Theses in Robotics: Difference between revisions

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= Projects in Advanced Robotics =
= 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://www.gazebosim.org Gazebo] for running realistic robotic simulations.''<br><br>
''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.''<br><br>
For further information, contact [[User:Karl|Karl Kruusamäe]]
For further information, contact [[User:Karl|Karl Kruusamäe]].


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


== Highlighted theses topics for 2024/2025 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]]
# [[#ROBOTONT: integrating a graphical programming interface|ROBOTONT: integrating a graphical programming interface]]
# [[#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]]
# [[#Mixed-reality scene creation for vehicle teleoperation|Mixed-reality scene creation for vehicle teleoperation]]
# [[#NAO 'flippin'|NAO 'flippin']]


[[Image:Youbot.png|200px|thumb|right|KUKA youBot]]
== List of potential thesis topics ==
== Development of demonstrative and promotional applications for KUKA youBot ==
Our inventory includes but is not limited to:
The goal of this project is to develop promotional use cases for KUKA youBot, that demonstrate the capabilities of modern robotics and inspire people to get involved with it.  
<gallery mode="packed">
The list of possible robotic demos include:
File:Youbot.png|120px|thumb|KUKA youBot
*using 3D vision for human and/or environment detection,
File:Ur5_left.png|120px|thumb|Universal Robot UR5
*interactive navigation,
File:Franka_Emika_Panda.jpg|120px|thumb|Franka Emika Panda
*autonomous path planning,
File:Clearpath_Jackal.jpg|120px|thumb|Clearpath Jackal
*different pick-and-place applications,
File:Kinova_KG-3_Gripper.jpg|120px|thumb|Kinova 3-finger gripper
*and human-robot collaboration.
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>


[[Image:Ur5 left.png|200px|thumb|left|Universal Robots UR5]]
<hr>
== Development of demonstrative and promotional applications for Universal Robots UR5 ==
=== ROBOTONT: Docker-Driven ROS Environment Switching ===
Sample demonstrations include:
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.
*autonomous pick-and-place,
<hr>
*load-assistance for human-robot collaboration,
*packaging,
*physical compliance during human-robot interaction,
*tracing objects surface during scanning,
*robotic kitting,
*grinding of non-flat surfaces.


== ROS support and educational materials for open-source mobile robot ==
=== ROBOTONT: designing and implementing a communication protocol for additional devices ===
[[Image:RosLarge.png|left|100px|ROS]]
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.
The goal of the project is to develop [http://www.ros.org/ Robot Operating System] (ROS) wrapper functions for drivers of an open-source mobile robot platform, that has been successfully used in Robotex competitions. Additionally, educational materials must be developed to integrate the robot platform into ROS ecosystem. The outcome of this work will give a lot of educational uses and rapid prototyping opportunities for the platform.
<hr>
<br><br>
[[Image:Ros_equation.png|x100px|What is ROS?]]


== Detecting features of urban and off-road surroundings ==
=== ROBOTONT: analysis of different options as on-board computers ===
Accurate navigation of self-driving unmanned robotic platforms requires identification of traversable terrain. A combined analysis of point-cloud data with RGB information of the robot's environment can help autonomous systems make correct decisions. The goal of this work is to develop algorithms for terrain classification.
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.  
<br>
<hr>
[[Image:Rtab-map.png|x90px|Mapping]]


== Robotic simulations (in Gazebo) ==
=== ROBOTONT Lite ===
1) Developing large area simulation worlds for mobile robotics. In order to develop robot navigation algorithms, it is more time- and cost-efficient to test robot behavior in a wide range of realistically simulated worlds. These simulated worlds include both indoor and outdoor environments. This work focuses on designing robot simulation environments using an open-source platform [http://gazebosim.org Gazebo].<br>
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.  
2) Humans in Gazebo. Integrating walking and gesturing humans to Gazebo.<br>
<hr>
3) Tracked Robots in Gazebo. Creating and testing tracked robotis in Gaxebo and testing different track configurations.<br>
4) Robot basketball simulation for game strategy and shot accuracy<br>
5) Robotont at the Institute of Technology<br>
[[Image:Gazebo.png|x90px|Gazebo]] [[Image:Robonaut-2-simulator.png|x90px|NASA Robonaut simulation in Gazebo]]
<br>


== Follow-the-leader robotic demo ==
=== ROBOTONT: integrating a graphical programming interface ===
[[Image:LeapMotion.png|200px|thumb|right|Detecting 2 hands with Leap Motion Controller]]
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
The idea is to create a robotic demonstration where a mobile robot is using Kinect or similar depth-camera for identifying a person and then starts following that person. The project will be implemented using Robot Operating System (ROS) on either KUKA youbot or similar mobile robot platform.
<hr>


