation system].
 
[[Image:Temoto-working-principle-in-pics.png|x160px|Gesture-based teleoperation]]
<hr>
=== Health monitor for intuitive telerobot ===
Intelligent status and error handling for an intuitive telerobotic system.
<hr>
=== 3D scanning of industrial objects ===
Using laser sensors and cameras to create accurate models of industrial products for quality control or further processing.
<hr>
=== Modeling humans for human-robot interaction ===
True human-robot collaboration means that the robot must understand the actions, intention, and state of its human partner. This work invovlves using cameras and other human sensors for digitally representing and modelling humans. There are multiple stages for modeling: a) physical models of human kinematics and dynamics; b) higher level-models for recognizing human intent. 
[[Image:Skeletal ROS.PNG|x160px|ROS & Kinect & Skeleton-Markers Package]]
<hr>
=== Robotic avatar for telepresence ===
Integrating hand gestures and head movements to control a robot avatar in virtual reality user interface.
<hr>
=== Detection of hardware and software resources for smart integration of robots ===
Vast majority of today’s robotic applications rely on hard-coded device and algorithm usage. This project focuses on developing a Resource Snooper software, that can detect addition or removal of resources for the benefit of dynamic reconfiguration of robotic systems. This project is developed as a subsystem of [https://utnuclearroboticspublic.github.io/temoto2/index.html TeMoto].
<hr>
=== Sonification of feedback during teleoperation of robots ===
Humans are used to receiving auditory feedback in their everyday lives. It helps us make decision and be aware of potential dangers. Telerobotic interfaces can deploy the same idea to improve the Situational Awareness and robotic task efficiency. The thesis project involves a study about different sonification solutions and implementation of it in a telerobotic application using ROS.
<hr>
=== Human-Robot and Robot-Robot collaboration applications ===
Creating a demo or analysis of software capabilities related to human-robot or tobot-robot teams
* human-robot collaborative assembly
* distributed mapping; analysis and demo of existing ROS (e.g., segmap https://youtu.be/JJhEkIA1xSE) packages for multi-robot mapping
* Inaccessible region teamwork
**youbot+drone - a drone maps the environment (for example a maze) and ground vehicle uses this information to traverse the maze
**youbot+robotont - youbot cannot go up ledges but it can lift smaller robot, such as robotont, up a ledge.
<hr>

=== Mirroring human hand movements on industrial robots ===
The goal of this project is to integrate continuous control of industrial robot manipulator with a gestural telerobotics interface. The recommended tools for this thesis project are Leap Motion Controller or a standard web camera, Ultraleap, Universal Robot UR5 manipulator, and ROS.
<hr>
=== ROBOTONT: TeMoto for robotont ===
Swarm-management for robotont using [https://temoto-telerobotics.github.io TeMoto] framework.
<hr>

=== Enhancing teleoperation control interface with augmented cues to provoke caution===
The task is to create a telerobot control interface where video feed from the remote site and/or a mixed-reality scene is augmented with visual cues to provoke caution in human operator.
<hr>
=== Robot-to-human interaction ===
As robots and autonomous machines start sharing the same space a humans, their actions need to be understood by the people occupying the same space. For instance, a human worker needs to understand what the robot partner is planning next or a pedestrian needs to clearly comprehend the behaviour of a driverless vehicle. To reduce the ambiguity, the robot needs mechanisms to convey its intent (whatever it is going to do next). The aim of the thesis is to outline existing methods for machines to convey their intent and develop a unified model interface for expressing that intent.
<hr>
=== Gaze-based handover prediction ===
When human needs to pass an object to a robot manipulator, the robot must understand where in 3D space the object handover occurs and then plan an appropriate motion. Human gaze can be used as the input for predicting which object to track. This thesis activities involve camera-based eye tracking and safe motion-planning.
<hr>
=== Real-world demonstrator for MIR+UR+TeMoto integration ===
Integration of mobile manipulator (MIR100 + UR5e + Robotiq gripper) to demonstrate TeMoto in a collaborative application.
<hr>
=== ROBOTONT: Human-height human-robot interface for Robotont ground robot ===
Robotont is an ankle-high flat mobile robot. For humans to interact with Robotont, there is a need for a compact and lightweight mechanical structure that is tall enough for comfortable human-robot interaction. The objective of the thesis is to develop the mechanical designs and build prototypes that ensure stable operation and meet the aesthetic requirements for use in public places.
<hr>
=== Stratos Explore Ultraleap demonstrator for robotics ===
The aim of this thesis is to systematically analyze the strengths and limitations of the Stratos Explore Ultraleap device in the context of controlling a robot. Subsequently implement a demonstrator application for showing off its applicability for robot control.
<hr>
=== Continuous teleoperation setup for controlling mobile robot on streets ===
The task in this device is analyse available options for building a teleopearation cockpit for continuously controlling a mobile robot moving on the streets. The contribution of the thesis is to set up the system, validate its usability, and benchmark its capabilities/limitations on the [https://adl.cs.ut.ee/lab/vehicle ADL vehicle]
<hr>

=== ROBOTONT: ROS2 support for robotont ===
Creating ROS2 support for robotont mobile platform
<hr>
=== Mixed-reality scene creation for vehicle teleoperation ===
Fusing different sensory feeds for creating high-usability teleoperation scene.
<hr>
=== Validation study for AR-based robot user-interfaces ===
Designing and carrying out a user study to validate the functionality and usability of an human-robot interface.
<hr>
=== Replication of the MIT Hydra demo ===
The goal of the thesis is to use the Hydra software package and integrate it for a robot used at IMS Robotics (e.g., TIAGo, Jackal, Robotont).
 Hydra takes sensor data in input (stereo or RGB-D camera images and IMU data) and produces a hierarchical model of the environment, by estimating the trajectory of the robot (including loop closures), building a metric-semantic 3D mesh, and segmenting objects, places, and rooms in an indoor environment. These representations are combined into a 3D scene graph, which enables novel approaches for hierarchical loop closure detection and ensures the representations remain consistent after loop closure. Hydra is implemented in C++ and is ROS-compatible. It uses a neural-network based image segmentation front-end, but it otherwise relies on an efficient and multi-threaded CPU-based implementation, which is suitable for mobile robot deployment.
 LINKS:
 Video: https://youtu.be/qZg2lSeTuvM
 Code: https://github.com/MIT-SPARK/Hydra
 Paper: http://www.roboticsproceedings.org/rss18/p050.pdf
<hr>

=== Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle ===
The goal of this thesis is to develop the methodology for measuring the operator's situation awareness while operating an autonomous urban vehicle. Potential metrics could include driving accuracy, speed, and latency. This thesis will be conducted as part of the activities at the [https://adl.cs.ut.ee Autonomous Driving Lab].
<hr>

= Completed projects =
== PhD theses ==
*Houman Masnavi, [https://hdl.handle.net/10062/91394 Visibility aware navigation] [Nähtavust arvestav navigatsioon], PhD thesis, 2023

== Masters's theses ==
*Robert Allik, Validation of NoMaD as a Global Planner for Mobile Robots, MS thesis, 2024
*Rauno Põlluäär, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79393 Designing and Implementing a Bird’s-eye View Interface for a Self-driving Vehicle’s Teleoperation System] [Isejuhtiva sõiduki kaugjuhtimissüsteemile linnuvaate kasutajaliidese loomine], MS thesis, 2024
*Eva Mõtshärg, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=77385 3D-prinditava kere disain ja analüüs vabavaralisele haridusrobotile Robotont] [Design and Analysis of a 3D Printable Chassis for the Open Source Educational Robot Robotont], MS thesis, 2023
*Farnaz Baksh, [https://dspace.ut.ee/items/a7a9cc15-27e9-450c-94e8-3267f0c95c56 An Open-source Robotic Study Companion for University Students] [Avatud lähtekoodiga robotõpikaaslane üliõpilastele], MS thesis, 2023
*Igor Rybalskii, [http://hdl.handle.net/10062/83028 Augmented reality (AR) for enabling human-robot collaboration with ROS robots] [Liitreaalsus inimese ja roboti koostöö võimaldamiseks ROS-i robotitega], MS thesis, 2022
*Md. Maniruzzaman, [http://hdl.handle.net/10062/83025 Object search and retrieval in indoor environment using a Mobile Manipulator] [Objektide otsimine ja teisaldamine siseruumides mobiilse manipulaatori abil], MS thesis, 2022
*Allan Kustavus, [http://hdl.handle.net/10062/72651 Design and Implementation of a Generalized Resource Management Architecture in the TeMoto Software Framework] [Üldise ressursihalduri disain ja teostus TeMoto tarkvara raamistikule], MS thesis, 2021
*Kristina Meister, [http://hdl.handle.net/10062/72350 External human-vehicle interaction - a study in the context of an autonomous ride-hailing service], MS thesis, 2021
*Muhammad Usman, [http://hdl.handle.net/10062/72126 Development of an Optimization-Based Motion Planner and Its ROS Interface for a Non-Holonomic Mobile Manipulator] [Optimeerimisele baseeruva liikumisplaneerija arendamine ja selle ROSi liides mitteholonoomse mobiilse manipulaatori jaoks], MS thesis, 2020
*Maarika Oidekivi, [http://hdl.handle.net/10062/72119 Masina kavatsuse väljendamine ja tõlgendamine] [Communicating and interpreting machine intent], MS thesis, 2020
*Houman Masnavi, [http://hdl.handle.net/10062/72118 Multi-Robot Motion Planning for Shared Payload Transportation] [Rajaplaneerimine multi-robot süsteemile jagatud lasti transportimisel], MS thesis, 2020
*Fabian Ernesto Parra Gil, [http://hdl.handle.net/10062/72112 Implementation of Robot Manager Subsystem for Temoto Software Framework] [Robotite Halduri alamsüsteemi väljatöötamine tarkvararaamistikule TEMOTO], MS thesis, 2020
*Zafarullah, [http://hdl.handle.net/10062/72125 Gaze Assisted Neural Network based Prediction of End-Point of Human Reaching Trajectories], MS thesis, 2020
*Madis K Nigol, [http://hdl.handle.net/10062/64339 Õppematerjalid robotplatvormile Robotont] [Study materials for robot platform Robotont], MS thesis, 2019
*Renno Raudmäe, [http://hdl.handle.net/10062/64341 Avatud robotplatvorm Robotont] [Open source robotics platform Robotont], MS thesis, 2019
*Asif Sattar, [http://hdl.handle.net/10062/64352 Human detection and distance estimation with monocular camera using YOLOv3 neural network] [Inimeste tuvastamine ning kauguse hindamine kasutades kaamerat ning YOLOv3 tehisnärvivõrku], MS thesis, 2019
*Ragnar Margus, [http://hdl.handle.net/10062/64337 Kergliiklusvahendite jagamisteenuseks vajaliku positsioneerimismooduli loomine ja uurimine] [Develoment and testing of a IoT module for electric vehicle sharing service], MS thesis, 2019
*Pavel Šumejko, [http://hdl.handle.net/10062/64320 Robust Solution for Extrinsic Calibration of a 2D Laser-Rangefinder and a Monocular USB Camera] [Meetod 2D laserkaugusmõõdiku ja USB-kaamera väliseks kalibreerimiseks], MS thesis, 2019
*Dzvezdana Arsovska, [http://hdl.handle.net/10062/64321 Building an Efficient and Secure Software Supply Pipeline for Aerial Robotics Application] [Efektiivne ja turvaline tarkvaraarendusahel lennurobootika rakenduses], MS thesis, 2019
*Tõnis Tiimus, [http://hdl.handle.net/10062/60713 Visuaalselt esilekutsutud potentsiaalidel põhinev aju-arvuti liides robootika rakendustes] [A VEP-based BCI for robotics applications], MS thesis, 2018
*Martin Appo, [http://hdl.handle.net/10062/60718 Hardware-agnostic compliant control ROS package for collaborative industrial manipulators] [Riistvarapaindlik ROSi tarkvarapakett tööstuslike robotite mööndlikuks juhtimiseks], MS thesis, 2018
*Hassan Mahmoud Shehawy Elhanash, [http://hdl.handle.net/10062/60711 Optical Tracking of Forearm for Classifying Fingers Poses] [Küünarvarre visuaalne jälgimine ennustamaks sõrmede asendeid], MS thesis, 2018

== Bachelor's theses ==
*Albert Unn, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79937 Suhtlusvõimekuse arendamine sotsiaalsele humanoidrobotile SemuBot] [Developing the ability to communicate for SemuBot, a social humanoid robot], BS thesis, 2024
*Veronika-Marina Volynets, [https://hdl.handle.net/10062/99943 Development of Control Electronics and Program for Robotont's Height Adjustment Mechanism] [Juhtelektroonika ja programmi väljatöötamine Robotondi kõrguse reguleerimise mehhanismile], BS thesis, 2024
*Nikita Kurenkov, [https://hdl.handle.net/10062/99880 Flexible Screen Integration and Development of Neck Movement Mechanism for Social Humanoid Robot SemuBot] [Humanoidroboti näo lahenduse leidmine ja rakendamine; humanoidroboti jaoks kaela mehhanismi väljatöötamine], BS thesis, 2024
*Elchin Huseynov, [https://hdl.handle.net/10062/99668 Design and Control of a Social Humanoid Robot - SemuBot’s Hand] [Sotsiaalse Humanoidroboti Disain ja Juhtimine - SemuBoti Käsi], BS thesis, 2024
*Veronika Podliesnova, [https://hdl.handle.net/10062/99636 Real-Time Detection of Robot Failures by Monitoring Operator’s Brain Activity with EEG-based Brain-Computer Interface] [Reaalajas Robotirikke Tuvastamine Operaatori Ajutegevuse Jälgimise teel EEG-põhise Aju-Arvuti Liidese abil], BS thesis, 2024
*Märten Josh Peedimaa, [https://hdl.handle.net/not-yet Rhea: An Open-Source Table Tennis Ball Launcher Robot for Multiball Training] [Avatud lähtekoodiga lauatennise palliviske robot mitmikpall treenimiseks], BS thesis, 2024
*Karl Sander Vinkel, [https://hdl.handle.net/not-yet Laadimisjaama ja transportkesta väljatöötamine õpperobotile Robotont] [Development of charging dock and transport case for Robotont], BS thesis, 2024
*Raimo Köidam, [https://hdl.handle.net/not-yet Valguslahenduse tarkvara väljatöötamine õpperobotile Robotont] [Development of light solution software for the educational robot Robotont], BS thesis, 2024
*Robert Valge, [https://hdl.handle.net/not-yet Toitepinge ja tarbevoolu monitoorimine ning toitehalduse püsivara loomine õpperobotil Robotont] [Monitoring supply voltage and current consumption and creating firmware for Robotont’s power management system], BS thesis, 2024
*Leonid Tšigrinski, [https://hdl.handle.net/not-yet Õpperoboti Robotont püsivara arhitektuuri uuendamine] [Education robot "Robotont" firmware architecture updating], BS thesis, 2024
*Andres Sakk, [https://hdl.handle.net/not-yet Avatud robotplatvormi Robotont 3 kasutajaliidese väljatöötamine] [Development of a user interface for the open robotics platform Robotont 3], BS thesis, 2024
*Kaur Kullamäe, [https://hdl.handle.net/not-yet Elektroonikalahendus ja püsivara robotkäe juhtimiseks sotsiaalsel humanoidrobotil SemuBot] [Building the SemuBot arm electronics system], BS thesis, 2024
*Kristjan Madis Kask, [https://hdl.handle.net/not-yet Käe mehaanika disain sotsiaalsele humanoidrobotile SemuBot] [Arm mechanics design for social humanoid robot SemuBot], BS thesis, 2024
*Sven-Ervin Paap, [https://hdl.handle.net/not-yet ROS2 draiver õpperobotile Robotont] [ROS2 driver for the educational robot Robotont], BS thesis, 2024
*Timur Nizamov, [https://hdl.handle.net/10062/99592 Audio System for the Social Humanoid Robot SemuBot] [Helisüsteem sotsiaalsele humanoidrobotile SemuBot], BS thesis, 2024
*Georgs Narbuts, [https://hdl.handle.net/10062/99554 Holonomic Motion Drive System of a Social Humanoid Robot SemuBot] [Sotsiaalse humanoidroboti SemuBoti holonoomne liikuv ajamisüsteem], BS thesis, 2024
*Iryna Hurova, [https://hdl.handle.net/10062/90638 Kitting station of the learning factory] [Õppetehase komplekteerimisjaam], BS thesis, 2023
*Paola Avalos Conchas, [https://hdl.handle.net/10062/90641 Payload transportation system of a learning factory] [Õppetehase kasuliku koorma transpordisüsteem], BS thesis, 2023
*Pille Pärnalaas, [https://hdl.handle.net/10062/93431 Pöördpõik ajami arendus robotplatvormile Robotont] [Development of swerve drive for robotic platform Robotont], BS thesis, 2023
*Priit Rooden, [https://hdl.handle.net/10062/93432 Autonoomse laadimislahenduse väljatöötamine õpperobotile Robotont] [Development of an autonomous charging solution for the robot platform Robotont], BS thesis, 2023
*Marko Muro, [https://hdl.handle.net/10062/93429 Robotondi akulahenduse ning 12 V pingeregulaatori prototüüpimine] [Prototyping battery solution and 12 V voltage regulator for Robotont], BS thesis, 2023
*Danel Leppenen, [https://hdl.handle.net/10062/93427 Nav2 PYIF: Python-based Motion Planning for ROS 2 Navigation 2] [Nav 2 PYIF: Pythoni põhine liikumise planeerija ROS 2 Navigation 2-le], BS thesis, 2023
*Kertrud Geddily Küüt, [https://hdl.handle.net/10062/93424 Kõrgust reguleeriv mehhanism Robotondile] [Height adjusting mechanism for Robotont], BS thesis, 2023
*Ingvar Drikkit, [https://hdl.handle.net/10062/93421 Lisaseadmete võimekuse arendamine haridusrobotile Robotont] [Developing add-on device support for the educational robot Robotont], BS thesis, 2023
*Kristo Pool, [https://hdl.handle.net/10062/93430 MoveIt 2 õppematerjalid] [Learning materials for MoveIt 2], BS thesis, 2023
*Erki Veeväli, [https://hdl.handle.net/10062/93434 Development of a Continuous Teleoperation System for Urban Road Vehicle] [Linnasõiduki pideva kaugjuhtimissüsteemi arendus], BS thesis, 2023
*Aleksandra Doroshenko, [https://hdl.handle.net/10062/93420 Haiglates inimesi juhatava roboti disain] [Hospital guide robot design], BS thesis, 2023
*Hui Shi, [http://hdl.handle.net/10062/83043 Expanding the Open-source ROS Software Pack age opencv_apps with Dedicated Blob Detection Functionality] [Avatud lähtekoodiga ROS-i tarkvarakimbu opencv_apps laiendamine laigutuvasti funktsioonaalsusega], BS thesis, 2022
*Dāvis Krūmiņš, [http://hdl.handle.net/10062/83040 Web-based learning and software development environment for remote access of ROS robots] [Veebipõhine õppe- ja tarkvaraarenduse keskkond ROS robotite juurdepääsuks kaugteel], BS thesis, 2022
*Anna Jakovleva, [http://hdl.handle.net/10062/83037 Roboquiz - an interactive human-robot game] [Roboquiz - interaktiivne inimese ja roboti mäng], BS thesis, 2022
*Kristjan Laht, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=74702&year=2022Robot Localization with Fiducial Markers] [Roboti lokaliseerimine koordinaatmärkidega], BS thesis, 2022
*Hans Pärtel Pani, [http://hdl.handle.net/10062/83008 ROS draiver pehmerobootika haaratsile] [ROS Driver for Soft Robotic Gripper], BS thesis, 2022
*Markus Erik Sügis, [http://hdl.handle.net/10062/83015 Jagatud juhtimise põhimõttel realiseeritud robotite kaugjuhtimissüsteem] [A continuous teleoperating system based on shared control concept], BS thesis, 2022
*Taaniel Küla, [http://hdl.handle.net/10062/83007 ROS2 platvormile keevitusroboti tarkvara portotüübi loomine kasutades UR5 robot-manipulaatorit] [Welding robot software prototype for ROS2 using UR5 robot arm], BS thesis, 2022
*Rauno Põlluäär, [http://hdl.handle.net/10062/72672 Veebirakendus-põhine kasutajaliides avatud robotplatvormi Robotont juhtimiseks ja haldamiseks] [Web application-based user interface for controlling and managing open-source robotics platform Robotont], BS thesis, 2021
*Hendrik Olesk, [http://hdl.handle.net/10062/72664 Nägemisulatuses kaugjuhitava mobiilse robotmanipulaatori kasutajamugavuse tõstmine] [Improving the usability of a mobile manipulator robot for line-of-sight remote control], BS thesis, 2021
*Tarvi Tepandi, [http://hdl.handle.net/10062/72665 Segareaalsusel põhinev kasutajaliides mobiilse roboti kaugjuhtimiseks Microsoft HoloLens 2 vahendusel] [Mixed-reality user interface for teleoperating mobile robots with Microsoft HoloLens 2], BS thesis, 2021
*Rudolf Põldma, [http://hdl.handle.net/10062/72674 Tartu linna Narva maantee ringristmiku digikaksik] [Digital twin for Narva street roundabout in Tartu], BS thesis, 2021
*Kwasi Akuamoah Boateng, [http://hdl.handle.net/10062/72804 Digital Twin of a Teaching and Learning Robotics Lab] [Robotite õpetamise ja õppimise labori digitaalne kaksik], BS thesis, 2021
*Karina Sein, [http://hdl.handle.net/10062/72102 Eestikeelse kõnesünteesi võimaldamine robootika arendusplatvormil ROS] [Enabling Estonian speech synthesis on the Robot Operating System (ROS)], BS thesis, 2020
*Ranno Mäesepp, [http://hdl.handle.net/10062/72100 Takistuste vältimise lahendus õpperobotile Robotont] [Obstacle avoidance solution for educational robot platform Robotont], BS thesis, 2020
*Igor Rybalskii, [http://hdl.handle.net/10062/72060 Gesture Detection Software for Human-Robot Collaboration] [Žestituvastus tarkvara inimese ja roboti koostööks], BS thesis, 2020
*Meelis Pihlap, [http://hdl.handle.net/10062/64292 Mitme roboti koostöö funktsionaalsuste väljatöötamine tarkvararaamistikule TeMoto] [Multi-robot collaboration functionalities for robot software development framework TeMoto], BS thesis, 2019
*Kaarel Mark, [http://hdl.handle.net/10062/64290 Liitreaalsuse kasutamine tootmisprotsessis asukohtade määramisel] [Augmented reality for location determination in manufacturing], BS thesis, 2019
*Kätriin Julle, [http://hdl.handle.net/10062/64279 Roboti KUKA youBot riistvara ja ROS-tarkvara uuendamine] [Upgrading robot KUKA youBot’s hardware and ROS-software], BS thesis, 2019
*Georg Astok, [http://hdl.handle.net/10062/64274 Roboti juhtimine virtuaalreaalsuses kasutades ROS-raamistikku] [Creating virtual reality user interface using only ROS framework], BS thesis, 2019
*Martin Hallist, [http://hdl.handle.net/10062/64275 Robotipõhine kaugkohalolu käte liigutuste ülekandmiseks] [Teleoperation robot for arms motions], BS thesis, 2019
*Ahmed Hassan Helmy Mohamed, [http://hdl.handle.net/10062/63946 Software integration of autonomous robot system for mixing and serving drinks] [Jooke valmistava ja serveeriva robotsüsteemi tarkvaralahendus], BS thesis, 2019
*Kristo Allaje, [http://hdl.handle.net/10062/60294 Draiveripakett käte jälgimise seadme Leap Motion™ kontroller kasutamiseks robootika arendusplatvormil ROS] [Driver package for using Leap Motion™ controller on the robotics development platform ROS], BS thesis, 2018
*Martin Maidla, [http://hdl.handle.net/10062/60288 Avatud robotiarendusplatvormi Robotont omniliikumise ja odomeetria arendamine] [Omnimotion and odometry development for open robot development platform Robotont], BS thesis, 2018
*Raid Vellerind, [http://hdl.handle.net/10062/56559 Avatud robotiarendusplatvormi ROS võimekuse loomine Tartu Ülikooli Robotexi robootikaplatvormile] [ROS driver development for the University of Tartu’s Robotex robotics platform], BS thesis, 2017

[[Category:Theses Topics]]

Theses in Robotics

2024-08-27T08:54:10Z

Veix: /* List of potential thesis topics */

[[Category:IMS-robotics]]
<div class="toclimit-3">__TOC__</div>
= Projects in Advanced Robotics =
''The main objective of the follwing projects is to give students experience in working with advanced robotics tehcnology. Our group is active in several R&D projects involving human-robot collaboration, intuitive teleoperation of robots, and autonomous navigation of unmanned mobile platforms. Our main software platforms are [http://www.ros.org/ Robot Operating System (ROS)] for developing software for advanced robot systems and [http://gazebosim.org/ Gazebo] for running realistic robotic simulations.'' 
For further information, contact [[User:Karl|Karl Kruusamäe]].

The following is not an exhaustive list of all available thesis/research topics.

== Highlighted theses topics for 2023/2024 study year ==
# [[#ROBOTONT: analysis of different options as on-board computers|ROBOTONT: analysis of different options as on-board computers]]
# [[#SemuBOT: multiple topics|SemuBOT: multiple topics]]
# [[#Robotic Study Companion: a social robot for students in higher education|Robotic Study Companion: a social robot for students in higher education]]
# [[#Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle|Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle]]
# [[#ROBOTONT: ROS2 support for robotont|ROBOTONT: ROS2 support for robotont]]
# [[#Continuous teleoperation setup for controlling mobile robot on streets|Continuous teleoperation setup for controlling mobile robot on streets]]
# [[#Stratos Explore Ultraleap demonstrator for robotics|Stratos Explore Ultraleap demonstrator for robotics]]
# [[#Mixed-reality scene creation for vehicle teleoperation|Mixed-reality scene creation for vehicle teleoperation]]

== List of potential thesis topics ==
Our inventory includes but is not limited to:
<gallery mode="packed">
File:Youbot.png|120px|thumb|KUKA youBot
File:Ur5_left.png|120px|thumb|Universal Robot UR5
File:Franka_Emika_Panda.jpg|120px|thumb|Franka Emika Panda
File:Clearpath_Jackal.jpg|120px|thumb|Clearpath Jackal
File:Kinova_KG-3_Gripper.jpg|120px|thumb|Kinova 3-finger gripper
File:Xarm7.jpg|120px|thumb|UFACTORY xArm7
File:Robotont_banner.png|120px|thumb|robotont
File:Turtlebot3-waffle-pi.jpg|thumb|TurtleBot3
File:Parrot-bebop-2.jpg|thumb|Parrot Bebop 2
</gallery>

=== ROBOTONT: Docker-Driven ROS Environment Switching
This project focuses on integrating Docker containers to manage and switch between different ROS (Robot Operating System) environments on Robotont. Currently, ROS is installed natively on Robotont's Ubuntu-based onboard computer, limiting flexibility in system recovery and configuration switching. The goal is to develop a Docker-based solution that allows users to switch between ROS environments directly from Robotont’s existing low-level menu interface.
<hr>

=== ROBOTONT: designing and implementing a communication protocol for additional devices ===
Robotont currently includes a designated area on its front for attaching additional devices, such as an ultrasonic range finder, a servo motor connected to an Arduino, or a MikroBUS device. This project aims to design and implement a standard communication protocol that will enable seamless integration and control of these devices through the high-level ROS framework running on Robotont’s onboard computer.
<hr>

=== ROBOTONT: analysis of different options as on-board computers ===
Currently ROBOTONT uses Intel NUC as an onboard computer. The goal of this thesis is to validate Robotont's software stack on alternative compute devices (e.g. Raspi4, Intel Compute Stick, and NVIDIA Jetson Nano) and benchmark their performance for the most popular Robotont use-case demos (e.g. webapp teleop, ar-tag steering, 2D mapping, and 3D mapping). The objetive is to propose at least two different compute solutions: one that optimizes cost and another that optimizes for the performance.
<hr>

=== ROBOTONT Lite ===
The goal of this thesis is to optimize ROBOTONT platform for cost by replacing the onboard compute and sensor with low-cost alternatives but ensuring ROS/ROS2 software compatibility.
<hr>

=== ROBOTONT: integrating a graphical programming interface ===
The goal of this thesis is to integrate graphical programming solution (e.g. Scratch or Blockly) to enable programming of Robotont by non-experts.
<hr>

=== SemuBOT: multiple topics ===
In 2023/2024 many topics are developed to support the development of open-source humanoid robot project SemuBOT (https://www.facebook.com/semubotmtu/)
<hr>

=== Robotic Study Companion: a social robot for students in higher education ===
Potential Topics:
* Enhancing the RSC Speech/NLP Capabilities
* Build the RSC Human-Robot Multimodal Interaction
* Developing the RSC Personalities/Behaviour
* Create a WebApp for Monitoring Student Performance via the RSC
* Exploring the RSC use as an Affective Robot with a focus on Students’ Academic Emotions
[https://github.com/Farnaz03/RoboticStudyCompanion Github] | reach out to farnaz.baksh@ut.ee for more info
<hr>

=== ROBOTONT: Quick launch demo suite and the final complete release of its ROS1 software ===
The goal of this thesis is to refine existing robotont demos (e.g. ar-tag steering, follow-the-leader, dancing-with-robot, LEAP-based control etc) and package them in an easy to use way for quick deployment by anyone during public events such as science popularization workshops and school visits.
The results of this work will be packaged as the final ROS1 release of Robotont software as the EOL for ROS1 is in May 2025.
<hr>

=== ROBOTONT: ROS support, demos, and educational materials for open-source mobile robot ===
[[Image:RosLarge.png|left|100px|ROS]]
The project involves many potential theses topic on open-source robot platform ROBOTONT. The nature of the thesis can be software development to improve the platform's capabilites, simulation of specific scenarios, and/or demonstration of ROBOTONT in real-life setting. A more detailed thesis topic will be outlined during in-person meeting 
[[Image:Ros_equation.png|x100px|What is ROS?]]
<hr>

=== Virtual reality user interface (VRUI) for intuitive teleoperation system ===
[[Image:LeapMotion.png|200px|thumb|right|Detecting 2 hands with Leap Motion Controller]]
Enhancing the user-experience of a virtual reality UI developed by [https://github.com/ut-ims-robotics/vrui_rviz Georg Astok]. Potentially adding [http://www.osvr.org/hardware-devs.html virtual reality capability] to a [https://www.youtube.com/watch?v=L25HHFd00rc gesture- and natural-language-based robot teleoperation system].
 
[[Image:Temoto-working-principle-in-pics.png|x160px|Gesture-based teleoperation]]
<hr>
=== Health monitor for intuitive telerobot ===
Intelligent status and error handling for an intuitive telerobotic system.
<hr>
=== 3D scanning of industrial objects ===
Using laser sensors and cameras to create accurate models of industrial products for quality control or further processing.
<hr>
=== Modeling humans for human-robot interaction ===
True human-robot collaboration means that the robot must understand the actions, intention, and state of its human partner. This work invovlves using cameras and other human sensors for digitally representing and modelling humans. There are multiple stages for modeling: a) physical models of human kinematics and dynamics; b) higher level-models for recognizing human intent. 
[[Image:Skeletal ROS.PNG|x160px|ROS & Kinect & Skeleton-Markers Package]]
<hr>
=== Robotic avatar for telepresence ===
Integrating hand gestures and head movements to control a robot avatar in virtual reality user interface.
<hr>
=== Detection of hardware and software resources for smart integration of robots ===
Vast majority of today’s robotic applications rely on hard-coded device and algorithm usage. This project focuses on developing a Resource Snooper software, that can detect addition or removal of resources for the benefit of dynamic reconfiguration of robotic systems. This project is developed as a subsystem of [https://utnuclearroboticspublic.github.io/temoto2/index.html TeMoto].
<hr>
=== Sonification of feedback during teleoperation of robots ===
Humans are used to receiving auditory feedback in their everyday lives. It helps us make decision and be aware of potential dangers. Telerobotic interfaces can deploy the same idea to improve the Situational Awareness and robotic task efficiency. The thesis project involves a study about different sonification solutions and implementation of it in a telerobotic application using ROS.
<hr>
=== Human-Robot and Robot-Robot collaboration applications ===
Creating a demo or analysis of software capabilities related to human-robot or tobot-robot teams
* human-robot collaborative assembly
* distributed mapping; analysis and demo of existing ROS (e.g., segmap https://youtu.be/JJhEkIA1xSE) packages for multi-robot mapping
* Inaccessible region teamwork
**youbot+drone - a drone maps the environment (for example a maze) and ground vehicle uses this information to traverse the maze
**youbot+robotont - youbot cannot go up ledges but it can lift smaller robot, such as robotont, up a ledge.
<hr>

=== Mirroring human hand movements on industrial robots ===
The goal of this project is to integrate continuous control of industrial robot manipulator with a gestural telerobotics interface. The recommended tools for this thesis project are Leap Motion Controller or a standard web camera, Ultraleap, Universal Robot UR5 manipulator, and ROS.
<hr>
=== ROBOTONT: TeMoto for robotont ===
Swarm-management for robotont using [https://temoto-telerobotics.github.io TeMoto] framework.
<hr>

=== Enhancing teleoperation control interface with augmented cues to provoke caution===
The task is to create a telerobot control interface where video feed from the remote site and/or a mixed-reality scene is augmented with visual cues to provoke caution in human operator.
<hr>
=== Robot-to-human interaction ===
As robots and autonomous machines start sharing the same space a humans, their actions need to be understood by the people occupying the same space. For instance, a human worker needs to understand what the robot partner is planning next or a pedestrian needs to clearly comprehend the behaviour of a driverless vehicle. To reduce the ambiguity, the robot needs mechanisms to convey its intent (whatever it is going to do next). The aim of the thesis is to outline existing methods for machines to convey their intent and develop a unified model interface for expressing that intent.
<hr>
=== Gaze-based handover prediction ===
When human needs to pass an object to a robot manipulator, the robot must understand where in 3D space the object handover occurs and then plan an appropriate motion. Human gaze can be used as the input for predicting which object to track. This thesis activities involve camera-based eye tracking and safe motion-planning.
<hr>
=== Real-world demonstrator for MIR+UR+TeMoto integration ===
Integration of mobile manipulator (MIR100 + UR5e + Robotiq gripper) to demonstrate TeMoto in a collaborative application.
<hr>
=== ROBOTONT: Human-height human-robot interface for Robotont ground robot ===
Robotont is an ankle-high flat mobile robot. For humans to interact with Robotont, there is a need for a compact and lightweight mechanical structure that is tall enough for comfortable human-robot interaction. The objective of the thesis is to develop the mechanical designs and build prototypes that ensure stable operation and meet the aesthetic requirements for use in public places.
<hr>
=== Stratos Explore Ultraleap demonstrator for robotics ===
The aim of this thesis is to systematically analyze the strengths and limitations of the Stratos Explore Ultraleap device in the context of controlling a robot. Subsequently implement a demonstrator application for showing off its applicability for robot control.
<hr>
=== Continuous teleoperation setup for controlling mobile robot on streets ===
The task in this device is analyse available options for building a teleopearation cockpit for continuously controlling a mobile robot moving on the streets. The contribution of the thesis is to set up the system, validate its usability, and benchmark its capabilities/limitations on the [https://adl.cs.ut.ee/lab/vehicle ADL vehicle]
<hr>

=== ROBOTONT: ROS2 support for robotont ===
Creating ROS2 support for robotont mobile platform
<hr>
=== Mixed-reality scene creation for vehicle teleoperation ===
Fusing different sensory feeds for creating high-usability teleoperation scene.
<hr>
=== Validation study for AR-based robot user-interfaces ===
Designing and carrying out a user study to validate the functionality and usability of an human-robot interface.
<hr>
=== Replication of the MIT Hydra demo ===
The goal of the thesis is to use the Hydra software package and integrate it for a robot used at IMS Robotics (e.g., TIAGo, Jackal, Robotont).
 Hydra takes sensor data in input (stereo or RGB-D camera images and IMU data) and produces a hierarchical model of the environment, by estimating the trajectory of the robot (including loop closures), building a metric-semantic 3D mesh, and segmenting objects, places, and rooms in an indoor environment. These representations are combined into a 3D scene graph, which enables novel approaches for hierarchical loop closure detection and ensures the representations remain consistent after loop closure. Hydra is implemented in C++ and is ROS-compatible. It uses a neural-network based image segmentation front-end, but it otherwise relies on an efficient and multi-threaded CPU-based implementation, which is suitable for mobile robot deployment.
 LINKS:
 Video: https://youtu.be/qZg2lSeTuvM
 Code: https://github.com/MIT-SPARK/Hydra
 Paper: http://www.roboticsproceedings.org/rss18/p050.pdf
<hr>

=== Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle ===
The goal of this thesis is to develop the methodology for measuring the operator's situation awareness while operating an autonomous urban vehicle. Potential metrics could include driving accuracy, speed, and latency. This thesis will be conducted as part of the activities at the [https://adl.cs.ut.ee Autonomous Driving Lab].
<hr>

= Completed projects =
== PhD theses ==
*Houman Masnavi, [https://hdl.handle.net/10062/91394 Visibility aware navigation] [Nähtavust arvestav navigatsioon], PhD thesis, 2023

