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://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]] and [[User:Aks1812|Arun Kumar Singh]]
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 2020/2021 study year ==
== Highlighted theses topics for 2023/2024 study year ==
# [[#Social robot for neuro-rehabilitation|Social robot for neuro-rehabilitation]]
# [[#ROBOTONT: analysis of different options as on-board computers|ROBOTONT: analysis of different options as on-board computers]]
# [[#Modelling and prototyping smart urban mobility infrastructure|Modelling and prototyping smart urban mobility infrastructure]]
# [[#SemuBOT: multiple topics|SemuBOT: multiple topics]]
# [[#ROS2 for robotont|ROS2 for robotont]]
# [[#Robotic Study Companion: a social robot for students in higher education|Robotic Study Companion: a social robot for students in higher education]]
# [[#Digital twins in Gazebo and/or in Unity|Digital twins in Gazebo and/or in Unity]]
# [[#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]]
# [[#RoboCloud|RoboCloud]]
# [[#ROBOTONT: ROS2 support for robotont|ROBOTONT: ROS2 support for robotont]]
# [[#Enhancing teleoperation control interface with augmented cues to provoke caution|Enhancing teleoperation control interface with augmented cues to provoke caution]]
# [[#Continuous teleoperation setup for controlling mobile robot on streets|Continuous teleoperation setup for controlling mobile robot on streets]]
# [[#Making KUKA youBot user friendly again|Making KUKA youBot user friendly again]]
# [[#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 ==
== List of potential thesis topics ==
[[Image:Youbot.png|200px|thumb|right|KUKA youBot]]
Our inventory includes but is not limited to:
=== Development of demonstrative and promotional applications for KUKA youBot ===
<gallery mode="packed">
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.  
File:Youbot.png|120px|thumb|KUKA youBot
The list of possible robotic demos include:
File:Ur5_left.png|120px|thumb|Universal Robot UR5
*demonstration of motion planning algorithms for mobile manipulation,
File:Franka_Emika_Panda.jpg|120px|thumb|Franka Emika Panda
*using 3D vision for human and/or environment detection,
File:Clearpath_Jackal.jpg|120px|thumb|Clearpath Jackal
*interactive navigation,
File:Kinova_KG-3_Gripper.jpg|120px|thumb|Kinova 3-finger gripper
*autonomous path planning,
File:Xarm7.jpg|120px|thumb|UFACTORY xArm7
*different pick-and-place applications,
File:Robotont_banner.png|120px|thumb|robotont
*and human-robot collaboration.
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]]
=== 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>
<hr>
=== Development of demonstrative and promotional applications for Universal Robots UR5 ===
 
Sample demonstrations include:
=== ROBOTONT: integrating a graphical programming interface ===
*autonomous pick-and-place,
The goal of this thesis is to integrate graphical programming solution (e.g. Scratch or Blockly) to enable programming of Robotont by non-experts.
*load-assistance for human-robot collaboration,
<hr>
*packaging,
 
*physical compliance during human-robot interaction,
=== ROBOTONT Lite ===
*tracing objects surface during scanning,
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.
*robotic kitting,
<hr>
*grinding of non-flat surfaces.
 
=== 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>
<hr>
=== Development of demonstrative and promotional applications for Clearpath Jackal ===
 
Sample demonstrations include:
=== Robotic Study Companion: a social robot for students in higher education ===
*human-robot interaction,
Potential Topics:
*multi-robot mapping,
* Enhancing the RSC Speech/NLP Capabilities
*autonomous driving,
* 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>
<hr>
=== ROS support, demos, and educational materials for open-source mobile robot ROBOTONT ===
 
=== 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]]
[[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>
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?]]
[[Image:Ros_equation.png|x100px|What is ROS?]]
<hr>
=== Detecting features of urban and off-road surroundings ===
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.
<br>
[[Image:Rtab-map.png|x90px|Mapping]]
<hr>
=== Digital twins in Gazebo and/or in Unity ===
The objective of this thesis is to integrate robots available at the Institute of Technology in a single [http://gazebosim.org Gazebo] simulation world to enable further software development and educational activities using these robots. The specific tasks within this thesis will include testing existing Gazebo packages of off-the-shelf robots and creating/improving simulation capabilities for other robots.<br>
[[Image:Gazebo.png|x90px|Gazebo]] [[Image:Robonaut-2-simulator.png|x90px|NASA Robonaut simulation in Gazebo]]
<br>
Alternatively, this thesis could focus on creating a virtual reality representation of facilities and equipment at IMS-Robotics, e.g., http://thebarngames.nl/SAMXL.
<hr>
<hr>