== Detecting hand signals for intuitive human-robot interface ==
=== SemuBOT: multiple topics ===
This project involves creating ROS libraries for using either a [https://www.leapmotion.com/ Leap Motion Controller] or an [http://www.intel.com/content/www/us/en/architecture-and-technology/realsense-overview.html RGB-D camera] to detect most common human hand signals (e.g., thumbs up, thumbs down, all clear, pointing into distance, inviting).
In 2023/2024 many topics are developed to support the development of open-source humanoid robot project SemuBOT (https://www.facebook.com/semubotmtu/)
<hr>


== Virtual reality user interface (VRUI) for intuitive teleoperation system ==
=== Robotic Study Companion: a social robot for students in higher education ===
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].
Potential Topics:
<br>
* Enhance the Robot's Speech/Natural Language Capabilities
[[Image:Temoto-working-principle-in-pics.png|x160px|Gesture-based teleoperation]]
* Build a Local Language Model for the RSC
<br>
* Develop and Program the Robot’s Behavior and Personality
{{doi-inline|10.1109/HSI.2016.7529630|Kruusamäe et al. (2016) High-precision telerobot with human-centered variable perspective and scalable gestural interface}}
* 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


== Health monitor for intuitive telerobot ==
[https://github.com/orgs/RobotStudyCompanion/discussions/3 More info on Github] | reach out to farnaz.baksh@ut.ee for more info
Intelligent status and error handling for an intuitive telerobotic system.
<hr>


== Dynamic stitching for achieveing 360° FOV ==
=== ROBOTONT: Quick launch demo suite and the final complete release of its ROS1 software ===
Automated image stitching of images from multiple camera sources for achieveing 360° field-of-view during mobile telerobotic inspection of remote areas.
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>


== 3D scanning of industrial objects ==
=== ROBOTONT: ROS support, demos, and educational materials for open-source mobile robot ===
Using laser sensors and cameras to create accurate models of inustrial producst for quality control or further processing.
[[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<br><br>
[[Image:Ros_equation.png|x100px|What is ROS?]]
<hr>


== Modeling humans for human-robot interaction ==
=== 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].
<br>
[[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.<br>
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.<br>
[[Image:Skeletal ROS.PNG|x160px|ROS & Kinect & Skeleton-Markers Package]]
[[Image:Skeletal ROS.PNG|x160px|ROS & Kinect & Skeleton-Markers Package]]
 
<hr>
== ROS wrapper for Estonian Speech Synthesizer ==
=== Robotic avatar for telepresence ===
Creating a ROS package that enables robots to speak in Estonian. The basis of the work is the existing [https://www.eki.ee/heli/index.php?option=com_content&view=article&id=6&Itemid=465 Estonian language speech synthesizer] that needs to be integrated with ROS [http://wiki.ros.org/sound_play sound_play] package or a stand-alone ROS wrapper package.
 
== Robotic avatar for telepresence ==
Integrating hand gestures and head movements to control a robot avatar in virtual reality user interface.
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>


== ROS driver for Artificial Muscle actuators ==
=== Mirroring human hand movements on industrial robots ===
Desigining a controller box and writing software for interfacing artificial muscle actuators [{{doi-inline|10.3390/act4010017|1}}, [https://www.youtube.com/watch?v=tspg_l49hSA&index=10&list=UU186z2gc0XiLh12hNvPZdUQ 2]] ROS.
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>


== Upgrading KUKA youBot ==
=== Enhancing teleoperation control interface with augmented cues to provoke caution===
KUKA youBot is omnidirectionl mobile manipulator platform. The project involves replacing the current onboard computer with a more capable one, installing newer version of Ubuntu Linux and ROS, testing core capabilities, and creating documentation for the robot.  
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>
=== 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).
<br>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.
<br>LINKS:
<br>Video: https://youtu.be/qZg2lSeTuvM
<br>Code: https://github.com/MIT-SPARK/Hydra
<br>Paper: http://www.roboticsproceedings.org/rss18/p050.pdf
<hr>


== Development of strategies for inter-robot knowledge representation ==
=== Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle ===
An inseparable part for making robots work together is to enable them to share knowledge about surrounding environment and robot's intention. This project focuses on developing and testing the methodologies for inter-robot knowledge representation. This project is developed as a subsystem of [https://utnuclearroboticspublic.github.io/temoto2/index.html TeMoto].
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>