== Masters's theses ==
*Robert Allik, Validation of NoMaD as a Global Planner for Mobile Robots, MS thesis, 2024
*Rauno Põlluäär, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79393 Designing and Implementing a Bird’s-eye View Interface for a Self-driving Vehicle’s Teleoperation System] [Isejuhtiva sõiduki kaugjuhtimissüsteemile linnuvaate kasutajaliidese loomine], MS thesis, 2024
*Eva Mõtshärg, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=77385 3D-prinditava kere disain ja analüüs vabavaralisele haridusrobotile Robotont] [Design and Analysis of a 3D Printable Chassis for the Open Source Educational Robot Robotont], MS thesis, 2023
*Farnaz Baksh, [https://dspace.ut.ee/items/a7a9cc15-27e9-450c-94e8-3267f0c95c56 An Open-source Robotic Study Companion for University Students] [Avatud lähtekoodiga robotõpikaaslane üliõpilastele], MS thesis, 2023
*Igor Rybalskii, [http://hdl.handle.net/10062/83028 Augmented reality (AR) for enabling human-robot collaboration with ROS robots] [Liitreaalsus inimese ja roboti koostöö võimaldamiseks ROS-i robotitega], MS thesis, 2022
*Md. Maniruzzaman, [http://hdl.handle.net/10062/83025 Object search and retrieval in indoor environment using a Mobile Manipulator] [Objektide otsimine ja teisaldamine siseruumides mobiilse manipulaatori abil], MS thesis, 2022
*Allan Kustavus, [http://hdl.handle.net/10062/72651 Design and Implementation of a Generalized Resource Management Architecture in the TeMoto Software Framework] [Üldise ressursihalduri disain ja teostus TeMoto tarkvara raamistikule], MS thesis, 2021
*Kristina Meister, [http://hdl.handle.net/10062/72350 External human-vehicle interaction - a study in the context of an autonomous ride-hailing service], MS thesis, 2021
*Muhammad Usman, [http://hdl.handle.net/10062/72126 Development of an Optimization-Based Motion Planner and Its ROS Interface for a Non-Holonomic Mobile Manipulator] [Optimeerimisele baseeruva liikumisplaneerija arendamine ja selle ROSi liides mitteholonoomse mobiilse manipulaatori jaoks], MS thesis, 2020
*Maarika Oidekivi, [http://hdl.handle.net/10062/72119 Masina kavatsuse väljendamine ja tõlgendamine] [Communicating and interpreting machine intent], MS thesis, 2020
*Houman Masnavi, [http://hdl.handle.net/10062/72118 Multi-Robot Motion Planning for Shared Payload Transportation] [Rajaplaneerimine multi-robot süsteemile jagatud lasti transportimisel], MS thesis, 2020
*Fabian Ernesto Parra Gil, [http://hdl.handle.net/10062/72112 Implementation of Robot Manager Subsystem for Temoto Software Framework] [Robotite Halduri alamsüsteemi väljatöötamine tarkvararaamistikule TEMOTO], MS thesis, 2020
*Zafarullah, [http://hdl.handle.net/10062/72125 Gaze Assisted Neural Network based Prediction of End-Point of Human Reaching Trajectories], MS thesis, 2020
*Madis K Nigol, [http://hdl.handle.net/10062/64339 Õppematerjalid robotplatvormile Robotont] [Study materials for robot platform Robotont], MS thesis, 2019
*Renno Raudmäe, [http://hdl.handle.net/10062/64341 Avatud robotplatvorm Robotont] [Open source robotics platform Robotont], MS thesis, 2019
*Asif Sattar, [http://hdl.handle.net/10062/64352 Human detection and distance estimation with monocular camera using YOLOv3 neural network] [Inimeste tuvastamine ning kauguse hindamine kasutades kaamerat ning YOLOv3 tehisnärvivõrku], MS thesis, 2019
*Ragnar Margus, [http://hdl.handle.net/10062/64337 Kergliiklusvahendite jagamisteenuseks vajaliku positsioneerimismooduli loomine ja uurimine] [Develoment and testing of a IoT module for electric vehicle sharing service], MS thesis, 2019
*Pavel Šumejko, [http://hdl.handle.net/10062/64320 Robust Solution for Extrinsic Calibration of a 2D Laser-Rangefinder and a Monocular USB Camera] [Meetod 2D laserkaugusmõõdiku ja USB-kaamera väliseks kalibreerimiseks], MS thesis, 2019
*Dzvezdana Arsovska, [http://hdl.handle.net/10062/64321 Building an Efficient and Secure Software Supply Pipeline for Aerial Robotics Application] [Efektiivne ja turvaline tarkvaraarendusahel lennurobootika rakenduses], MS thesis, 2019
*Tõnis Tiimus, [http://hdl.handle.net/10062/60713 Visuaalselt esilekutsutud potentsiaalidel põhinev aju-arvuti liides robootika rakendustes] [A VEP-based BCI for robotics applications], MS thesis, 2018
*Martin Appo, [http://hdl.handle.net/10062/60718 Hardware-agnostic compliant control ROS package for collaborative industrial manipulators] [Riistvarapaindlik ROSi tarkvarapakett tööstuslike robotite mööndlikuks juhtimiseks], MS thesis, 2018
*Hassan Mahmoud Shehawy Elhanash, [http://hdl.handle.net/10062/60711 Optical Tracking of Forearm for Classifying Fingers Poses] [Küünarvarre visuaalne jälgimine ennustamaks sõrmede asendeid], MS thesis, 2018

== Bachelor's theses ==
*Albert Unn, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79937 Suhtlusvõimekuse arendamine sotsiaalsele humanoidrobotile SemuBot] [Developing the ability to communicate for SemuBot, a social humanoid robot], BS thesis, 2024
*Veronika-Marina Volynets, [https://hdl.handle.net/10062/99943 Development of Control Electronics and Program for Robotont's Height Adjustment Mechanism] [Juhtelektroonika ja programmi väljatöötamine Robotondi kõrguse reguleerimise mehhanismile], BS thesis, 2024
*Nikita Kurenkov, [https://hdl.handle.net/10062/99880 Flexible Screen Integration and Development of Neck Movement Mechanism for Social Humanoid Robot SemuBot] [Humanoidroboti näo lahenduse leidmine ja rakendamine; humanoidroboti jaoks kaela mehhanismi väljatöötamine], BS thesis, 2024
*Elchin Huseynov, [https://hdl.handle.net/10062/99668 Design and Control of a Social Humanoid Robot - SemuBot’s Hand] [Sotsiaalse Humanoidroboti Disain ja Juhtimine - SemuBoti Käsi], BS thesis, 2024
*Veronika Podliesnova, [https://hdl.handle.net/10062/99636 Real-Time Detection of Robot Failures by Monitoring Operator’s Brain Activity with EEG-based Brain-Computer Interface] [Reaalajas Robotirikke Tuvastamine Operaatori Ajutegevuse Jälgimise teel EEG-põhise Aju-Arvuti Liidese abil], BS thesis, 2024
*Märten Josh Peedimaa, [https://hdl.handle.net/not-yet Rhea: An Open-Source Table Tennis Ball Launcher Robot for Multiball Training] [Avatud lähtekoodiga lauatennise palliviske robot mitmikpall treenimiseks], BS thesis, 2024
*Karl Sander Vinkel, [https://hdl.handle.net/not-yet Laadimisjaama ja transportkesta väljatöötamine õpperobotile Robotont] [Development of charging dock and transport case for Robotont], BS thesis, 2024
*Raimo Köidam, [https://hdl.handle.net/not-yet Valguslahenduse tarkvara väljatöötamine õpperobotile Robotont] [Development of light solution software for the educational robot Robotont], BS thesis, 2024
*Robert Valge, [https://hdl.handle.net/not-yet Toitepinge ja tarbevoolu monitoorimine ning toitehalduse püsivara loomine õpperobotil Robotont] [Monitoring supply voltage and current consumption and creating firmware for Robotont’s power management system], BS thesis, 2024
*Leonid Tšigrinski, [https://hdl.handle.net/not-yet Õpperoboti Robotont püsivara arhitektuuri uuendamine] [Education robot "Robotont" firmware architecture updating], BS thesis, 2024
*Andres Sakk, [https://hdl.handle.net/not-yet Avatud robotplatvormi Robotont 3 kasutajaliidese väljatöötamine] [Development of a user interface for the open robotics platform Robotont 3], BS thesis, 2024
*Kaur Kullamäe, [https://hdl.handle.net/not-yet Elektroonikalahendus ja püsivara robotkäe juhtimiseks sotsiaalsel humanoidrobotil SemuBot] [Building the SemuBot arm electronics system], BS thesis, 2024
*Kristjan Madis Kask, [https://hdl.handle.net/not-yet Käe mehaanika disain sotsiaalsele humanoidrobotile SemuBot] [Arm mechanics design for social humanoid robot SemuBot], BS thesis, 2024
*Sven-Ervin Paap, [https://hdl.handle.net/not-yet ROS2 draiver õpperobotile Robotont] [ROS2 driver for the educational robot Robotont], BS thesis, 2024
*Timur Nizamov, [https://hdl.handle.net/10062/99592 Audio System for the Social Humanoid Robot SemuBot] [Helisüsteem sotsiaalsele humanoidrobotile SemuBot], BS thesis, 2024
*Georgs Narbuts, [https://hdl.handle.net/10062/99554 Holonomic Motion Drive System of a Social Humanoid Robot SemuBot] [Sotsiaalse humanoidroboti SemuBoti holonoomne liikuv ajamisüsteem], BS thesis, 2024
*Iryna Hurova, [https://hdl.handle.net/10062/90638 Kitting station of the learning factory] [Õppetehase komplekteerimisjaam], BS thesis, 2023
*Paola Avalos Conchas, [https://hdl.handle.net/10062/90641 Payload transportation system of a learning factory] [Õppetehase kasuliku koorma transpordisüsteem], BS thesis, 2023
*Pille Pärnalaas, [https://hdl.handle.net/10062/93431 Pöördpõik ajami arendus robotplatvormile Robotont] [Development of swerve drive for robotic platform Robotont], BS thesis, 2023
*Priit Rooden, [https://hdl.handle.net/10062/93432 Autonoomse laadimislahenduse väljatöötamine õpperobotile Robotont] [Development of an autonomous charging solution for the robot platform Robotont], BS thesis, 2023
*Marko Muro, [https://hdl.handle.net/10062/93429 Robotondi akulahenduse ning 12 V pingeregulaatori prototüüpimine] [Prototyping battery solution and 12 V voltage regulator for Robotont], BS thesis, 2023
*Danel Leppenen, [https://hdl.handle.net/10062/93427 Nav2 PYIF: Python-based Motion Planning for ROS 2 Navigation 2] [Nav 2 PYIF: Pythoni põhine liikumise planeerija ROS 2 Navigation 2-le], BS thesis, 2023
*Kertrud Geddily Küüt, [https://hdl.handle.net/10062/93424 Kõrgust reguleeriv mehhanism Robotondile] [Height adjusting mechanism for Robotont], BS thesis, 2023
*Ingvar Drikkit, [https://hdl.handle.net/10062/93421 Lisaseadmete võimekuse arendamine haridusrobotile Robotont] [Developing add-on device support for the educational robot Robotont], BS thesis, 2023
*Kristo Pool, [https://hdl.handle.net/10062/93430 MoveIt 2 õppematerjalid] [Learning materials for MoveIt 2], BS thesis, 2023
*Erki Veeväli, [https://hdl.handle.net/10062/93434 Development of a Continuous Teleoperation System for Urban Road Vehicle] [Linnasõiduki pideva kaugjuhtimissüsteemi arendus], BS thesis, 2023
*Aleksandra Doroshenko, [https://hdl.handle.net/10062/93420 Haiglates inimesi juhatava roboti disain] [Hospital guide robot design], BS thesis, 2023
*Hui Shi, [http://hdl.handle.net/10062/83043 Expanding the Open-source ROS Software Pack age opencv_apps with Dedicated Blob Detection Functionality] [Avatud lähtekoodiga ROS-i tarkvarakimbu opencv_apps laiendamine laigutuvasti funktsioonaalsusega], BS thesis, 2022
*Dāvis Krūmiņš, [http://hdl.handle.net/10062/83040 Web-based learning and software development environment for remote access of ROS robots] [Veebipõhine õppe- ja tarkvaraarenduse keskkond ROS robotite juurdepääsuks kaugteel], BS thesis, 2022
*Anna Jakovleva, [http://hdl.handle.net/10062/83037 Roboquiz - an interactive human-robot game] [Roboquiz - interaktiivne inimese ja roboti mäng], BS thesis, 2022
*Kristjan Laht, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=74702&year=2022Robot Localization with Fiducial Markers] [Roboti lokaliseerimine koordinaatmärkidega], BS thesis, 2022
*Hans Pärtel Pani, [http://hdl.handle.net/10062/83008 ROS draiver pehmerobootika haaratsile] [ROS Driver for Soft Robotic Gripper], BS thesis, 2022
*Markus Erik Sügis, [http://hdl.handle.net/10062/83015 Jagatud juhtimise põhimõttel realiseeritud robotite kaugjuhtimissüsteem] [A continuous teleoperating system based on shared control concept], BS thesis, 2022
*Taaniel Küla, [http://hdl.handle.net/10062/83007 ROS2 platvormile keevitusroboti tarkvara portotüübi loomine kasutades UR5 robot-manipulaatorit] [Welding robot software prototype for ROS2 using UR5 robot arm], BS thesis, 2022
*Rauno Põlluäär, [http://hdl.handle.net/10062/72672 Veebirakendus-põhine kasutajaliides avatud robotplatvormi Robotont juhtimiseks ja haldamiseks] [Web application-based user interface for controlling and managing open-source robotics platform Robotont], BS thesis, 2021
*Hendrik Olesk, [http://hdl.handle.net/10062/72664 Nägemisulatuses kaugjuhitava mobiilse robotmanipulaatori kasutajamugavuse tõstmine] [Improving the usability of a mobile manipulator robot for line-of-sight remote control], BS thesis, 2021
*Tarvi Tepandi, [http://hdl.handle.net/10062/72665 Segareaalsusel põhinev kasutajaliides mobiilse roboti kaugjuhtimiseks Microsoft HoloLens 2 vahendusel] [Mixed-reality user interface for teleoperating mobile robots with Microsoft HoloLens 2], BS thesis, 2021
*Rudolf Põldma, [http://hdl.handle.net/10062/72674 Tartu linna Narva maantee ringristmiku digikaksik] [Digital twin for Narva street roundabout in Tartu], BS thesis, 2021
*Kwasi Akuamoah Boateng, [http://hdl.handle.net/10062/72804 Digital Twin of a Teaching and Learning Robotics Lab] [Robotite õpetamise ja õppimise labori digitaalne kaksik], BS thesis, 2021
*Karina Sein, [http://hdl.handle.net/10062/72102 Eestikeelse kõnesünteesi võimaldamine robootika arendusplatvormil ROS] [Enabling Estonian speech synthesis on the Robot Operating System (ROS)], BS thesis, 2020
*Ranno Mäesepp, [http://hdl.handle.net/10062/72100 Takistuste vältimise lahendus õpperobotile Robotont] [Obstacle avoidance solution for educational robot platform Robotont], BS thesis, 2020
*Igor Rybalskii, [http://hdl.handle.net/10062/72060 Gesture Detection Software for Human-Robot Collaboration] [Žestituvastus tarkvara inimese ja roboti koostööks], BS thesis, 2020
*Meelis Pihlap, [http://hdl.handle.net/10062/64292 Mitme roboti koostöö funktsionaalsuste väljatöötamine tarkvararaamistikule TeMoto] [Multi-robot collaboration functionalities for robot software development framework TeMoto], BS thesis, 2019
*Kaarel Mark, [http://hdl.handle.net/10062/64290 Liitreaalsuse kasutamine tootmisprotsessis asukohtade määramisel] [Augmented reality for location determination in manufacturing], BS thesis, 2019
*Kätriin Julle, [http://hdl.handle.net/10062/64279 Roboti KUKA youBot riistvara ja ROS-tarkvara uuendamine] [Upgrading robot KUKA youBot’s hardware and ROS-software], BS thesis, 2019
*Georg Astok, [http://hdl.handle.net/10062/64274 Roboti juhtimine virtuaalreaalsuses kasutades ROS-raamistikku] [Creating virtual reality user interface using only ROS framework], BS thesis, 2019
*Martin Hallist, [http://hdl.handle.net/10062/64275 Robotipõhine kaugkohalolu käte liigutuste ülekandmiseks] [Teleoperation robot for arms motions], BS thesis, 2019
*Ahmed Hassan Helmy Mohamed, [http://hdl.handle.net/10062/63946 Software integration of autonomous robot system for mixing and serving drinks] [Jooke valmistava ja serveeriva robotsüsteemi tarkvaralahendus], BS thesis, 2019
*Kristo Allaje, [http://hdl.handle.net/10062/60294 Draiveripakett käte jälgimise seadme Leap Motion™ kontroller kasutamiseks robootika arendusplatvormil ROS] [Driver package for using Leap Motion™ controller on the robotics development platform ROS], BS thesis, 2018
*Martin Maidla, [http://hdl.handle.net/10062/60288 Avatud robotiarendusplatvormi Robotont omniliikumise ja odomeetria arendamine] [Omnimotion and odometry development for open robot development platform Robotont], BS thesis, 2018
*Raid Vellerind, [http://hdl.handle.net/10062/56559 Avatud robotiarendusplatvormi ROS võimekuse loomine Tartu Ülikooli Robotexi robootikaplatvormile] [ROS driver development for the University of Tartu’s Robotex robotics platform], BS thesis, 2017

[[Category:Theses Topics]]

Theses in Robotics

2024-08-27T08:53:43Z

Veix: /* List of potential thesis topics */

[[Category:IMS-robotics]]
<div class="toclimit-3">__TOC__</div>
= Projects in Advanced Robotics =
''The main objective of the follwing projects is to give students experience in working with advanced robotics tehcnology. Our group is active in several R&D projects involving human-robot collaboration, intuitive teleoperation of robots, and autonomous navigation of unmanned mobile platforms. Our main software platforms are [http://www.ros.org/ Robot Operating System (ROS)] for developing software for advanced robot systems and [http://gazebosim.org/ Gazebo] for running realistic robotic simulations.'' 
For further information, contact [[User:Karl|Karl Kruusamäe]].

The following is not an exhaustive list of all available thesis/research topics.

== Highlighted theses topics for 2023/2024 study year ==
# [[#ROBOTONT: analysis of different options as on-board computers|ROBOTONT: analysis of different options as on-board computers]]
# [[#SemuBOT: multiple topics|SemuBOT: multiple topics]]
# [[#Robotic Study Companion: a social robot for students in higher education|Robotic Study Companion: a social robot for students in higher education]]
# [[#Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle|Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle]]
# [[#ROBOTONT: ROS2 support for robotont|ROBOTONT: ROS2 support for robotont]]
# [[#Continuous teleoperation setup for controlling mobile robot on streets|Continuous teleoperation setup for controlling mobile robot on streets]]
# [[#Stratos Explore Ultraleap demonstrator for robotics|Stratos Explore Ultraleap demonstrator for robotics]]
# [[#Mixed-reality scene creation for vehicle teleoperation|Mixed-reality scene creation for vehicle teleoperation]]

== List of potential thesis topics ==
Our inventory includes but is not limited to:
<gallery mode="packed">
File:Youbot.png|120px|thumb|KUKA youBot
File:Ur5_left.png|120px|thumb|Universal Robot UR5
File:Franka_Emika_Panda.jpg|120px|thumb|Franka Emika Panda
File:Clearpath_Jackal.jpg|120px|thumb|Clearpath Jackal
File:Kinova_KG-3_Gripper.jpg|120px|thumb|Kinova 3-finger gripper
File:Xarm7.jpg|120px|thumb|UFACTORY xArm7
File:Robotont_banner.png|120px|thumb|robotont
File:Turtlebot3-waffle-pi.jpg|thumb|TurtleBot3
File:Parrot-bebop-2.jpg|thumb|Parrot Bebop 2
</gallery>

=== ROBOTONT: Docker-Driven ROS Environment Switching
This project focuses on integrating Docker containers to manage and switch between different ROS (Robot Operating System) environments on Robotont. Currently, ROS is installed natively on Robotont's Ubuntu-based onboard computer, limiting flexibility in system recovery and configuration switching. The goal is to develop a Docker-based solution that allows users to switch between ROS environments directly from Robotont’s existing low-level menu interface.
<hr>

=== ROBOTONT: designing and implementing a communication protocol for additional devices ===
Robotont currently includes a designated area on its front for attaching additional devices, such as an ultrasonic range finder, a servo motor connected to an Arduino, or a MikroBUS device. This project aims to design and implement a standard communication protocol that will enable seamless integration and control of these devices through the high-level ROS framework running on Robotont’s onboard computer.
<hr>

=== ROBOTONT: analysis of different options as on-board computers ===
Currently ROBOTONT uses Intel NUC as an onboard computer. The goal of this thesis is to validate Robotont's software stack on alternative compute devices (e.g. Raspi4, Intel Compute Stick, and NVIDIA Jetson Nano) and benchmark their performance for the most popular Robotont use-case demos (e.g. webapp teleop, ar-tag steering, 2D mapping, and 3D mapping). The objetive is to propose at least two different compute solutions: one that optimizes cost and another that optimizes for the performance.
<hr>

=== ROBOTONT Lite ===
The goal of this thesis is to optimize ROBOTONT platform for cost by replacing the onboard compute and sensor with low-cost alternatives but ensuring ROS/ROS2 software compatibility.
<hr>

=== ROBOTONT: integrating a graphical programming interface ===
The goal of this thesis is to integrate graphical programming solution (e.g. Scratch or Blockly) to enable programming of Robotont by non-experts.
<hr>

=== SemuBOT: multiple topics ===
In 2023/2024 many topics are developed to support the development of open-source humanoid robot project SemuBOT (https://www.facebook.com/semubotmtu/)
<hr>

=== Robotic Study Companion: a social robot for students in higher education ===
Potential Topics:
* Enhancing the RSC Speech/NLP Capabilities
* Build the RSC Human-Robot Multimodal Interaction
* Developing the RSC Personalities/Behaviour
* Create a WebApp for Monitoring Student Performance via the RSC
* Exploring the RSC use as an Affective Robot with a focus on Students’ Academic Emotions
[https://github.com/Farnaz03/RoboticStudyCompanion Github] | reach out to farnaz.baksh@ut.ee for more info
<hr>

=== ROBOTONT: Quick launch demo suite and the final complete release of its ROS1 software ===
The goal of this thesis is to refine existing robotont demos (e.g. ar-tag steering, follow-the-leader, dancing-with-robot, LEAP-based control etc) and package them in an easy to use way for quick deployment by anyone during public events such as science popularization workshops and school visits.
The results of this work will be packaged as the final ROS1 release of Robotont software as the EOL for ROS1 is in May 2025.
<hr>

=== ROBOTONT: ROS support, demos, and educational materials for open-source mobile robot ===
[[Image:RosLarge.png|left|100px|ROS]]
The project involves many potential theses topic on open-source robot platform ROBOTONT. The nature of the thesis can be software development to improve the platform's capabilites, simulation of specific scenarios, and/or demonstration of ROBOTONT in real-life setting. A more detailed thesis topic will be outlined during in-person meeting 
[[Image:Ros_equation.png|x100px|What is ROS?]]
<hr>

=== Virtual reality user interface (VRUI) for intuitive teleoperation system ===
[[Image:LeapMotion.png|200px|thumb|right|Detecting 2 hands with Leap Motion Controller]]
Enhancing the user-experience of a virtual reality UI developed by [https://github.com/ut-ims-robotics/vrui_rviz Georg Astok]. Potentially adding [http://www.osvr.org/hardware-devs.html virtual reality capability] to a [https://www.youtube.com/watch?v=L25HHFd00rc gesture- and natural-language-based robot teleoperation system].
 
[[Image:Temoto-working-principle-in-pics.png|x160px|Gesture-based teleoperation]]
<hr>
=== Health monitor for intuitive telerobot ===
Intelligent status and error handling for an intuitive telerobotic system.
<hr>
=== 3D scanning of industrial objects ===
Using laser sensors and cameras to create accurate models of industrial products for quality control or further processing.
<hr>
=== Modeling humans for human-robot interaction ===
True human-robot collaboration means that the robot must understand the actions, intention, and state of its human partner. This work invovlves using cameras and other human sensors for digitally representing and modelling humans. There are multiple stages for modeling: a) physical models of human kinematics and dynamics; b) higher level-models for recognizing human intent. 
[[Image:Skeletal ROS.PNG|x160px|ROS & Kinect & Skeleton-Markers Package]]
<hr>
=== Robotic avatar for telepresence ===
Integrating hand gestures and head movements to control a robot avatar in virtual reality user interface.
<hr>
=== Detection of hardware and software resources for smart integration of robots ===
Vast majority of today’s robotic applications rely on hard-coded device and algorithm usage. This project focuses on developing a Resource Snooper software, that can detect addition or removal of resources for the benefit of dynamic reconfiguration of robotic systems. This project is developed as a subsystem of [https://utnuclearroboticspublic.github.io/temoto2/index.html TeMoto].
<hr>
=== Sonification of feedback during teleoperation of robots ===
Humans are used to receiving auditory feedback in their everyday lives. It helps us make decision and be aware of potential dangers. Telerobotic interfaces can deploy the same idea to improve the Situational Awareness and robotic task efficiency. The thesis project involves a study about different sonification solutions and implementation of it in a telerobotic application using ROS.
<hr>
=== Human-Robot and Robot-Robot collaboration applications ===
Creating a demo or analysis of software capabilities related to human-robot or tobot-robot teams
* human-robot collaborative assembly
* distributed mapping; analysis and demo of existing ROS (e.g., segmap https://youtu.be/JJhEkIA1xSE) packages for multi-robot mapping
* Inaccessible region teamwork
**youbot+drone - a drone maps the environment (for example a maze) and ground vehicle uses this information to traverse the maze
**youbot+robotont - youbot cannot go up ledges but it can lift smaller robot, such as robotont, up a ledge.
<hr>

=== Mirroring human hand movements on industrial robots ===
The goal of this project is to integrate continuous control of industrial robot manipulator with a gestural telerobotics interface. The recommended tools for this thesis project are Leap Motion Controller or a standard web camera, Ultraleap, Universal Robot UR5 manipulator, and ROS.
<hr>
=== ROBOTONT: TeMoto for robotont ===
Swarm-management for robotont using [https://temoto-telerobotics.github.io TeMoto] framework.
<hr>

=== Enhancing teleoperation control interface with augmented cues to provoke caution===
The task is to create a telerobot control interface where video feed from the remote site and/or a mixed-reality scene is augmented with visual cues to provoke caution in human operator.
<hr>
=== Robot-to-human interaction ===
As robots and autonomous machines start sharing the same space a humans, their actions need to be understood by the people occupying the same space. For instance, a human worker needs to understand what the robot partner is planning next or a pedestrian needs to clearly comprehend the behaviour of a driverless vehicle. To reduce the ambiguity, the robot needs mechanisms to convey its intent (whatever it is going to do next). The aim of the thesis is to outline existing methods for machines to convey their intent and develop a unified model interface for expressing that intent.
<hr>
=== Gaze-based handover prediction ===
When human needs to pass an object to a robot manipulator, the robot must understand where in 3D space the object handover occurs and then plan an appropriate motion. Human gaze can be used as the input for predicting which object to track. This thesis activities involve camera-based eye tracking and safe motion-planning.
<hr>
=== Real-world demonstrator for MIR+UR+TeMoto integration ===
Integration of mobile manipulator (MIR100 + UR5e + Robotiq gripper) to demonstrate TeMoto in a collaborative application.
<hr>
=== ROBOTONT: Human-height human-robot interface for Robotont ground robot ===
Robotont is an ankle-high flat mobile robot. For humans to interact with Robotont, there is a need for a compact and lightweight mechanical structure that is tall enough for comfortable human-robot interaction. The objective of the thesis is to develop the mechanical designs and build prototypes that ensure stable operation and meet the aesthetic requirements for use in public places.
<hr>
=== Stratos Explore Ultraleap demonstrator for robotics ===
The aim of this thesis is to systematically analyze the strengths and limitations of the Stratos Explore Ultraleap device in the context of controlling a robot. Subsequently implement a demonstrator application for showing off its applicability for robot control.
<hr>
=== Continuous teleoperation setup for controlling mobile robot on streets ===
The task in this device is analyse available options for building a teleopearation cockpit for continuously controlling a mobile robot moving on the streets. The contribution of the thesis is to set up the system, validate its usability, and benchmark its capabilities/limitations on the [https://adl.cs.ut.ee/lab/vehicle ADL vehicle]
<hr>

=== ROBOTONT: ROS2 support for robotont ===
Creating ROS2 support for robotont mobile platform
<hr>
=== Mixed-reality scene creation for vehicle teleoperation ===
Fusing different sensory feeds for creating high-usability teleoperation scene.
<hr>
=== Validation study for AR-based robot user-interfaces ===
Designing and carrying out a user study to validate the functionality and usability of an human-robot interface.
<hr>
=== Replication of the MIT Hydra demo ===
The goal of the thesis is to use the Hydra software package and integrate it for a robot used at IMS Robotics (e.g., TIAGo, Jackal, Robotont).
 Hydra takes sensor data in input (stereo or RGB-D camera images and IMU data) and produces a hierarchical model of the environment, by estimating the trajectory of the robot (including loop closures), building a metric-semantic 3D mesh, and segmenting objects, places, and rooms in an indoor environment. These representations are combined into a 3D scene graph, which enables novel approaches for hierarchical loop closure detection and ensures the representations remain consistent after loop closure. Hydra is implemented in C++ and is ROS-compatible. It uses a neural-network based image segmentation front-end, but it otherwise relies on an efficient and multi-threaded CPU-based implementation, which is suitable for mobile robot deployment.
 LINKS:
 Video: https://youtu.be/qZg2lSeTuvM
 Code: https://github.com/MIT-SPARK/Hydra
 Paper: http://www.roboticsproceedings.org/rss18/p050.pdf
<hr>

=== Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle ===
The goal of this thesis is to develop the methodology for measuring the operator's situation awareness while operating an autonomous urban vehicle. Potential metrics could include driving accuracy, speed, and latency. This thesis will be conducted as part of the activities at the [https://adl.cs.ut.ee Autonomous Driving Lab].
<hr>

= Completed projects =
== PhD theses ==
*Houman Masnavi, [https://hdl.handle.net/10062/91394 Visibility aware navigation] [Nähtavust arvestav navigatsioon], PhD thesis, 2023

== Masters's theses ==
*Robert Allik, Validation of NoMaD as a Global Planner for Mobile Robots, MS thesis, 2024
*Rauno Põlluäär, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79393 Designing and Implementing a Bird’s-eye View Interface for a Self-driving Vehicle’s Teleoperation System] [Isejuhtiva sõiduki kaugjuhtimissüsteemile linnuvaate kasutajaliidese loomine], MS thesis, 2024
*Eva Mõtshärg, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=77385 3D-prinditava kere disain ja analüüs vabavaralisele haridusrobotile Robotont] [Design and Analysis of a 3D Printable Chassis for the Open Source Educational Robot Robotont], MS thesis, 2023
*Farnaz Baksh, [https://dspace.ut.ee/items/a7a9cc15-27e9-450c-94e8-3267f0c95c56 An Open-source Robotic Study Companion for University Students] [Avatud lähtekoodiga robotõpikaaslane üliõpilastele], MS thesis, 2023
*Igor Rybalskii, [http://hdl.handle.net/10062/83028 Augmented reality (AR) for enabling human-robot collaboration with ROS robots] [Liitreaalsus inimese ja roboti koostöö võimaldamiseks ROS-i robotitega], MS thesis, 2022
*Md. Maniruzzaman, [http://hdl.handle.net/10062/83025 Object search and retrieval in indoor environment using a Mobile Manipulator] [Objektide otsimine ja teisaldamine siseruumides mobiilse manipulaatori abil], MS thesis, 2022
*Allan Kustavus, [http://hdl.handle.net/10062/72651 Design and Implementation of a Generalized Resource Management Architecture in the TeMoto Software Framework] [Üldise ressursihalduri disain ja teostus TeMoto tarkvara raamistikule], MS thesis, 2021
*Kristina Meister, [http://hdl.handle.net/10062/72350 External human-vehicle interaction - a study in the context of an autonomous ride-hailing service], MS thesis, 2021
*Muhammad Usman, [http://hdl.handle.net/10062/72126 Development of an Optimization-Based Motion Planner and Its ROS Interface for a Non-Holonomic Mobile Manipulator] [Optimeerimisele baseeruva liikumisplaneerija arendamine ja selle ROSi liides mitteholonoomse mobiilse manipulaatori jaoks], MS thesis, 2020
*Maarika Oidekivi, [http://hdl.handle.net/10062/72119 Masina kavatsuse väljendamine ja tõlgendamine] [Communicating and interpreting machine intent], MS thesis, 2020
*Houman Masnavi, [http://hdl.handle.net/10062/72118 Multi-Robot Motion Planning for Shared Payload Transportation] [Rajaplaneerimine multi-robot süsteemile jagatud lasti transportimisel], MS thesis, 2020
*Fabian Ernesto Parra Gil, [http://hdl.handle.net/10062/72112 Implementation of Robot Manager Subsystem for Temoto Software Framework] [Robotite Halduri alamsüsteemi väljatöötamine tarkvararaamistikule TEMOTO], MS thesis, 2020
*Zafarullah, [http://hdl.handle.net/10062/72125 Gaze Assisted Neural Network based Prediction of End-Point of Human Reaching Trajectories], MS thesis, 2020
*Madis K Nigol, [http://hdl.handle.net/10062/64339 Õppematerjalid robotplatvormile Robotont] [Study materials for robot platform Robotont], MS thesis, 2019
*Renno Raudmäe, [http://hdl.handle.net/10062/64341 Avatud robotplatvorm Robotont] [Open source robotics platform Robotont], MS thesis, 2019
*Asif Sattar, [http://hdl.handle.net/10062/64352 Human detection and distance estimation with monocular camera using YOLOv3 neural network] [Inimeste tuvastamine ning kauguse hindamine kasutades kaamerat ning YOLOv3 tehisnärvivõrku], MS thesis, 2019
*Ragnar Margus, [http://hdl.handle.net/10062/64337 Kergliiklusvahendite jagamisteenuseks vajaliku positsioneerimismooduli loomine ja uurimine] [Develoment and testing of a IoT module for electric vehicle sharing service], MS thesis, 2019
*Pavel Šumejko, [http://hdl.handle.net/10062/64320 Robust Solution for Extrinsic Calibration of a 2D Laser-Rangefinder and a Monocular USB Camera] [Meetod 2D laserkaugusmõõdiku ja USB-kaamera väliseks kalibreerimiseks], MS thesis, 2019
*Dzvezdana Arsovska, [http://hdl.handle.net/10062/64321 Building an Efficient and Secure Software Supply Pipeline for Aerial Robotics Application] [Efektiivne ja turvaline tarkvaraarendusahel lennurobootika rakenduses], MS thesis, 2019
*Tõnis Tiimus, [http://hdl.handle.net/10062/60713 Visuaalselt esilekutsutud potentsiaalidel põhinev aju-arvuti liides robootika rakendustes] [A VEP-based BCI for robotics applications], MS thesis, 2018
*Martin Appo, [http://hdl.handle.net/10062/60718 Hardware-agnostic compliant control ROS package for collaborative industrial manipulators] [Riistvarapaindlik ROSi tarkvarapakett tööstuslike robotite mööndlikuks juhtimiseks], MS thesis, 2018
*Hassan Mahmoud Shehawy Elhanash, [http://hdl.handle.net/10062/60711 Optical Tracking of Forearm for Classifying Fingers Poses] [Küünarvarre visuaalne jälgimine ennustamaks sõrmede asendeid], MS thesis, 2018

