2001 Related Student Graduation Projects

Linear Vision localisation system
This system is based in the analisys of a single horizontal line scan of the environment. The line is scanned trought a CCD imaging sensor (matrix or linear) and preprocessed in hardware (in a dedicated FPGA), for target identification. The position of the sensor is determined by triangularization procedures.

Mobile robotic control and visualization interface
This project aims to develop a graphical interface for control an visualization of a fleet of mobile robots in 2D (terrestrial robots). It provides the interface with each robot, and presents selected information views of the whole or part of the fleet.

 

2000 Related Student Graduation Projects

Robotic USB vision system
This project pretends to develop a vision system suitable for robotic navigation purposes. It uses USB web cameras under Linux environment. The project provides a basic set of functionalities that can be used for diferent applications.


Axis control board
In this project an axis control board is developed for the specific needs of LSA and ISEP. This board should be able to control in position and velocity several axis providing a sign+magnitude PWM signal. It will be used in a large number of projects from simple course electronic assignements to the implementation of large motion control projects.
It is designed in PC104 format (communicating with the PC by ISA bus) for space effeciency and has a dedicated FPGA providing encoder processing and PWM generation. The motor control laws are implemented in the onboard T89RD2 microcontroller.


Ultrasonic localisation system
In this project an ultrasonic navigation system based in standard Polaroid sonars is developed. To avoid crosstalk and reduce sensitivity to environment noise, the sound pulses are coded and the received signals are processed by a DSP to determine by correlation the correct origin. This way we can identify our echoes from noise and other sonar pings. One obvious advantage of this process over standard TOF methods is the possibility of using sonar localisation even in the presence ofther devices with the same operating frequencies.