== TeMoto based smart home control ==
=== NAO 'flippin' ===
The project involves designing a open-source ROS+[https://utnuclearroboticspublic.github.io/temoto2/index.html TeMoto] based scalable smart home controller.
The University of Tartu has a set of [https://www.aldebaran.com/en/nao NAO robots], which have been lying on shelves for some years now. It is time to make these robots into functional social robots that can be used, e.g., for children's communication therapy or as buddies for the elderly. The goal of this thesis is to test and upgrade all the NAO robots to functional condition.
<hr>


== Detection of hardware and software resources for smart integration of robots ==
= Completed projects =
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].
== PhD theses ==
*Houman Masnavi, [https://hdl.handle.net/10062/91394 Visibility aware navigation] [Nähtavust arvestav navigatsioon], PhD thesis, 2023


== Sonification of feedback during teleoperation of robots ==
== Masters's theses ==
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.  
*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


== Human-Robot and Robot-Robot collaboration applications ==
== 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


= Completed projects =
[[Category:Theses Topics]]
*Kristo Allaje, [http://hdl.handle.net/10062/60294 Draiveripakett käte jälgimise seadme Leap Motion™ kontroller kasutamiseks robootika arendusplatvormil ROS], BS thesis, 2018
*Martin Maidla, [http://hdl.handle.net/10062/60288 Avatud robotiarendusplatvormi Robotont omniliikumise ja odomeetria arendamine], BS thesis, 2018
*Raid Vellerind, [http://hdl.handle.net/10062/56559 Avatud robotiarendusplatvormi ROS võimekuse loomine Tartu Ülikooli Robotexi robootikaplatvormile], BS thesis, 2017

Latest revision as of 15:47, 4 October 2024

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 Robot Operating System (ROS) for developing software for advanced robot systems and Gazebo for running realistic robotic simulations.

For further information, contact Karl Kruusamäe.

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

Highlighted theses topics for 2024/2025 study year

  1. ROBOTONT: analysis of different options as on-board computers
  2. SemuBOT: multiple topics
  3. ROBOTONT: integrating a graphical programming interface
  4. Robotic Study Companion: a social robot for students in higher education
  5. Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle
  6. Mixed-reality scene creation for vehicle teleoperation
  7. NAO 'flippin'

List of potential thesis topics

Our inventory includes but is not limited to:

  • KUKA youBot

  • Universal Robot UR5

  • Franka Emika Panda

  • Clearpath Jackal

  • Kinova 3-finger gripper

  • UFACTORY xArm7

  • robotont

  • TurtleBot3

  • Parrot Bebop 2

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.

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.

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.

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.

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

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/)

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

More info on Github | reach out to farnaz.baksh@ut.ee for more info

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.

ROBOTONT: ROS support, demos, and educational materials for open-source mobile robot

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

What is ROS?

Virtual reality user interface (VRUI) for intuitive teleoperation system

Detecting 2 hands with Leap Motion Controller

Enhancing the user-experience of a virtual reality UI developed by Georg Astok. Potentially adding virtual reality capability to a gesture- and natural-language-based robot teleoperation system.
Gesture-based teleoperation

Health monitor for intuitive telerobot

Intelligent status and error handling for an intuitive telerobotic system.

3D scanning of industrial objects

Using laser sensors and cameras to create accurate models of industrial products for quality control or further processing.

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.
ROS & Kinect & Skeleton-Markers Package

Robotic avatar for telepresence

Integrating hand gestures and head movements to control a robot avatar in virtual reality user interface.

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 TeMoto.

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.

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.

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.

ROBOTONT: TeMoto for robotont

Swarm-management and UMRF-based task loading for robotont using TeMoto framework.

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.

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.

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.

Real-world demonstrator for MIR+UR+TeMoto integration

Integration of mobile manipulator (MIR100 + UR5e + Robotiq gripper) to demonstrate TeMoto in a collaborative application.

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.

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.

Mixed-reality scene creation for vehicle teleoperation

Fusing different sensory feeds for creating high-usability teleoperation scene.

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.

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

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 Autonomous Driving Lab.

NAO 'flippin'

The University of Tartu has a set of NAO robots, which have been lying on shelves for some years now. It is time to make these robots into functional social robots that can be used, e.g., for children's communication therapy or as buddies for the elderly. The goal of this thesis is to test and upgrade all the NAO robots to functional condition.

Completed projects

PhD theses

Masters's theses

Bachelor's theses

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