== Bachelor's theses ==
*Albert Unn, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79937 Suhtlusvõimekuse arendamine sotsiaalsele humanoidrobotile SemuBot] [Developing the ability to communicate for SemuBot, a social humanoid robot], BS thesis, 2024
*Veronika-Marina Volynets, [https://hdl.handle.net/10062/99943 Development of Control Electronics and Program for Robotont's Height Adjustment Mechanism] [Juhtelektroonika ja programmi väljatöötamine Robotondi kõrguse reguleerimise mehhanismile], BS thesis, 2024
*Nikita Kurenkov, [https://hdl.handle.net/10062/99880 Flexible Screen Integration and Development of Neck Movement Mechanism for Social Humanoid Robot SemuBot] [Humanoidroboti näo lahenduse leidmine ja rakendamine; humanoidroboti jaoks kaela mehhanismi väljatöötamine], BS thesis, 2024
*Elchin Huseynov, [https://hdl.handle.net/10062/99668 Design and Control of a Social Humanoid Robot - SemuBot’s Hand] [Sotsiaalse Humanoidroboti Disain ja Juhtimine - SemuBoti Käsi], BS thesis, 2024
*Veronika Podliesnova, [https://hdl.handle.net/10062/99636 Real-Time Detection of Robot Failures by Monitoring Operator’s Brain Activity with EEG-based Brain-Computer Interface] [Reaalajas Robotirikke Tuvastamine Operaatori Ajutegevuse Jälgimise teel EEG-põhise Aju-Arvuti Liidese abil], BS thesis, 2024
*Märten Josh Peedimaa, [https://hdl.handle.net/not-yet Rhea: An Open-Source Table Tennis Ball Launcher Robot for Multiball Training] [Avatud lähtekoodiga lauatennise palliviske robot mitmikpall treenimiseks], BS thesis, 2024
*Karl Sander Vinkel, [https://hdl.handle.net/not-yet Laadimisjaama ja transportkesta väljatöötamine õpperobotile Robotont] [Development of charging dock and transport case for Robotont], BS thesis, 2024
*Raimo Köidam, [https://hdl.handle.net/not-yet Valguslahenduse tarkvara väljatöötamine õpperobotile Robotont] [Development of light solution software for the educational robot Robotont], BS thesis, 2024
*Robert Valge, [https://hdl.handle.net/not-yet Toitepinge ja tarbevoolu monitoorimine ning toitehalduse püsivara loomine õpperobotil Robotont] [Monitoring supply voltage and current consumption and creating firmware for Robotont’s power management system], BS thesis, 2024
*Leonid Tšigrinski, [https://hdl.handle.net/not-yet Õpperoboti Robotont püsivara arhitektuuri uuendamine] [Education robot "Robotont" firmware architecture updating], BS thesis, 2024
*Andres Sakk, [https://hdl.handle.net/not-yet Avatud robotplatvormi Robotont 3 kasutajaliidese väljatöötamine] [Development of a user interface for the open robotics platform Robotont 3], BS thesis, 2024
*Kaur Kullamäe, [https://hdl.handle.net/not-yet Elektroonikalahendus ja püsivara robotkäe juhtimiseks sotsiaalsel humanoidrobotil SemuBot] [Building the SemuBot arm electronics system], BS thesis, 2024
*Kristjan Madis Kask, [https://hdl.handle.net/not-yet Käe mehaanika disain sotsiaalsele humanoidrobotile SemuBot] [Arm mechanics design for social humanoid robot SemuBot], BS thesis, 2024
*Sven-Ervin Paap, [https://hdl.handle.net/not-yet ROS2 draiver õpperobotile Robotont] [ROS2 driver for the educational robot Robotont], BS thesis, 2024
*Timur Nizamov, [https://hdl.handle.net/10062/99592 Audio System for the Social Humanoid Robot SemuBot] [Helisüsteem sotsiaalsele humanoidrobotile SemuBot], BS thesis, 2024
*Georgs Narbuts, [https://hdl.handle.net/10062/99554 Holonomic Motion Drive System of a Social Humanoid Robot SemuBot] [Sotsiaalse humanoidroboti SemuBoti holonoomne liikuv ajamisüsteem], BS thesis, 2024
*Iryna Hurova, [https://hdl.handle.net/10062/90638 Kitting station of the learning factory] [Õppetehase komplekteerimisjaam], BS thesis, 2023
*Paola Avalos Conchas, [https://hdl.handle.net/10062/90641 Payload transportation system of a learning factory] [Õppetehase kasuliku koorma transpordisüsteem], BS thesis, 2023
*Pille Pärnalaas, [https://hdl.handle.net/10062/93431 Pöördpõik ajami arendus robotplatvormile Robotont] [Development of swerve drive for robotic platform Robotont], BS thesis, 2023
*Priit Rooden, [https://hdl.handle.net/10062/93432 Autonoomse laadimislahenduse väljatöötamine õpperobotile Robotont] [Development of an autonomous charging solution for the robot platform Robotont], BS thesis, 2023
*Marko Muro, [https://hdl.handle.net/10062/93429 Robotondi akulahenduse ning 12 V pingeregulaatori prototüüpimine] [Prototyping battery solution and 12 V voltage regulator for Robotont], BS thesis, 2023
*Danel Leppenen, [https://hdl.handle.net/10062/93427 Nav2 PYIF: Python-based Motion Planning for ROS 2 Navigation 2] [Nav 2 PYIF: Pythoni põhine liikumise planeerija ROS 2 Navigation 2-le], BS thesis, 2023
*Kertrud Geddily Küüt, [https://hdl.handle.net/10062/93424 Kõrgust reguleeriv mehhanism Robotondile] [Height adjusting mechanism for Robotont], BS thesis, 2023
*Ingvar Drikkit, [https://hdl.handle.net/10062/93421 Lisaseadmete võimekuse arendamine haridusrobotile Robotont] [Developing add-on device support for the educational robot Robotont], BS thesis, 2023
*Kristo Pool, [https://hdl.handle.net/10062/93430 MoveIt 2 õppematerjalid] [Learning materials for MoveIt 2], BS thesis, 2023
*Erki Veeväli, [https://hdl.handle.net/10062/93434 Development of a Continuous Teleoperation System for Urban Road Vehicle] [Linnasõiduki pideva kaugjuhtimissüsteemi arendus], BS thesis, 2023
*Aleksandra Doroshenko, [https://hdl.handle.net/10062/93420 Haiglates inimesi juhatava roboti disain] [Hospital guide robot design], BS thesis, 2023
*Hui Shi, [http://hdl.handle.net/10062/83043 Expanding the Open-source ROS Software Pack age opencv_apps with Dedicated Blob Detection Functionality] [Avatud lähtekoodiga ROS-i tarkvarakimbu opencv_apps laiendamine laigutuvasti funktsioonaalsusega], BS thesis, 2022
*Dāvis Krūmiņš, [http://hdl.handle.net/10062/83040 Web-based learning and software development environment for remote access of ROS robots] [Veebipõhine õppe- ja tarkvaraarenduse keskkond ROS robotite juurdepääsuks kaugteel], BS thesis, 2022
*Anna Jakovleva, [http://hdl.handle.net/10062/83037 Roboquiz - an interactive human-robot game] [Roboquiz - interaktiivne inimese ja roboti mäng], BS thesis, 2022
*Kristjan Laht, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=74702&year=2022Robot Localization with Fiducial Markers] [Roboti lokaliseerimine koordinaatmärkidega], BS thesis, 2022
*Hans Pärtel Pani, [http://hdl.handle.net/10062/83008 ROS draiver pehmerobootika haaratsile] [ROS Driver for Soft Robotic Gripper], BS thesis, 2022
*Markus Erik Sügis, [http://hdl.handle.net/10062/83015 Jagatud juhtimise põhimõttel realiseeritud robotite kaugjuhtimissüsteem] [A continuous teleoperating system based on shared control concept], BS thesis, 2022
*Taaniel Küla, [http://hdl.handle.net/10062/83007 ROS2 platvormile keevitusroboti tarkvara portotüübi loomine kasutades UR5 robot-manipulaatorit] [Welding robot software prototype for ROS2 using UR5 robot arm], BS thesis, 2022
*Rauno Põlluäär, [http://hdl.handle.net/10062/72672 Veebirakendus-põhine kasutajaliides avatud robotplatvormi Robotont juhtimiseks ja haldamiseks] [Web application-based user interface for controlling and managing open-source robotics platform Robotont], BS thesis, 2021
*Hendrik Olesk, [http://hdl.handle.net/10062/72664 Nägemisulatuses kaugjuhitava mobiilse robotmanipulaatori kasutajamugavuse tõstmine] [Improving the usability of a mobile manipulator robot for line-of-sight remote control], BS thesis, 2021
*Tarvi Tepandi, [http://hdl.handle.net/10062/72665 Segareaalsusel põhinev kasutajaliides mobiilse roboti kaugjuhtimiseks Microsoft HoloLens 2 vahendusel] [Mixed-reality user interface for teleoperating mobile robots with Microsoft HoloLens 2], BS thesis, 2021
*Rudolf Põldma, [http://hdl.handle.net/10062/72674 Tartu linna Narva maantee ringristmiku digikaksik] [Digital twin for Narva street roundabout in Tartu], BS thesis, 2021
*Kwasi Akuamoah Boateng, [http://hdl.handle.net/10062/72804 Digital Twin of a Teaching and Learning Robotics Lab] [Robotite õpetamise ja õppimise labori digitaalne kaksik], BS thesis, 2021
*Karina Sein, [http://hdl.handle.net/10062/72102 Eestikeelse kõnesünteesi võimaldamine robootika arendusplatvormil ROS] [Enabling Estonian speech synthesis on the Robot Operating System (ROS)], BS thesis, 2020
*Ranno Mäesepp, [http://hdl.handle.net/10062/72100 Takistuste vältimise lahendus õpperobotile Robotont] [Obstacle avoidance solution for educational robot platform Robotont], BS thesis, 2020
*Igor Rybalskii, [http://hdl.handle.net/10062/72060 Gesture Detection Software for Human-Robot Collaboration] [Žestituvastus tarkvara inimese ja roboti koostööks], BS thesis, 2020
*Meelis Pihlap, [http://hdl.handle.net/10062/64292 Mitme roboti koostöö funktsionaalsuste väljatöötamine tarkvararaamistikule TeMoto] [Multi-robot collaboration functionalities for robot software development framework TeMoto], BS thesis, 2019
*Kaarel Mark, [http://hdl.handle.net/10062/64290 Liitreaalsuse kasutamine tootmisprotsessis asukohtade määramisel] [Augmented reality for location determination in manufacturing], BS thesis, 2019
*Kätriin Julle, [http://hdl.handle.net/10062/64279 Roboti KUKA youBot riistvara ja ROS-tarkvara uuendamine] [Upgrading robot KUKA youBot’s hardware and ROS-software], BS thesis, 2019
*Georg Astok, [http://hdl.handle.net/10062/64274 Roboti juhtimine virtuaalreaalsuses kasutades ROS-raamistikku] [Creating virtual reality user interface using only ROS framework], BS thesis, 2019
*Martin Hallist, [http://hdl.handle.net/10062/64275 Robotipõhine kaugkohalolu käte liigutuste ülekandmiseks] [Teleoperation robot for arms motions], BS thesis, 2019
*Ahmed Hassan Helmy Mohamed, [http://hdl.handle.net/10062/63946 Software integration of autonomous robot system for mixing and serving drinks] [Jooke valmistava ja serveeriva robotsüsteemi tarkvaralahendus], BS thesis, 2019
*Kristo Allaje, [http://hdl.handle.net/10062/60294 Draiveripakett käte jälgimise seadme Leap Motion™ kontroller kasutamiseks robootika arendusplatvormil ROS] [Driver package for using Leap Motion™ controller on the robotics development platform ROS], BS thesis, 2018
*Martin Maidla, [http://hdl.handle.net/10062/60288 Avatud robotiarendusplatvormi Robotont omniliikumise ja odomeetria arendamine] [Omnimotion and odometry development for open robot development platform Robotont], BS thesis, 2018
*Raid Vellerind, [http://hdl.handle.net/10062/56559 Avatud robotiarendusplatvormi ROS võimekuse loomine Tartu Ülikooli Robotexi robootikaplatvormile] [ROS driver development for the University of Tartu’s Robotex robotics platform], BS thesis, 2017

[[Category:Theses Topics]]

Theses in Robotics

2024-08-27T08:51:12Z

Veix: /* List of potential thesis topics */

[[Category:IMS-robotics]]
<div class="toclimit-3">__TOC__</div>
= Projects in Advanced Robotics =
''The main objective of the follwing projects is to give students experience in working with advanced robotics tehcnology. Our group is active in several R&D projects involving human-robot collaboration, intuitive teleoperation of robots, and autonomous navigation of unmanned mobile platforms. Our main software platforms are [http://www.ros.org/ Robot Operating System (ROS)] for developing software for advanced robot systems and [http://gazebosim.org/ Gazebo] for running realistic robotic simulations.'' 
For further information, contact [[User:Karl|Karl Kruusamäe]].

The following is not an exhaustive list of all available thesis/research topics.

== Highlighted theses topics for 2023/2024 study year ==
# [[#ROBOTONT: analysis of different options as on-board computers|ROBOTONT: analysis of different options as on-board computers]]
# [[#SemuBOT: multiple topics|SemuBOT: multiple topics]]
# [[#Robotic Study Companion: a social robot for students in higher education|Robotic Study Companion: a social robot for students in higher education]]
# [[#Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle|Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle]]
# [[#ROBOTONT: ROS2 support for robotont|ROBOTONT: ROS2 support for robotont]]
# [[#Continuous teleoperation setup for controlling mobile robot on streets|Continuous teleoperation setup for controlling mobile robot on streets]]
# [[#Stratos Explore Ultraleap demonstrator for robotics|Stratos Explore Ultraleap demonstrator for robotics]]
# [[#Mixed-reality scene creation for vehicle teleoperation|Mixed-reality scene creation for vehicle teleoperation]]

== List of potential thesis topics ==
Our inventory includes but is not limited to:
<gallery mode="packed">
File:Youbot.png|120px|thumb|KUKA youBot
File:Ur5_left.png|120px|thumb|Universal Robot UR5
File:Franka_Emika_Panda.jpg|120px|thumb|Franka Emika Panda
File:Clearpath_Jackal.jpg|120px|thumb|Clearpath Jackal
File:Kinova_KG-3_Gripper.jpg|120px|thumb|Kinova 3-finger gripper
File:Xarm7.jpg|120px|thumb|UFACTORY xArm7
File:Robotont_banner.png|120px|thumb|robotont
File:Turtlebot3-waffle-pi.jpg|thumb|TurtleBot3
File:Parrot-bebop-2.jpg|thumb|Parrot Bebop 2
</gallery>

=== ROBOTONT: analysis of different options as on-board computers ===
Currently ROBOTONT uses Intel NUC as an onboard computer. The goal of this thesis is to validate Robotont's software stack on alternative compute devices (e.g. Raspi4, Intel Compute Stick, and NVIDIA Jetson Nano) and benchmark their performance for the most popular Robotont use-case demos (e.g. webapp teleop, ar-tag steering, 2D mapping, and 3D mapping). The objetive is to propose at least two different compute solutions: one that optimizes cost and another that optimizes for the performance.
<hr>

=== ROBOTONT: integrating a graphical programming interface ===
The goal of this thesis is to integrate graphical programming solution (e.g. Scratch or Blockly) to enable programming of Robotont by non-experts.
<hr>

=== ROBOTONT: designing and implementing a communication protocol for additional devices ===
Robotont currently includes a designated area on its front for attaching additional devices, such as an ultrasonic range finder, a servo motor connected to an Arduino, or a MikroBUS device. This project aims to design and implement a standard communication protocol that will enable seamless integration and control of these devices through the high-level ROS framework running on Robotont’s onboard computer.
<hr>

=== ROBOTONT: Docker-Driven ROS Environment Switching
This project focuses on integrating Docker containers to manage and switch between different ROS (Robot Operating System) environments on Robotont. Currently, ROS is installed natively on Robotont's Ubuntu-based onboard computer, limiting flexibility in system recovery and configuration switching. The goal is to develop a Docker-based solution that allows users to switch between ROS environments directly from Robotont’s existing low-level menu interface.

=== ROBOTONT Lite ===
The goal of this thesis is to optimize ROBOTONT platform for cost by replacing the onboard compute and sensor with low-cost alternatives but ensuring ROS/ROS2 software compatibility.
<hr>

=== SemuBOT: multiple topics ===
In 2023/2024 many topics are developed to support the development of open-source humanoid robot project SemuBOT (https://www.facebook.com/semubotmtu/)
<hr>

=== Robotic Study Companion: a social robot for students in higher education ===
Potential Topics:
* Enhancing the RSC Speech/NLP Capabilities
* Build the RSC Human-Robot Multimodal Interaction
* Developing the RSC Personalities/Behaviour
* Create a WebApp for Monitoring Student Performance via the RSC
* Exploring the RSC use as an Affective Robot with a focus on Students’ Academic Emotions
[https://github.com/Farnaz03/RoboticStudyCompanion Github] | reach out to farnaz.baksh@ut.ee for more info
<hr>

=== ROBOTONT: Quick launch demo suite and the final complete release of its ROS1 software ===
The goal of this thesis is to refine existing robotont demos (e.g. ar-tag steering, follow-the-leader, dancing-with-robot, LEAP-based control etc) and package them in an easy to use way for quick deployment by anyone during public events such as science popularization workshops and school visits.
The results of this work will be packaged as the final ROS1 release of Robotont software as the EOL for ROS1 is in May 2025.
<hr>

=== ROBOTONT: ROS support, demos, and educational materials for open-source mobile robot ===
[[Image:RosLarge.png|left|100px|ROS]]
The project involves many potential theses topic on open-source robot platform ROBOTONT. The nature of the thesis can be software development to improve the platform's capabilites, simulation of specific scenarios, and/or demonstration of ROBOTONT in real-life setting. A more detailed thesis topic will be outlined during in-person meeting 
[[Image:Ros_equation.png|x100px|What is ROS?]]
<hr>

=== Virtual reality user interface (VRUI) for intuitive teleoperation system ===
[[Image:LeapMotion.png|200px|thumb|right|Detecting 2 hands with Leap Motion Controller]]
Enhancing the user-experience of a virtual reality UI developed by [https://github.com/ut-ims-robotics/vrui_rviz Georg Astok]. Potentially adding [http://www.osvr.org/hardware-devs.html virtual reality capability] to a [https://www.youtube.com/watch?v=L25HHFd00rc gesture- and natural-language-based robot teleoperation system].
 
[[Image:Temoto-working-principle-in-pics.png|x160px|Gesture-based teleoperation]]
<hr>
=== Health monitor for intuitive telerobot ===
Intelligent status and error handling for an intuitive telerobotic system.
<hr>
=== 3D scanning of industrial objects ===
Using laser sensors and cameras to create accurate models of industrial products for quality control or further processing.
<hr>
=== Modeling humans for human-robot interaction ===
True human-robot collaboration means that the robot must understand the actions, intention, and state of its human partner. This work invovlves using cameras and other human sensors for digitally representing and modelling humans. There are multiple stages for modeling: a) physical models of human kinematics and dynamics; b) higher level-models for recognizing human intent. 
[[Image:Skeletal ROS.PNG|x160px|ROS & Kinect & Skeleton-Markers Package]]
<hr>
=== Robotic avatar for telepresence ===
Integrating hand gestures and head movements to control a robot avatar in virtual reality user interface.
<hr>
=== Detection of hardware and software resources for smart integration of robots ===
Vast majority of today’s robotic applications rely on hard-coded device and algorithm usage. This project focuses on developing a Resource Snooper software, that can detect addition or removal of resources for the benefit of dynamic reconfiguration of robotic systems. This project is developed as a subsystem of [https://utnuclearroboticspublic.github.io/temoto2/index.html TeMoto].
<hr>
=== Sonification of feedback during teleoperation of robots ===
Humans are used to receiving auditory feedback in their everyday lives. It helps us make decision and be aware of potential dangers. Telerobotic interfaces can deploy the same idea to improve the Situational Awareness and robotic task efficiency. The thesis project involves a study about different sonification solutions and implementation of it in a telerobotic application using ROS.
<hr>
=== Human-Robot and Robot-Robot collaboration applications ===
Creating a demo or analysis of software capabilities related to human-robot or tobot-robot teams
* human-robot collaborative assembly
* distributed mapping; analysis and demo of existing ROS (e.g., segmap https://youtu.be/JJhEkIA1xSE) packages for multi-robot mapping
* Inaccessible region teamwork
**youbot+drone - a drone maps the environment (for example a maze) and ground vehicle uses this information to traverse the maze
**youbot+robotont - youbot cannot go up ledges but it can lift smaller robot, such as robotont, up a ledge.
<hr>

=== Mirroring human hand movements on industrial robots ===
The goal of this project is to integrate continuous control of industrial robot manipulator with a gestural telerobotics interface. The recommended tools for this thesis project are Leap Motion Controller or a standard web camera, Ultraleap, Universal Robot UR5 manipulator, and ROS.
<hr>
=== ROBOTONT: TeMoto for robotont ===
Swarm-management for robotont using [https://temoto-telerobotics.github.io TeMoto] framework.
<hr>

=== Enhancing teleoperation control interface with augmented cues to provoke caution===
The task is to create a telerobot control interface where video feed from the remote site and/or a mixed-reality scene is augmented with visual cues to provoke caution in human operator.
<hr>
=== Robot-to-human interaction ===
As robots and autonomous machines start sharing the same space a humans, their actions need to be understood by the people occupying the same space. For instance, a human worker needs to understand what the robot partner is planning next or a pedestrian needs to clearly comprehend the behaviour of a driverless vehicle. To reduce the ambiguity, the robot needs mechanisms to convey its intent (whatever it is going to do next). The aim of the thesis is to outline existing methods for machines to convey their intent and develop a unified model interface for expressing that intent.
<hr>
=== Gaze-based handover prediction ===
When human needs to pass an object to a robot manipulator, the robot must understand where in 3D space the object handover occurs and then plan an appropriate motion. Human gaze can be used as the input for predicting which object to track. This thesis activities involve camera-based eye tracking and safe motion-planning.
<hr>
=== Real-world demonstrator for MIR+UR+TeMoto integration ===
Integration of mobile manipulator (MIR100 + UR5e + Robotiq gripper) to demonstrate TeMoto in a collaborative application.
<hr>
=== ROBOTONT: Human-height human-robot interface for Robotont ground robot ===
Robotont is an ankle-high flat mobile robot. For humans to interact with Robotont, there is a need for a compact and lightweight mechanical structure that is tall enough for comfortable human-robot interaction. The objective of the thesis is to develop the mechanical designs and build prototypes that ensure stable operation and meet the aesthetic requirements for use in public places.
<hr>
=== Stratos Explore Ultraleap demonstrator for robotics ===
The aim of this thesis is to systematically analyze the strengths and limitations of the Stratos Explore Ultraleap device in the context of controlling a robot. Subsequently implement a demonstrator application for showing off its applicability for robot control.
<hr>
=== Continuous teleoperation setup for controlling mobile robot on streets ===
The task in this device is analyse available options for building a teleopearation cockpit for continuously controlling a mobile robot moving on the streets. The contribution of the thesis is to set up the system, validate its usability, and benchmark its capabilities/limitations on the [https://adl.cs.ut.ee/lab/vehicle ADL vehicle]
<hr>

=== ROBOTONT: ROS2 support for robotont ===
Creating ROS2 support for robotont mobile platform
<hr>
=== Mixed-reality scene creation for vehicle teleoperation ===
Fusing different sensory feeds for creating high-usability teleoperation scene.
<hr>
=== Validation study for AR-based robot user-interfaces ===
Designing and carrying out a user study to validate the functionality and usability of an human-robot interface.
<hr>
=== Replication of the MIT Hydra demo ===
The goal of the thesis is to use the Hydra software package and integrate it for a robot used at IMS Robotics (e.g., TIAGo, Jackal, Robotont).
 Hydra takes sensor data in input (stereo or RGB-D camera images and IMU data) and produces a hierarchical model of the environment, by estimating the trajectory of the robot (including loop closures), building a metric-semantic 3D mesh, and segmenting objects, places, and rooms in an indoor environment. These representations are combined into a 3D scene graph, which enables novel approaches for hierarchical loop closure detection and ensures the representations remain consistent after loop closure. Hydra is implemented in C++ and is ROS-compatible. It uses a neural-network based image segmentation front-end, but it otherwise relies on an efficient and multi-threaded CPU-based implementation, which is suitable for mobile robot deployment.
 LINKS:
 Video: https://youtu.be/qZg2lSeTuvM
 Code: https://github.com/MIT-SPARK/Hydra
 Paper: http://www.roboticsproceedings.org/rss18/p050.pdf
<hr>

=== Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle ===
The goal of this thesis is to develop the methodology for measuring the operator's situation awareness while operating an autonomous urban vehicle. Potential metrics could include driving accuracy, speed, and latency. This thesis will be conducted as part of the activities at the [https://adl.cs.ut.ee Autonomous Driving Lab].
<hr>

= Completed projects =
== PhD theses ==
*Houman Masnavi, [https://hdl.handle.net/10062/91394 Visibility aware navigation] [Nähtavust arvestav navigatsioon], PhD thesis, 2023

== Masters's theses ==
*Robert Allik, Validation of NoMaD as a Global Planner for Mobile Robots, MS thesis, 2024
*Rauno Põlluäär, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79393 Designing and Implementing a Bird’s-eye View Interface for a Self-driving Vehicle’s Teleoperation System] [Isejuhtiva sõiduki kaugjuhtimissüsteemile linnuvaate kasutajaliidese loomine], MS thesis, 2024
*Eva Mõtshärg, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=77385 3D-prinditava kere disain ja analüüs vabavaralisele haridusrobotile Robotont] [Design and Analysis of a 3D Printable Chassis for the Open Source Educational Robot Robotont], MS thesis, 2023
*Farnaz Baksh, [https://dspace.ut.ee/items/a7a9cc15-27e9-450c-94e8-3267f0c95c56 An Open-source Robotic Study Companion for University Students] [Avatud lähtekoodiga robotõpikaaslane üliõpilastele], MS thesis, 2023
*Igor Rybalskii, [http://hdl.handle.net/10062/83028 Augmented reality (AR) for enabling human-robot collaboration with ROS robots] [Liitreaalsus inimese ja roboti koostöö võimaldamiseks ROS-i robotitega], MS thesis, 2022
*Md. Maniruzzaman, [http://hdl.handle.net/10062/83025 Object search and retrieval in indoor environment using a Mobile Manipulator] [Objektide otsimine ja teisaldamine siseruumides mobiilse manipulaatori abil], MS thesis, 2022
*Allan Kustavus, [http://hdl.handle.net/10062/72651 Design and Implementation of a Generalized Resource Management Architecture in the TeMoto Software Framework] [Üldise ressursihalduri disain ja teostus TeMoto tarkvara raamistikule], MS thesis, 2021
*Kristina Meister, [http://hdl.handle.net/10062/72350 External human-vehicle interaction - a study in the context of an autonomous ride-hailing service], MS thesis, 2021
*Muhammad Usman, [http://hdl.handle.net/10062/72126 Development of an Optimization-Based Motion Planner and Its ROS Interface for a Non-Holonomic Mobile Manipulator] [Optimeerimisele baseeruva liikumisplaneerija arendamine ja selle ROSi liides mitteholonoomse mobiilse manipulaatori jaoks], MS thesis, 2020
*Maarika Oidekivi, [http://hdl.handle.net/10062/72119 Masina kavatsuse väljendamine ja tõlgendamine] [Communicating and interpreting machine intent], MS thesis, 2020
*Houman Masnavi, [http://hdl.handle.net/10062/72118 Multi-Robot Motion Planning for Shared Payload Transportation] [Rajaplaneerimine multi-robot süsteemile jagatud lasti transportimisel], MS thesis, 2020
*Fabian Ernesto Parra Gil, [http://hdl.handle.net/10062/72112 Implementation of Robot Manager Subsystem for Temoto Software Framework] [Robotite Halduri alamsüsteemi väljatöötamine tarkvararaamistikule TEMOTO], MS thesis, 2020
*Zafarullah, [http://hdl.handle.net/10062/72125 Gaze Assisted Neural Network based Prediction of End-Point of Human Reaching Trajectories], MS thesis, 2020
*Madis K Nigol, [http://hdl.handle.net/10062/64339 Õppematerjalid robotplatvormile Robotont] [Study materials for robot platform Robotont], MS thesis, 2019
*Renno Raudmäe, [http://hdl.handle.net/10062/64341 Avatud robotplatvorm Robotont] [Open source robotics platform Robotont], MS thesis, 2019
*Asif Sattar, [http://hdl.handle.net/10062/64352 Human detection and distance estimation with monocular camera using YOLOv3 neural network] [Inimeste tuvastamine ning kauguse hindamine kasutades kaamerat ning YOLOv3 tehisnärvivõrku], MS thesis, 2019
*Ragnar Margus, [http://hdl.handle.net/10062/64337 Kergliiklusvahendite jagamisteenuseks vajaliku positsioneerimismooduli loomine ja uurimine] [Develoment and testing of a IoT module for electric vehicle sharing service], MS thesis, 2019
*Pavel Šumejko, [http://hdl.handle.net/10062/64320 Robust Solution for Extrinsic Calibration of a 2D Laser-Rangefinder and a Monocular USB Camera] [Meetod 2D laserkaugusmõõdiku ja USB-kaamera väliseks kalibreerimiseks], MS thesis, 2019
*Dzvezdana Arsovska, [http://hdl.handle.net/10062/64321 Building an Efficient and Secure Software Supply Pipeline for Aerial Robotics Application] [Efektiivne ja turvaline tarkvaraarendusahel lennurobootika rakenduses], MS thesis, 2019
*Tõnis Tiimus, [http://hdl.handle.net/10062/60713 Visuaalselt esilekutsutud potentsiaalidel põhinev aju-arvuti liides robootika rakendustes] [A VEP-based BCI for robotics applications], MS thesis, 2018
*Martin Appo, [http://hdl.handle.net/10062/60718 Hardware-agnostic compliant control ROS package for collaborative industrial manipulators] [Riistvarapaindlik ROSi tarkvarapakett tööstuslike robotite mööndlikuks juhtimiseks], MS thesis, 2018
*Hassan Mahmoud Shehawy Elhanash, [http://hdl.handle.net/10062/60711 Optical Tracking of Forearm for Classifying Fingers Poses] [Küünarvarre visuaalne jälgimine ennustamaks sõrmede asendeid], MS thesis, 2018

== Bachelor's theses ==
*Albert Unn, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=79937 Suhtlusvõimekuse arendamine sotsiaalsele humanoidrobotile SemuBot] [Developing the ability to communicate for SemuBot, a social humanoid robot], BS thesis, 2024
*Veronika-Marina Volynets, [https://hdl.handle.net/10062/99943 Development of Control Electronics and Program for Robotont's Height Adjustment Mechanism] [Juhtelektroonika ja programmi väljatöötamine Robotondi kõrguse reguleerimise mehhanismile], BS thesis, 2024
*Nikita Kurenkov, [https://hdl.handle.net/10062/99880 Flexible Screen Integration and Development of Neck Movement Mechanism for Social Humanoid Robot SemuBot] [Humanoidroboti näo lahenduse leidmine ja rakendamine; humanoidroboti jaoks kaela mehhanismi väljatöötamine], BS thesis, 2024
*Elchin Huseynov, [https://hdl.handle.net/10062/99668 Design and Control of a Social Humanoid Robot - SemuBot’s Hand] [Sotsiaalse Humanoidroboti Disain ja Juhtimine - SemuBoti Käsi], BS thesis, 2024
*Veronika Podliesnova, [https://hdl.handle.net/10062/99636 Real-Time Detection of Robot Failures by Monitoring Operator’s Brain Activity with EEG-based Brain-Computer Interface] [Reaalajas Robotirikke Tuvastamine Operaatori Ajutegevuse Jälgimise teel EEG-põhise Aju-Arvuti Liidese abil], BS thesis, 2024
*Märten Josh Peedimaa, [https://hdl.handle.net/not-yet Rhea: An Open-Source Table Tennis Ball Launcher Robot for Multiball Training] [Avatud lähtekoodiga lauatennise palliviske robot mitmikpall treenimiseks], BS thesis, 2024
*Karl Sander Vinkel, [https://hdl.handle.net/not-yet Laadimisjaama ja transportkesta väljatöötamine õpperobotile Robotont] [Development of charging dock and transport case for Robotont], BS thesis, 2024
*Raimo Köidam, [https://hdl.handle.net/not-yet Valguslahenduse tarkvara väljatöötamine õpperobotile Robotont] [Development of light solution software for the educational robot Robotont], BS thesis, 2024
*Robert Valge, [https://hdl.handle.net/not-yet Toitepinge ja tarbevoolu monitoorimine ning toitehalduse püsivara loomine õpperobotil Robotont] [Monitoring supply voltage and current consumption and creating firmware for Robotont’s power management system], BS thesis, 2024
*Leonid Tšigrinski, [https://hdl.handle.net/not-yet Õpperoboti Robotont püsivara arhitektuuri uuendamine] [Education robot "Robotont" firmware architecture updating], BS thesis, 2024
*Andres Sakk, [https://hdl.handle.net/not-yet Avatud robotplatvormi Robotont 3 kasutajaliidese väljatöötamine] [Development of a user interface for the open robotics platform Robotont 3], BS thesis, 2024
*Kaur Kullamäe, [https://hdl.handle.net/not-yet Elektroonikalahendus ja püsivara robotkäe juhtimiseks sotsiaalsel humanoidrobotil SemuBot] [Building the SemuBot arm electronics system], BS thesis, 2024
*Kristjan Madis Kask, [https://hdl.handle.net/not-yet Käe mehaanika disain sotsiaalsele humanoidrobotile SemuBot] [Arm mechanics design for social humanoid robot SemuBot], BS thesis, 2024
*Sven-Ervin Paap, [https://hdl.handle.net/not-yet ROS2 draiver õpperobotile Robotont] [ROS2 driver for the educational robot Robotont], BS thesis, 2024
*Timur Nizamov, [https://hdl.handle.net/10062/99592 Audio System for the Social Humanoid Robot SemuBot] [Helisüsteem sotsiaalsele humanoidrobotile SemuBot], BS thesis, 2024
*Georgs Narbuts, [https://hdl.handle.net/10062/99554 Holonomic Motion Drive System of a Social Humanoid Robot SemuBot] [Sotsiaalse humanoidroboti SemuBoti holonoomne liikuv ajamisüsteem], BS thesis, 2024
*Iryna Hurova, [https://hdl.handle.net/10062/90638 Kitting station of the learning factory] [Õppetehase komplekteerimisjaam], BS thesis, 2023
*Paola Avalos Conchas, [https://hdl.handle.net/10062/90641 Payload transportation system of a learning factory] [Õppetehase kasuliku koorma transpordisüsteem], BS thesis, 2023
*Pille Pärnalaas, [https://hdl.handle.net/10062/93431 Pöördpõik ajami arendus robotplatvormile Robotont] [Development of swerve drive for robotic platform Robotont], BS thesis, 2023
*Priit Rooden, [https://hdl.handle.net/10062/93432 Autonoomse laadimislahenduse väljatöötamine õpperobotile Robotont] [Development of an autonomous charging solution for the robot platform Robotont], BS thesis, 2023
*Marko Muro, [https://hdl.handle.net/10062/93429 Robotondi akulahenduse ning 12 V pingeregulaatori prototüüpimine] [Prototyping battery solution and 12 V voltage regulator for Robotont], BS thesis, 2023
*Danel Leppenen, [https://hdl.handle.net/10062/93427 Nav2 PYIF: Python-based Motion Planning for ROS 2 Navigation 2] [Nav 2 PYIF: Pythoni põhine liikumise planeerija ROS 2 Navigation 2-le], BS thesis, 2023
*Kertrud Geddily Küüt, [https://hdl.handle.net/10062/93424 Kõrgust reguleeriv mehhanism Robotondile] [Height adjusting mechanism for Robotont], BS thesis, 2023
*Ingvar Drikkit, [https://hdl.handle.net/10062/93421 Lisaseadmete võimekuse arendamine haridusrobotile Robotont] [Developing add-on device support for the educational robot Robotont], BS thesis, 2023
*Kristo Pool, [https://hdl.handle.net/10062/93430 MoveIt 2 õppematerjalid] [Learning materials for MoveIt 2], BS thesis, 2023
*Erki Veeväli, [https://hdl.handle.net/10062/93434 Development of a Continuous Teleoperation System for Urban Road Vehicle] [Linnasõiduki pideva kaugjuhtimissüsteemi arendus], BS thesis, 2023
*Aleksandra Doroshenko, [https://hdl.handle.net/10062/93420 Haiglates inimesi juhatava roboti disain] [Hospital guide robot design], BS thesis, 2023
*Hui Shi, [http://hdl.handle.net/10062/83043 Expanding the Open-source ROS Software Pack age opencv_apps with Dedicated Blob Detection Functionality] [Avatud lähtekoodiga ROS-i tarkvarakimbu opencv_apps laiendamine laigutuvasti funktsioonaalsusega], BS thesis, 2022
*Dāvis Krūmiņš, [http://hdl.handle.net/10062/83040 Web-based learning and software development environment for remote access of ROS robots] [Veebipõhine õppe- ja tarkvaraarenduse keskkond ROS robotite juurdepääsuks kaugteel], BS thesis, 2022
*Anna Jakovleva, [http://hdl.handle.net/10062/83037 Roboquiz - an interactive human-robot game] [Roboquiz - interaktiivne inimese ja roboti mäng], BS thesis, 2022
*Kristjan Laht, [https://comserv.cs.ut.ee/ati_thesis/datasheet.php?id=74702&year=2022Robot Localization with Fiducial Markers] [Roboti lokaliseerimine koordinaatmärkidega], BS thesis, 2022
*Hans Pärtel Pani, [http://hdl.handle.net/10062/83008 ROS draiver pehmerobootika haaratsile] [ROS Driver for Soft Robotic Gripper], BS thesis, 2022
*Markus Erik Sügis, [http://hdl.handle.net/10062/83015 Jagatud juhtimise põhimõttel realiseeritud robotite kaugjuhtimissüsteem] [A continuous teleoperating system based on shared control concept], BS thesis, 2022
*Taaniel Küla, [http://hdl.handle.net/10062/83007 ROS2 platvormile keevitusroboti tarkvara portotüübi loomine kasutades UR5 robot-manipulaatorit] [Welding robot software prototype for ROS2 using UR5 robot arm], BS thesis, 2022
*Rauno Põlluäär, [http://hdl.handle.net/10062/72672 Veebirakendus-põhine kasutajaliides avatud robotplatvormi Robotont juhtimiseks ja haldamiseks] [Web application-based user interface for controlling and managing open-source robotics platform Robotont], BS thesis, 2021
*Hendrik Olesk, [http://hdl.handle.net/10062/72664 Nägemisulatuses kaugjuhitava mobiilse robotmanipulaatori kasutajamugavuse tõstmine] [Improving the usability of a mobile manipulator robot for line-of-sight remote control], BS thesis, 2021
*Tarvi Tepandi, [http://hdl.handle.net/10062/72665 Segareaalsusel põhinev kasutajaliides mobiilse roboti kaugjuhtimiseks Microsoft HoloLens 2 vahendusel] [Mixed-reality user interface for teleoperating mobile robots with Microsoft HoloLens 2], BS thesis, 2021
*Rudolf Põldma, [http://hdl.handle.net/10062/72674 Tartu linna Narva maantee ringristmiku digikaksik] [Digital twin for Narva street roundabout in Tartu], BS thesis, 2021
*Kwasi Akuamoah Boateng, [http://hdl.handle.net/10062/72804 Digital Twin of a Teaching and Learning Robotics Lab] [Robotite õpetamise ja õppimise labori digitaalne kaksik], BS thesis, 2021
*Karina Sein, [http://hdl.handle.net/10062/72102 Eestikeelse kõnesünteesi võimaldamine robootika arendusplatvormil ROS] [Enabling Estonian speech synthesis on the Robot Operating System (ROS)], BS thesis, 2020
*Ranno Mäesepp, [http://hdl.handle.net/10062/72100 Takistuste vältimise lahendus õpperobotile Robotont] [Obstacle avoidance solution for educational robot platform Robotont], BS thesis, 2020
*Igor Rybalskii, [http://hdl.handle.net/10062/72060 Gesture Detection Software for Human-Robot Collaboration] [Žestituvastus tarkvara inimese ja roboti koostööks], BS thesis, 2020
*Meelis Pihlap, [http://hdl.handle.net/10062/64292 Mitme roboti koostöö funktsionaalsuste väljatöötamine tarkvararaamistikule TeMoto] [Multi-robot collaboration functionalities for robot software development framework TeMoto], BS thesis, 2019
*Kaarel Mark, [http://hdl.handle.net/10062/64290 Liitreaalsuse kasutamine tootmisprotsessis asukohtade määramisel] [Augmented reality for location determination in manufacturing], BS thesis, 2019
*Kätriin Julle, [http://hdl.handle.net/10062/64279 Roboti KUKA youBot riistvara ja ROS-tarkvara uuendamine] [Upgrading robot KUKA youBot’s hardware and ROS-software], BS thesis, 2019
*Georg Astok, [http://hdl.handle.net/10062/64274 Roboti juhtimine virtuaalreaalsuses kasutades ROS-raamistikku] [Creating virtual reality user interface using only ROS framework], BS thesis, 2019
*Martin Hallist, [http://hdl.handle.net/10062/64275 Robotipõhine kaugkohalolu käte liigutuste ülekandmiseks] [Teleoperation robot for arms motions], BS thesis, 2019
*Ahmed Hassan Helmy Mohamed, [http://hdl.handle.net/10062/63946 Software integration of autonomous robot system for mixing and serving drinks] [Jooke valmistava ja serveeriva robotsüsteemi tarkvaralahendus], BS thesis, 2019
*Kristo Allaje, [http://hdl.handle.net/10062/60294 Draiveripakett käte jälgimise seadme Leap Motion™ kontroller kasutamiseks robootika arendusplatvormil ROS] [Driver package for using Leap Motion™ controller on the robotics development platform ROS], BS thesis, 2018
*Martin Maidla, [http://hdl.handle.net/10062/60288 Avatud robotiarendusplatvormi Robotont omniliikumise ja odomeetria arendamine] [Omnimotion and odometry development for open robot development platform Robotont], BS thesis, 2018
*Raid Vellerind, [http://hdl.handle.net/10062/56559 Avatud robotiarendusplatvormi ROS võimekuse loomine Tartu Ülikooli Robotexi robootikaplatvormile] [ROS driver development for the University of Tartu’s Robotex robotics platform], BS thesis, 2017

