WEALTH
As a Mechatronic Engineer, I really enjoy working in the field of software development and especially in autonomous guidance and artificial intelligence.
During the academic career I got my hands dirty on the implementation of different control system strategies, system identification and optimization inside the Matlab/Simulink environment.
In my project experiences in the robotics, computer and electronics fields I improved the overall performance of the systems taking advantage of the Embedded systems I worked with.
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In my experience at Cal State University, Los Angeles I deepen my background towards the autonomous driving subject. I developed a control system capable to autonomously drive a mobile robot towards the docking station.
I experienced myself on object-oriented programming (C++/Python) and on Linux/ROS working systems running on Nvidia Jetson embedded platform. The direct employment of sensors as stereo cameras and encoders sensors together with motor drivers and Arduino platforms gave me the experience to complete my training.
The actual building of a small robot strongly made me hungry to delve into vehicle control field
AUTONOMOUS CHARGING SYSTEMS
This project is relative to my master's thesis program at California State University, Los Angeles.
I have initially educated myself on the state-of-art of the autonomous charging systems. After having chosen the charging method (wireless recharge) and the docking strategy (detection with AR tag and stereo camera), I got my hands dirty of ROS development system (running on NVIDIA Jetson Nano), also taking advantage of the ZED functionalities and the other ROS libraries.
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Further you can find some of the parts which composes this project.
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PORTFOLIO
Those below are projects in which I have actively participated alone or in groups during my academic career. Thanks to these experiences, I was able to expand my IT and control skills, as well as to improve the performance of the systems I worked with or to make them work properly.
ROBOTICS PROJECT
Design of an Autopilot system for UAV model
The goal of such project was to find a way to control the UAV model plant so to improve its performance.
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Me and my colleague Matteo implemented a control system based on PID technology capable to improve the time-response performance of the vehicle by 10% with respect the classic approaches.
OS FOR EMBEDDED DEVICE
For this project, it was necessary to develop a Micrium µC/OS3 operating system running on the NXP S32K144 evaluation board.
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The operating system should provide a service for varying the lamp color of the RGB led by pushing the two buttons.
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Moreover, the S32K144 potentiometer shall be programmed for varying the lamp intensity in a certain manner.
MODEL-BASED SW DESIGN
The project was divided in two sections.
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The first pointed at evaluating the performances of a Skyhook Controller applied on a quarter car model following the model-based software design approach. First a MIL of the systems was held in order to verify the validity of the control action. Then, an HIL was performed by the mean of the NI myRIO embedded device.
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The second consisted in modifying a model to be run on a real-time target to perform a rapid control prototyping verification. Then the parameters of the model were set by the LHP Calibra tool.
