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114455
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ROBOTICS FUNDAMENTALS
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11
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This teaching unit is composed of two modules, each contributing to the development of core competencies in the modeling, analysis, and control of complex mechanical systems, with a particular focus on robotics. Overall, the course aims to provide students with a solid theoretical and practical foundation for the design, control, and analysis of manipulators and complex mechanisms in robotics contexts.
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56846 - MODELING AND CONTROL OF MANIPULATORS
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IINF-04/A
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6
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6 CFU CARATTERIZZANTI Ingegneria Informatica
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The purpose of the module is to introduce the fundamentals of kinematic modeling and control techniques of serial manipulators, including geometric modeling, task Jacobian matrices, inverse kinematics, and closed-loop kinematic control.
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80514 - MECHANICS OF MECHANISMS AND MACHINES
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IIND-02/A
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5
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5 CFU AFFINI O INTEGRATIVE Attività Formative Affini o Integrative
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The module aims to provide students with the basic knowledge of the fundamentals of the theory of mechanisms and machines, including synthesis, analysis, modeling, singularities, kinematics and elements of dynamics, serial and parallel architectures, compliant mechanisms, architectures for robotics, the Lie group of rigid body displacement, and screw theory.
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30 CFU tra i seguenti insegnamenti:
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114461
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ARTIFICIAL INTELLIGENCE FOR ROBOTICS
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IINF-05/A
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10
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The teaching unit consists of two modules, which together provide a comprehensive introduction to the principles and applications of AI techniques in autonomous robotic systems. Overall, the course aims to equip students with the theoretical understanding and practical tools needed to design and implement intelligent, autonomous robotic systems capable of operating in complex environments.
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104731 - ARTIFICIAL INTELLIGENCE FOR ROBOTICS II
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IINF-05/A
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5
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5 CFU CARATTERIZZANTI Ingegneria Informatica
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The purpose of the module is to introduce concepts related to knowledge representation and reasoning, including ontologies, description logics, OWL, subsumption and instance checking, planning for hybrid domains with a particular focus on discrete and continuous domains, and AI-based robot motion algorithms such as RRTs, probabilistic roadmaps, and belief-space planning, as a logical continuation of Artificial Intelligence for Robotics 1.
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104734 - ARTIFICIAL INTELLIGENCE FOR ROBOTICS I
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IINF-05/A
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5
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5 CFU CARATTERIZZANTI Ingegneria Informatica
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The purpose of the module is to introduce the students to the foundations of logic and logic-based intelligent agents. The logics to be covered include propositional logic, first order logic and decidable sublasses of first order logic useful in robotic applications (modal and temporal logics, satisfiability modulo theory). For each logic, the formal syntax and semantics will be presented, as well as the related decision problems and reasoning algorithms.
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114465
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MOBILE ROBOTICS AND ROBOT DYNAMICS
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IINF-04/A
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10
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The technig unit is composed of two modules, each focusing on key aspects of robot dynamics, control, and mobile robot design. Overall, the course aims to provide students with a solid understanding of the dynamics, control, and planning techniques required to design and implement robotic systems, including mobile robots, in real-world applications.
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86738 - ROBOT DYNAMICS AND CONTROL
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IINF-04/A
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5
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5 CFU CARATTERIZZANTI Ingegneria Informatica
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The module aims to provide students with a general understanding of the dynamic modelling of robot manipulators and the fundamentals of dynamic control of robots, as key elements for the design of robot controllers and for the implementation of robot-controlled operations involving interaction with objects (e.g. for their manipulation), the environment (e.g. force control), and humans (e.g. human–robot collaborative tasks).
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106956 - MOBILE ROBOTS
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IINF-04/A
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5
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5 CFU CARATTERIZZANTI Ingegneria Informatica
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The module aims to provide students with a general understanding of the kinematic modeling and motorization of mobile robots, illustrated through the detailed study of the differential drive robot, as well as of localization techniques based on the Extended Kalman Filter, including laboratory activities using real data and the presentation of tuning methodologies. The course further aims to introduce observability issues through practical examples, planning methods applicable to mobile robots such as potential field methods and Rapidly-exploring Random Trees, and control techniques with direct application to mobile robots, including static and dynamic feedback control and Lyapunov-based control, illustrated on the case of the differential drive robot.
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114466
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REAL TIME SYSTEMS
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10
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The teaching unit is composed of two modules and aims to provide students with a general understanding of real-time applications and real-time operating systems, as well as of real-time design and programming and embedded systems.