[[Category:Theses Topics]]

User:Veix

2020-03-09T09:07:35Z

Veix: /* Veiko Vunder */

{{DISPLAYTITLE:{{FULLPAGENAME}}}}
== Veiko Vunder ==

[[File:Veiko_pic.jpg|300px]]

'''Email:''': vvunder[PreventSpam]ut.ee 
'''Skype:''' veix123 
'''Tel:''' +372 53 42 4334 

[[Secure:VeikoPhDwork|PhD work]]

==Papers==
*Veiko Vunder, Andres Punning and Alvo Aabloo (2013) {{doi-inline|10.1117/12.2009623| Viscoelastic model of IPMC actuators}} ''Proc. SPIE'' 8687, EAPAD, 868723
*Veiko Vunder, Andres Punning and Alvo Aabloo (2012) {{doi-inline|10.1088/0964-1726/21/11/115023| Mechanical interpretation of back-relaxation of ionic electroactive polymer actuators}} ''Smart Materials and Structures'', '''21''' (11), 115023.
*Veiko Vunder, Andres Punning and Alvo Aabloo (2012) {{doi-inline|10.1115/SMASIS2012-8127| Back-Relaxation of Carbon-Based Ionic Electroactive Polymer Actuators}} ''ASME 2012 Conference on Smart Materials, Adaptive Structures and Intelligent Systems'', '''1''' , pp. 163-168.
*Veiko Vunder, Andres Punning and Alvo Aabloo (2011) {{doi-inline|10.1117/12.880608| Variable-focal lens using electroactive polymer actuator}} ''Proc. SPIE'' 7977, Active and Passive Smart Structures and Integrated Systems 2011, 79771E
*Masters thesis (2010) [[Media:Veiko_Vunder_Masters_Thesis.pdf|Constructing and prototyping variable focal length lens system]]

User:Veix

2020-03-09T09:07:15Z

Veix: /* Veiko Vunder */

{{DISPLAYTITLE:{{FULLPAGENAME}}}}
== Veiko Vunder ==

[[File:Veiko_pic.jpg|400px]]

'''Email:''': vvunder[PreventSpam]ut.ee 
'''Skype:''' veix123 
'''Tel:''' +372 53 42 4334 

[[Secure:VeikoPhDwork|PhD work]]

==Papers==
*Veiko Vunder, Andres Punning and Alvo Aabloo (2013) {{doi-inline|10.1117/12.2009623| Viscoelastic model of IPMC actuators}} ''Proc. SPIE'' 8687, EAPAD, 868723
*Veiko Vunder, Andres Punning and Alvo Aabloo (2012) {{doi-inline|10.1088/0964-1726/21/11/115023| Mechanical interpretation of back-relaxation of ionic electroactive polymer actuators}} ''Smart Materials and Structures'', '''21''' (11), 115023.
*Veiko Vunder, Andres Punning and Alvo Aabloo (2012) {{doi-inline|10.1115/SMASIS2012-8127| Back-Relaxation of Carbon-Based Ionic Electroactive Polymer Actuators}} ''ASME 2012 Conference on Smart Materials, Adaptive Structures and Intelligent Systems'', '''1''' , pp. 163-168.
*Veiko Vunder, Andres Punning and Alvo Aabloo (2011) {{doi-inline|10.1117/12.880608| Variable-focal lens using electroactive polymer actuator}} ''Proc. SPIE'' 7977, Active and Passive Smart Structures and Integrated Systems 2011, 79771E
*Masters thesis (2010) [[Media:Veiko_Vunder_Masters_Thesis.pdf|Constructing and prototyping variable focal length lens system]]

File:Veiko pic.jpg

2020-03-09T09:04:36Z

Veix: User created page with UploadWizard

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People

2020-03-09T08:53:28Z

Veix: /* Staff */

{{DISPLAYTITLE:The Lab's Team}} __NOTOC__
== Staff ==

{{Team|
{{TeamMember|Alvo|Alvo Aabloo|professor, head of the lab (polymer materials)}}
{{TeamMember|Karl|Karl Kruusamäe|associate professor of robotics engineering, [[IMS robotics]]}}
{{TeamMember|Indrekm|Indrek Must|associate professor of soft robotics}}
{{TeamMember|Aks1812|Arun Kumar Singh|associate professor of collaborative robotics, [[IMS robotics]]}}
{{TeamMember|Tarmo|Tarmo Tamm|senior researcher of materials science}}
{{TeamMember|Vahur|Vahur Zadin|senior researcher (finite element modelling, molecular dynamics, high electric fields, CERN)}}
{{TeamMember|Heiki|Heiki Kasemägi|senior researcher (ion-conducting polymer, computer simulations) & Computer engineering study programme manager}}
{{TeamMember|Gajanee|Kaija Põhako-Esko|researcher, Marie Skłodowska-Curie fellow (chemistry, organic synthesis, ionic liquids)}}
{{TeamMember|Urmas|Urmas Johanson|researcher (electrochemistry)}}
{{TeamMember|Annaliisa|Anna-Liisa Peikolainen|researcher (carbon materials, chemistry)}}
{{TeamMember|Janno|Janno Torop|researcher (flow cell supercaps, carbon materials)}}
{{TeamMember|Saoni|Saoni Banerji| research fellow (CMOS MEMS sensors)}}
{{TeamMember|Morteza.Daneshmand|Morteza Daneshmand|research fellow (human-robot collaboration in manufacturing), [[IMS robotics]]}}
{{TeamMember|Veix|Veiko Vunder|lecturer (robotics)}}
{{TeamMember|Artur|Artur Abels|teaching assistant (digital electronics)}}
{{TeamMember|Roman|Roman Leinus|engineer (robotics)}}
{{TeamMember|Teet|Teet Tilk|engineer (electronics)}}
{{TeamMember|Tauri|Tauri Tätte|engineer (robotics)}}
{{TeamMember|Mariana|Mariana Raudsepp|assistant}}
{{TeamMember|Kadri.tonnisson|Kadri Tõnnisson|project coordinator}}
{{TeamMember|Marina|Marina Roosimäe|project manager}}
{{TeamMember|Ingridre|Ingrid Rebane|project assistant/PhD student}}
}}

== PhD Students ==

{{Team|
{{TeamMember|Arko|Arko Kesküla|PhD student (ionic liquid polymerization); supervisors: A.-L. Peikolainen, U. Mäeorg}}
{{TeamMember|kaur|Kaur Leemets|PhD student (printable sensors)}}
{{TeamMember|Zane|Zane Zondaka|PhD student (Conductive polymers carbon composites)}}
{{TeamMember|Robertvalner|Robert Valner|PhD student (robotics, [[IMS robotics]])}}
{{TeamMember|Kivilo|Alo Kivilo|PhD student (Conducting polymers)}}
{{TeamMember|faiza|Faiza Summer|PhD student (Flow-capacitor)}}
{{TeamMember|Pille|Pille Rinne|PhD student}}
{{TeamMember|madis.harjo|Madis Harjo|PhD student (nanocarbon composites)}}
{{TeamMember|Fred|Fred Elhi|PhD student (microfabrication, EAP)}}
{{TeamMember|hans_priks|Hans Priks|PhD student (conducting polymers)}}
{{TeamMember|Kristiankuppart|Kristian Kuppart|PhD student (MD in high electric fields)}}
{{TeamMember|karlkaru|Karl Karu|PhD student}}
{{TeamMember|Aru.arvndn|Aravindan Sooryanarain|PhD student (robot manipulators, [[IMS robotics]])}}
{{TeamMember|Helena.nulk|Helena Nulk|PhD student (collaborative robotics, [[IMS robotics]])}}
{{TeamMember|Ingridre|Ingrid Rebane|PhD student (PDMS foams)}}
{{TeamMember|ye.wang|Ye Wang|PhD student (Design and development of tailored nanostructures)}}
}}

==Students==

{{Team|
{{TeamMember|markus|Markus Loide|student}}
{{TeamMember|aare|Robert Aare|student (FEM simulations, TTM)}}
{{TeamMember|Liivak|Martin Liivak|student (FEM simulations of 3D-MB's)}}
{{TeamMember|Priit.poldmaa|Priit Põldmaa|student}}
{{TeamMember|raunoumborg|Rauno Umborg|student (computer engineering)}}
{{TeamMember|Kaarelsiimut|Kaarel Siimut|student (aerated concrete)}}
{{TeamMember|Ingmar.laan|Ingmar Laan|student (ionic polymer actuators)}}
{{TeamMember|Johannes.muru|Johannes Muru|student}}
{{TeamMember|Hermanratas|Herman Klas Ratas|student}}
{{TeamMember|Kadriannvaldur|Kadri-Ann Valdur|student (PPy actuators)}}
{{TeamMember|Ats.aasmaa|Ats Aasmaa|student (modelling of microbatteries)}}
{{TeamMember|Gryogor|Igor Rybalskii|student (robotics)}}
{{TeamMember|Houman.masnavi|Houman Masnavi|student (robotics and computer engineering)}}
{{TeamMember|Phuong.nguyen|Phuong Nguyen|student (FEM simulations)}}
{{TeamMember|FabianPG11|Fabian Ernesto Parra Gil|student (robotic frameworks)}}
{{TeamMember|Karinasein|Karina Sein|student (human-robot communcation)}}
{{TeamMember|Magnus.kaldjarv|Magnus Kaldjärv|student (soft robotics)}}
{{TeamMember|Mkuuts|Mona Küüts|student (soft robotics)}}
{{TeamMember|Silvia.aabloo|Silvia Hiie Aabloo|student (soft robotics)}}
{{TeamMember|Oleksandr.syzoniuk|Oleksandr Syzoniuk|student (soft robotics)}}
}}

==Colleagues==

{{Team|
{{TeamMember|Rosin|Margus Rosin|lecturer (FPGA)}}
{{TeamMember|Frkaasik|Friedrich Kaasik|ex-PhD student (carbon-polymer actuators)}}
{{TeamMember|Heilo|Heilo Altin|educational robotics}}
{{TeamMember|Ramon.rantsus|Ramon Rantsus|educational robotics}}
{{TeamMember|Arturt|Artur Tamm| at LLNL [https://qsg.llnl.gov/node/89.html QSG LLNL]}}
{{TeamMember|Aleksander|Aleksander Tõnnisson|[http://buildit.ee Buildit] (Hardware accelerator) CEO}}
{{TeamMember|katlin.rohtlaid|Kätlin Rohtlaid}}
{{TeamMember|Grecebo|Inga Põldsalu|postdoc at University of Oslo, [https://www.med.uio.no/ncmm/english/people/aca/inga/index.html Bionanotechnology and Membrane Systems]}}
}}

People

2020-03-09T08:50:45Z

Veix: /* Colleagues */

{{DISPLAYTITLE:The Lab's Team}} __NOTOC__
== Staff ==

{{Team|
{{TeamMember|Alvo|Alvo Aabloo|professor, head of the lab (polymer materials)}}
{{TeamMember|Karl|Karl Kruusamäe|associate professor of robotics engineering, [[IMS robotics]]}}
{{TeamMember|Indrekm|Indrek Must|associate professor of soft robotics}}
{{TeamMember|Aks1812|Arun Kumar Singh|associate professor of collaborative robotics, [[IMS robotics]]}}
{{TeamMember|Tarmo|Tarmo Tamm|senior researcher of materials science}}
{{TeamMember|Vahur|Vahur Zadin|senior researcher (finite element modelling, molecular dynamics, high electric fields, CERN)}}
{{TeamMember|Heiki|Heiki Kasemägi|senior researcher (ion-conducting polymer, computer simulations) & Computer engineering study programme manager}}
{{TeamMember|Gajanee|Kaija Põhako-Esko|researcher, Marie Skłodowska-Curie fellow (chemistry, organic synthesis, ionic liquids)}}
{{TeamMember|Urmas|Urmas Johanson|researcher (electrochemistry)}}
{{TeamMember|Annaliisa|Anna-Liisa Peikolainen|researcher (carbon materials, chemistry)}}
{{TeamMember|Janno|Janno Torop|researcher (flow cell supercaps, carbon materials)}}
{{TeamMember|Saoni|Saoni Banerji| research fellow (CMOS MEMS sensors)}}
{{TeamMember|Morteza.Daneshmand|Morteza Daneshmand|research fellow (human-robot collaboration in manufacturing), [[IMS robotics]]}}
{{TeamMember|Artur|Artur Abels|teaching assistant (digital electronics)}}
{{TeamMember|Roman|Roman Leinus|engineer (robotics)}}
{{TeamMember|Teet|Teet Tilk|engineer (electronics)}}
{{TeamMember|Tauri|Tauri Tätte|engineer (robotics)}}
{{TeamMember|Mariana|Mariana Raudsepp|assistant}}
{{TeamMember|Kadri.tonnisson|Kadri Tõnnisson|project coordinator}}
{{TeamMember|Marina|Marina Roosimäe|project manager}}
{{TeamMember|Ingridre|Ingrid Rebane|project assistant/PhD student}}
}}

== PhD Students ==

{{Team|
{{TeamMember|Arko|Arko Kesküla|PhD student (ionic liquid polymerization); supervisors: A.-L. Peikolainen, U. Mäeorg}}
{{TeamMember|kaur|Kaur Leemets|PhD student (printable sensors)}}
{{TeamMember|Zane|Zane Zondaka|PhD student (Conductive polymers carbon composites)}}
{{TeamMember|Robertvalner|Robert Valner|PhD student (robotics, [[IMS robotics]])}}
{{TeamMember|Kivilo|Alo Kivilo|PhD student (Conducting polymers)}}
{{TeamMember|faiza|Faiza Summer|PhD student (Flow-capacitor)}}
{{TeamMember|Pille|Pille Rinne|PhD student}}
{{TeamMember|madis.harjo|Madis Harjo|PhD student (nanocarbon composites)}}
{{TeamMember|Fred|Fred Elhi|PhD student (microfabrication, EAP)}}
{{TeamMember|hans_priks|Hans Priks|PhD student (conducting polymers)}}
{{TeamMember|Kristiankuppart|Kristian Kuppart|PhD student (MD in high electric fields)}}
{{TeamMember|karlkaru|Karl Karu|PhD student}}
{{TeamMember|Aru.arvndn|Aravindan Sooryanarain|PhD student (robot manipulators, [[IMS robotics]])}}
{{TeamMember|Helena.nulk|Helena Nulk|PhD student (collaborative robotics, [[IMS robotics]])}}
{{TeamMember|Ingridre|Ingrid Rebane|PhD student (PDMS foams)}}
{{TeamMember|ye.wang|Ye Wang|PhD student (Design and development of tailored nanostructures)}}
}}

==Students==

{{Team|
{{TeamMember|markus|Markus Loide|student}}
{{TeamMember|aare|Robert Aare|student (FEM simulations, TTM)}}
{{TeamMember|Liivak|Martin Liivak|student (FEM simulations of 3D-MB's)}}
{{TeamMember|Priit.poldmaa|Priit Põldmaa|student}}
{{TeamMember|raunoumborg|Rauno Umborg|student (computer engineering)}}
{{TeamMember|Kaarelsiimut|Kaarel Siimut|student (aerated concrete)}}
{{TeamMember|Ingmar.laan|Ingmar Laan|student (ionic polymer actuators)}}
{{TeamMember|Johannes.muru|Johannes Muru|student}}
{{TeamMember|Hermanratas|Herman Klas Ratas|student}}
{{TeamMember|Kadriannvaldur|Kadri-Ann Valdur|student (PPy actuators)}}
{{TeamMember|Ats.aasmaa|Ats Aasmaa|student (modelling of microbatteries)}}
{{TeamMember|Gryogor|Igor Rybalskii|student (robotics)}}
{{TeamMember|Houman.masnavi|Houman Masnavi|student (robotics and computer engineering)}}
{{TeamMember|Phuong.nguyen|Phuong Nguyen|student (FEM simulations)}}
{{TeamMember|FabianPG11|Fabian Ernesto Parra Gil|student (robotic frameworks)}}
{{TeamMember|Karinasein|Karina Sein|student (human-robot communcation)}}
{{TeamMember|Magnus.kaldjarv|Magnus Kaldjärv|student (soft robotics)}}
{{TeamMember|Mkuuts|Mona Küüts|student (soft robotics)}}
{{TeamMember|Silvia.aabloo|Silvia Hiie Aabloo|student (soft robotics)}}
{{TeamMember|Oleksandr.syzoniuk|Oleksandr Syzoniuk|student (soft robotics)}}
}}

==Colleagues==

{{Team|
{{TeamMember|Rosin|Margus Rosin|lecturer (FPGA)}}
{{TeamMember|Frkaasik|Friedrich Kaasik|ex-PhD student (carbon-polymer actuators)}}
{{TeamMember|Heilo|Heilo Altin|educational robotics}}
{{TeamMember|Ramon.rantsus|Ramon Rantsus|educational robotics}}
{{TeamMember|Arturt|Artur Tamm| at LLNL [https://qsg.llnl.gov/node/89.html QSG LLNL]}}
{{TeamMember|Aleksander|Aleksander Tõnnisson|[http://buildit.ee Buildit] (Hardware accelerator) CEO}}
{{TeamMember|katlin.rohtlaid|Kätlin Rohtlaid}}
{{TeamMember|Grecebo|Inga Põldsalu|postdoc at University of Oslo, [https://www.med.uio.no/ncmm/english/people/aca/inga/index.html Bionanotechnology and Membrane Systems]}}
}}

Publications

2016-04-14T05:28:08Z

Veix: /* 2016 */

'''List of publications of people who are involved with our group'''
== 2016 ==
*Veiko Vunder, Edgar Hamburg, Urmas Johanson, Andres Punning and Alvo Aabloo (2016) {{doi-inline|10.1088/0964-1726/25/5/055038|Effect of ambient humidity on ionic electroactive polymer actuators}}, ''Smart Mater. Struct.'' '''25'''(5), 055038.
*Zicai Zhu, Tetsuya Horiuchi, Karl Kruusamäe, Longfei Chang, Kinji Asaka (2016) {{doi-inline|10.1021/acs.jpcb.5b12634|Influence of Ambient Humidity on the Voltage Response of Ionic Polymer–Metal Composite Sensor}}, ''The Journal of Physical Chemistry B'' '''120'''(12), 3215−3225.
*Zondaka, Z.; Valner, R.; Tamm, T.; Aabloo, A.; Kiefer, R. (2016) {{doi-inline|10.1039/C6RA01511E| Carbide-derived carbon in polypyrrole changing the elastic modulus with a huge impact on actuation}}, ''RSC Advances'', '''6''', 26380−26385.
*Johanson, U.; Punning, A.; Aabloo, A. (2016) {{doi-inline|10.1039/9781782622581-00215|Ionic polymer metal composites with electrochemically active electrodes}}, ''RSC Smart Materials'', 215-227.
*Vunder, V.; Punning, A.; Aabloo, A. (2016) {{doi-inline|10.1039/9781782622581-00228|Electromechanical distributed modeling of ionic polymer metal composites}}, ''RSC Smart Materials'', 228-247.
*Külli Kori, Margus Pedaste, Heilo Altin, Eno Tõnisson, Tauno Palts (2016) {{doi-inline|10.1109/TE.2016.2528889|A Factors That Influence Students' Motivation to Start and to Continue Studying Information Technology in Estonia}}, ''IEEE Transactions on Education'', available online.
----




== 2015 ==


*Pejman Rasti, Henry Hous, Helmut F. Schlaak, Rudolf Kiefer, and Gholamreza Anbarjafari (2015) {{doi-inline|10.1364/AO.54.009976|Dielectric Elastomer Stack Actuator Based Autofocus Fluid Lens}}, ''Applied Optics'', '''accepted'''.
*Alfredo Caro, Alfredo Correa, Artur Tamm, German Samolyuk, and Malcolm Stocks, (2015) {{doi-inline|10.1103/PhysRevB.92.144309|Adequacy of damped dynamics to represent the electron-phonon interaction in solids}}, ''Physical Review B'', '''92''' 144309

*Artur Tamm, Alvo Aabloo, Mattias Klintenberg, Malcolm Stocks, Alfredo Caro (2015) {{doi-inline|10.1016/j.actamat.2015.08.015|Atomic-scale properties of Ni-based FCC ternary, and quaternary alloys}}, ''Acta Materiala'', '''99''' 307–312.
*Pejman Rasti, Haci Tasmaz, Morteza Daneshmand, Rudolf Kiefer, Cagri Ozcinar, and Gholamreza Anbarjafari (2015) {{doi-inline|not-yet|Satellite Image Enhancement: Systematic Approach For Denoising And Resolution Enhancement}}, ''DYNA (Revista dyna ingeniería e industria)'','''accepted'''.
*Plaado, Margo; Kaasik, Friedrich; Valner, Robert; Lust, Enn; Saar, Rando; Saal, Kristjan; Peikolainen, Anna-Liisa; Aabloo, Alvo; Kiefer, Rudolf (2015) {{doi-inline|10.1016/j.carbon.2015.07.077|Electrochemical actuation of multiwall carbon nanotube fiber with embedded carbide-derived carbon particles}}, ''Carbon'', '''94''' 911-918.

*Morteza Daneshmand, Alvo Aabloo, and Gholamreza Anbarjafari (2015) {{doi-inline|10.1007/s11760-015-0805-1|Real-time, Automatic Shape-Changing Robot Adjustment and Gender Classification}}, ''Signal, Image and Video Processing'', '''accepted'''.
*Morteza Daneshmand, Alvo Aabloo, and Gholamreza Anbarjafari (2015) {{doi-inline|10.3389/fbioe.2015.00063|Size-Dictionary Interpolation for Robot's Adjustment}}, ''Front. Bioeng. Biotechnol. - Bionics and Biomimetics'', Vol 3, pp. 1-8.

*Karl Kruusamäe, Andres Punning, Alvo Aabloo and Kinji Asaka (2015) {{doi-inline|10.3390/act4010017|Self-Sensing Ionic Polymer Actuators: A Review}}, ''Actuators'', '''4''', 1, 17-38.
*Andres Punning, Veiko Vunder, Indrek Must, Urmas Johanson, Gholamreza Anbarjafari, Alvo Aabloo (2015) {{doi-inline|10.1177/1045389X15581520|In situ scanning electron microscopy study of strains of ionic electroactive polymer actuators}}, Journal of Intelligent Material Systems and Structures'', Published online before print, 14.04.2015.
*Brandell, Daniel; Ollikainen, Madis; Kasemägi, Heiki; Aabloo, Alvo (2015) {{doi-inline|10.1016/j.electacta.2015.04.027|Molecular Dynamics Modelling Block-Copolymer Electrolytes with High t+ Values}}, ''Electrochimica Acta'', '''175''', 47–54.
*Simon Vigonski, Mihkel Veske , Alvo Aabloo, Flyura Djurabekova, Vahur Zadin (2015) {{doi-inline|10.1016/j.amc.2015.01.102|Verification of a multiscale surface stress model near voids in copper under the load induced by external high electric field}}, ''Applied Mathematics and Computation'', ''' 267''',476–486.
*Aydemir, Nihan; Kilmartin, Paul A; Travas-Sejdic, Jadranka; Kesküla, Arko; Peikolainen, Anna-Liisa; Parcell, James; Harjo, Madis; Aabloo, Alvo; Kiefer, Rudolf (2015) {{doi-inline|10.1016/j.snb.2015.03.098|Electrolyte and solvent effects in PPy/DBS linear actuators }}, ''Sensors and Actuators B-Chemical', '''216''', 24-32.
*Vahur Zadin, Heiki Kasemägi, Vahur Valdna, Mihkel Veski, Simon Vigonski, Alvo Aabloo (2015) {{doi-inline|10.1016/j.amc.2015.01.104|Application of multiphysics and multiscale simulations to optimize industrial wood drying kilns}}, ''Applied Mathematics and Computation'', '''267'', 465–475.
*Kristjan Eimre, Stefan Parviainen, Alvo Aabloo, Flyura Djurabekova and Vahur Zadin (2015) {{doi-inline|10.1063/1.4926490|Application of the general thermal field model to simulate the behaviour of nanoscale Cu field emitters}}, ''Journal of Applied Physics'', '''118''' 033303.
*Vigonski, Simon; Djurabekova, Flyura; Veske, Mihkel; Aabloo, Alvo; Zadin, Vahur (2015) {{doi-inline|10.1088/0965-0393/23/2/025009|Molecular dynamics simulations of near-surface Fe precipitates in Cu under high electric fields}}, ''Modelling and Simulation in Materials Science and Engineering'', '''23''' 025009.
*Indrek Must; Friedrich Kaasik; Inga Põldsalu; Lauri Mihkels; Urmas Johanson; Andres Punning; Alvo Aabloo (2015) {{doi-inline|10.1002/adem.201400246|Ionic and Capacitive Artificial Muscle for Biomimetic Soft Robotics}} ''Advanced Engineering Materials'', '''17''', 1, 84-94.
*V. Zadin; A. V. Krasheninnikov; F.Djurabekova; K. Nordlund (2015) {{doi-inline|10.1002/pssb.201400140|Simulations of electromechanical shape transformations of Au nanoparticles}} ''Physica Status Solidi B'', '''252''',1,144-148.
----
*Siim Sundla, Andres Punning, Alvo Aabloo, and Gholamreza Anbarjafari (2015) {{doi-inline|10.1109/ICSTCC.2015.7321314|Semi-automatic deflection measurement using digital image correlation}}, ''19th International Conference on System Theory, Control and Computing'', 325-330.

*Barbara Imhof, Waltraut Hoheneder, Stephen Ransom, René Waclavicek, Barnaby Osborne, Joshua Nelson, Peter Weiss, Bernard Gardette, Virginie; Taillebot, Thibaud; Gobert, Jeremi Gancet, Diego Urbina, Priit Kull, Alvo Aabloo, Ondrej Doule, David Ševčík, Michal Vajdák, Vratislav Šálený (2015) {{doi-inline|10.2514/6.2015-4401|Building the Test Bed SHEE- A Self Deployable Habitat for Extreme Environments Lessons Learnt and Exploitation Opportunities for the Scientific Community (AIAA 2015-4401)}}, ''AIAA SPACE 2015 Conference and Exposition ''.


*K. Nasrollahi, S. Escalera, P. Rasti, G. Anbarjafari, X. Baro, H. J. Escalante, and T. B. Moeslund (2015) {{doi-inline|not-yet|Deep Learning based Super-Resolution for Improved Action Recognition}}, ''IPTA 2015'', '''accepted'''-->



*Inga Põldsalu; Sven-Erik Mändmaa; Anna-Liisa Peikolainen; Arko Kesküla; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084180|Fabrication of ion-conducting carbon polymer composite electrodes by spin coating}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94301Q'''.
*Pejman Rasti ; Arko Kesküla ; Henry Haus ; Helmut F. Schlaak ; Gholamreza Anbarjafari ; Alvo Aabloo ; Rudolf Kiefer (2015) {{doi-inline|10.1117/12.2084198|A passive autofocus system by using standard deviation of the image on a liquid lens}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94301Q'''.
*Indrek Must ; Toomas Kaasik ; Inna Baranova ; Urmas Johanson ; Andres Punning ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084252|A power-autonomous self-rolling wheel using ionic and capacitive actuators}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94300Q '''
*Andres Punning ; Inga Põldsalu ; Friedrich Kaasik ; Veiko Vunder ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084202|Micro-mechanics of ionic electroactive polymer actuators}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94301K '''.
*Andres Punning ; Indrek Must ; Inga Põldsalu ; Veiko Vunder ; Friedrich Kaasik ; Rauno Temmer ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084201|Long-term degradation of the ionic electroactive polymer actuators}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94300S '''.
*Rudolf Kiefer ; Jose G. Martinez ; Toribio F. Otero ; Arko Kesküla ; Friedrich Kaasik ; Madis Harjo ; Robert Valner ; Vishwaja Vaddepally ; Anna-Liisa Peikolainen ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084195|Solvent and electrolyte effects in PPyDBS free standing films}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94301C '''.
*V. Vunder ; A. Punning ; A. Aabloo (2015) {{doi-inline|10.1117/12.2084155|Long-term response of ionic electroactive polymer actuators in variable ambient conditions}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94300R'''.
*Inga Põldsalu ; Sven-Erik Mändmaa ; Anna-Liisa Peikolainen ; Arko Kesküla ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084180|Fabrication of ion-conducting carbon polymer composite electrodes by spin coating}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''943019'''.
*Andres Punning ; Indrek Must ; Urmas Johanson ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084204|FThermal behavior of ionic electroactive polymer actuators}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94300E'''.
*Rasti, Pejman; Kiefer, Rudolf; Anbarjafari, Gholamreza (2015) {{doi-inline|10.1109/SIU.2015.7129897|Autofocus Liquid Lens by Using Sharpness Measurement}}, ''23rd IEEE Conference on Signal Processing and Communications Applications'', pp. 608-611.


*Kaur Leemets, Tõnis Terasmaa, Paul Jaakson, Alar Kume, Tarmo Tamm (2015) {{doi-inline|10.2991/icmsa-15.2015.130|Development of A Smart Insole System for Gait and Performance Monitoring}}, ''2015 International Conference on Material Science and Applications'', pp. 713-718.

== 2014 ==
*Erki Metsanurk; Artur Tamm; Alfredo Caro; Alvo Aabloo; Mattias Klintenberg (2014) {{doi-inline|10.1038/srep07567|First-principles study of point defects at a semicoherent interface}}, ''Scientific Reports'', '''4''',7567.
*Andres Punning, Kwang Kim, Viljar Palmre, Frédéric Vidal, Cédric Plesse, Nicolas Festin, Ali Maziz, Kinji Asaka, Takushi Sugino, Gursel Alici, Geoff Spinks, Gordon Wallace, Indrek Must, Inga Põldsalu, Veiko Vunder, Rauno Temmer, Karl Kruusamäe, Janno Torop, Friedrich Kaasik, Pille Rinne, Urmas Johanson, Tarmo Tamm, Anna-Liisa Peikolainen, and Alvo Aabloo (2014) {{doi-inline|10.1038/srep06913|Ionic electroactive polymer artificial muscles in space applications}}, ''Scientific Reports'', '''4''', 6913
* Andres Punning; Indrek Must; Inga Põldsalu; Veiko Vunder; Rauno Temmer; Karl Kruusamäe; Friedrich Kaasik; Janno Torop; Pille Rinne; Tõnis Lulla; Urmas Johanson; Tarmo Tamm; Alvo Aabloo (2014) {{doi-inline|10.1177/1045389X14546656|Lifetime measurements of ionic electroactive polymer actuators}}''Journal of Intelligent Material Systems and Structures'', '''25''', No 18, 2267-2275
*Viljar Palmre; David Pugal; Kwang J. Kim; Kam K. Leang; Kinji Asaka; Alvo Aabloo (2014) {{doi-inline|10.1038/srep06176|Nanothorn electrodes for ionic polymer-metal composite artificial muscles}} ''Scientific Reports'', '''4''',6176
*Janno Torop; Alvo Aabloo; Edwin W.H. Jager (2014) {{doi-inline|10.1016/j.carbon.2014.08.078|Novel actuators based on polypyrrole/carbide-derived carbon hybrid materials}} ''Carbon'', '''80''',387–395.
*V. Zadin; A.Pohjonen; A. Aabloo; K. Nordlund; F.Djurabekova (2014) {{doi-inline|10.1103/PhysRevSTAB.17.103501|Electrostatic-elastoplastic simulations of copper surface under- high electric fields}} ''Physical Review Special Topics Accelerators and Beams'', '''17''', 103501.
*Daniel Brandell; Heiki Kasemägi; Tarmo Tamm; Alvo Aabloo (2014) {{doi-inline|10.1016/j.ssi.2013.09.039|Molecular Dynamics Modelling Li-PolystyreneTFSI/PEO blends}} ''Solid State Ionics'', '''262''', 769–773.
*Indrek Must; Veiko Vunder; Friedrich Kaasik; Inga Põldsalu; Urmas Johanson; Andres Punning; Alvo Aabloo (2014) {{doi-inline|10.1016/j.snb.2014.05.074|Ionic liquid-based actuators working in air: The effect of ambient humidity}} ''Sensors & Actuators: B. Chemical'', '''202''', 114–122.
*Rudolf Kiefer; Nihan Aydemir; Janno Torop; Tarmo Tamm; Rauno Temmer; Jadranka Travas-Sejdic; Indrek Must; Friedrich Kaasik; Alvo Aabloo (2014) {{doi-inline|10.1016/j.snb.2014.04.093|Carbide-derived carbon as active interlayer of polypyrrole tri-layer linear actuator}} ''Sensors & Actuators: B. Chemical'', '''201''', 100-106.
*Kilmartin, Paul; Travas-Sejdic, Jadranka; Temmer, Rauno; Tamm, Tarmo; Aabloo, Alvo; Kiefer, Rudolf (2014) {{doi-inline|10.1504/IJNT.2014.060568|PEDOT-PSS/MWCNT coatings on PET for conducting polymer actuators. International}} ''Journal of Nanotechnology'', '''11''', 477 - 485.
*Kiefer, Rudolf; Temmer, Rauno; Aydemir, Nihan; Travas-Sejdic, Jadranka; Aabloo, Alvo; Tamm, Tarmo (2014) {{doi-inline|10.1016/j.electacta.2013.10.043|Electrochemistry of interlayer supported polypyrrole tri-layer linear actuators}} ''Electrochimica Acta'', '''122''', 322 - 328.
*Lisa Bläckberg, Erki Metsanurk, Artur Tamm, Alvo Aabloo, Mattias Klintenberg (2014) {{doi-inline|10.1016/j.nima.2014.03.044|Molecular dynamics study of Xenon on an amorphous Al2O3 surface}} ''Nuclear Inst. and Methods in Physics Research, A'', '''759''', 10–15.
*Torop, Janno; Arulepp, Mati; Janes, Alar; Sugino, Takushi; Asaka, Kinji; Lust, Enn; Aabloo, Alvo (2014) {{doi-inline|10.1021/la404616w|Microporous and Mesoporous Carbide-Derived Carbons for Strain Modification of Electromechanical Actuators}} ''Langmuir'', '''30''', 2583−2587.

*Veiko Vunder; Mehmed Itik; Inga Põldsalu; Andres Punning and Alvo Aabloo (2014) {{doi-inline|10.1088/0964-1726/23/2/025010|Inversion-based control of ionic polymer–metal composite actuators with nanoporous carbon-based electrodes}} ''Smart Materials and Structures'', '''23''', 025010.
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*Doule, O.; Imhof, B.; Hoheneder, W.; Ransom, S.; Waclavicek, R.; Kull, P.; Aabloo, A.; Weiss, P.; Taillebot, V.; Gardette, B.; Gobert, T.; Gancet, J.; Letier, P.; Rodriguez, G.; Salini, J.; Nelson, J.; Welch, C.; Gajdos, P.; Sevcik, D (2014) {{doi-inline|10.2514/6.2014-4195|Self-deployable Habitat for Extreme Environments - Universal Platform for Analog Research}} ''AIAA SPACE 2014 Conference and Exposition''.

*Pejman Rasti, Iiris Lüsi, Hasan Demirel, Rudolf Kiefer, and Gholamreza Anbarjafari (2014) [http://not-yet Wavelet Transform Based New Interpolation Technique for Satellite Image Resolution Enhancement], ''IEEE International Conference on Aerospace Electronics and Remote Sensing Technology'', '''''(Accepted)'''''

*Indrek Must, Friedrich Kaasik, Inga Pőldsalu, Lauri Mihkels, Urmas Johanson, Andres Punning, Alvo Aabloo (2014) {{doi-inline|10.1109/AIM.2014.6878286|Pulse-Width-Modulated Charging of Ionic and Capacitive Actuators}}, ''2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics'', 1446-1451
*Heilo Altin, Alvo Aabloo, and Gholamreza Anbarjafari (2014) [http://www.terecop.eu/TRTWR-RIE2014/files/00_WFr1/00_WFr1_22_poster.pdf New Era for Educational Robotics: Replacing Teachers with a Robotic System to Teach Alphabet Writing], ''International Conference on Robotics in Education (RIE)''.