=== Follow-the-leader robotic demo ===
=== Virtual reality user interface (VRUI) for intuitive teleoperation system ===
[[Image:LeapMotion.png|200px|thumb|right|Detecting 2 hands with Leap Motion Controller]]
[[Image:LeapMotion.png|200px|thumb|right|Detecting 2 hands with Leap Motion Controller]]
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 ===
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).
<hr>
=== Virtual reality user interface (VRUI) for intuitive teleoperation system ===
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].
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>
<br>
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=== Health monitor for intuitive telerobot ===
=== Health monitor for intuitive telerobot ===
Intelligent status and error handling for an intuitive telerobotic system.
Intelligent status and error handling for an intuitive telerobotic system.
<hr>
=== Dynamic stitching for achieveing 360° FOV ===
Automated image stitching of images from multiple camera sources for achieveing 360° field-of-view during mobile telerobotic inspection of remote areas.
<hr>
<hr>
=== 3D scanning of industrial objects ===
=== 3D scanning of industrial objects ===
Using laser sensors and cameras to create accurate models of inustrial producst for quality control or further processing.
Using laser sensors and cameras to create accurate models of industrial products for quality control or further processing.
<hr>
<hr>
=== Modeling humans for human-robot interaction ===
=== 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 ===
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.
<hr>
<hr>
=== Robotic avatar for telepresence ===
=== 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>
=== ROS driver for Artificial Muscle actuators ===
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.
<hr>
=== TeMoto based smart home control ===
The project involves designing a open-source ROS+[https://utnuclearroboticspublic.github.io/temoto2/index.html TeMoto] based scalable smart home controller.
<hr>
<hr>
=== Detection of hardware and software resources for smart integration of robots ===
=== Detection of hardware and software resources for smart integration of robots ===
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* Inaccessible region teamwork
* 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+drone - a drone maps the environment (for example a maze) and ground vehicle uses this information to traverse the maze
**youbot+clearbot - youbot cannot go up ledges but it can lift smaller robot, such as clearbot, up a ledge.
**youbot+robotont - youbot cannot go up ledges but it can lift smaller robot, such as robotont, up a ledge.
<hr>
=== Developing ROS driver for a robotic gripper ===
The goal for this project is to develop ROS drivers for LEHF32K2-64 gripper. The work is concluded by demonstrating the functionalities of the gripper via pick-and-place task. <br>
[[File:Smc gripper.jpg|120px|SMC LEHF32K2-64 gripper.]]
<hr>
<hr>
=== Mirroring human hand movements on industrial robots ===
=== 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, Universal Robot UR5 manipulator, and 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>
=== ROS2-based robotics demo ===
Converting ROS demos and tutorials to ROS2.
<hr>
=== ROS2 for robotont ===
Creating ROS2 support for robotont mobile platform
<hr>
<hr>
=== TeMoto for robotont ===
=== ROBOTONT: TeMoto for robotont ===
Swarm-management for robotont using [https://temoto-telerobotics.github.io TeMoto] framework.
Swarm-management for robotont using [https://temoto-telerobotics.github.io TeMoto] framework.
<hr>
<hr>
=== 3D lidar for mobile robotics ===
Analysing the technical characteristics of 3D lidar.. Desinging and constructing the mount for Ouster OS-1 lidar and validating its applicability for indoor and outdoor scenarios.
<hr>
=== Making KUKA youBot user friendly again ===
This thesis focuses on integrating the low-level software capabilities of KUKA youBot in order to achieve high-level commonly used functionalities such as
* teach mode - robot can replicate user demonstrated trajectories
* end-effector jogging
* gripper control
* gamepad integration - user can control the robot via gamepad
* web integration - user can control the robot via internet browser


The thesis is suitable for both, master and bachelor levels, as the associated code can be scaled up to generic "user-friendly control" package.
<hr>
=== Flexible peer-to-peer network infrastructure for environments with restricted signal coverage===
A very common issue with robotics in real world environments is that the network coverage is highly dependent on the environment. This makes the communication between the robot-to-base-station or robot-to-robot unreliable, potentially compromising the whole mission. This thesis focuses on implementing a peer-to-peer based network system on mobile robot platforms, where the platforms extend the network coverage between, e.g., an operator and a Worker robot. The work will be demonstrated in a real world setting, where common networking strategies for teleoperation (tethered or single router based) do not work.
<hr>
=== Enhancing teleoperation control interface with augmented cues to provoke caution===
=== 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.
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>
=== Mobile manipulation demo===
The thesis making the end-effector of a mobile manipulator robot follow a continuous path. Such behaviour is of great interest in manufacturing domains such as industrial welding, sandblasting, coating, and depainting. The thesis work involves using Mobile Industrial Robot MiR and Universal Robot UR5 in collaboration.
<hr>
<hr>
=== Robot-to-human interaction ===
=== Robot-to-human interaction ===
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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.
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>
<hr>
=== RoboCloud ===
=== Real-world demonstrator for MIR+UR+TeMoto integration  ===
Setting up a system that allows booking time on a physical but networked remote robot to validate and test robot software. The thesis involves system administration and front-end development.
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>
<hr>
=== Social robot for neuro-rehabilitation ===
=== Validation study for AR-based robot user-interfaces ===
Customizing humanoid robot to assist doctors and psychologist during children's speech training sessions.
Designing and carrying out a user study to validate the functionality and usability of an human-robot interface.
<hr>
<hr>
=== Modelling and prototyping smart urban mobility infrastructure  ===
=== Replication of the MIT Hydra demo ===
The aim is to evaluate and prototype a static sensor setup (3D LiDARs) to reduce perception overhead of an autonomously driving agent 
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>
 