*Rudolf Kiefer; Nihan Aydemir; Janno Torop; Paul A. Kilmartin; Tarmo Tamm; Friedrich Kaasik; Arko Kesküla; Jadranka Travas-Sejdic; Alvo Aabloo (2014) {{doi-inline|10.1117/12.2044653|Carbide-derived Carbon (CDC) linear actuator properties in combination with conducting polymers}}, ''Proc. SPIE'' '''9056''', 90561V.
*V. Vunder; M. Itik; A. Punning; A. Aabloo (2014) {{doi-inline|10.1117/12.2045001|Force control of ionic polymer-metal composite actuators with carbon-based electrodes}}, ''Proc. SPIE'' '''9056''', 90561Y.
*Friedrich Kaasik; Indrek Must; Enn Lust; Meelis Jürgens; Volker Presser; Andres Punning; Rauno Temmer; Rudolf Kiefer; Alvo Aabloo (2014) {{doi-inline|10.1117/12.2045136|In situ measurements with CPC micro-actuators using SEM}}, ''Proc. SPIE'' '''9056''', 90562B.
*Rudolf Kiefer; Harti Kiveste; Andres Punning; Arko Kesküla; Tõnis Lulla; Alvo Aabloo (2014) {{doi-inline|10.1117/12.2044656|Autofocus fluid lens device construction and implementation of modified ionic polymer metal composite (IPMC) membrane actuators}}, ''Proc. SPIE'' '''9056''', 905630.
*Nihan Aydemir; Tarmo Tamm; Jadranka Travas-Sejdic; Paul A. Kilmartin; Alvo Aabloo; Rudolf Kiefer (2014) {{doi-inline|10.1117/12.2044702|Electrochemomechanical deformation (ECMD) of PPyDBS in free standing film formation and trilayer designs}}, ''Proc. SPIE'' '''9056''', 905631.
*Tamm, Tarmo; Pärlin, Karel; Tiimus, Tõnis; Leemets, Kaur; Terasmaa, Tõnis; Must, Indrek (2014) {{doi-inline|10.1117/12.2045062|Smart insole sensors for sports and rehabilitation}}, ''Proc. SPIE'' '''9060''', 90600L.

== 2013 ==
*Tamm, Aile; Peikolainen, Anna-Liisa; Kozlova, Jekaterina; Mändar, Hugo; Aidla, Aleks; Rammula, Raul; Aarik, Lauri; Roosalu, Kaspar; Lu, Jun; Hultman, Lars; Koel, Mihkel; Kukli, Kaupo; Aarik, Jaan (2013). {{doi-inline|10.1016/j.tsf.2012.09.071|Atomic layer deposition of high-k dielectrics on carbon nanoparticles}} ''Thin Solid Films'', '''538''', 16 - 20.

*Rauno Temmer; Rudolf Kiefer; Alvo Aabloo; Tarmo Tamm (2013) {{doi-inline|10.1039/C3TA13517A|Direct chemical synthesis of pristine polypyrrole hydrogels and derived aerogels for high power density energy storage applications}} ''Journal of Materials Chemistry A'', '''48''', 1, 15216-15219.
*Pugal, David; Solin, Pavel; Aabloo, Alvo; Kim, Kwang Jin (2013) {{doi-inline|10.1088/0964-1726/22/12/125029|IPMC mechanoelectrical transduction: its scalability and optimization}} ''Smart Materials and Structures'', '''22''', 125029.
*Abels, A.; Kruusmaa, M., (2013) {{doi-inline|10.1142/S0219843613500023|Shape Control of an Anthropomorphic Tailoring Robot Mannequin}} ''International Journal of Humanoid Robotics'', '''10''', 1-16.
*Abels, A.; Kruusmaa, M., (2013) {{doi-inline|10.12720/joace.1.2.132-134|Construction of a Female Shape-Changing Robotic Mannequin}} ''International Journal of Automation and Control Engineering'', '''1''', 132-134.
*Pugal, David; Solin, Pavel; Kim, Kwang Jin; Aabloo, Alvo (2013) {{doi-inline|10.1016/j.cam.2013.09.011|hp-FEM electromechanical transduction model of ionic polymer-metal composites}} ''Journal of Computational and Applied Mathematics'', '''260''', 135–148.
*Kosidlo, U.; Wallmersperger, T.; Omastova, M.; Aabloo, A.; Micusik, M.; Kolaric, T.; Ćirić-Marjanović, G.;Bauernhans, T.; Randriamahazaka, H. (2013) {{doi-inline|10.1088/0964-1726/22/10/104022|Nanocarbon based ionic actuators}} ''Smart Materials and Structures'', '''22''', 104022
*Kaasik, F.; Tamm, T.;Hantel, M. M.; Perre, E.; Aabloo, A.; Lust, E.; Bazant M. Z. and Presser V. (2013) {{doi-inline|10.1016/j.elecom.2013.06.011|Anisometric Charge Dependent Swelling of Porous Carbon in an Ionic Liquid}} ''Electrochemistry Communications'', '''34''', 196-199.
*Must, Indrek; Anton, Mart; Viidalepp, Erki; Põldsalu, Inga; Punning, Andres and Aabloo, Alvo (2013) {{doi-inline|10.1088/0964-1726/22/10/104015|Mechanoelectrical impedance of a carbide-derived carbonbased laminate motion sensor at large bending deflections}} ''Smart Materials and Structures'', '''22''', 104015.
*Rong-Jay Lee, Rauno Temmer, Tarmo Tamm, Alvo Aabloo, Rudolf Kiefer (2013) {{doi-inline|10.1016/j.reactfunctpolym.2013.04.003|Renewable antioxidant properties of suspensible chitosan-polypyrrole composites}} ''Reactive and Functional Polymers'', '''73''', 8, 1072–1077.
*Temmer, Rauno; Maziz, Ali; Plesse, Cédric; Aabloo, Alvo; Vidal, Frédéric and Tamm, Tarmo (2013) {{doi-inline|10.1088/0964-1726/22/10/104006|In search of the better electroactive polymer actuator materials: PPy vs. PEDOT vs. PEDOT-PPy composites}} ''Smart Materials and Structures'', '''22'', 104006.
*Must, Indrek; Johanson, Urmas; Kaasik, Friedrich; Põldsalu, Inga; Punning, Andres; Aabloo, Alvo (2013). {{doi-inline|10.1039/C3CP51526E|Charging supercapacitor-like laminate with ambient moisture: from humidity sensor to energy harvester}} ''Physical Chemistry Chemical Physics'', '''15''', 9605-9614.
*Kiefer, Rudolf; Weis, Daniel Georg; Aabloo, Alvo; Urban, Gerald; Heinze, Jürgen (2013). {{doi-inline|10.1016/j.synthmet.2013.04.003|Dependence of polypyrrole bilayer deflection upon polymerization potential}} ''Synthetic Metals'', '''172''', 37–43.
*Kiefer, Rudolf; Temmer, Rauno; Tamm, Tarmo; Travas-Sejdic, Jadranka; Kilmartin, Paul A.; Aabloo, Alvo (2013). {{doi-inline|10.1016/j.synthmet.2013.03.017|Conducting polymer actuators formed on MWCNT and PEDOT-PSS conductive coatings}} ''Synthetic Metals'', '''171''', 69–75.
*Brandell, D.; Jõemetsa, S.; Kasemägi, H.; Aabloo, A. (2013). {{doi-inline|10.1016/j.electacta.2013.04.076|Molecular Dynamics modelling a small-molecule crystalline electrolyte: LiBF4(CH3O(CH2CH2O)4CH3)0.5.}}, ''Electrochimica Acta'', '''104''', 33-40.
* Vahur Zadin; Daniel Brandell; Heiki Kasemägi; Jaan Lellep; Alvo Aabloo (2013) {{doi-inline|10.1016/j.jpowsour.2012.12.004|Designing the 3D-microbattery geometry using the level-set method}}, ''Journal of Power Sources'', '''244''', 417–428.
* Rong-Jay Lee, Tarmo Tamm, Rauno Temmer, Alvo Aabloo, Rudolf Kiefer(2013) {{doi-inline|10.1016/j.synthmet.2012.12.032|Two formation mechanisms and renewable antioxidant properties of suspensible chitosan–PPy and chitosan–PPy–BTDA composites}}, ''Synthetic Metals'', '''164''', 6-11.
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*Leis, J.; Torop, J.; Käärik, M.; Aabloo, A.; Arulepp, M.; Madiberk, T.; Ehin, R. (2013) [http://jforcs.com/jcs/nanotuned-carbide-derived-carbon-as-a-potential-low-voltage-actuator-in-lab-on-chip-applications-for-blood-analysis-and-point-of-care-medicine/ Nanotuned carbide-derived carbon as a potential low-voltage actuator in lab-on-chip applications for blood analysis and point-of-care medicine] ''Journal for Clinical Studies'', '''5''', 34-37.
* Travas-Sejdic, J.; Tamm, T.; Kilmartin, P.A.; Temmer, R.; Aabloo, A.; Kiefer, R. (2013) {{doi-inline|10.1117/12.2009007|PEDOT/TBACF3SO3 bending actuators based on a PEDOT-PEDOT sandwich complex}}, ''Proc. SPIE'' '''8687''', 86872Z .
* Karl Kruusamäe, Friedrich Kaasik, Andres Punning and Alvo Aabloo (2013) {{doi-inline|10.1117/12.2012021|Self-sensing ionic electromechanically active actuator with patterned carbon electrodes}}, ''Proc. SPIE'' '''8687''', 868706.
* Veiko Vunder, Andres Punning and Alvo Aabloo (2013) {{doi-inline|10.1117/12.2009623|Viscoelastic model of IPMC actuators}}, ''Proc. SPIE'' '''8687''', 868723.
* David Pugal, Alvo Aabloo and Kwang Kim (2013) {{doi-inline|10.1117/12.2014002|Scalable low nDOF hp-FEM model of IPMC actuation}}, ''Proc. SPIE'' '''8687''', 86870X.
* Must, Indrek; Johanson, Urmas; Kaasik, Friedrich; Põldsalu, Inga; Punning, Andres; Aabloo, Alvo (2013) {{doi-inline|10.1109/AIM.2013.6584307|An ionic liquid-based actuator as a humidity sensor}}, ''2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)'' 1498 - 1503.

== 2012 ==
* Ann Laheäär; Anna-Liisa Peikolainen; Mihkel Koel; Alar Jänes; Enn Lust (2012) {{doi-inline|10.1007/s10008-012-1660-4|Comparison of carbon aerogel and carbide-derived carbon as electrode materials for non-aqueous supercapacitors with high performance}} ''Journal of Solid State Electrochemistry'', '''16''', 2717-2722
* Vahur Zadin; Dmitry Danilov; Daniel Brandell; Peter H.L. Notten; Alvo Aabloo (2012) {{doi-inline|10.1016/j.electacta.2012.01.039|Finite element simulations of 3D ionic transportation properties in Li-ion electrolytes}}, ''Electrochimica Acta'', ''65'', 165–173.
* Tóth, P.; Jan?ky, C.; Berkesi, O.; Tamm, T.; Visy, C.; (2012) {{doi-inline|10.1021/jp2107268|On the Unexpected Cation Exchange Behavior, Caused by Covalent Bond Formation Between PEDOT and Cl- Ions: Extending the Conception for the Polymer - Dopant Interactions}} Journal of Physical Chemistry B, 116 (18), 5491–5500
* Temmer, R.; Must, I.; Kaasik, F.; Aabloo, A.; Tamm, T.; (2012) {{doi-inline|10.1016/j.snb.2012.01.075|Combined chemical and electrochemical synthesis methods for metal-free polypyrrole actuators}}, Sensors and Actuators B: Chemical, v 166-167, p 411-418.
* Veiko Vunder, Andres Punning and Alvo Aabloo (2012) {{doi-inline|10.1088/0964-1726/21/11/115023| Mechanical interpretation of back-relaxation of ionic electroactive polymer actuators}} ''Smart Materials and Structures'', '''21''' (11), 115023.
* Viljar Palmre, Janno Torop, Mati Arulepp,Takushi Sugino, Kinji Asaka, Alar Jänes, Enn Lust, Alvo Aabloo (2012){{doi-inline|10.1016/j.carbon.2012.04.071| Impact of carbon nanotube additives on carbide-derived carbon-based electroactive polymer actuators}} ''Carbon'', '''50''' (12), 4351 - 4358.
* S.-I. Son, D. Pugal, T. Hwang, H. R. Choi, J. C. Koo, Y. Lee, K. J. Kim, and J. D. Nam (2012) {{doi-inline|10.1364/AO.51.002987| An electro-mechanically driven variable focus lens based on transparent dielectric elastomer}} ''Applied Optics'', '''51''' (15), 2987-2996.
* Endel Soolo, Daniel Brandell, Anti Liivat, Heiki Kasemägi, Tarmo Tamm and Alvo Aabloo (2012) {{doi-inline|10.1007/s00894-011-1182-5|Molecular Dynamics simulations of EMI-BF4 in nanoporous carbon actuators}}, ''Journal of Molecular Modeling'', '''18''' (4), 1541-1552
* Karl Kruusamäe, Andres Punning, Alvo Aabloo (2012) {{doi-inline|10.3390/s120201950|Electrical Model of a Carbon-Polymer Composite (CPC) Collision Detector}}, ''Sensors'' '''12'''(2), 1950-1966.
* David Pugal, Pavel Solin, Kwang J. Kim and Alvo Aabloo (2012) {{doi-inline|10.4208/cicp.081110.180311a|Modeling Ionic Polymer-Metal Composites with Space-Time AdaptiveMultimesh hp-FEM}} ''Communications in Computational Physics'', '''11'''(1), 249 - 270.
* Indrek Must, Friedrich Kaasik, Inga Põldsalu, Urmas Johanson, Andres Punning and Alvo Aabloo (2012) {{doi-inline|10.1016/j.carbon.2011.09.010|A carbide-derived carbon laminate used as a mechanoelectrical sensor}}, ''Carbon'', '''50''' (2), 535-541.
* Janno Torop, Takushi Sugino, Kinji Asaka, Alar Jänes, Enn Lust, Alvo Aabloo (2012) {{doi-inline|10.1016/j.snb.2011.10.079|Nanoporous carbide-derived carbon based actuators modified with gold foil: Prospect for fast response and low voltage applications}}, ''Sensors & Actuators: B. Chemical'', '''161'''(1), 629–634.
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* Must, I.; Kaasik, F.; Põldsalu, I.; Johanson, U.; Punning, A.; Aabloo, A. (2012). Carbon-polymer-ionic liquid composite as a motion sensor. Bar-Cohen, Y. (Toim.). Electroactive Polymer Actuators and Devices (EAPAD) 2012 (834019 - 834019-7).SPIE
* Kaasik, Friedrich; Torop, Janno; Must, Indrek; Soolo, Endel; Põldsalu, Inga; Peikolainen, Anna-Liisa; Palmre, Viljar; Aabloo, Alvo (2012). Ionic EAP transducers with amorphous nanoporous carbon electrodes. Proceedings of SPIE (83400V).SPIE
* Pugal, D.; Kim, K. J.; Palmre, V.; Leang, K. K.; Aabloo, A. (2012). Physics-based electromechanical model of IPMC considering various underlying currents. Electroactive Polymer Actuators and Devices (EAPAD) 2012 (83400P). San Diego, California, USA: SPIE
* Torop, J.; Sugino, T.; Asaka, K, Jänes, A.; Lust, E.; Arulepp, M.; Aabloo, A. (2012). Low-voltage bending actuators from carbide-derived carbon improved with gold foil. Bar-Cohen, Y (Toim.). Electroactive polymer actuators and devices (EAPAD) 2012 (834017-1 - 834017-7). BELLINGHAM: SPIE

== 2011 ==
* Daniel Brandell; Priit Priimägi; Heiki Kasemägi; Alvo Aabloo (2011){{doi-inline|10.1016/j.electacta.2011.03.022|Branched polyethylene/poly(ethylene oxide) as a host matrix for Li-ion battery electrolytes: an MD study}}, ''Electrochimica Acta'', '''57''', 228–236.
* Vahur Zadin; Daniel Brandell (2011){{doi-inline|10.1016/j.electacta.2011.03.026|Modelling Polymer Electrolytes for 3D-Microbatteries using Finite Element Analysis}}, ''Electrochimica Acta'', '''57''',237–243.
* Vahur Zadin, Heiki Kasemägi, Alvo Aabloo, Josh Thomas, Daniel Brandell (2011), {{doi-inline|10.1016/j.ssi.2010.02.007|Finite element modelling of ion transport in the electrolyte of a 3D-microbattery}}, ''Solid State Ionics'', '''192''', 279–283.
* K. J. Kim, D. Pugal, and K. K. Leang, [http://www.ingentaconnect.com/content/mts/mtsj/2011/00000045/00000004/art00011 “A Twistable Ionic Polymer-Metal Composite Artificial Muscle for Marine Applications,”] ''the Marine Technology Society (MTS) Journal'', Vol. 45, No. 4, pp. 83-98 (2011)
* Karl Kruusamäe, Paola Brunetto, Andres Punning, Margus Kodu, Raivo Jaaniso, Salvatore Graziani, Luigi Fortuna and Alvo Aabloo (2011) {{doi-inline|10.1088/0964-1726/20/12/124001|Electromechanical model for a self-sensing ionic polymer-metal composite actuating device with patterned surface electrodes}}, ''Smart Materials and Structures'', '''20'''(12), 124001.
* David Pugal, Kwang J. Kim, and Alvo Aabloo (2011){{doi-inline|10.1063/1.3650903|An explicit physics-based model of ionic polymer-metal composite actuators }} ''Journal of Applied Physics'','''111''',084904.
* Janno Torop, Viljar Palmre, Mati Arulepp, Takushi Sugino, Kinji Asaka and Alvo Aabloo (2011) {{doi-inline|10.1016/j.carbon.2011.03.034|Flexible supercapacitor-like actuator with carbide-derived carbon electrodes}} ''Carbon'', '''49''',9,3113-3119.
* Viljar Palmre, Enn Lust, Alar Jänes, Mihkel Koel, Anna-Liisa Peikolainen, Janno Torop, Urmas Johanson and Alvo Aabloo (2011). {{doi-inline|10.1039/C0JM01729A|Electroactive polymer actuators with carbon aerogel electrodes}} ''Journal of Materials Chemistry'', '''21''' (8), 2577 - 2583.
* Gursel Alici, Andres Punning, Herbert R. Shea (2011) {{doi-inline|10.1016/j.snb.2011.03.028|Enhancement of Actuation Ability of Ionic-Type Conducting Polymer Actuators Using Metal Ion Implantation}}, ''Sensors and Actuators B: Chemical'', '''157''', 1, 72-84.
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* Altin, Heilo; Pedaste, Margus; Aabloo, Alvo (2011). Educational Robotics and Inquiry Learning: A Pilot Study in a Web-Based Learning Environment. In: Proceedings of the 2011 11th IEEE International Conference on Advanced Learning Technologies: 11th IEEE International Conference on Advanced Learning Technologies, Athens, Georgia, USA, 6.-8. juuli, 2011. IEEE Computer Society, 2011, 224 - 226.
* Indrek Must, Karl Kruusamäe, Urmas Johanson, Tarmo Tamm, Andres Punning, Alvo Aabloo (2011) Characterisation of electromechanically active polymers using electrochemical impedance spectroscopy, ''[http://www.taylorandfrancis.com/books/details/9780415698382/ Lecture Notes on Impedance Spectroscopy, Volume 2]'', Olfa Kanoun (Ed.), CRC Press
* Friedrich Kaasik, Janno Torop, Anna-Liisa Peikolainen, Mihkel Koel and Alvo Aabloo (2011) {{doi-inline|10.1117/12.880607|Carbon aerogel based electrode material for EAP actuators}}, ''Proc. SPIE'' '''7976''', 79760O.
* Karl Kruusamäe, Andres Punning and Alvo Aabloo (2011) {{doi-inline|10.1117/12.880386|Self-sensing properties of carbon-polymer composite (CPC) actuators}}, ''Proc. SPIE'' '''7976''', 79760Q.
* David Pugal, Kwang J. Kim, Pavel Solin, Alvo Aabloo (2011) {{doi-inline|10.1117/12.881487|A novel hp-FEM model for IPMC actuation}},''Proceedings of the SPIE'' '''7978''',79780E.
* Veiko Vunder, Andres Punning, Alvo Aabloo (2011){{doi-inline|10.1117/12.880608|Variable-focal lens using electroactive polymer actuator}},''Proceedings of the SPIE'' '''7977''',79771E.
* D. Pugal, K. J. Kim, K. K. Leang, and V. Palmre (2011) {{doi-inline|10.1117/12.881488|Modeling and designing IPMCs for twisting motion: electromechanical and mechanoelectrical transduction}}, ''Proc. SPIE'' '''7976''', 79761S.
* A. Punning, S. Akbari, M. Niklaus and H. Shea (2011){{doi-inline|10.1117/12.880484|Multilayer dielectric elastomer actuators with ion implanted electrodes}}, ''Proc. SPIE'' '''7976''', 79760U.

== 2010 ==
* Brandell, Daniel, Karo, Jaanus and Thomas, John O. (2010) {{doi-inline|10.1016/j.jpowsour.2009.12.057|Modelling the Nafion (R) diffraction profile by molecular dynamics simulation}}, ''Journal of Power Sources'', '''195''', 18, 5962-5965.
* Jaanus Karo, Alvo Aabloo, John O. Thomas and Daniel Brandell (2010) {{doi-inline|10.1021/jp903288y|Molecular Dynamics Modeling of Proton Transport in Na?on and Hy?on Nanostructures}}, ''Journal of Chemical Physics B'', 114, 6056–6064.
* Anti Liivat, Josh Thomas (2010) {{doi-inline|10.1016/j.ssi.2009.12.009|Li-ion migration in Li2FeSiO4-related cathode materials: A DFT study}}, ''Solid State Ionics'', accepted.
* Vahur Zadin; Heiki Kasemägi, Alvo Aabloo, Daniel Brandell (2010), {{doi-inline|10.1016/j.jpowsour.2010.02.056|Modelling electrode material utilization in the trench-model 3D-microbattery by finite element analysis}}, ''Journal of Power Sources'', '''195''',18,6218-6224.
* Raudsepp, T.; Marandi, M.; Tamm, T.; Sammelselg, V.; Tamm, J. (2010). {{doi-inline|10.1016/j.elecom.2010.06.013|Redoping - A simple way to enhance the redoxcapacity of polypyrrole films.}} Electrochemistry Communications, 12, 1180 - 1183.
* Karl Kruusamäe, Paola Brunetto, Salvatore Graziani, Andres Punning, Giovanna Di Pasquale, Alvo Aabloo (2010) {{doi-inline|10.1002/pi.2752|Self-sensing ionic polymer-metal composite actuating device with patterned surface electrodes}}, ''Polymer International'', '''59'''(3), 300-304.
* Pugal, David; Jung, Kwangmok; Aabloo, Alvo; Kim, Kwang (2010) {{doi-inline|10.1002/pi.2759|Ionic polymer-metal composite mechanoelectrical transduction: review and perspectives}}, ''Polymer International'', '''59'''(3), 279-289.
* Janno Torop, Mati Arulepp, Jaan Leis, Andres Punning, Urmas Johanson, Viljar Palmre, Alvo Aabloo(2010) {{doi-inline|10.3390/ma3010009|Nanoporous Carbide-Derived Carbon Material-Based Linear Actuators}}, ''Materials'', '''3'''(1), 9-25
* Il-Seok Park, Sang-Mun Kim, David Pugal, Liming Huang, Suk-Wah Tam-Chang, and Kwang J. Kim,{{doi-inline|10.1063/1.3293290|Visualization of the cation migration in ionic polymer-metal composite under an electric field}} ''Appl. Phys. Lett.'' '''96''', 043301 (2010)
* Daniel Brandell, Heiki Kasemägi, Alvo Aabloo (2010),{{doi-inline|10.1016/j.electacta.2009.04.070|Poly(ethylene oxide)-poly(butadiene) interpenetrated networks as electroactive polymers for actuators: a molecular dynamics study}}, ''Electrochimica Acta'', '''55''', n 4, p 1333-1337.
* Soolo, E.; Brandell, D.; Liivat, A.; Tamm, T.; Kasemägi, A.; Aabloo, A. (2010) {{doi-inline|10.1016/j.electacta.2009.03.039|Force Field Generation and Molecular Dynamics Simulations of Li+ - Nafion}}, ''Electrochimica Acta'', '''55''', n 4, p 2587-2591.
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* Altin, Heilo; Aabloo, Alvo; Pedaste, Margus (2010). Robotics in Education: Methods of Getting Schools Involved in Robotics Project in Estonia. In: SIMPAR 2010 Workshop Proceeding: International Workshop "Teaching robotics, teaching with robotics" hosted by SIMPAR 2010 Conference, Darmstadt, Germany, Nov. 15, 2010. (Toim.) Emanuele Menegatti., 2010.
* Pugal, D; Kim, K.J; Aabloo, A. (2010). {{doi-inline|10.1117/12.847958|Modeling the transduction of IPMC in 3D configurations}}. Zoubeida Ounaies and Jiangyu Li (Toim.). Behavior and Mechanics of Multifunctional Materials and Composites 2010 (76441T). San Diego, CA, USA: SPIE.
* Torop, Janno; Kaasik, Friedrich; Sugino, Takushi; Aabloo, Alvo; Asaka, Kinji (2010). {{doi-inline||Electromechanical characteristics of actuators based on carbide-derived carbon}}. In: Proceedings of the SPIE: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, CA, USA; 7-11 March, 2010. SPIE, 2010, 76422A-1 - 76422A-7.
* Palmre, V.; Brandell, D.; Mäeorg, U.; Torop, J.; Volobujeva, O.; Punning, A.; Johanson, U.; Aabloo, A. (2010). {{doi-inline|10.1117/12.847518|Ionic polymer metal composites with nanoporous carbon electrodes}}. In: Electroactive Polymer Actuators and Devices (EAPAD) 2010 : Electroactive Polymer Actuators and Devices (EAPAD); San Diego, CA, USA; 8-11 March, 2010. SPIE, 2010, 76421D.
* Karl Kruusamäe, Paola Brunetto, Salvatore Graziani, Luigi Fortuna, Margus Kodu, Raivo Jaaniso, Andres Punning, Alvo Aabloo (2010) {{doi-inline|10.1117/12.847503|Experiments with self-sensing IPMC actuating device}}, Proc. SPIE '''7642''', 76420V.

== 2009 ==
* Jaanus Karo, Daniel Brandell (2009), {{doi-inline|10.1016/j.ssi.2005.10.003|A Molecular dynamics study of the influence of side-chain length and spacing on lithium mobility in non-crystalline LiPF6-PEO; x10 and 20}}, ''Solid State Ionics'', '''180''',1272-1284.
* Andres Punning, Urmas Johanson, Mart Anton, Alvo Aabloo, and Maarja Kruusmaa (2009) {{doi-inline|10.1177/1045389X09337170|A Distributed Model of Ionomeric Polymer Metal Composite}}, ''Journal of Intelligent Material Systems and Structures'', '''20''', 14, 1711-1724.
* Punning, A.; Jalviste. E. (2009). {{doi-inline|10.1109/TMTT.2008.2011183|Analytical Solution for Voltage-Step Response of Lossy Distributed RC Lines}}, IEEE Transactions on Microwave Theory and Techniques, '''57''', 2, 449 - 457.
* Viljar Palmre, Daniel Brandell, Uno Mäeorg, Janno Torop, Olga Volobujeva, Andres Punning, Urmas Johanson, Maarja Kruusmaa and Alvo Aabloo (2009) {{doi-inline|10.1088/0964-1726/18/9/095028|Nanoporous carbon-based electrodes for high strain ionomeric bending actuators}}, Smart Materials and Structures, '''18''', 095028 (7pp).
----
* Pugal, D.; Aabloo, A.; Kim, Kwang J (2009) {{doi-inline|10.1117/12.815824|Dynamic surface resistance model of IPMC}}, Proc. SPIE, Vol. 7289, 72891E
* Karl Kruusamäe, Andres Punning, Maarja Kruusmaa, Alvo Aabloo (2009) {{doi-inline|10.1117/12.815642|Dynamical variation of the impedances of IPMC}}, Proc. SPIE 7287, 72870V.
* Torop, J.; Arulepp, M.; Leis, J.; Punning, A.; Johanson, U.; Aabloo, A.(2009) {{doi-inline|10.1117/12.815643|Low voltage linear actuators based on carbide-derived carbon powder}}, Proc. SPIE 7287, 72870V.
* Must, I.; Anton, M.; Kruusmaa, M.; Aabloo, A. (2009) {{doi-inline|10.1117/12.815776|Linear modeling of elongated bending EAP actuator at large deformations}}, Proc. SPIE 7287, 72870V.
* Pugal, D., Aabloo, A. Kwang J. K., Jung Y., [[Media:SMASIS2009-1377.pdf|"Modeling IPMC Material With Dynamic Surface Characteristics"]], Proc. SMASIS: Smart Materials, Adaptive Structures and Intelligent Systems, (2009), Oxnard, CA
* A. Hunt, Z. Chen, X. Tan, M. Kruusmaa (2009). Feedback Control of a Coupled IPMC (Ionic Polymer-Metal Composite) Sensor-Actuator, ''Proceedings of the 2nd Annual Dynamic Systems and Control Conference (DSCC'09)'', Hollywood, CA, Paper DSCC2009-2700 (7 pp).
* M. Anton, Z. Chen, M. Kruusmaa, X. Tan, (2009), {{doi-inline|10.1109/IROS.2009.5354189 |Analytical and Computational Modeling of Robotic Fish Propelled by Soft Actuation Material-based Active Joints}}, ''Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems'', St. Louis, MO, pp. 2126-2131.
* Abels, A.; Kruusmaa, M. (2009). Design of a shape-changing anthropomorphic mannequin for tailoring applications. In: ICAR: 2009 14th International Conference on Advanced Robotics: The 14th IEEE International Conference on Advanced Robotics (IEEE ICAR), Munich, Germany, June 22-26, 2009. IEEE, 2009, 6 pp. .

== 2008 ==
* Raudsepp, T.; Marandi, M.; Tamm, T.; Sammelselg, V.; Tamm, J. (2008). {{doi-inline|10.1016/j.electacta.2007.11.059|Study of the factors determining the mobility of ions in the polypyrrole films doped with aromatic sulfonate anions.}} Electrochimica Acta, 53, 3828 - 3835.
* M. Anton, A. Punning. A.Aabloo, M.Kruusmaa (2008) {{doi-inline|10.1088/0964-1726/17/2/025004|A Mechanical Model of a non-uniform bending ionomeric polymer metal composite (IPMC) actuator.}}, Journ. of Smart Materials and Structures, '''17''', 025004.
* Pugal, D.; Kim, K.J.; Punning, A.; Kasemägi, H.; Kruusmaa, M.; Aabloo, A. (2008) {{doi-inline|10.1063/1.2903478 |Finite A self-oscillating ionic polymer-metal composite bending actuator}}, ''Journal of Applied Physics'', '''103''',8
* Johanson,U.; Mäeorg, U.; Sammelselg, V.; Brandell, D; Punning, A.; Kruusmaa, M; Aabloo A. (2008) {{doi-inline|10.1016/j.snb.2007.11.044|Electrode Reactions in Cu-Pt Coated Ionic Polymer Actuators.}}, ''Sensors and Actuators B: Chemical'', '''31''', 340-346.
----
* Punning, A. ; Johanson, U.; Anton, M.; Kruusmaa, M.; Aabloo, A. {{doi-inline|10.1117/12.775631|distributed model of IPMC}} Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69270G-1-10, 27 March 2008
* Hunt, A. ; Punning, A.; Anton, M.; Aabloo, A.; Kruusmaa, M. {{doi-inline|10.1117/12.775952|A multilink manipulator with IPMC joints}} Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69271Z-1-9, 27 March 2008.
* Johanson, U. ; Punning, A.; Kruusmaa, M.; Aabloo, A. {{doi-inline|10.1117/12.775770|Self healing properties of Cu-Pt coated ionic polymer actuators}} Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69271Y-1-11, 27 March 2008.
* Soolo, E. ; Liivat, A.; Kasemagi, H.; Tamm, T.; Brandell, D.; Aabloo, A. {{doi-inline|10.1117/12.775963|A new force field for molecular dynamics studies of Li+ and Na+-nafion}} Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69270E-1-9, 27 March 2008.
* Brandell, D.; Kasemagi, H.; Citerin, J.; Vidal, F.; Chevrot, C.; Aabloo, A. {{doi-inline|10.1117/12.776645|Molecular dynamics studies of interpenetrating polymer networks for actuator devices}} Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 692727-1-11, 27 March 2008
* Pugal D.; Kasemägi H.; Kruusmaa M.; and Aabloo A.: {{doi-inline|10.1117/12.776610|An advanced finite element model of IPMC}}, ''Electroactive Polymer Actuators and Devices (EAPAD) 2008 6927(1), SPIE'', 2008
* M. Kruusmaa, A. Hunt, A. Punning. M. Anton, A. Aabloo, "A Linked Manipulator with Ionic Polymer Metal Composite (IPMC) Joints for Soft- and Micromanupulation", In Proceedings - IEEE International Conference on Robotics and Automation, p 3588-3593, 2008, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, [[Media:kruusmaa_etal_icra2008.pdf|download]].

== 2007 ==
* Anti Liivat, Daniel Brandell, Alvo Aabloo, J.O. Thomas (2007), {{doi-inline|10.1016/j.polymer.2007.08.051|A Molecular Dynamics Study of Short-Chain Ordering in Crystalline LiPF6PEO6}}, ''Polymer'', '''48''',6448-6456
* Anti Liivat, Daniel Brandell and J.O. Thomas (2007), {{doi-inline|10.1039/b706938c|A molecular dynamics study of ion conduction mechanisms in crystalline low-Mw LiPF6•PEO6}}, ''Journal of Materials Chemistry'', '''17''', 3938-3946.
* Daniel Brandell, Jaanus Karo, Anti Liivat and John O. Thomas (2007), {{doi-inline|10.1007/s00894-007-0230-7|Molecular Dynamics Studies of the Nafion®, Dow® and Aciplex® Fuel-Cell Polymer Membrane Systems}}, ''J Molecular Modelling'','''13''', 1039 - 1046.
* Brandell, Daniel; Ainla, Alar (2007). {{doi-inline|10.1016/j.ssi.2007.01.014|Nafion-Polybenzimidazole (PBI) Composite Membranes for DMFC Applications.}} ''Solid State Ionics'', '''178''', 581 - 585.
* Liivat, Anti.(2007) [http://uu.diva-portal.org/smash/record.jsf?pid=diva2:170215 Ordering in Crystalline Short-Chain Polymer Electrolytes], PhD thesis, Uppsala University.
* Tamm, J.; Raudsepp, T.; Marandi, M.; Tamm, T.(2007) {{doi-inline|10.1016/j.synthmet.2006.12.005|Electrochemical properties of the polypyrrole films doped with benzenesulfonate.}} Synthetic Metals, v 157, n 1, p 66-73
* Punning, A.; Kruusmaa, M.; Aabloo, A. (2007). {{doi-inline|10.1016/j.sna.2006.12.008|A self-sensing ion conducting polymer metal composite (IPMC) actuator}}, ''Sensors and Actuators A: Physical'', '''136''', 656–664.
* Doyeon Kim and Kwang J. Kim, Yongsuk Tak, Deivid Pugal, Il-Seok Park (2007). {{doi-inline|10.1063/1.2735931|Self-oscillating electroactive polymer actuator.}} ''Applied Physics Letters'','''90''', 184104.
* Pugal, D., Kasemägi, H., Kim, KJ, Kruusmaa, M., and Aabloo, A.: {{doi-inline|10.1117/12.715966|Finite element simulations of the bending of the IPMC sheet}},'' Proceedings of SPIE 6524,'' SPIE, 65240B, 2007
* Punning, A.; Kruusmaa, M.; Aabloo, A. (2007). {{doi-inline|10.1016/j.sna.2006.03.010| Surface resistance experiments with IPMC sensors and actuators.}} ''Sensors and Actuators A: Physical'', '''133'''(1), 200 - 209.
* M. Kruusmaa, Y. Gavshin, A. Eppendahl (2007), Don't Do Things You Can't Undo: Reversiblity Models for Generating Safe Behaviour, in Proc, of the IEEE Conf. on Robotics and Automation (ICRA 2007) [[Media:ICRA07_kruusmaa_etal.pdf|download]].
* Listak, Madis; Pugal, Deivid; Kruusmaa, Maarja (2007). Computational Fluid Dynamics Simulations of a Biomimetic Underwater Robot. 13th International Conference on Advanced Robotics , Korea, Jeju, 21-24 August, 2007. IEEE, 2007, 314 - 319. [[Media:listak_icar2007_15_03.pdf|download]].
* Listak, Madis; Pugal, Deivid; Kruusmaa, Maarja (2007). Biomimetic fish-like underwater robot for shallow water applications. 13th International Conference on Advanced Robotics , Korea, Jeju, 21-24 August, 2007. IEEE, 2007, 332 - 336. [[Media:listak_icar2007_1.pdf|download]].

== 2006 ==
* Soolo, Endel; Karo, Jaanus; Kasemagi, Heiki; Kruusmaa, Maarja; Aabloo, Alvo (2006). {{doi-inline|10.1117/12.658664|Application of the Monte Carlo method for creation of initial models of EAP molecules for molecular dynamics simulation}} Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, California, USA; 27.02.-02.03.2006. Bellingham: ''SPIE'', 2006, (''Proceedings of SPIE - The International Society for Optical Engineering''), 61682A.
* Brandell, Daniel; Ainla, Alar; Liivat, Anti; Aabloo, Alvo (2006). {{doi-inline|10.1117/12.658633| Molecular dynamics simulations of Li- and Na-nafion membranes.}} Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, California, USA; 27.02.-02.03.2006. Bellingham: ''SPIE'', 2006, (''Proceedings of SPIE - The International Society for Optical Engineering''), 61680G.
* Punning, Andres; Anton, Mart; Kruusmaa, Maarja; Aabloo, Alvo (2006). {{doi-inline|10.1117/12.658735|Empirical model of a bending IPMC actuator.}} Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, California, USA; 27.02.-02.03.2006. Bellingham: SPIE, 2006, (''Proceedings of SPIE - The International Society for Optical Engineering''), 61681V.
* Anton, M.; Punning, A.; Aabloo, A.; Kruusmaa, M. (2006). Validating Usability of Ionomeric Polymer-Metal Composite Actuators for Real Life Applications. ''IROS 2006, IEEE/RSJ International Conference on Intelligent Robots and Systems''; Beijing, China; 9-15 October, 2006. IEEE, 2006. [[Media:ValidatingIPMC_CR.pdf|download]].
* Kristo Heero, Path planning and learning strategies for mobile robots in dynamic partially unknown environments, Ph.D. Thesis, Tartu University, 2006
* Willemson, Jan; Kruusmaa, Maarja (2006). Algorithmic Generation of Path Fragment Covers for Mobile Robot Path Planning. In: ''Intelligent Systems: 3rd International IEEE Conference''; London, UK; 04.-06.09.2006. (Toim.) Chountas, P.; Kacprzyk, J.; Ptrounias, I.; Yager, R.. New York: IEEE, 2006, 673 - 678.
* A. Eppendahl and M. Kruusmaa (2006), Obstacle avoidance as a consequence of suppressing irreversible actions, in Proceedings of the Sixth International Workshop on Epigenetic Robotics, Lund University Cognitive Studies, vol. 128. [[Media:EppendahlKruusmaa_epigenetic.pdf|download]].
== 2005 ==
* Punning, Andres ; Anton, Mart ; Kruusmaa, Maarja ; Aabloo, Alvo (2005). {{doi-inline|10.1109/ICAR.2005.1507507|An Engineering Approach to Reduced Power Consumption of IPMC (Ion-Polymer Metal Composite) Actuators.}} In: ''Proceedings: 12th International Conference on Advanced Robotics (ICAR2005)''; Seattle, USA; 18.-20.07.2005. New York: IEEE, 2005, 856 - 863.
* P. Burk, I. Rauk, T. Tamm, Comparative semiempirical, ab initio, and DFT study of interactions between polypyrrole pentamer dicatio and some anions, Proc. Estonian Acad. Sci. Chem. 2005, v 54, p 85-93.
* Tamm, T.; Tamm, J.; Karelson, M. (2005). {{doi-inline|10.1016/j.synthmet.2004.10.014|Complexes of oligopyrrole dications with inorganic anions: a comparative theoretical HF/post-HF study.}} Synthetic Metals, 149(1), 47 - 52.
* Johanson, U.; Marandi, M.; Tamm, T.; Tamm, J. (2005). {{doi-inline|10.1016/j.electacta.2004.10.016|Comparative study of the behavior of anions in polypyrrole films.}} Electrochimica Acta, 50(7-8), 1523 - 1528.
* Liivat, A.; Aabloo, A.; Thomas, JO. (2005). {{doi-inline|10.1002/jcc.20209| Development of a force field for Li2SiF6}} ''Journal of Computational Chemistry'', '''26'''(7), 716 - 724.
* Brandell, D.; Liivat, A.; Kasemagi, H.; Aabloo, A.; Thomas, JO. (2005). {{doi-inline|10.1039/b417232a| Molecular dynamics simulation of the LiPF6 center dot PEO6 structure.}} ''Journal of Materials Chemistry'', '''15''', 1422 - 1428.
* Karo, J.; Aabloo, A.; Thomas, J. (2005). {{doi-inline|10.1016/j.ssi.2005.10.003|A molecular dynamics study of the effect of side-chains on mobility in a polymer host.}} ''Solid State Ionics'', '''176''', 3041 - 3044.
* Brandell, D.; Liivat, A.; Aabloo, A.; Thomas, JO. (2005). {{doi-inline|10.1039/b505091j|Molecular dynamics simulation of the crystalline short-chain polymer system LiPF6 center dot PEO6 (M-w similar to 1000).}} ''Journal of Materials Chemistry'', '''15''', 4338 - 4345.
* Brandell, D.; Liivat, A.; Aabloo, A.; Thomas, JO. (2005). {{doi-inline|10.1021/cm0505401|Conduction mechanisms in crystalline LiPF6.PEO6 doped with SiF62- and SF6.}} ''Chemistry of Materials'', '''17''', 3673
* Thomas, Josh; Kasemagi, Heiki; Aabloo, Alvo (2005). Combining MD and FEA in 3-D micro- And nanoscale battery design. In: ''Meeting Abstracts: 208th Meeting of The Electrochemical Society''; Los Angeles, CA, USA; 16.-21.10.2005. Electrochemical Soc Inc, 2005, 2310.
* Heero, K.; Kruusmaa, M.; Aabloo, A. (2005). On the Utility of Exploration on Time-Critical Mobile Robot Missions. In: ''Proceedings: 2nd European Conference on Mobile Robots (ECMR05)''; Ancona, Italy; 07.-10.09.2005. Macerata: Edizioni Simple, 2005, 152 - 157. [[Media:kristo_heero_ECMR05.pdf|download]].
* Heero, K.; Kruusmaa, M.; Aabloo, A. (2005). Learning innovative routes for mobile robots in dynamic partially unknown environments. ''International Journal of Advanced Robotic Systems'' , '''2'''(3), 209 - 222. [[Media:heero_etal_ars.pdf|download]].
* Listak, M.; Martin, G.; Pugal, D.; Aabloo, A.; Kruusmaa, M. (2005). Design of a semiautonomous biomimetic underwater vehicle for environmental monitoring. ''6th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA 2005)''; Espoo, Finland; 27.06.-30.06.2005. New York: IEEE, 2005, 9 - 14. [[Media:vehicle_cira2005.pdf|download]]
* Listak, Madis; Martin, Georg; Pugal, David; Aabloo, Alvo; Kruusmaa, Maarja (2005). Task-oriented Design of an Underwater Vehicle for Environmental Monitoring in The Baltic Sea. In: ''Proceedings of the IARP: International Workshop on Underwater Robotics (IWUR 2005)''; Genova, Italy; 09.-11.11.2005. Genova: IARP, 2005. [[Media:iwur_kruusmaa_2005.pdf|download]].
== 2004 ==
* Tamm, J.; Johanson, U.; Marandi, M.; Tamm, T.; Tamm, L.; Study of the properties of electrodeposited polypyrrole films, Russian J. Electrochem., 2004, 40, 388-392.
* Anton, M.; Punning, A.; Aabloo, A.; Listak, M.; Kruusmaa, M. (2004). Towards a biomimetic EAP robot. ''Towards Autonomous Robotic Systems (TAROS 2004)''; Clochester, UK; 06.-08.19.2004. Clochester, UK: University of Essex, 2004, (Technical Report Series), 1 - 7. [[Media:anton_etal_taros2004.pdf|download]].
* Punning, A.; Anton, M.; Kruusmaa, M.; Aabloo, A. (2004). A Biologically Inspired Ray-like Underwater Robot with Electroactive Polymer Pectoral Fins. ''IEEE Confrence "Mechatronics and Robotics 2004" (MechRob04)''; Aachen, Germany; 13.-15.09.2004. Aachen: Eysoldt, 2004, (2), 241 - 245. [[Media:Punning_MechRob04.pdf|download]].
* Kasemagi, H.; Aabloo, A.; Klintenberg, MK.; Thomas, JO. (2004). {{doi-inline|10.1016/j.ssi.2002.12.002|Molecular dynamics simulation of the effect of nanoparticle fillers on ion motion in a polymer host.}} Solid ''State Ionics'', '''168'''(3-4), 249 - 254.
* Heero, K.; Kruusmaa, M.; Willemson, J.; Aabloo, A. (2004). Robots Find a Better Way: A Learning Method for Mobile Robot Navigation in Partially Unknown Environments. Groen, F.; Amato, N.;Bonarini, A.; Yoshida, E.; Kröse, B. (Toim.). ''Intelligent Autonomous Systems'' (559 - 566). Amsterdam: IOS Press. [[Media:kruusmaa_IAS-8_final.pdf|download]].
* Listak, M.; Kruusmaa, M. (2004). Buoyancy Control of a Semiautonomous Underwater Vehicle for Environmental Monitoring in Baltic Sea . In: Proceedings of the International IEEE Conference Mechatronics and Robotics 2004 (MechRob'04): Aachen:, 2004, (2), 252 - 257. [[Media:listak_mechrob_3_camera_ready.pdf|download]].
* Listak, Madis; Martin, Georg; Kruusmaa, Maarja (2004). Light Control Method for Automatic Benthic Algae Recognition. The XVIIIth International Seaweed Symposium Bergen, Norway, June 20-25, 2004. , 2004.
== 2003 ==
* Kasemagi, H.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2003). {{doi-inline|10.1016/S0013-4686(03)00214-7|Molecular dynamics simulation of temperature and concentration dependence of the 'filler' effect for the LiCl/PEO/Al2O3-nanoparticle system.}} ''Electrochimica Acta'', '''48'''(14-16), 2273 - 2278.
* Hektor, A.; Klintenberg, MK.; Aabloo, A.; Thomas, JO. (2003). Molecular dynamics simulation of the effect of a side chain on the dynamics of the amorphous LiPF6-PEO system. ''Journal of Materials Chemistry'', '''13'''(2), 214 - 218.
* Kruusmaa, M. (2003). {{doi-inline|10.1023/A:1026296011183|Global level path planning for mobile robots in dynamic environments.}} ''Journal of Intelligent & Robotic Systems'', '''38'''(1), 55 - 83.
* Kruusmaa, M. (2003). Global navigation in dynamic environments using case-based reasoning. ''Autonomous Robots'', '''14'''(1), 71 - 91.
* Kruusmaa, M.; Willemson, J. (2003). {{doi-inline|10.1016/s0950-7051(03)00024-8|Covering the path space: a casebase analysis for mobile robot path planning.}} ''Knowledge-Based Systems'', '''16'''(5-6), 235 - 242.
* Heero, K.; Kruusmaa, M.; Willemson, J. (2003). Path Selection for Mobile Robots in Dynamic Environments. In: ''Proceedings: 1st European Conference on Mobile Robots (ECMR 2003)''; Radziejowice, Poland; 04.-06.09.2003. Warszawa:, 2003.
* Listak, Madis; Martin, Georg; Kruusmaa, Maarja (2003). Automatic image detection system - a tool for monitoring underwater macrovegetation. ''Baltic Sea Science Congress'', Helsinki, August 24th - 28th, 2003. , 2003.
* Listak, Madis; Martin, Georg; Kruusmaa, Maarja (2003). Using image analysis for calculating the overall coverage of underwater vegetation in Baltic Sea region. In: Visualization, Imaging and Image Processing (VIIP 2003): IASTED conference on "Visualization, Imaging and Image Processing" (VIIP 2003), Benalmadena, Spain 2003. (Toim.) M.H.Hamza., 2003, (1), 472 - 477.
== 2002 ==
* Brandell, D.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2002). Optical absorption spectra from rare-earth ions in polymers: The effect of the polymer host. ''Macromolecular Symposia'', '''186''', 51 - 56.
* Kasemagi, H.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2002). {{doi-inline|10.1016/S0167-2738(02)00013-9|Molecular dynamics simulation of the LiBF4-PEO system containing Al2O3 nanoparticles.}} ''Solid State Ionics'', '''147'''(3-4), 367 - 375.
* Brandell, D.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2002). The effect of polymer host on optical absorption spectra for Er(CF3SO3)(3) in poly(ethylene oxide). ''Journal of Materials Chemistry'', '''12'''(3), 565 - 569.
* Tamm, T.; Tamm, J.; Karelson, M. (2002). Theoretical study of the effect of counterions on the structure of pyrrole oligomers. International Journal of Quantum Chemistry, 88(2), p 296 - 301.
* J. Tamm, A. Alumaa, A. Hallik, U. Johanson, L. Tamm, T. Tamm, Influence of anions on electrochemical properties of polypyrrole-modified electrodes, Russian J. Electrochem.,2002, 38, p 210-216.
* Kruusmaa, M.; Willemson, J. (2002). Covering the Path Space: A Casebase Analysis for Mobile Robot Path Planning. In: ''Research and Development in Intelligent Systems XIX: 22nd SGAI International Conference on Knowledge Based Systems and Applied Artificial Intelligence''; Cambridge, UK; DEC 2002. (Toim.) Bramer, M.; Preece, A.; Coenen, F.. London: Springer, 2002, (BCS Conference Series), 1 - 16.
== 2001 ==
* Aabloo, A.; Thomas, J. (2001). Molecular dynamics simulation of lithium ion mobility in a PEO surface. ''Solid State Ionics'', '''143'''(1), 83 - 87.
* Kasemagi, H.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2001). Molecular dynamics simulation of the effect of adding an Al2O3 nanoparticle to PEO-LiCl/LiBr/LiI systems. ''Journal of Materials Chemistry'', '''11'''(12), 3191 - 3196.
* Kruusmaa, M. (2001). Repeated Path Planning For Mobile Robots In Uncertain Environments. In: ''Proceedings of the IASTED: IASTED International Conference of Robotic and Applications''; Tampa, Florida; 19-22 November, 2001, . , 2001.
== 2000 ==
* Brandell, D.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2000). Calculation of the optical absorption spectrum of ErCl3 in poly(ethylene oxide) (PEO). ''International Journal of Quantum Chemistry'', '''80'''(4-5), 799 - 806.
* Aabloo, A.; Klintenberg, M.; Thomas, JO. (2000). Molecular dynamics simulation of a polymer-inorganic interface. ''Electrochimica Acta'', '''45'''(8-9), 1425 - 1429.
==B.C :)==
* Tamm, T.; Tamm, J.; Karelson, M. (1999). A quantum-mechanical study of oxidized oligopyrroles. International Journal of Quantum Chemistry, 71(1), 101 - 109.
* Aabloo, A.; Thomas, JO. (1998). Molecular dynamics simulation of Nd3+ ions in a crystalline PEO surface. ''Electrochimica Acta'', '''43'''(10-11), 1361 - 1364.
* Aabloo, A.; Thomas, J. (1997). Molecular dynamics simulations of a poly(ethylene oxide) surface. ''Computational and Theoretical Polymer Science'', '''7'''(1), 47 - 51.
* Aabloo, A.; French, AD. (1994). Preliminary potential-energy calculations of cellulose i-alpha crystal-structure. ''Macromolecular Theory and Simulations'', '''3'''(1), 185 - 191.
* Aabloo, A.; French, AD.; Mikelsaar, RH.; Pertsin, AJ. (1994). Studies of crystalline native celluloses using potential-energy calculations. ''Cellulose'', '''1'''(2), 161 - 168.
* French, AD.; Miller, DP.; Aabloo, A. (1993). Miniature crystal models of cellulose polymorphs and other carbohydrates. ''International Journal of Biological Macromolecules'', '''15'''(1), 30 - 36.

Publications

2016-04-14T05:27:39Z

Veix: /* 2016 */

'''List of publications of people who are involved with our group'''
== 2016 ==
*Veiko Vunder, Edgar Hamburg, Urmas Johanson, Andres Punning and Alvo Aabloo (2016) {{doi-inline|10.1088/0964-1726/25/5/055038|Effect of ambient humidity on ionic electroactive polymer actuators}}, ''Smart Mater. Struct.'' '''25'''(5), 25 055038.
*Zicai Zhu, Tetsuya Horiuchi, Karl Kruusamäe, Longfei Chang, Kinji Asaka (2016) {{doi-inline|10.1021/acs.jpcb.5b12634|Influence of Ambient Humidity on the Voltage Response of Ionic Polymer–Metal Composite Sensor}}, ''The Journal of Physical Chemistry B'' '''120'''(12), 3215−3225.
*Zondaka, Z.; Valner, R.; Tamm, T.; Aabloo, A.; Kiefer, R. (2016) {{doi-inline|10.1039/C6RA01511E| Carbide-derived carbon in polypyrrole changing the elastic modulus with a huge impact on actuation}}, ''RSC Advances'', '''6''', 26380−26385.
*Johanson, U.; Punning, A.; Aabloo, A. (2016) {{doi-inline|10.1039/9781782622581-00215|Ionic polymer metal composites with electrochemically active electrodes}}, ''RSC Smart Materials'', 215-227.
*Vunder, V.; Punning, A.; Aabloo, A. (2016) {{doi-inline|10.1039/9781782622581-00228|Electromechanical distributed modeling of ionic polymer metal composites}}, ''RSC Smart Materials'', 228-247.
*Külli Kori, Margus Pedaste, Heilo Altin, Eno Tõnisson, Tauno Palts (2016) {{doi-inline|10.1109/TE.2016.2528889|A Factors That Influence Students' Motivation to Start and to Continue Studying Information Technology in Estonia}}, ''IEEE Transactions on Education'', available online.
----




== 2015 ==


*Pejman Rasti, Henry Hous, Helmut F. Schlaak, Rudolf Kiefer, and Gholamreza Anbarjafari (2015) {{doi-inline|10.1364/AO.54.009976|Dielectric Elastomer Stack Actuator Based Autofocus Fluid Lens}}, ''Applied Optics'', '''accepted'''.
*Alfredo Caro, Alfredo Correa, Artur Tamm, German Samolyuk, and Malcolm Stocks, (2015) {{doi-inline|10.1103/PhysRevB.92.144309|Adequacy of damped dynamics to represent the electron-phonon interaction in solids}}, ''Physical Review B'', '''92''' 144309

*Artur Tamm, Alvo Aabloo, Mattias Klintenberg, Malcolm Stocks, Alfredo Caro (2015) {{doi-inline|10.1016/j.actamat.2015.08.015|Atomic-scale properties of Ni-based FCC ternary, and quaternary alloys}}, ''Acta Materiala'', '''99''' 307–312.
*Pejman Rasti, Haci Tasmaz, Morteza Daneshmand, Rudolf Kiefer, Cagri Ozcinar, and Gholamreza Anbarjafari (2015) {{doi-inline|not-yet|Satellite Image Enhancement: Systematic Approach For Denoising And Resolution Enhancement}}, ''DYNA (Revista dyna ingeniería e industria)'','''accepted'''.
*Plaado, Margo; Kaasik, Friedrich; Valner, Robert; Lust, Enn; Saar, Rando; Saal, Kristjan; Peikolainen, Anna-Liisa; Aabloo, Alvo; Kiefer, Rudolf (2015) {{doi-inline|10.1016/j.carbon.2015.07.077|Electrochemical actuation of multiwall carbon nanotube fiber with embedded carbide-derived carbon particles}}, ''Carbon'', '''94''' 911-918.

*Morteza Daneshmand, Alvo Aabloo, and Gholamreza Anbarjafari (2015) {{doi-inline|10.1007/s11760-015-0805-1|Real-time, Automatic Shape-Changing Robot Adjustment and Gender Classification}}, ''Signal, Image and Video Processing'', '''accepted'''.
*Morteza Daneshmand, Alvo Aabloo, and Gholamreza Anbarjafari (2015) {{doi-inline|10.3389/fbioe.2015.00063|Size-Dictionary Interpolation for Robot's Adjustment}}, ''Front. Bioeng. Biotechnol. - Bionics and Biomimetics'', Vol 3, pp. 1-8.

*Karl Kruusamäe, Andres Punning, Alvo Aabloo and Kinji Asaka (2015) {{doi-inline|10.3390/act4010017|Self-Sensing Ionic Polymer Actuators: A Review}}, ''Actuators'', '''4''', 1, 17-38.
*Andres Punning, Veiko Vunder, Indrek Must, Urmas Johanson, Gholamreza Anbarjafari, Alvo Aabloo (2015) {{doi-inline|10.1177/1045389X15581520|In situ scanning electron microscopy study of strains of ionic electroactive polymer actuators}}, Journal of Intelligent Material Systems and Structures'', Published online before print, 14.04.2015.
*Brandell, Daniel; Ollikainen, Madis; Kasemägi, Heiki; Aabloo, Alvo (2015) {{doi-inline|10.1016/j.electacta.2015.04.027|Molecular Dynamics Modelling Block-Copolymer Electrolytes with High t+ Values}}, ''Electrochimica Acta'', '''175''', 47–54.
*Simon Vigonski, Mihkel Veske , Alvo Aabloo, Flyura Djurabekova, Vahur Zadin (2015) {{doi-inline|10.1016/j.amc.2015.01.102|Verification of a multiscale surface stress model near voids in copper under the load induced by external high electric field}}, ''Applied Mathematics and Computation'', ''' 267''',476–486.
*Aydemir, Nihan; Kilmartin, Paul A; Travas-Sejdic, Jadranka; Kesküla, Arko; Peikolainen, Anna-Liisa; Parcell, James; Harjo, Madis; Aabloo, Alvo; Kiefer, Rudolf (2015) {{doi-inline|10.1016/j.snb.2015.03.098|Electrolyte and solvent effects in PPy/DBS linear actuators }}, ''Sensors and Actuators B-Chemical', '''216''', 24-32.
*Vahur Zadin, Heiki Kasemägi, Vahur Valdna, Mihkel Veski, Simon Vigonski, Alvo Aabloo (2015) {{doi-inline|10.1016/j.amc.2015.01.104|Application of multiphysics and multiscale simulations to optimize industrial wood drying kilns}}, ''Applied Mathematics and Computation'', '''267'', 465–475.
*Kristjan Eimre, Stefan Parviainen, Alvo Aabloo, Flyura Djurabekova and Vahur Zadin (2015) {{doi-inline|10.1063/1.4926490|Application of the general thermal field model to simulate the behaviour of nanoscale Cu field emitters}}, ''Journal of Applied Physics'', '''118''' 033303.
*Vigonski, Simon; Djurabekova, Flyura; Veske, Mihkel; Aabloo, Alvo; Zadin, Vahur (2015) {{doi-inline|10.1088/0965-0393/23/2/025009|Molecular dynamics simulations of near-surface Fe precipitates in Cu under high electric fields}}, ''Modelling and Simulation in Materials Science and Engineering'', '''23''' 025009.
*Indrek Must; Friedrich Kaasik; Inga Põldsalu; Lauri Mihkels; Urmas Johanson; Andres Punning; Alvo Aabloo (2015) {{doi-inline|10.1002/adem.201400246|Ionic and Capacitive Artificial Muscle for Biomimetic Soft Robotics}} ''Advanced Engineering Materials'', '''17''', 1, 84-94.
*V. Zadin; A. V. Krasheninnikov; F.Djurabekova; K. Nordlund (2015) {{doi-inline|10.1002/pssb.201400140|Simulations of electromechanical shape transformations of Au nanoparticles}} ''Physica Status Solidi B'', '''252''',1,144-148.
----
*Siim Sundla, Andres Punning, Alvo Aabloo, and Gholamreza Anbarjafari (2015) {{doi-inline|10.1109/ICSTCC.2015.7321314|Semi-automatic deflection measurement using digital image correlation}}, ''19th International Conference on System Theory, Control and Computing'', 325-330.

*Barbara Imhof, Waltraut Hoheneder, Stephen Ransom, René Waclavicek, Barnaby Osborne, Joshua Nelson, Peter Weiss, Bernard Gardette, Virginie; Taillebot, Thibaud; Gobert, Jeremi Gancet, Diego Urbina, Priit Kull, Alvo Aabloo, Ondrej Doule, David Ševčík, Michal Vajdák, Vratislav Šálený (2015) {{doi-inline|10.2514/6.2015-4401|Building the Test Bed SHEE- A Self Deployable Habitat for Extreme Environments Lessons Learnt and Exploitation Opportunities for the Scientific Community (AIAA 2015-4401)}}, ''AIAA SPACE 2015 Conference and Exposition ''.


*K. Nasrollahi, S. Escalera, P. Rasti, G. Anbarjafari, X. Baro, H. J. Escalante, and T. B. Moeslund (2015) {{doi-inline|not-yet|Deep Learning based Super-Resolution for Improved Action Recognition}}, ''IPTA 2015'', '''accepted'''-->



*Inga Põldsalu; Sven-Erik Mändmaa; Anna-Liisa Peikolainen; Arko Kesküla; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084180|Fabrication of ion-conducting carbon polymer composite electrodes by spin coating}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94301Q'''.
*Pejman Rasti ; Arko Kesküla ; Henry Haus ; Helmut F. Schlaak ; Gholamreza Anbarjafari ; Alvo Aabloo ; Rudolf Kiefer (2015) {{doi-inline|10.1117/12.2084198|A passive autofocus system by using standard deviation of the image on a liquid lens}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94301Q'''.
*Indrek Must ; Toomas Kaasik ; Inna Baranova ; Urmas Johanson ; Andres Punning ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084252|A power-autonomous self-rolling wheel using ionic and capacitive actuators}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94300Q '''
*Andres Punning ; Inga Põldsalu ; Friedrich Kaasik ; Veiko Vunder ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084202|Micro-mechanics of ionic electroactive polymer actuators}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94301K '''.
*Andres Punning ; Indrek Must ; Inga Põldsalu ; Veiko Vunder ; Friedrich Kaasik ; Rauno Temmer ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084201|Long-term degradation of the ionic electroactive polymer actuators}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94300S '''.
*Rudolf Kiefer ; Jose G. Martinez ; Toribio F. Otero ; Arko Kesküla ; Friedrich Kaasik ; Madis Harjo ; Robert Valner ; Vishwaja Vaddepally ; Anna-Liisa Peikolainen ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084195|Solvent and electrolyte effects in PPyDBS free standing films}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94301C '''.
*V. Vunder ; A. Punning ; A. Aabloo (2015) {{doi-inline|10.1117/12.2084155|Long-term response of ionic electroactive polymer actuators in variable ambient conditions}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94300R'''.
*Inga Põldsalu ; Sven-Erik Mändmaa ; Anna-Liisa Peikolainen ; Arko Kesküla ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084180|Fabrication of ion-conducting carbon polymer composite electrodes by spin coating}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''943019'''.
*Andres Punning ; Indrek Must ; Urmas Johanson ; Alvo Aabloo (2015) {{doi-inline|10.1117/12.2084204|FThermal behavior of ionic electroactive polymer actuators}}, ''Proc. SPIE 9430, Electroactive Polymer Actuators and Devices (EAPAD) '', '''94300E'''.
*Rasti, Pejman; Kiefer, Rudolf; Anbarjafari, Gholamreza (2015) {{doi-inline|10.1109/SIU.2015.7129897|Autofocus Liquid Lens by Using Sharpness Measurement}}, ''23rd IEEE Conference on Signal Processing and Communications Applications'', pp. 608-611.


*Kaur Leemets, Tõnis Terasmaa, Paul Jaakson, Alar Kume, Tarmo Tamm (2015) {{doi-inline|10.2991/icmsa-15.2015.130|Development of A Smart Insole System for Gait and Performance Monitoring}}, ''2015 International Conference on Material Science and Applications'', pp. 713-718.

== 2014 ==
*Erki Metsanurk; Artur Tamm; Alfredo Caro; Alvo Aabloo; Mattias Klintenberg (2014) {{doi-inline|10.1038/srep07567|First-principles study of point defects at a semicoherent interface}}, ''Scientific Reports'', '''4''',7567.
*Andres Punning, Kwang Kim, Viljar Palmre, Frédéric Vidal, Cédric Plesse, Nicolas Festin, Ali Maziz, Kinji Asaka, Takushi Sugino, Gursel Alici, Geoff Spinks, Gordon Wallace, Indrek Must, Inga Põldsalu, Veiko Vunder, Rauno Temmer, Karl Kruusamäe, Janno Torop, Friedrich Kaasik, Pille Rinne, Urmas Johanson, Tarmo Tamm, Anna-Liisa Peikolainen, and Alvo Aabloo (2014) {{doi-inline|10.1038/srep06913|Ionic electroactive polymer artificial muscles in space applications}}, ''Scientific Reports'', '''4''', 6913
* Andres Punning; Indrek Must; Inga Põldsalu; Veiko Vunder; Rauno Temmer; Karl Kruusamäe; Friedrich Kaasik; Janno Torop; Pille Rinne; Tõnis Lulla; Urmas Johanson; Tarmo Tamm; Alvo Aabloo (2014) {{doi-inline|10.1177/1045389X14546656|Lifetime measurements of ionic electroactive polymer actuators}}''Journal of Intelligent Material Systems and Structures'', '''25''', No 18, 2267-2275
*Viljar Palmre; David Pugal; Kwang J. Kim; Kam K. Leang; Kinji Asaka; Alvo Aabloo (2014) {{doi-inline|10.1038/srep06176|Nanothorn electrodes for ionic polymer-metal composite artificial muscles}} ''Scientific Reports'', '''4''',6176
*Janno Torop; Alvo Aabloo; Edwin W.H. Jager (2014) {{doi-inline|10.1016/j.carbon.2014.08.078|Novel actuators based on polypyrrole/carbide-derived carbon hybrid materials}} ''Carbon'', '''80''',387–395.
*V. Zadin; A.Pohjonen; A. Aabloo; K. Nordlund; F.Djurabekova (2014) {{doi-inline|10.1103/PhysRevSTAB.17.103501|Electrostatic-elastoplastic simulations of copper surface under- high electric fields}} ''Physical Review Special Topics Accelerators and Beams'', '''17''', 103501.
*Daniel Brandell; Heiki Kasemägi; Tarmo Tamm; Alvo Aabloo (2014) {{doi-inline|10.1016/j.ssi.2013.09.039|Molecular Dynamics Modelling Li-PolystyreneTFSI/PEO blends}} ''Solid State Ionics'', '''262''', 769–773.
*Indrek Must; Veiko Vunder; Friedrich Kaasik; Inga Põldsalu; Urmas Johanson; Andres Punning; Alvo Aabloo (2014) {{doi-inline|10.1016/j.snb.2014.05.074|Ionic liquid-based actuators working in air: The effect of ambient humidity}} ''Sensors & Actuators: B. Chemical'', '''202''', 114–122.
*Rudolf Kiefer; Nihan Aydemir; Janno Torop; Tarmo Tamm; Rauno Temmer; Jadranka Travas-Sejdic; Indrek Must; Friedrich Kaasik; Alvo Aabloo (2014) {{doi-inline|10.1016/j.snb.2014.04.093|Carbide-derived carbon as active interlayer of polypyrrole tri-layer linear actuator}} ''Sensors & Actuators: B. Chemical'', '''201''', 100-106.
*Kilmartin, Paul; Travas-Sejdic, Jadranka; Temmer, Rauno; Tamm, Tarmo; Aabloo, Alvo; Kiefer, Rudolf (2014) {{doi-inline|10.1504/IJNT.2014.060568|PEDOT-PSS/MWCNT coatings on PET for conducting polymer actuators. International}} ''Journal of Nanotechnology'', '''11''', 477 - 485.
*Kiefer, Rudolf; Temmer, Rauno; Aydemir, Nihan; Travas-Sejdic, Jadranka; Aabloo, Alvo; Tamm, Tarmo (2014) {{doi-inline|10.1016/j.electacta.2013.10.043|Electrochemistry of interlayer supported polypyrrole tri-layer linear actuators}} ''Electrochimica Acta'', '''122''', 322 - 328.
*Lisa Bläckberg, Erki Metsanurk, Artur Tamm, Alvo Aabloo, Mattias Klintenberg (2014) {{doi-inline|10.1016/j.nima.2014.03.044|Molecular dynamics study of Xenon on an amorphous Al2O3 surface}} ''Nuclear Inst. and Methods in Physics Research, A'', '''759''', 10–15.
*Torop, Janno; Arulepp, Mati; Janes, Alar; Sugino, Takushi; Asaka, Kinji; Lust, Enn; Aabloo, Alvo (2014) {{doi-inline|10.1021/la404616w|Microporous and Mesoporous Carbide-Derived Carbons for Strain Modification of Electromechanical Actuators}} ''Langmuir'', '''30''', 2583−2587.

*Veiko Vunder; Mehmed Itik; Inga Põldsalu; Andres Punning and Alvo Aabloo (2014) {{doi-inline|10.1088/0964-1726/23/2/025010|Inversion-based control of ionic polymer–metal composite actuators with nanoporous carbon-based electrodes}} ''Smart Materials and Structures'', '''23''', 025010.
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*Doule, O.; Imhof, B.; Hoheneder, W.; Ransom, S.; Waclavicek, R.; Kull, P.; Aabloo, A.; Weiss, P.; Taillebot, V.; Gardette, B.; Gobert, T.; Gancet, J.; Letier, P.; Rodriguez, G.; Salini, J.; Nelson, J.; Welch, C.; Gajdos, P.; Sevcik, D (2014) {{doi-inline|10.2514/6.2014-4195|Self-deployable Habitat for Extreme Environments - Universal Platform for Analog Research}} ''AIAA SPACE 2014 Conference and Exposition''.

*Pejman Rasti, Iiris Lüsi, Hasan Demirel, Rudolf Kiefer, and Gholamreza Anbarjafari (2014) [http://not-yet Wavelet Transform Based New Interpolation Technique for Satellite Image Resolution Enhancement], ''IEEE International Conference on Aerospace Electronics and Remote Sensing Technology'', '''''(Accepted)'''''

*Indrek Must, Friedrich Kaasik, Inga Pőldsalu, Lauri Mihkels, Urmas Johanson, Andres Punning, Alvo Aabloo (2014) {{doi-inline|10.1109/AIM.2014.6878286|Pulse-Width-Modulated Charging of Ionic and Capacitive Actuators}}, ''2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics'', 1446-1451
*Heilo Altin, Alvo Aabloo, and Gholamreza Anbarjafari (2014) [http://www.terecop.eu/TRTWR-RIE2014/files/00_WFr1/00_WFr1_22_poster.pdf New Era for Educational Robotics: Replacing Teachers with a Robotic System to Teach Alphabet Writing], ''International Conference on Robotics in Education (RIE)''.

*Rudolf Kiefer; Nihan Aydemir; Janno Torop; Paul A. Kilmartin; Tarmo Tamm; Friedrich Kaasik; Arko Kesküla; Jadranka Travas-Sejdic; Alvo Aabloo (2014) {{doi-inline|10.1117/12.2044653|Carbide-derived Carbon (CDC) linear actuator properties in combination with conducting polymers}}, ''Proc. SPIE'' '''9056''', 90561V.
*V. Vunder; M. Itik; A. Punning; A. Aabloo (2014) {{doi-inline|10.1117/12.2045001|Force control of ionic polymer-metal composite actuators with carbon-based electrodes}}, ''Proc. SPIE'' '''9056''', 90561Y.
*Friedrich Kaasik; Indrek Must; Enn Lust; Meelis Jürgens; Volker Presser; Andres Punning; Rauno Temmer; Rudolf Kiefer; Alvo Aabloo (2014) {{doi-inline|10.1117/12.2045136|In situ measurements with CPC micro-actuators using SEM}}, ''Proc. SPIE'' '''9056''', 90562B.
*Rudolf Kiefer; Harti Kiveste; Andres Punning; Arko Kesküla; Tõnis Lulla; Alvo Aabloo (2014) {{doi-inline|10.1117/12.2044656|Autofocus fluid lens device construction and implementation of modified ionic polymer metal composite (IPMC) membrane actuators}}, ''Proc. SPIE'' '''9056''', 905630.
*Nihan Aydemir; Tarmo Tamm; Jadranka Travas-Sejdic; Paul A. Kilmartin; Alvo Aabloo; Rudolf Kiefer (2014) {{doi-inline|10.1117/12.2044702|Electrochemomechanical deformation (ECMD) of PPyDBS in free standing film formation and trilayer designs}}, ''Proc. SPIE'' '''9056''', 905631.
*Tamm, Tarmo; Pärlin, Karel; Tiimus, Tõnis; Leemets, Kaur; Terasmaa, Tõnis; Must, Indrek (2014) {{doi-inline|10.1117/12.2045062|Smart insole sensors for sports and rehabilitation}}, ''Proc. SPIE'' '''9060''', 90600L.

== 2013 ==
*Tamm, Aile; Peikolainen, Anna-Liisa; Kozlova, Jekaterina; Mändar, Hugo; Aidla, Aleks; Rammula, Raul; Aarik, Lauri; Roosalu, Kaspar; Lu, Jun; Hultman, Lars; Koel, Mihkel; Kukli, Kaupo; Aarik, Jaan (2013). {{doi-inline|10.1016/j.tsf.2012.09.071|Atomic layer deposition of high-k dielectrics on carbon nanoparticles}} ''Thin Solid Films'', '''538''', 16 - 20.