=== 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>
<hr>


= Completed projects =
= Completed projects =
== PhD theses ==
*Houman Masnavi, [https://hdl.handle.net/10062/91394 Visibility aware navigation] [Nähtavust arvestav navigatsioon], PhD thesis, 2023
== Masters's theses ==
== Masters's theses ==
*Maarika Oidekivi, [http://not-yet Masina kavatsuse väljendamine ja tõlgendamine] [Communicating and interpreting machine intent], MS thesis, 2020
*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
*Houman Masnavi, [http://not-yet Multi-Robot Motion Planning for Shared Payload Transportation] [Rajaplaneerimine multi-robot süsteemile jagatud lasti transportimisel], MS thesis, 2020
*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
*Fabian Ernesto Parra Gil, [http://not-yet Implementation of Robot Manager Subsystem for Temoto Software Framework] [Robotite Halduri alamsüsteemi väljatöötamine tarkvararaamistikule TEMOTO], MS thesis, 2020
*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
*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
*Renno Raudmäe, [http://hdl.handle.net/10062/64341 Avatud robotplatvorm Robotont] [Open source robotics platform Robotont], MS thesis, 2019
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== Bachelor's theses ==
== Bachelor's theses ==
*Karina Sein, [http://not-yet Eestikeelse kõnesünteesi võimaldamine robootika arendusplatvormil ROS] [Enabling Estonian speech synthesis on the Robot Operating System (ROS)], BS thesis, 2020
*Iryna Hurova, [https://hdl.handle.net/10062/90638 Kitting station of the learning factory] [Õppetehase komplekteerimisjaam], BS thesis, 2023
*Igor Rybalskii, [http://not-yet Gesture Detection Software for Human-Robot Collaboration] [Žestituvastus tarkvara inimese ja roboti koostööks], BS thesis, 2020
*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://not-yet Pöördpõik ajami arendus robotplatvormile Robotont] [Development of swerve drive for robotic platform Robotont], BS thesis, 2023
*Priit Rooden, [https://not-yet Autonoomse laadimislahenduse väljatöötamine õpperobotile Robotont] [Development of an autonomous charging solution for the robot platform Robotont], BS thesis, 2023
*Marko Muro, [https://not-yet Robotondi akulahenduse ning 12 V pingeregulaatori prototüüpimine] [Prototyping battery solution and 12 V voltage regulator for Robotont], BS thesis, 2023
*Danel Leppenen, [https://not-yet 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://not-yet Kõrgust reguleeriv mehhanism Robotondile] [Height adjusting mechanism for Robotont], BS thesis, 2023
*Ingvar Drikkit, [https://not-yet Lisaseadmete võimekuse arendamine haridusrobotile Robotont] [Developing add-on device support for the educational robot Robotont], BS thesis, 2023
*Kristo Pool, [https://not-yet MoveIt 2 õppematerjalid] [Learning materials for MoveIt 2], BS thesis, 2023
*Erki Veeväli, [https://not-yet Development of a Continuous Teleoperation System for Urban Road Vehicle] [Linnasõiduki pideva kaugjuhtimissüsteemi arendus], BS thesis, 2023
*Aleksandra Doroshenko, [https://not-yet 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
*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
*Kaarel Mark, [http://hdl.handle.net/10062/64290 Liitreaalsuse kasutamine tootmisprotsessis asukohtade määramisel] [Augmented reality for location determination in manufacturing], BS thesis, 2019

Latest revision as of 15:43, 22 December 2023

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 2023/2024 study year

  1. ROBOTONT: analysis of different options as on-board computers
  2. SemuBOT: multiple topics
  3. Robotic Study Companion: a social robot for students in higher education
  4. Quantitative Evaluation of the Situation Awareness during the Teleoperation of an Urban Vehicle
  5. ROBOTONT: ROS2 support for robotont
  6. Continuous teleoperation setup for controlling mobile robot on streets
  7. Stratos Explore Ultraleap demonstrator for robotics
  8. Mixed-reality scene creation for vehicle teleoperation

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: 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: 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.

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.

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:

  • 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

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 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.

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 ADL vehicle

ROBOTONT: ROS2 support for robotont

Creating ROS2 support for robotont mobile platform

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.

Completed projects

PhD theses

Masters's theses

Bachelor's theses

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