*Rauno Temmer; Rudolf Kiefer; Alvo Aabloo; Tarmo Tamm (2013) {{doi-inline|10.1039/C3TA13517A|Direct chemical synthesis of pristine polypyrrole hydrogels and derived aerogels for high power density energy storage applications}} ''Journal of Materials Chemistry A'', '''48''', 1, 15216-15219.
*Pugal, David; Solin, Pavel; Aabloo, Alvo; Kim, Kwang Jin (2013) {{doi-inline|10.1088/0964-1726/22/12/125029|IPMC mechanoelectrical transduction: its scalability and optimization}} ''Smart Materials and Structures'', '''22''', 125029.
*Abels, A.; Kruusmaa, M., (2013) {{doi-inline|10.1142/S0219843613500023|Shape Control of an Anthropomorphic Tailoring Robot Mannequin}} ''International Journal of Humanoid Robotics'', '''10''', 1-16.
*Abels, A.; Kruusmaa, M., (2013) {{doi-inline|10.12720/joace.1.2.132-134|Construction of a Female Shape-Changing Robotic Mannequin}} ''International Journal of Automation and Control Engineering'', '''1''', 132-134.
*Pugal, David; Solin, Pavel; Kim, Kwang Jin; Aabloo, Alvo (2013) {{doi-inline|10.1016/j.cam.2013.09.011|hp-FEM electromechanical transduction model of ionic polymer-metal composites}} ''Journal of Computational and Applied Mathematics'', '''260''', 135–148.
*Kosidlo, U.; Wallmersperger, T.; Omastova, M.; Aabloo, A.; Micusik, M.; Kolaric, T.; Ćirić-Marjanović, G.;Bauernhans, T.; Randriamahazaka, H. (2013) {{doi-inline|10.1088/0964-1726/22/10/104022|Nanocarbon based ionic actuators}} ''Smart Materials and Structures'', '''22''', 104022
*Kaasik, F.; Tamm, T.;Hantel, M. M.; Perre, E.; Aabloo, A.; Lust, E.; Bazant M. Z. and Presser V. (2013) {{doi-inline|10.1016/j.elecom.2013.06.011|Anisometric Charge Dependent Swelling of Porous Carbon in an Ionic Liquid}} ''Electrochemistry Communications'', '''34''', 196-199.
*Must, Indrek; Anton, Mart; Viidalepp, Erki; Põldsalu, Inga; Punning, Andres and Aabloo, Alvo (2013) {{doi-inline|10.1088/0964-1726/22/10/104015|Mechanoelectrical impedance of a carbide-derived carbonbased laminate motion sensor at large bending deflections}} ''Smart Materials and Structures'', '''22''', 104015.
*Rong-Jay Lee, Rauno Temmer, Tarmo Tamm, Alvo Aabloo, Rudolf Kiefer (2013) {{doi-inline|10.1016/j.reactfunctpolym.2013.04.003|Renewable antioxidant properties of suspensible chitosan-polypyrrole composites}} ''Reactive and Functional Polymers'', '''73''', 8, 1072–1077.
*Temmer, Rauno; Maziz, Ali; Plesse, Cédric; Aabloo, Alvo; Vidal, Frédéric and Tamm, Tarmo (2013) {{doi-inline|10.1088/0964-1726/22/10/104006|In search of the better electroactive polymer actuator materials: PPy vs. PEDOT vs. PEDOT-PPy composites}} ''Smart Materials and Structures'', '''22'', 104006.
*Must, Indrek; Johanson, Urmas; Kaasik, Friedrich; Põldsalu, Inga; Punning, Andres; Aabloo, Alvo (2013). {{doi-inline|10.1039/C3CP51526E|Charging supercapacitor-like laminate with ambient moisture: from humidity sensor to energy harvester}} ''Physical Chemistry Chemical Physics'', '''15''', 9605-9614.
*Kiefer, Rudolf; Weis, Daniel Georg; Aabloo, Alvo; Urban, Gerald; Heinze, Jürgen (2013). {{doi-inline|10.1016/j.synthmet.2013.04.003|Dependence of polypyrrole bilayer deflection upon polymerization potential}} ''Synthetic Metals'', '''172''', 37–43.
*Kiefer, Rudolf; Temmer, Rauno; Tamm, Tarmo; Travas-Sejdic, Jadranka; Kilmartin, Paul A.; Aabloo, Alvo (2013). {{doi-inline|10.1016/j.synthmet.2013.03.017|Conducting polymer actuators formed on MWCNT and PEDOT-PSS conductive coatings}} ''Synthetic Metals'', '''171''', 69–75.
*Brandell, D.; Jõemetsa, S.; Kasemägi, H.; Aabloo, A. (2013). {{doi-inline|10.1016/j.electacta.2013.04.076|Molecular Dynamics modelling a small-molecule crystalline electrolyte: LiBF4(CH3O(CH2CH2O)4CH3)0.5.}}, ''Electrochimica Acta'', '''104''', 33-40.
* Vahur Zadin; Daniel Brandell; Heiki Kasemägi; Jaan Lellep; Alvo Aabloo (2013) {{doi-inline|10.1016/j.jpowsour.2012.12.004|Designing the 3D-microbattery geometry using the level-set method}}, ''Journal of Power Sources'', '''244''', 417–428.
* Rong-Jay Lee, Tarmo Tamm, Rauno Temmer, Alvo Aabloo, Rudolf Kiefer(2013) {{doi-inline|10.1016/j.synthmet.2012.12.032|Two formation mechanisms and renewable antioxidant properties of suspensible chitosan–PPy and chitosan–PPy–BTDA composites}}, ''Synthetic Metals'', '''164''', 6-11.
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*Leis, J.; Torop, J.; Käärik, M.; Aabloo, A.; Arulepp, M.; Madiberk, T.; Ehin, R. (2013) [http://jforcs.com/jcs/nanotuned-carbide-derived-carbon-as-a-potential-low-voltage-actuator-in-lab-on-chip-applications-for-blood-analysis-and-point-of-care-medicine/ Nanotuned carbide-derived carbon as a potential low-voltage actuator in lab-on-chip applications for blood analysis and point-of-care medicine] ''Journal for Clinical Studies'', '''5''', 34-37.
* Travas-Sejdic, J.; Tamm, T.; Kilmartin, P.A.; Temmer, R.; Aabloo, A.; Kiefer, R. (2013) {{doi-inline|10.1117/12.2009007|PEDOT/TBACF3SO3 bending actuators based on a PEDOT-PEDOT sandwich complex}}, ''Proc. SPIE'' '''8687''', 86872Z .
* Karl Kruusamäe, Friedrich Kaasik, Andres Punning and Alvo Aabloo (2013) {{doi-inline|10.1117/12.2012021|Self-sensing ionic electromechanically active actuator with patterned carbon electrodes}}, ''Proc. SPIE'' '''8687''', 868706.
* Veiko Vunder, Andres Punning and Alvo Aabloo (2013) {{doi-inline|10.1117/12.2009623|Viscoelastic model of IPMC actuators}}, ''Proc. SPIE'' '''8687''', 868723.
* David Pugal, Alvo Aabloo and Kwang Kim (2013) {{doi-inline|10.1117/12.2014002|Scalable low nDOF hp-FEM model of IPMC actuation}}, ''Proc. SPIE'' '''8687''', 86870X.
* Must, Indrek; Johanson, Urmas; Kaasik, Friedrich; Põldsalu, Inga; Punning, Andres; Aabloo, Alvo (2013) {{doi-inline|10.1109/AIM.2013.6584307|An ionic liquid-based actuator as a humidity sensor}}, ''2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)'' 1498 - 1503.

== 2012 ==
* Ann Laheäär; Anna-Liisa Peikolainen; Mihkel Koel; Alar Jänes; Enn Lust (2012) {{doi-inline|10.1007/s10008-012-1660-4|Comparison of carbon aerogel and carbide-derived carbon as electrode materials for non-aqueous supercapacitors with high performance}} ''Journal of Solid State Electrochemistry'', '''16''', 2717-2722
* Vahur Zadin; Dmitry Danilov; Daniel Brandell; Peter H.L. Notten; Alvo Aabloo (2012) {{doi-inline|10.1016/j.electacta.2012.01.039|Finite element simulations of 3D ionic transportation properties in Li-ion electrolytes}}, ''Electrochimica Acta'', ''65'', 165–173.
* Tóth, P.; Jan?ky, C.; Berkesi, O.; Tamm, T.; Visy, C.; (2012) {{doi-inline|10.1021/jp2107268|On the Unexpected Cation Exchange Behavior, Caused by Covalent Bond Formation Between PEDOT and Cl- Ions: Extending the Conception for the Polymer - Dopant Interactions}} Journal of Physical Chemistry B, 116 (18), 5491–5500
* Temmer, R.; Must, I.; Kaasik, F.; Aabloo, A.; Tamm, T.; (2012) {{doi-inline|10.1016/j.snb.2012.01.075|Combined chemical and electrochemical synthesis methods for metal-free polypyrrole actuators}}, Sensors and Actuators B: Chemical, v 166-167, p 411-418.
* Veiko Vunder, Andres Punning and Alvo Aabloo (2012) {{doi-inline|10.1088/0964-1726/21/11/115023| Mechanical interpretation of back-relaxation of ionic electroactive polymer actuators}} ''Smart Materials and Structures'', '''21''' (11), 115023.
* Viljar Palmre, Janno Torop, Mati Arulepp,Takushi Sugino, Kinji Asaka, Alar Jänes, Enn Lust, Alvo Aabloo (2012){{doi-inline|10.1016/j.carbon.2012.04.071| Impact of carbon nanotube additives on carbide-derived carbon-based electroactive polymer actuators}} ''Carbon'', '''50''' (12), 4351 - 4358.
* S.-I. Son, D. Pugal, T. Hwang, H. R. Choi, J. C. Koo, Y. Lee, K. J. Kim, and J. D. Nam (2012) {{doi-inline|10.1364/AO.51.002987| An electro-mechanically driven variable focus lens based on transparent dielectric elastomer}} ''Applied Optics'', '''51''' (15), 2987-2996.
* Endel Soolo, Daniel Brandell, Anti Liivat, Heiki Kasemägi, Tarmo Tamm and Alvo Aabloo (2012) {{doi-inline|10.1007/s00894-011-1182-5|Molecular Dynamics simulations of EMI-BF4 in nanoporous carbon actuators}}, ''Journal of Molecular Modeling'', '''18''' (4), 1541-1552
* Karl Kruusamäe, Andres Punning, Alvo Aabloo (2012) {{doi-inline|10.3390/s120201950|Electrical Model of a Carbon-Polymer Composite (CPC) Collision Detector}}, ''Sensors'' '''12'''(2), 1950-1966.
* David Pugal, Pavel Solin, Kwang J. Kim and Alvo Aabloo (2012) {{doi-inline|10.4208/cicp.081110.180311a|Modeling Ionic Polymer-Metal Composites with Space-Time AdaptiveMultimesh hp-FEM}} ''Communications in Computational Physics'', '''11'''(1), 249 - 270.
* Indrek Must, Friedrich Kaasik, Inga Põldsalu, Urmas Johanson, Andres Punning and Alvo Aabloo (2012) {{doi-inline|10.1016/j.carbon.2011.09.010|A carbide-derived carbon laminate used as a mechanoelectrical sensor}}, ''Carbon'', '''50''' (2), 535-541.
* Janno Torop, Takushi Sugino, Kinji Asaka, Alar Jänes, Enn Lust, Alvo Aabloo (2012) {{doi-inline|10.1016/j.snb.2011.10.079|Nanoporous carbide-derived carbon based actuators modified with gold foil: Prospect for fast response and low voltage applications}}, ''Sensors & Actuators: B. Chemical'', '''161'''(1), 629–634.
----
* Must, I.; Kaasik, F.; Põldsalu, I.; Johanson, U.; Punning, A.; Aabloo, A. (2012). Carbon-polymer-ionic liquid composite as a motion sensor. Bar-Cohen, Y. (Toim.). Electroactive Polymer Actuators and Devices (EAPAD) 2012 (834019 - 834019-7).SPIE
* Kaasik, Friedrich; Torop, Janno; Must, Indrek; Soolo, Endel; Põldsalu, Inga; Peikolainen, Anna-Liisa; Palmre, Viljar; Aabloo, Alvo (2012). Ionic EAP transducers with amorphous nanoporous carbon electrodes. Proceedings of SPIE (83400V).SPIE
* Pugal, D.; Kim, K. J.; Palmre, V.; Leang, K. K.; Aabloo, A. (2012). Physics-based electromechanical model of IPMC considering various underlying currents. Electroactive Polymer Actuators and Devices (EAPAD) 2012 (83400P). San Diego, California, USA: SPIE
* Torop, J.; Sugino, T.; Asaka, K, Jänes, A.; Lust, E.; Arulepp, M.; Aabloo, A. (2012). Low-voltage bending actuators from carbide-derived carbon improved with gold foil. Bar-Cohen, Y (Toim.). Electroactive polymer actuators and devices (EAPAD) 2012 (834017-1 - 834017-7). BELLINGHAM: SPIE

== 2011 ==
* Daniel Brandell; Priit Priimägi; Heiki Kasemägi; Alvo Aabloo (2011){{doi-inline|10.1016/j.electacta.2011.03.022|Branched polyethylene/poly(ethylene oxide) as a host matrix for Li-ion battery electrolytes: an MD study}}, ''Electrochimica Acta'', '''57''', 228–236.
* Vahur Zadin; Daniel Brandell (2011){{doi-inline|10.1016/j.electacta.2011.03.026|Modelling Polymer Electrolytes for 3D-Microbatteries using Finite Element Analysis}}, ''Electrochimica Acta'', '''57''',237–243.
* Vahur Zadin, Heiki Kasemägi, Alvo Aabloo, Josh Thomas, Daniel Brandell (2011), {{doi-inline|10.1016/j.ssi.2010.02.007|Finite element modelling of ion transport in the electrolyte of a 3D-microbattery}}, ''Solid State Ionics'', '''192''', 279–283.
* K. J. Kim, D. Pugal, and K. K. Leang, [http://www.ingentaconnect.com/content/mts/mtsj/2011/00000045/00000004/art00011 “A Twistable Ionic Polymer-Metal Composite Artificial Muscle for Marine Applications,”] ''the Marine Technology Society (MTS) Journal'', Vol. 45, No. 4, pp. 83-98 (2011)
* Karl Kruusamäe, Paola Brunetto, Andres Punning, Margus Kodu, Raivo Jaaniso, Salvatore Graziani, Luigi Fortuna and Alvo Aabloo (2011) {{doi-inline|10.1088/0964-1726/20/12/124001|Electromechanical model for a self-sensing ionic polymer-metal composite actuating device with patterned surface electrodes}}, ''Smart Materials and Structures'', '''20'''(12), 124001.
* David Pugal, Kwang J. Kim, and Alvo Aabloo (2011){{doi-inline|10.1063/1.3650903|An explicit physics-based model of ionic polymer-metal composite actuators }} ''Journal of Applied Physics'','''111''',084904.
* Janno Torop, Viljar Palmre, Mati Arulepp, Takushi Sugino, Kinji Asaka and Alvo Aabloo (2011) {{doi-inline|10.1016/j.carbon.2011.03.034|Flexible supercapacitor-like actuator with carbide-derived carbon electrodes}} ''Carbon'', '''49''',9,3113-3119.
* Viljar Palmre, Enn Lust, Alar Jänes, Mihkel Koel, Anna-Liisa Peikolainen, Janno Torop, Urmas Johanson and Alvo Aabloo (2011). {{doi-inline|10.1039/C0JM01729A|Electroactive polymer actuators with carbon aerogel electrodes}} ''Journal of Materials Chemistry'', '''21''' (8), 2577 - 2583.
* Gursel Alici, Andres Punning, Herbert R. Shea (2011) {{doi-inline|10.1016/j.snb.2011.03.028|Enhancement of Actuation Ability of Ionic-Type Conducting Polymer Actuators Using Metal Ion Implantation}}, ''Sensors and Actuators B: Chemical'', '''157''', 1, 72-84.
----
* Altin, Heilo; Pedaste, Margus; Aabloo, Alvo (2011). Educational Robotics and Inquiry Learning: A Pilot Study in a Web-Based Learning Environment. In: Proceedings of the 2011 11th IEEE International Conference on Advanced Learning Technologies: 11th IEEE International Conference on Advanced Learning Technologies, Athens, Georgia, USA, 6.-8. juuli, 2011. IEEE Computer Society, 2011, 224 - 226.
* Indrek Must, Karl Kruusamäe, Urmas Johanson, Tarmo Tamm, Andres Punning, Alvo Aabloo (2011) Characterisation of electromechanically active polymers using electrochemical impedance spectroscopy, ''[http://www.taylorandfrancis.com/books/details/9780415698382/ Lecture Notes on Impedance Spectroscopy, Volume 2]'', Olfa Kanoun (Ed.), CRC Press
* Friedrich Kaasik, Janno Torop, Anna-Liisa Peikolainen, Mihkel Koel and Alvo Aabloo (2011) {{doi-inline|10.1117/12.880607|Carbon aerogel based electrode material for EAP actuators}}, ''Proc. SPIE'' '''7976''', 79760O.
* Karl Kruusamäe, Andres Punning and Alvo Aabloo (2011) {{doi-inline|10.1117/12.880386|Self-sensing properties of carbon-polymer composite (CPC) actuators}}, ''Proc. SPIE'' '''7976''', 79760Q.
* David Pugal, Kwang J. Kim, Pavel Solin, Alvo Aabloo (2011) {{doi-inline|10.1117/12.881487|A novel hp-FEM model for IPMC actuation}},''Proceedings of the SPIE'' '''7978''',79780E.
* Veiko Vunder, Andres Punning, Alvo Aabloo (2011){{doi-inline|10.1117/12.880608|Variable-focal lens using electroactive polymer actuator}},''Proceedings of the SPIE'' '''7977''',79771E.
* D. Pugal, K. J. Kim, K. K. Leang, and V. Palmre (2011) {{doi-inline|10.1117/12.881488|Modeling and designing IPMCs for twisting motion: electromechanical and mechanoelectrical transduction}}, ''Proc. SPIE'' '''7976''', 79761S.
* A. Punning, S. Akbari, M. Niklaus and H. Shea (2011){{doi-inline|10.1117/12.880484|Multilayer dielectric elastomer actuators with ion implanted electrodes}}, ''Proc. SPIE'' '''7976''', 79760U.

== 2010 ==
* Brandell, Daniel, Karo, Jaanus and Thomas, John O. (2010) {{doi-inline|10.1016/j.jpowsour.2009.12.057|Modelling the Nafion (R) diffraction profile by molecular dynamics simulation}}, ''Journal of Power Sources'', '''195''', 18, 5962-5965.
* Jaanus Karo, Alvo Aabloo, John O. Thomas and Daniel Brandell (2010) {{doi-inline|10.1021/jp903288y|Molecular Dynamics Modeling of Proton Transport in Na?on and Hy?on Nanostructures}}, ''Journal of Chemical Physics B'', 114, 6056–6064.
* Anti Liivat, Josh Thomas (2010) {{doi-inline|10.1016/j.ssi.2009.12.009|Li-ion migration in Li2FeSiO4-related cathode materials: A DFT study}}, ''Solid State Ionics'', accepted.
* Vahur Zadin; Heiki Kasemägi, Alvo Aabloo, Daniel Brandell (2010), {{doi-inline|10.1016/j.jpowsour.2010.02.056|Modelling electrode material utilization in the trench-model 3D-microbattery by finite element analysis}}, ''Journal of Power Sources'', '''195''',18,6218-6224.
* Raudsepp, T.; Marandi, M.; Tamm, T.; Sammelselg, V.; Tamm, J. (2010). {{doi-inline|10.1016/j.elecom.2010.06.013|Redoping - A simple way to enhance the redoxcapacity of polypyrrole films.}} Electrochemistry Communications, 12, 1180 - 1183.
* Karl Kruusamäe, Paola Brunetto, Salvatore Graziani, Andres Punning, Giovanna Di Pasquale, Alvo Aabloo (2010) {{doi-inline|10.1002/pi.2752|Self-sensing ionic polymer-metal composite actuating device with patterned surface electrodes}}, ''Polymer International'', '''59'''(3), 300-304.
* Pugal, David; Jung, Kwangmok; Aabloo, Alvo; Kim, Kwang (2010) {{doi-inline|10.1002/pi.2759|Ionic polymer-metal composite mechanoelectrical transduction: review and perspectives}}, ''Polymer International'', '''59'''(3), 279-289.
* Janno Torop, Mati Arulepp, Jaan Leis, Andres Punning, Urmas Johanson, Viljar Palmre, Alvo Aabloo(2010) {{doi-inline|10.3390/ma3010009|Nanoporous Carbide-Derived Carbon Material-Based Linear Actuators}}, ''Materials'', '''3'''(1), 9-25
* Il-Seok Park, Sang-Mun Kim, David Pugal, Liming Huang, Suk-Wah Tam-Chang, and Kwang J. Kim,{{doi-inline|10.1063/1.3293290|Visualization of the cation migration in ionic polymer-metal composite under an electric field}} ''Appl. Phys. Lett.'' '''96''', 043301 (2010)
* Daniel Brandell, Heiki Kasemägi, Alvo Aabloo (2010),{{doi-inline|10.1016/j.electacta.2009.04.070|Poly(ethylene oxide)-poly(butadiene) interpenetrated networks as electroactive polymers for actuators: a molecular dynamics study}}, ''Electrochimica Acta'', '''55''', n 4, p 1333-1337.
* Soolo, E.; Brandell, D.; Liivat, A.; Tamm, T.; Kasemägi, A.; Aabloo, A. (2010) {{doi-inline|10.1016/j.electacta.2009.03.039|Force Field Generation and Molecular Dynamics Simulations of Li+ - Nafion}}, ''Electrochimica Acta'', '''55''', n 4, p 2587-2591.
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* Altin, Heilo; Aabloo, Alvo; Pedaste, Margus (2010). Robotics in Education: Methods of Getting Schools Involved in Robotics Project in Estonia. In: SIMPAR 2010 Workshop Proceeding: International Workshop "Teaching robotics, teaching with robotics" hosted by SIMPAR 2010 Conference, Darmstadt, Germany, Nov. 15, 2010. (Toim.) Emanuele Menegatti., 2010.
* Pugal, D; Kim, K.J; Aabloo, A. (2010). {{doi-inline|10.1117/12.847958|Modeling the transduction of IPMC in 3D configurations}}. Zoubeida Ounaies and Jiangyu Li (Toim.). Behavior and Mechanics of Multifunctional Materials and Composites 2010 (76441T). San Diego, CA, USA: SPIE.
* Torop, Janno; Kaasik, Friedrich; Sugino, Takushi; Aabloo, Alvo; Asaka, Kinji (2010). {{doi-inline||Electromechanical characteristics of actuators based on carbide-derived carbon}}. In: Proceedings of the SPIE: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, CA, USA; 7-11 March, 2010. SPIE, 2010, 76422A-1 - 76422A-7.
* Palmre, V.; Brandell, D.; Mäeorg, U.; Torop, J.; Volobujeva, O.; Punning, A.; Johanson, U.; Aabloo, A. (2010). {{doi-inline|10.1117/12.847518|Ionic polymer metal composites with nanoporous carbon electrodes}}. In: Electroactive Polymer Actuators and Devices (EAPAD) 2010 : Electroactive Polymer Actuators and Devices (EAPAD); San Diego, CA, USA; 8-11 March, 2010. SPIE, 2010, 76421D.
* Karl Kruusamäe, Paola Brunetto, Salvatore Graziani, Luigi Fortuna, Margus Kodu, Raivo Jaaniso, Andres Punning, Alvo Aabloo (2010) {{doi-inline|10.1117/12.847503|Experiments with self-sensing IPMC actuating device}}, Proc. SPIE '''7642''', 76420V.

== 2009 ==
* Jaanus Karo, Daniel Brandell (2009), {{doi-inline|10.1016/j.ssi.2005.10.003|A Molecular dynamics study of the influence of side-chain length and spacing on lithium mobility in non-crystalline LiPF6-PEO; x10 and 20}}, ''Solid State Ionics'', '''180''',1272-1284.
* Andres Punning, Urmas Johanson, Mart Anton, Alvo Aabloo, and Maarja Kruusmaa (2009) {{doi-inline|10.1177/1045389X09337170|A Distributed Model of Ionomeric Polymer Metal Composite}}, ''Journal of Intelligent Material Systems and Structures'', '''20''', 14, 1711-1724.
* Punning, A.; Jalviste. E. (2009). {{doi-inline|10.1109/TMTT.2008.2011183|Analytical Solution for Voltage-Step Response of Lossy Distributed RC Lines}}, IEEE Transactions on Microwave Theory and Techniques, '''57''', 2, 449 - 457.
* Viljar Palmre, Daniel Brandell, Uno Mäeorg, Janno Torop, Olga Volobujeva, Andres Punning, Urmas Johanson, Maarja Kruusmaa and Alvo Aabloo (2009) {{doi-inline|10.1088/0964-1726/18/9/095028|Nanoporous carbon-based electrodes for high strain ionomeric bending actuators}}, Smart Materials and Structures, '''18''', 095028 (7pp).
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* Pugal, D.; Aabloo, A.; Kim, Kwang J (2009) {{doi-inline|10.1117/12.815824|Dynamic surface resistance model of IPMC}}, Proc. SPIE, Vol. 7289, 72891E
* Karl Kruusamäe, Andres Punning, Maarja Kruusmaa, Alvo Aabloo (2009) {{doi-inline|10.1117/12.815642|Dynamical variation of the impedances of IPMC}}, Proc. SPIE 7287, 72870V.
* Torop, J.; Arulepp, M.; Leis, J.; Punning, A.; Johanson, U.; Aabloo, A.(2009) {{doi-inline|10.1117/12.815643|Low voltage linear actuators based on carbide-derived carbon powder}}, Proc. SPIE 7287, 72870V.
* Must, I.; Anton, M.; Kruusmaa, M.; Aabloo, A. (2009) {{doi-inline|10.1117/12.815776|Linear modeling of elongated bending EAP actuator at large deformations}}, Proc. SPIE 7287, 72870V.
* Pugal, D., Aabloo, A. Kwang J. K., Jung Y., [[Media:SMASIS2009-1377.pdf|"Modeling IPMC Material With Dynamic Surface Characteristics"]], Proc. SMASIS: Smart Materials, Adaptive Structures and Intelligent Systems, (2009), Oxnard, CA
* A. Hunt, Z. Chen, X. Tan, M. Kruusmaa (2009). Feedback Control of a Coupled IPMC (Ionic Polymer-Metal Composite) Sensor-Actuator, ''Proceedings of the 2nd Annual Dynamic Systems and Control Conference (DSCC'09)'', Hollywood, CA, Paper DSCC2009-2700 (7 pp).
* M. Anton, Z. Chen, M. Kruusmaa, X. Tan, (2009), {{doi-inline|10.1109/IROS.2009.5354189 |Analytical and Computational Modeling of Robotic Fish Propelled by Soft Actuation Material-based Active Joints}}, ''Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems'', St. Louis, MO, pp. 2126-2131.
* Abels, A.; Kruusmaa, M. (2009). Design of a shape-changing anthropomorphic mannequin for tailoring applications. In: ICAR: 2009 14th International Conference on Advanced Robotics: The 14th IEEE International Conference on Advanced Robotics (IEEE ICAR), Munich, Germany, June 22-26, 2009. IEEE, 2009, 6 pp. .

== 2008 ==
* Raudsepp, T.; Marandi, M.; Tamm, T.; Sammelselg, V.; Tamm, J. (2008). {{doi-inline|10.1016/j.electacta.2007.11.059|Study of the factors determining the mobility of ions in the polypyrrole films doped with aromatic sulfonate anions.}} Electrochimica Acta, 53, 3828 - 3835.
* M. Anton, A. Punning. A.Aabloo, M.Kruusmaa (2008) {{doi-inline|10.1088/0964-1726/17/2/025004|A Mechanical Model of a non-uniform bending ionomeric polymer metal composite (IPMC) actuator.}}, Journ. of Smart Materials and Structures, '''17''', 025004.
* Pugal, D.; Kim, K.J.; Punning, A.; Kasemägi, H.; Kruusmaa, M.; Aabloo, A. (2008) {{doi-inline|10.1063/1.2903478 |Finite A self-oscillating ionic polymer-metal composite bending actuator}}, ''Journal of Applied Physics'', '''103''',8
* Johanson,U.; Mäeorg, U.; Sammelselg, V.; Brandell, D; Punning, A.; Kruusmaa, M; Aabloo A. (2008) {{doi-inline|10.1016/j.snb.2007.11.044|Electrode Reactions in Cu-Pt Coated Ionic Polymer Actuators.}}, ''Sensors and Actuators B: Chemical'', '''31''', 340-346.
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* Punning, A. ; Johanson, U.; Anton, M.; Kruusmaa, M.; Aabloo, A. {{doi-inline|10.1117/12.775631|distributed model of IPMC}} Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69270G-1-10, 27 March 2008
* Hunt, A. ; Punning, A.; Anton, M.; Aabloo, A.; Kruusmaa, M. {{doi-inline|10.1117/12.775952|A multilink manipulator with IPMC joints}} Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69271Z-1-9, 27 March 2008.
* Johanson, U. ; Punning, A.; Kruusmaa, M.; Aabloo, A. {{doi-inline|10.1117/12.775770|Self healing properties of Cu-Pt coated ionic polymer actuators}} Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69271Y-1-11, 27 March 2008.
* Soolo, E. ; Liivat, A.; Kasemagi, H.; Tamm, T.; Brandell, D.; Aabloo, A. {{doi-inline|10.1117/12.775963|A new force field for molecular dynamics studies of Li+ and Na+-nafion}} Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 69270E-1-9, 27 March 2008.
* Brandell, D.; Kasemagi, H.; Citerin, J.; Vidal, F.; Chevrot, C.; Aabloo, A. {{doi-inline|10.1117/12.776645|Molecular dynamics studies of interpenetrating polymer networks for actuator devices}} Proceedings of the SPIE - The International Society for Optical Engineering, v 6927, p 692727-1-11, 27 March 2008
* Pugal D.; Kasemägi H.; Kruusmaa M.; and Aabloo A.: {{doi-inline|10.1117/12.776610|An advanced finite element model of IPMC}}, ''Electroactive Polymer Actuators and Devices (EAPAD) 2008 6927(1), SPIE'', 2008
* M. Kruusmaa, A. Hunt, A. Punning. M. Anton, A. Aabloo, "A Linked Manipulator with Ionic Polymer Metal Composite (IPMC) Joints for Soft- and Micromanupulation", In Proceedings - IEEE International Conference on Robotics and Automation, p 3588-3593, 2008, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, [[Media:kruusmaa_etal_icra2008.pdf|download]].

== 2007 ==
* Anti Liivat, Daniel Brandell, Alvo Aabloo, J.O. Thomas (2007), {{doi-inline|10.1016/j.polymer.2007.08.051|A Molecular Dynamics Study of Short-Chain Ordering in Crystalline LiPF6PEO6}}, ''Polymer'', '''48''',6448-6456
* Anti Liivat, Daniel Brandell and J.O. Thomas (2007), {{doi-inline|10.1039/b706938c|A molecular dynamics study of ion conduction mechanisms in crystalline low-Mw LiPF6•PEO6}}, ''Journal of Materials Chemistry'', '''17''', 3938-3946.
* Daniel Brandell, Jaanus Karo, Anti Liivat and John O. Thomas (2007), {{doi-inline|10.1007/s00894-007-0230-7|Molecular Dynamics Studies of the Nafion®, Dow® and Aciplex® Fuel-Cell Polymer Membrane Systems}}, ''J Molecular Modelling'','''13''', 1039 - 1046.
* Brandell, Daniel; Ainla, Alar (2007). {{doi-inline|10.1016/j.ssi.2007.01.014|Nafion-Polybenzimidazole (PBI) Composite Membranes for DMFC Applications.}} ''Solid State Ionics'', '''178''', 581 - 585.
* Liivat, Anti.(2007) [http://uu.diva-portal.org/smash/record.jsf?pid=diva2:170215 Ordering in Crystalline Short-Chain Polymer Electrolytes], PhD thesis, Uppsala University.
* Tamm, J.; Raudsepp, T.; Marandi, M.; Tamm, T.(2007) {{doi-inline|10.1016/j.synthmet.2006.12.005|Electrochemical properties of the polypyrrole films doped with benzenesulfonate.}} Synthetic Metals, v 157, n 1, p 66-73
* Punning, A.; Kruusmaa, M.; Aabloo, A. (2007). {{doi-inline|10.1016/j.sna.2006.12.008|A self-sensing ion conducting polymer metal composite (IPMC) actuator}}, ''Sensors and Actuators A: Physical'', '''136''', 656–664.
* Doyeon Kim and Kwang J. Kim, Yongsuk Tak, Deivid Pugal, Il-Seok Park (2007). {{doi-inline|10.1063/1.2735931|Self-oscillating electroactive polymer actuator.}} ''Applied Physics Letters'','''90''', 184104.
* Pugal, D., Kasemägi, H., Kim, KJ, Kruusmaa, M., and Aabloo, A.: {{doi-inline|10.1117/12.715966|Finite element simulations of the bending of the IPMC sheet}},'' Proceedings of SPIE 6524,'' SPIE, 65240B, 2007
* Punning, A.; Kruusmaa, M.; Aabloo, A. (2007). {{doi-inline|10.1016/j.sna.2006.03.010| Surface resistance experiments with IPMC sensors and actuators.}} ''Sensors and Actuators A: Physical'', '''133'''(1), 200 - 209.
* M. Kruusmaa, Y. Gavshin, A. Eppendahl (2007), Don't Do Things You Can't Undo: Reversiblity Models for Generating Safe Behaviour, in Proc, of the IEEE Conf. on Robotics and Automation (ICRA 2007) [[Media:ICRA07_kruusmaa_etal.pdf|download]].
* Listak, Madis; Pugal, Deivid; Kruusmaa, Maarja (2007). Computational Fluid Dynamics Simulations of a Biomimetic Underwater Robot. 13th International Conference on Advanced Robotics , Korea, Jeju, 21-24 August, 2007. IEEE, 2007, 314 - 319. [[Media:listak_icar2007_15_03.pdf|download]].
* Listak, Madis; Pugal, Deivid; Kruusmaa, Maarja (2007). Biomimetic fish-like underwater robot for shallow water applications. 13th International Conference on Advanced Robotics , Korea, Jeju, 21-24 August, 2007. IEEE, 2007, 332 - 336. [[Media:listak_icar2007_1.pdf|download]].

== 2006 ==
* Soolo, Endel; Karo, Jaanus; Kasemagi, Heiki; Kruusmaa, Maarja; Aabloo, Alvo (2006). {{doi-inline|10.1117/12.658664|Application of the Monte Carlo method for creation of initial models of EAP molecules for molecular dynamics simulation}} Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, California, USA; 27.02.-02.03.2006. Bellingham: ''SPIE'', 2006, (''Proceedings of SPIE - The International Society for Optical Engineering''), 61682A.
* Brandell, Daniel; Ainla, Alar; Liivat, Anti; Aabloo, Alvo (2006). {{doi-inline|10.1117/12.658633| Molecular dynamics simulations of Li- and Na-nafion membranes.}} Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, California, USA; 27.02.-02.03.2006. Bellingham: ''SPIE'', 2006, (''Proceedings of SPIE - The International Society for Optical Engineering''), 61680G.
* Punning, Andres; Anton, Mart; Kruusmaa, Maarja; Aabloo, Alvo (2006). {{doi-inline|10.1117/12.658735|Empirical model of a bending IPMC actuator.}} Smart Structures and Materials 2006: Electroactive Polymer Actuators and Devices (EAPAD); San Diego, California, USA; 27.02.-02.03.2006. Bellingham: SPIE, 2006, (''Proceedings of SPIE - The International Society for Optical Engineering''), 61681V.
* Anton, M.; Punning, A.; Aabloo, A.; Kruusmaa, M. (2006). Validating Usability of Ionomeric Polymer-Metal Composite Actuators for Real Life Applications. ''IROS 2006, IEEE/RSJ International Conference on Intelligent Robots and Systems''; Beijing, China; 9-15 October, 2006. IEEE, 2006. [[Media:ValidatingIPMC_CR.pdf|download]].
* Kristo Heero, Path planning and learning strategies for mobile robots in dynamic partially unknown environments, Ph.D. Thesis, Tartu University, 2006
* Willemson, Jan; Kruusmaa, Maarja (2006). Algorithmic Generation of Path Fragment Covers for Mobile Robot Path Planning. In: ''Intelligent Systems: 3rd International IEEE Conference''; London, UK; 04.-06.09.2006. (Toim.) Chountas, P.; Kacprzyk, J.; Ptrounias, I.; Yager, R.. New York: IEEE, 2006, 673 - 678.
* A. Eppendahl and M. Kruusmaa (2006), Obstacle avoidance as a consequence of suppressing irreversible actions, in Proceedings of the Sixth International Workshop on Epigenetic Robotics, Lund University Cognitive Studies, vol. 128. [[Media:EppendahlKruusmaa_epigenetic.pdf|download]].
== 2005 ==
* Punning, Andres ; Anton, Mart ; Kruusmaa, Maarja ; Aabloo, Alvo (2005). {{doi-inline|10.1109/ICAR.2005.1507507|An Engineering Approach to Reduced Power Consumption of IPMC (Ion-Polymer Metal Composite) Actuators.}} In: ''Proceedings: 12th International Conference on Advanced Robotics (ICAR2005)''; Seattle, USA; 18.-20.07.2005. New York: IEEE, 2005, 856 - 863.
* P. Burk, I. Rauk, T. Tamm, Comparative semiempirical, ab initio, and DFT study of interactions between polypyrrole pentamer dicatio and some anions, Proc. Estonian Acad. Sci. Chem. 2005, v 54, p 85-93.
* Tamm, T.; Tamm, J.; Karelson, M. (2005). {{doi-inline|10.1016/j.synthmet.2004.10.014|Complexes of oligopyrrole dications with inorganic anions: a comparative theoretical HF/post-HF study.}} Synthetic Metals, 149(1), 47 - 52.
* Johanson, U.; Marandi, M.; Tamm, T.; Tamm, J. (2005). {{doi-inline|10.1016/j.electacta.2004.10.016|Comparative study of the behavior of anions in polypyrrole films.}} Electrochimica Acta, 50(7-8), 1523 - 1528.
* Liivat, A.; Aabloo, A.; Thomas, JO. (2005). {{doi-inline|10.1002/jcc.20209| Development of a force field for Li2SiF6}} ''Journal of Computational Chemistry'', '''26'''(7), 716 - 724.
* Brandell, D.; Liivat, A.; Kasemagi, H.; Aabloo, A.; Thomas, JO. (2005). {{doi-inline|10.1039/b417232a| Molecular dynamics simulation of the LiPF6 center dot PEO6 structure.}} ''Journal of Materials Chemistry'', '''15''', 1422 - 1428.
* Karo, J.; Aabloo, A.; Thomas, J. (2005). {{doi-inline|10.1016/j.ssi.2005.10.003|A molecular dynamics study of the effect of side-chains on mobility in a polymer host.}} ''Solid State Ionics'', '''176''', 3041 - 3044.
* Brandell, D.; Liivat, A.; Aabloo, A.; Thomas, JO. (2005). {{doi-inline|10.1039/b505091j|Molecular dynamics simulation of the crystalline short-chain polymer system LiPF6 center dot PEO6 (M-w similar to 1000).}} ''Journal of Materials Chemistry'', '''15''', 4338 - 4345.
* Brandell, D.; Liivat, A.; Aabloo, A.; Thomas, JO. (2005). {{doi-inline|10.1021/cm0505401|Conduction mechanisms in crystalline LiPF6.PEO6 doped with SiF62- and SF6.}} ''Chemistry of Materials'', '''17''', 3673
* Thomas, Josh; Kasemagi, Heiki; Aabloo, Alvo (2005). Combining MD and FEA in 3-D micro- And nanoscale battery design. In: ''Meeting Abstracts: 208th Meeting of The Electrochemical Society''; Los Angeles, CA, USA; 16.-21.10.2005. Electrochemical Soc Inc, 2005, 2310.
* Heero, K.; Kruusmaa, M.; Aabloo, A. (2005). On the Utility of Exploration on Time-Critical Mobile Robot Missions. In: ''Proceedings: 2nd European Conference on Mobile Robots (ECMR05)''; Ancona, Italy; 07.-10.09.2005. Macerata: Edizioni Simple, 2005, 152 - 157. [[Media:kristo_heero_ECMR05.pdf|download]].
* Heero, K.; Kruusmaa, M.; Aabloo, A. (2005). Learning innovative routes for mobile robots in dynamic partially unknown environments. ''International Journal of Advanced Robotic Systems'' , '''2'''(3), 209 - 222. [[Media:heero_etal_ars.pdf|download]].
* Listak, M.; Martin, G.; Pugal, D.; Aabloo, A.; Kruusmaa, M. (2005). Design of a semiautonomous biomimetic underwater vehicle for environmental monitoring. ''6th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA 2005)''; Espoo, Finland; 27.06.-30.06.2005. New York: IEEE, 2005, 9 - 14. [[Media:vehicle_cira2005.pdf|download]]
* Listak, Madis; Martin, Georg; Pugal, David; Aabloo, Alvo; Kruusmaa, Maarja (2005). Task-oriented Design of an Underwater Vehicle for Environmental Monitoring in The Baltic Sea. In: ''Proceedings of the IARP: International Workshop on Underwater Robotics (IWUR 2005)''; Genova, Italy; 09.-11.11.2005. Genova: IARP, 2005. [[Media:iwur_kruusmaa_2005.pdf|download]].
== 2004 ==
* Tamm, J.; Johanson, U.; Marandi, M.; Tamm, T.; Tamm, L.; Study of the properties of electrodeposited polypyrrole films, Russian J. Electrochem., 2004, 40, 388-392.
* Anton, M.; Punning, A.; Aabloo, A.; Listak, M.; Kruusmaa, M. (2004). Towards a biomimetic EAP robot. ''Towards Autonomous Robotic Systems (TAROS 2004)''; Clochester, UK; 06.-08.19.2004. Clochester, UK: University of Essex, 2004, (Technical Report Series), 1 - 7. [[Media:anton_etal_taros2004.pdf|download]].
* Punning, A.; Anton, M.; Kruusmaa, M.; Aabloo, A. (2004). A Biologically Inspired Ray-like Underwater Robot with Electroactive Polymer Pectoral Fins. ''IEEE Confrence "Mechatronics and Robotics 2004" (MechRob04)''; Aachen, Germany; 13.-15.09.2004. Aachen: Eysoldt, 2004, (2), 241 - 245. [[Media:Punning_MechRob04.pdf|download]].
* Kasemagi, H.; Aabloo, A.; Klintenberg, MK.; Thomas, JO. (2004). {{doi-inline|10.1016/j.ssi.2002.12.002|Molecular dynamics simulation of the effect of nanoparticle fillers on ion motion in a polymer host.}} Solid ''State Ionics'', '''168'''(3-4), 249 - 254.
* Heero, K.; Kruusmaa, M.; Willemson, J.; Aabloo, A. (2004). Robots Find a Better Way: A Learning Method for Mobile Robot Navigation in Partially Unknown Environments. Groen, F.; Amato, N.;Bonarini, A.; Yoshida, E.; Kröse, B. (Toim.). ''Intelligent Autonomous Systems'' (559 - 566). Amsterdam: IOS Press. [[Media:kruusmaa_IAS-8_final.pdf|download]].
* Listak, M.; Kruusmaa, M. (2004). Buoyancy Control of a Semiautonomous Underwater Vehicle for Environmental Monitoring in Baltic Sea . In: Proceedings of the International IEEE Conference Mechatronics and Robotics 2004 (MechRob'04): Aachen:, 2004, (2), 252 - 257. [[Media:listak_mechrob_3_camera_ready.pdf|download]].
* Listak, Madis; Martin, Georg; Kruusmaa, Maarja (2004). Light Control Method for Automatic Benthic Algae Recognition. The XVIIIth International Seaweed Symposium Bergen, Norway, June 20-25, 2004. , 2004.
== 2003 ==
* Kasemagi, H.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2003). {{doi-inline|10.1016/S0013-4686(03)00214-7|Molecular dynamics simulation of temperature and concentration dependence of the 'filler' effect for the LiCl/PEO/Al2O3-nanoparticle system.}} ''Electrochimica Acta'', '''48'''(14-16), 2273 - 2278.
* Hektor, A.; Klintenberg, MK.; Aabloo, A.; Thomas, JO. (2003). Molecular dynamics simulation of the effect of a side chain on the dynamics of the amorphous LiPF6-PEO system. ''Journal of Materials Chemistry'', '''13'''(2), 214 - 218.
* Kruusmaa, M. (2003). {{doi-inline|10.1023/A:1026296011183|Global level path planning for mobile robots in dynamic environments.}} ''Journal of Intelligent & Robotic Systems'', '''38'''(1), 55 - 83.
* Kruusmaa, M. (2003). Global navigation in dynamic environments using case-based reasoning. ''Autonomous Robots'', '''14'''(1), 71 - 91.
* Kruusmaa, M.; Willemson, J. (2003). {{doi-inline|10.1016/s0950-7051(03)00024-8|Covering the path space: a casebase analysis for mobile robot path planning.}} ''Knowledge-Based Systems'', '''16'''(5-6), 235 - 242.
* Heero, K.; Kruusmaa, M.; Willemson, J. (2003). Path Selection for Mobile Robots in Dynamic Environments. In: ''Proceedings: 1st European Conference on Mobile Robots (ECMR 2003)''; Radziejowice, Poland; 04.-06.09.2003. Warszawa:, 2003.
* Listak, Madis; Martin, Georg; Kruusmaa, Maarja (2003). Automatic image detection system - a tool for monitoring underwater macrovegetation. ''Baltic Sea Science Congress'', Helsinki, August 24th - 28th, 2003. , 2003.
* Listak, Madis; Martin, Georg; Kruusmaa, Maarja (2003). Using image analysis for calculating the overall coverage of underwater vegetation in Baltic Sea region. In: Visualization, Imaging and Image Processing (VIIP 2003): IASTED conference on "Visualization, Imaging and Image Processing" (VIIP 2003), Benalmadena, Spain 2003. (Toim.) M.H.Hamza., 2003, (1), 472 - 477.
== 2002 ==
* Brandell, D.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2002). Optical absorption spectra from rare-earth ions in polymers: The effect of the polymer host. ''Macromolecular Symposia'', '''186''', 51 - 56.
* Kasemagi, H.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2002). {{doi-inline|10.1016/S0167-2738(02)00013-9|Molecular dynamics simulation of the LiBF4-PEO system containing Al2O3 nanoparticles.}} ''Solid State Ionics'', '''147'''(3-4), 367 - 375.
* Brandell, D.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2002). The effect of polymer host on optical absorption spectra for Er(CF3SO3)(3) in poly(ethylene oxide). ''Journal of Materials Chemistry'', '''12'''(3), 565 - 569.
* Tamm, T.; Tamm, J.; Karelson, M. (2002). Theoretical study of the effect of counterions on the structure of pyrrole oligomers. International Journal of Quantum Chemistry, 88(2), p 296 - 301.
* J. Tamm, A. Alumaa, A. Hallik, U. Johanson, L. Tamm, T. Tamm, Influence of anions on electrochemical properties of polypyrrole-modified electrodes, Russian J. Electrochem.,2002, 38, p 210-216.
* Kruusmaa, M.; Willemson, J. (2002). Covering the Path Space: A Casebase Analysis for Mobile Robot Path Planning. In: ''Research and Development in Intelligent Systems XIX: 22nd SGAI International Conference on Knowledge Based Systems and Applied Artificial Intelligence''; Cambridge, UK; DEC 2002. (Toim.) Bramer, M.; Preece, A.; Coenen, F.. London: Springer, 2002, (BCS Conference Series), 1 - 16.
== 2001 ==
* Aabloo, A.; Thomas, J. (2001). Molecular dynamics simulation of lithium ion mobility in a PEO surface. ''Solid State Ionics'', '''143'''(1), 83 - 87.
* Kasemagi, H.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2001). Molecular dynamics simulation of the effect of adding an Al2O3 nanoparticle to PEO-LiCl/LiBr/LiI systems. ''Journal of Materials Chemistry'', '''11'''(12), 3191 - 3196.
* Kruusmaa, M. (2001). Repeated Path Planning For Mobile Robots In Uncertain Environments. In: ''Proceedings of the IASTED: IASTED International Conference of Robotic and Applications''; Tampa, Florida; 19-22 November, 2001, . , 2001.
== 2000 ==
* Brandell, D.; Klintenberg, M.; Aabloo, A.; Thomas, JO. (2000). Calculation of the optical absorption spectrum of ErCl3 in poly(ethylene oxide) (PEO). ''International Journal of Quantum Chemistry'', '''80'''(4-5), 799 - 806.
* Aabloo, A.; Klintenberg, M.; Thomas, JO. (2000). Molecular dynamics simulation of a polymer-inorganic interface. ''Electrochimica Acta'', '''45'''(8-9), 1425 - 1429.
==B.C :)==
* Tamm, T.; Tamm, J.; Karelson, M. (1999). A quantum-mechanical study of oxidized oligopyrroles. International Journal of Quantum Chemistry, 71(1), 101 - 109.
* Aabloo, A.; Thomas, JO. (1998). Molecular dynamics simulation of Nd3+ ions in a crystalline PEO surface. ''Electrochimica Acta'', '''43'''(10-11), 1361 - 1364.
* Aabloo, A.; Thomas, J. (1997). Molecular dynamics simulations of a poly(ethylene oxide) surface. ''Computational and Theoretical Polymer Science'', '''7'''(1), 47 - 51.
* Aabloo, A.; French, AD. (1994). Preliminary potential-energy calculations of cellulose i-alpha crystal-structure. ''Macromolecular Theory and Simulations'', '''3'''(1), 185 - 191.
* Aabloo, A.; French, AD.; Mikelsaar, RH.; Pertsin, AJ. (1994). Studies of crystalline native celluloses using potential-energy calculations. ''Cellulose'', '''1'''(2), 161 - 168.
* French, AD.; Miller, DP.; Aabloo, A. (1993). Miniature crystal models of cellulose polymorphs and other carbohydrates. ''International Journal of Biological Macromolecules'', '''15'''(1), 30 - 36.

SEM booking

2016-04-04T08:35:53Z

Veix:

If you wish to book the scanning electron microscope in the clean room for your experiments, please write here your name and the time when you are going to use SEM, so others can plan their experiments as well.

=='''Booking list'''==

'''NB! Newer bookings on top!''' 

{| class="wikitable"
!colspan="6"|Booking list
|-
|Veiko
|04.04.2016
|12:00-17:00
|-
|Punn
|01.04.2016
|10:00-16:00
|-
|Punn
|31.04.2016
|14:00-18:00
|-
|Fred
|09.02.2016
|13:00-14:30
|-
|Zane
|06.01.2016
|11:00-12:00
|-
|Anna-Liisa
|29.12.2015
|14:30-16:00
|-
|Anna-Liisa
|28.12.2015
|14:30-16:00
|-
|Fred
|17.12.2015
|14:00-16:00
|-
|Anna-Liisa
|9.12.2015
|11:00-14:00
|-
|Fred
|03.12.2015
|10:40-14:00
|-
|Anna-Liisa
|19.11.2015
|11:00-12:00
|-
|Fred
|9.11.2015
|11:00-12:00
|-
|Anna-Liisa
|26.10.2015
|16:00-18:00
|-
|Arko
|19.10.2015
|15.00-16.00
|-
|Fred
|14.10.2015
|10.00-11.00
|-
|Anna-Liisa
|12.10.2015
|13.00-15.00
|-
|Anna-Liisa
|28.09.2015
|13.00-14.00
|-
|Arko
|11.09.2015
|11.00-16.00
|-
|Fred
|09.09.2015
|11.00-12.00
|-
|Friedrich
|27.08.2015
|10.00-18.00
|-
|Zane
|30.06.2015
|11.00-12.00
|-
|Zane
|26.06.2015
|11.00-12.00
|-
|Arko
|18.06.2015
|12.00-13.00
|-
|Fred
|09.06.2015
|12.00-16.00
|-
|-
|Fred
|05.06.2015
|11.30-15.00
|-
|-
|Zane
|04.06.2015
|13.00-14.00
|-
|Arko
|03.06.2015
|11.00-16.00
|-
|-
|Punn
|20.05.2015
|11.00-15.00
|-
|-
|Ingvar
|15.05.2015
|13.00-14.00
|-
|-
|Zane
|15.05.2015
|13.00-14.00
|-
|-
|Friedrich
|13.05.2015
|15.00-17.00
|-
|-
|Veiko
|12.05.2015
|08.00-14.00
|-
|-
|Vishwaja
|08.05.2015
|12.20-14.30
|-
|Vishwaja
|07.05.2015
|14.20 - 18.30
|-
|Zane
|6.05.2015
|11:30-12:30
|-
|Zane
|5.05.2015
|15:00-16:30
|-
|Zane
|04.05.2015
|12:30-14:00
|-
|Inga
|23.04.2015
|14:30-16:00
|-
|Anna-Liisa
|08.04.2015
|16:00-18:00
|-
|Friedrich
|07.04.2015
|15:30-16:30
|-
|Kätlin
|06.04.2015
|9:00-11:00
|-
|Inga
|06.04.2015
|11:00-17:00
|-
|Punn
|02.04.2015
|11:00-19:00
|-
|Inga
|01.04.2015
|13:30-17:30
|-
|Tarmo
|01.04.2015
|09:00-13:00
|-
|Punn
|31.03.2015
|11:00-19:00
|-
|Punn
|30.03.2015
|10:00-19:00
|-
|Anna-Liisa
|30.03.2015
|8:00-9:30
|-
|Punn
|27.03.2015
|11:30-19:00
|-
|Anna-Liisa
|27.03.2015
|8:00-11:00
|-
|Punn
|26.03.2015
|11:00-16:00
|-
|Fred
|19.03.2015
|12:00-16:00
|-
|Fred
|12.03.2015
|12:00-16:00
|-
|Fred
|05.03.2015
|12:00-16:00
|-
|Friedrich
|04.03.2015
|15:30-17:00
|-
|Fred
|03.08.2015
|12:00-14:00
|-
|Arko
|02.03.2015
|10:00-17:00
|-
|Anna-Liisa
|27.02.2015
|10:00-15:00
|-
|Anna-Liisa
|20.02.2015
|12:00-13:30
|-
|Anna-Liisa
|19.02.2015
|15:00-16:00
|-
|Arko
|04.02.2015
|12:00-17:00
|-
|Rauno
|27.01.2015
|15:00-19:00
|-
|Rauno
|06.01.2015
|15:00-19:00
|-
|Punn
|23.12.2014
|11:00-14:00
|-
|Tarmo
|05.12.2014
|11:00-13:00
|-
|Hans
|04.12.2014
|10:00-16:00
|-
|Tarmo
|27.11.2014
|14:00-17:00
|-
|----
|-
|Tarmo
|06.05.2014
|10:00-12:00
|-
|Punn
|06.05.2014
|15:00-18:00
|-
|Punn
|07.05.2014
|10:00-13:00
|-
|Punn
|08.05.2014
|12:00-15:00
|-
|Sven-Erik
|09.05.2014
|11:00-13:00
|-
|Tarmo
|13.05.2014
|10:00-12:00
|-
|Inga ja Kristiina
|13.05.2014
|12:00-18:00
|-
|Veiko
|14.05.2014
|08:00-10:00
|-
|Inga ja Kristiina
|14.05.2014
|10:00-14:00
|-
|Veiko
|14.05.2014
|14:00-17:00
|-
|Tarmo
|15.05.2014
|12:00-15:00
|-
|Veiko
|19.05.2014
|08:00-17:00
|-
|Veiko
|20.05.2014
|07:00-14:00
|-
|Tarmo
|20.05.2014
|14:00-16:00
|-
|Madis
|22.05.2014
|14:30-16:30
|-
|Madis
|23.05.2014
|12:00-17:00
|-
|Madis
|27.05.2014
|12:00-17:00
|-
|Sven-Erik
|30.05.2014
|10:00-12:00
|-
|Veiko
|02.06.2014
|11:00-13:00
|-
|Veiko
|03.06.2014
|12:00-17:00
|-
|Inga
|03.06.2014
|10:00-12:00
|-
|Kristiina
|04.06.2014
|11:30-18:00
|-
|Madis
|05.06.2014
|10:00-15:00
|-
|Inga
|05.06.2014
|15:00-17:00
|-
|Sven-Erik
|12.06.2014
|10:00-13:00
|-
|Urmas
|20.06.2014
|10:00-11:00
|-
|Punn
|01.09.2014
|13:00-15:00
|-
|David Vardanjan
|02.09.2014
|13:00-17:00
|-
|Punn
|03.09.2014
|11:00-13:00
|-
|Harjo
|08.09.2014
|14:00-15:00
|-
|Inga
|11.09.2014
|12:00-18:00
|-
|Punn
|15.09.2014
|12:00-13:00
|-
|Punn
|16.09.2014
|13:00-16:00
|-
|Hans
|18.09.2014
|16:00-18:00
|-
|Punn
|23.09.2014
|13:00-16:00
|-
|Hans
|24.09.2014
|17:00-19:00
|-
|Punn
|26.09.2014
|11:00-15:00
|-
|Hans
|26.09.2014
|16:00-18:00
|-
|Madis
|02.10.2014
|16:00-17:00
|-
|Punn
|20.10.2014
|15:30:-17:00
|-
|Punn
|21.10.2014
|15:30:-17:00
|-
|Punn
|24.10.2014
|12:00:-15:00
|-
|Punn
|03.11.2014
|14:30:-17:00
|-
|Madis
|04.11.2014
|13:30:-14:30
|-
|Punn
|10.11.2014
|11:30:-13:00
|-
|Punn
|19.11.2014
|11:00:-15:00
|-
|Punn
|20.11.2014
|09:30-17:00

Links

2016-02-02T10:46:39Z

Veix: /* IMS Lab in Media */

==General==

[[Fresh_blood_package| Instructions for new people in Lab]]

[http://lists.ut.ee:8888/wws/info/ti.ims IMS mailing list]

[http://www.ut.ee Tartu University]

[http://www.mkem.uu.se Uppsala University, Ångström lab, Department of Materials Chemistry]

[http://www.cite-sciences.fr Cité des Sciences et de l'Industrie]

[http://www.cimss.vt.edu/dissertations.html Virginia Tech dissertations]

[http://www.esnam.eu ESNAM]

[http://www.euroeap.eu EuroEAP Society]

[http://www.intechopen.com/ Open Access Books]

[[Comsol|Using Comsol Multiphysics in Tartu University ]]

[http://www.youtube.com/channel/UC186z2gc0XiLh12hNvPZdUQ Youtube channel Smart Materials & Soft Robotics presents the progress in IMS Lab on the field of artificial muscles and soft robotics]

==IMS Lab in Media==
[http://novaator.err.ee/v/tehnika/91b27f5c-6503-41ac-a140-fbc17652e44f/galerii-armumist-diagnoosiv-kala-meelitab-noori-tarkade-materjalide-juurde Galerii: Armumist diagnoosiv kala meelitab noori tarkade materjalide juurde, Novaator, 02.02.2016]

[http://etv.err.ee/v/4896ad32-6e10-4416-bc6a-27db08315346 Inna ja Friedrich valmistavad tehislihaseid, Aktuaalne Kaamera, 02.04.2015, algus 29:36]

[http://novaator.err.ee/v/tehnika/9d92a1ed-d840-474f-9b36-2742be3d8763 Tartu ülikool küsib patenti tikkimisrõngastel tehislihaste valmistamiseks , Novaator, 25.03.2015]

[http://novaator.err.ee/v/tehnika/5e2a8b14-3bb0-4736-aec4-866ba7d6b133 USA merejalaväe uudse luurekera ja Eesti tudengi ratta panevad iseseisvalt kulgema samad füüsikaseadused, Novaator, 24.03.2015]

[http://novaator.err.ee/v/tehnika/bccd1f6f-06cb-44e4-a122-2efed22161d1 Marsi-maja, tehislihased ja robotmannekeen – saage tuttavaks nende isa ja sõbra Alvo Aablooga, Novaator, 21.03.2015]

[http://teadus.err.ee/v/universum/26784c11-7a37-435d-945c-02d3a36b3952 Astrofüüsik hellitab mõtteid Marsi-lennust]-[http://etv.err.ee/v/elusaated/pealtnagija/saated/c6a6a8d1-1cce-4efe-8f98-8950e498684f "Pealtnägija", 08.10.2014]

[http://www.materialsviews.com/artificial-muscle-biomimetic-soft-robotics/ Artificial muscle for biomimetic soft robotics, materialsviews.com (Wiley), 07.07.2014]

[http://teadus.err.ee/v/teadlase_100_sekundit/fac7e804-5ae0-4f39-93ee-f5597ff3c260/ Lihasroboti üheksa ametit, ETV, 10.06.2014]

[http://www.reporter.ee/2014/01/24/tartu-teadlased-leiutasid-tehislihase/ Tartu teadlased leiutasid tehislihase!, Kanal 2- "Reporter", 24.01.2014]

[http://www.ajakiri.ut.ee/artikkel/318 Rudolf Kiefer armastab lund ja Tartut, Universitas Tartuensis, jaanuar 2014]

[http://www.tartupostimees.ee/2609766/marsi-maja-ehitus-algab-uuel-aastal Marsi-maja ehitus algab uuel aastal, Tartu Postimees, 26.11.2013]

[http://www.tartupostimees.ee/2594018/uus-labor-uhkeldab-tipptehnikaga Uus labor uhkeldab tipptehnikaga, Tartu Postimees, 12.11.2013]

[http://epl.delfi.ee/news/eesti/eesti-teadlased-tahavad-marsile-maja-ehitada.d?id=66165912 Eesti teadlased tahavad marsile maja ehitada, Eesti Päevaleht, 22.05.2013]

[http://www.tartupostimees.ee/1014560/tartu-teadlased-hakkavad-ehitama-end-ise-lahti-pakkivat-kosmosemaja Tartu teadlased hakkavad ehitama end ise lahti pakkivat kosmosemaja, Tartu Postimees, 22.10.2012]

[http://uudised.err.ee/?06264034 Tartu teadlased töötavad välja end ise lahtipakkivat maja, ERR, 21.10.2012]

[http://etv.err.ee/arhiiv.php?id=131546 Püramiidi tipus, ETV, 02.09.2012]

[http://www.tartupostimees.ee/613256/teaduspark-soelus-ariideid Teaduspark sõelus äriideid, Tartu Postimees, 27.10.2011]

[http://www.tartupostimees.ee/339049/robot-hakkab-inimeste-asemel-reklaami-tegema Robot hakkab inimeste asemel reklaami tegema, Tartu Postimees, 09.11.2010]

[http://forte.delfi.ee/news/teadus/tartu-ulikool-joudis-materjaliteadustes-maailma-tippu.d?id=32108629 Tartu Ülikool jõudis materjaliteadustes maailma tippu, Delfi, 13.07.2010]

[http://www.epl.delfi.ee/news/eesti/tu-materjaliteadus-tousis-maailma-mojukamate-hulka.d?id=51279359 TÜ materjaliteadus tõusis maailma mõjukamate hulka, Eesti Päevaleht, 13.07.2010]

[http://www.ekspress.delfi.ee/news/paevauudised/tehnoloogia/alvo-aabloo-loob-tartu-ulikoolis-tehislihaseid.d?id=30452035 Alvo Aabloo loob Tartu Ülikoolis tehislihaseid, Eesti Ekspress, 17.04.2010]

[http://www.tartupostimees.ee/216066/teaduses-peab-oskama-mangida-nagu-borsilgi Teaduses peab oskama mängida nagu börsilgi, Tartu Postimees, 25.01.2010]

[http://www.arileht.delfi.ee/news/uudised/ulikoolis-valmib-koristusrobot-ja-merekonteinerist-puidukuivati.d?id=51183792 Ülikoolis valmib koristusrobot ja merekonteinerist puidukuivati, Ärileht, 02.12.2009]

[http://www.postimees.ee/178385/eesti-teadlased-leiutasid-pehme-mootori Eesti teadlased leiutasid pehme mootori, Postimees, 22.10.2009]

[http://forte.delfi.ee/news/digi/eestlaste-loodud-virtuaalne-proovikabiin-alustas-tood.d?id=25841761 Eestlaste loodud virtuaalne proovikabiin alustas tööd, Forte, 23.09.2009]

[http://tartu.postimees.ee/300308/tartu_postimees/320368.php Ernst Jaaksoni stipendiumi sai polümeeride uurija, Tartu Postimees, 28.03.2008]

[http://tartu.postimees.ee/021207/tartu_postimees/ulikoolid/298333.php TÜ tudengid panevad robotid mööda köit ronima, Tartu Postimees, 28.11.2007]

[http://arileht.delfi.ee/news/uudised/maailma-parim-robot-on-inimene.d?id=51069500 Maailma parim robot on inimene, Ärileht, 28.12.2006]

[http://www.postimees.ee/1448587/teadlaste-tegemised-ulatuvad-robotkala-loomisest-roovmardika-uurimiseni Teadlaste tegemised ulatuvad robotkala loomisest röövmardika uurimiseni, Postimees, 07.12.2004]

==Experimental Science==
[http://www.mein.nagoya-u.ac.jp/index.html Fukuda Lab]

[http://nanolab.me.cmu.edu/ Nanorobotics Lab @Carnegie Mellon]

[[IMS Lab laboratories]]

==Computational Science==
[http://www.wag.caltech.edu/home/duin/publications.html ReaxFF molecular dynamics, CalTech]

[http://web.mit.edu/mbuehler/www/ Atomistic Mechanics Modeling Laboratory, CMDF, MIT]

[http://www.wag.caltech.edu/home/duin/publications.html ReaxFF molecular dynamics, CalTech]

[http://blueobelisk.sourceforge.net/wiki/ChemToolsMeet_March_08 Visualisation in Chemistry]

[http://www.pumma.nl/index.php/Theory/Theory Molecular dynamics for beginners]

==[[Journals]]==

==[[About the Life, the Universe, and Everything]]==

SEM booking

2015-05-11T18:15:41Z

Veix:

If you wish to book the scanning electron microscope in the clean room for your experiments, please write here your name and the time when you are going to use SEM, so others can plan their experiments as well.

=='''Booking list'''==

'''NB! Newer bookings on top!''' 

{| class="wikitable"
!colspan="6"|Booking list
|-
|Veiko
|12.05.2015
|08.00-14.00
|-
|-
|Vishwaja
|08.05.2015
|12.20-14.30
|-
|Vishwaja
|07.05.2015
|14.20 - 18.30
|-
|Zane
|6.05.2015
|11:30-12:30
|-
|Zane
|5.05.2015
|15:00-16:30
|-
|Zane
|04.05.2015
|12:30-14:00
|-
|Inga
|23.04.2015
|14:30-16:00
|-
|Anna-Liisa
|08.04.2015
|16:00-18:00
|-
|Friedrich
|07.04.2015
|15:30-16:30
|-
|Kätlin
|06.04.2015
|9:00-11:00
|-
|Inga
|06.04.2015
|11:00-17:00
|-
|Punn
|02.04.2015
|11:00-19:00
|-
|Inga
|01.04.2015
|13:30-17:30
|-
|Tarmo
|01.04.2015
|09:00-13:00
|-
|Punn
|31.03.2015
|11:00-19:00
|-
|Punn
|30.03.2015
|10:00-19:00
|-
|Anna-Liisa
|30.03.2015
|8:00-9:30
|-
|Punn
|27.03.2015
|11:30-19:00
|-
|Anna-Liisa
|27.03.2015
|8:00-11:00
|-
|Punn
|26.03.2015
|11:00-16:00
|-
|Fred
|19.03.2015
|12:00-16:00
|-
|Fred
|12.03.2015
|12:00-16:00
|-
|Fred
|05.03.2015
|12:00-16:00
|-
|Friedrich
|04.03.2015
|15:30-17:00
|-
|Fred
|03.08.2015
|12:00-14:00
|-
|Arko
|02.03.2015
|10:00-17:00
|-
|Anna-Liisa
|27.02.2015
|10:00-15:00
|-
|Anna-Liisa
|20.02.2015
|12:00-13:30
|-
|Anna-Liisa
|19.02.2015
|15:00-16:00
|-
|Arko
|04.02.2015
|12:00-17:00
|-
|Rauno
|27.01.2015
|15:00-19:00
|-
|Rauno
|06.01.2015
|15:00-19:00
|-
|Punn
|23.12.2014
|11:00-14:00
|-
|Tarmo
|05.12.2014
|11:00-13:00
|-
|Hans
|04.12.2014
|10:00-16:00
|-
|Tarmo
|27.11.2014
|14:00-17:00
|-
|----
|-
|Tarmo
|06.05.2014
|10:00-12:00
|-
|Punn
|06.05.2014
|15:00-18:00
|-
|Punn
|07.05.2014
|10:00-13:00
|-
|Punn
|08.05.2014
|12:00-15:00
|-
|Sven-Erik
|09.05.2014
|11:00-13:00
|-
|Tarmo
|13.05.2014
|10:00-12:00
|-
|Inga ja Kristiina
|13.05.2014
|12:00-18:00
|-
|Veiko
|14.05.2014
|08:00-10:00
|-
|Inga ja Kristiina
|14.05.2014
|10:00-14:00
|-
|Veiko
|14.05.2014
|14:00-17:00
|-
|Tarmo
|15.05.2014
|12:00-15:00
|-
|Veiko
|19.05.2014
|08:00-17:00
|-
|Veiko
|20.05.2014
|07:00-14:00
|-
|Tarmo
|20.05.2014
|14:00-16:00
|-
|Madis
|22.05.2014
|14:30-16:30
|-
|Madis
|23.05.2014
|12:00-17:00
|-
|Madis
|27.05.2014
|12:00-17:00
|-
|Sven-Erik
|30.05.2014
|10:00-12:00
|-
|Veiko
|02.06.2014
|11:00-13:00
|-
|Veiko
|03.06.2014
|12:00-17:00
|-
|Inga
|03.06.2014
|10:00-12:00
|-
|Kristiina
|04.06.2014
|11:30-18:00
|-
|Madis
|05.06.2014
|10:00-15:00
|-
|Inga
|05.06.2014
|15:00-17:00
|-
|Sven-Erik
|12.06.2014
|10:00-13:00
|-
|Urmas
|20.06.2014
|10:00-11:00
|-
|Punn
|01.09.2014
|13:00-15:00
|-
|David Vardanjan
|02.09.2014
|13:00-17:00
|-
|Punn
|03.09.2014
|11:00-13:00
|-
|Harjo
|08.09.2014
|14:00-15:00
|-
|Inga
|11.09.2014
|12:00-18:00
|-
|Punn
|15.09.2014
|12:00-13:00
|-
|Punn
|16.09.2014
|13:00-16:00
|-
|Hans
|18.09.2014
|16:00-18:00
|-
|Punn
|23.09.2014
|13:00-16:00
|-
|Hans
|24.09.2014
|17:00-19:00
|-
|Punn
|26.09.2014
|11:00-15:00
|-
|Hans
|26.09.2014
|16:00-18:00
|-
|Madis
|02.10.2014
|16:00-17:00
|-
|Punn
|20.10.2014
|15:30:-17:00
|-
|Punn
|21.10.2014
|15:30:-17:00
|-
|Punn
|24.10.2014
|12:00:-15:00
|-
|Punn
|03.11.2014
|14:30:-17:00
|-
|Madis
|04.11.2014
|13:30:-14:30
|-
|Punn
|10.11.2014
|11:30:-13:00
|-
|Punn
|19.11.2014
|11:00:-15:00
|-
|Punn
|20.11.2014
|09:30-17:00

Phone numbers

2015-04-08T07:34:38Z

Veix: Created page with "==IMS Lab phone numbers== Calling from outside the University of Tartu? No problem, just include the prefix '''+372 737'''. {| class="wikitable" style="text-align:left;" ..."

==IMS Lab phone numbers==

Calling from outside the University of Tartu? No problem, just include the prefix '''+372 737'''.

{| class="wikitable" style="text-align:left;"
! scope="col" style="width:50px;" |Room
! scope="col" style="width:200px;"|Who
! scope="col" style="width:80px;"|Phone
|-
| 035|| Basement lab|| 4819
|-
| || Gray room || 4883
|-
| ||Arko, Friedrich, Pejman || 4820
|-
| || Anna-Liisa, Inga, Zane || 4823
|-
| || Tõnis Tiimus, Indrek, Antti, Rainer || 4824
|-
| || Helina, Morteza, Kaupo, Koit|| 4827
|-
| || Rudolf, Madis|| 4826
|-
| 318 || Alvo|| 4829
|-
| 317 || Laivi|| 4830
|-
| 317 || Mariana|| 4840
|-
| || Teet, Tõnis Terasmaa || 4840
|-
| 332 || Punn, Urmas, Veiko|| 4832
|-
| || Tarmo, Kaur|| 4833
|-
| 319 || Heiki|| 4834
|-
| || Roman, Renno|| 4835
|-
| || Heilo, Ramon|| 4872
|-
| || Vahur|| 4877
|-
| || Priit Priimägi|| 4801
|-
| || Shahab|| 4855
|}

About

2015-04-07T08:31:02Z

Veix: /* Phone numbers */

__NOTOC__
==Mailing address==

IMS Lab

Institute of Technology

University of Tartu

Nooruse 1

50411 Tartu

Estonia

==Visiting address==
III floor

Nooruse 1

50411 Tartu

Estonia

==Phone numbers==

{| {{table}}
|-
| style="width:120px;" |Alvo Aabloo|| style="width:120px;" | (head of the lab) || +372 737 5534
|-
|Mariana Raudsepp ||(assistant) || +372 737 4840
|-
|Laivi Karu || (assistant) || +372 737 4830
|}
[[Phone_numbers|View other phone numbers]]

==Travelling information==
Nearest airports Riga (RIX), Tallinn (TLL), but also Tartu(TAY)

From TLL and RIX it is reasonable to take a bus or a car. For bus schedule look
http://www.bussireisid.ee and https://ticket.luxexpress.eu/en/

[http://kaart.otsing.delfi.ee/index.php?id=1&bbox=657186.324229399,6472171.02172403,658336.226573149,6473036.74438028&type=2&e=657661.666026274&n=6472661.0119584&name=IMS%20Lab&symbol=here&color=ff3300&alpha=80&search=%7B%22tab%22:0,%22page%22:0,%22query%22:%7B%22text%22:%22Nooruse%201,%20Tartu%20linn,%20Tartu%20maakond%22,%22provider%22:%22address%22%7D,%22object%22:%7B%22e22:657660.9336043987,%22n%22:6472661.0119584035,%22ttip%22:%22Nooruse%201,%20Tartu%20linn,%20Tartu%20maakond%22%7D%7D#tc3 Map information]

About

2015-04-07T08:21:43Z

Veix: /* Phone numbers */

__NOTOC__
==Mailing address==

IMS Lab

Institute of Technology

University of Tartu

Nooruse 1

50411 Tartu

Estonia

==Visiting address==
III floor

Nooruse 1

50411 Tartu

Estonia

==Phone numbers==

{| border=1"
|-
| style="width:120px;" |Alvo Aabloo|| style="width:120px;" | (head of the lab) || +372 737 5534
|-
|Mariana Raudsepp ||(assistant) || +372 737 4840
|-
|Laivi Karu || (assistant) || +372 737 4830
|}
[[Phone_numbers|View other phone numbers]]

==Travelling information==
Nearest airports Riga (RIX), Tallinn (TLL), but also Tartu(TAY)

From TLL and RIX it is reasonable to take a bus or a car. For bus schedule look
http://www.bussireisid.ee and https://ticket.luxexpress.eu/en/

[http://kaart.otsing.delfi.ee/index.php?id=1&bbox=657186.324229399,6472171.02172403,658336.226573149,6473036.74438028&type=2&e=657661.666026274&n=6472661.0119584&name=IMS%20Lab&symbol=here&color=ff3300&alpha=80&search=%7B%22tab%22:0,%22page%22:0,%22query%22:%7B%22text%22:%22Nooruse%201,%20Tartu%20linn,%20Tartu%20maakond%22,%22provider%22:%22address%22%7D,%22object%22:%7B%22e22:657660.9336043987,%22n%22:6472661.0119584035,%22ttip%22:%22Nooruse%201,%20Tartu%20linn,%20Tartu%20maakond%22%7D%7D#tc3 Map information]

About

2015-04-07T08:21:05Z

Veix:

__NOTOC__
==Mailing address==

IMS Lab

Institute of Technology

University of Tartu

Nooruse 1

50411 Tartu

Estonia

==Visiting address==
III floor

Nooruse 1

50411 Tartu

Estonia

==Phone numbers==

{| border=1"
|-
| style="width:150px;" |Alvo Aabloo|| style="width:150px;" | (head of the lab) || +372 737 5534
|-
|Mariana Raudsepp ||(assistant) || +372 737 4840
|-
|Laivi Karu || (assistant) || +372 737 4830
|}
[[Phone_numbers|View other phone numbers]]

==Travelling information==
Nearest airports Riga (RIX), Tallinn (TLL), but also Tartu(TAY)

From TLL and RIX it is reasonable to take a bus or a car. For bus schedule look
http://www.bussireisid.ee and https://ticket.luxexpress.eu/en/

[http://kaart.otsing.delfi.ee/index.php?id=1&bbox=657186.324229399,6472171.02172403,658336.226573149,6473036.74438028&type=2&e=657661.666026274&n=6472661.0119584&name=IMS%20Lab&symbol=here&color=ff3300&alpha=80&search=%7B%22tab%22:0,%22page%22:0,%22query%22:%7B%22text%22:%22Nooruse%201,%20Tartu%20linn,%20Tartu%20maakond%22,%22provider%22:%22address%22%7D,%22object%22:%7B%22e22:657660.9336043987,%22n%22:6472661.0119584035,%22ttip%22:%22Nooruse%201,%20Tartu%20linn,%20Tartu%20maakond%22%7D%7D#tc3 Map information]