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80169 - REAL-TIME OPERATING SYSTEMS
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IINF-05/A
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5
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5 CFU CARATTERIZZANTI Ingegneria Informatica
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The purpose of the teaching unit is to introduce issues concerning real-time applications and real-time operating systems, as well as real-time design and programming and embedded systems.
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80190 - EMBEDDED SYSTEMS
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IINF-04/A
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5
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5 CFU CARATTERIZZANTI Ingegneria Informatica
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The purpose of the teaching unit is to introduce the fundamentals of embedded systems, including a brief review of the most relevant architectures and a focus on microcontroller programming for control applications, with particular attention to peripheral configuration and real-time and event-based programming techniques.
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114464
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SOFTWARE AND COGNITIVE ARCHITECTURES FOR ROBOTS
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IINF-05/A
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10
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The teaching unit consists of two modules, each focusing on essential aspects of programming and cognitive systems for robotic applications. Overall, the course aims to equip students with both the software development skills and the understanding of cognitive architecture necessary for designing robots capable of complex interactions with their environments.
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86736 - ADVANCED AND ROBOT PROGRAMMING
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IINF-05/A
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5
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5 CFU CARATTERIZZANTI Ingegneria Informatica
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The goal of the module is to give the students the fundamentals of POSIX programming, concurrent programming, and inter-process communication (i.e., interrupts, signals, pipes, threads, semaphores, shared memory, sockets, publish/subscribe methods). The objective involves both theoretical knowledge and practical work (coding for multiprocess / distributed systems). State-of-the-art programming languages are used in coding, in particular C and rust.
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86805 - COGNITIVE ARCHITECTURES FOR ROBOTICS
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IINF-05/A
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5
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5 CFU CARATTERIZZANTI Ingegneria Informatica
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The module aims to provide students with a general understanding of robots as multi-purpose, multi-form, and multi-function machines, and of how next-generation robots are expected to exhibit new and unique behaviors compared to current machines, in terms of their objectives, structure, and capabilities. The course further aims to introduce the design of cognitive architectures for robots capable of coping with this diversity in form and function, enabling robots to perceive their environment, interpret it through knowledge representation and reasoning models, and act effectively upon it. All these topics are addressed with a research-oriented approach.
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114463
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SYSTEM IDENTIFICATION AND CONTROL OF MULTI-VARIABLE SYSTEMS
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IINF-04/A
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10
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The teaching unit is composed of two modules, each focusing on critical aspects of system analysis, identification, and control in the context of multi-variable systems. Overall, the teaching unit provides students with the theoretical and practical skills necessary for the analysis, identification, and control of multi-variable systems, particularly in robotics and dynamic systems applications.
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80181 - CONTROL OF MULTI-VARIABLE SYS.
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IINF-04/A
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5
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5 CFU CARATTERIZZANTI Ingegneria Informatica
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The objective of the module is that of presenting the basic methodologies for the analysis and control of multivariable systems with particular emphasis on linear time invariant ones. The module will start with a review of the basic concepts relevant to (linear) systems in state space form. Stability and structural properties of state space multivariable dynamic systems will be addressed with particular emphasis on the linear time invariant case. Matrix pseudo inversion methods will be discussed with reference to robot inverse kinematics and control allocation problems. The module will end with the treatment of some specific topics concerning multivariable control methods as applied in robotics scenarios (eg. linear state space observers used for robot navigation or control allocation used for robot control).
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111106 - SYSTEM IDENTIFICATION
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IINF-04/A
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5
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5 CFU CARATTERIZZANTI Ingegneria Informatica
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The goal of the module is to provide methodologies and tools for designing systems’ models to be used for control, estimation, diagnosis, prediction, etc.
Different identification methods are considered, both in a “black box” context (where the structure of the system is unknown), as well as in a “grey box” (uncertainty on parameters) one. Methods are provided for choosing the complexity of the models, for determining the values of their parameters, and to validate them.
Moreover, state estimation problems are addressed and their connections with control and identification are considered.
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10 CFU tra i seguenti insegnamenti:
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86735
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COMPUTER VISION
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INFO-01/A
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5
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5 CFU A SCELTA A Scelta dello Studente
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The teaching unit aims at providing knowledge on theory and tools on the basics of Computer Vision, for the extraction of semantic and geometric information about a scene from an image or a sequence of images. Topics of interest include: camera models and image formation; camera calibration; connection between 2D images and 3D scene structures; image processing basics as image filtering, local features extraction (edge, corner, blob), including the use of multi-scale image representations; image matching, with reference to classification and retrieval problems; stereo vision and scene depth estimation; motion detection in image sequences, including change detection and optical flow estimation.
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86928
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MACHINE LEARNING FOR ROBOTICS I
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INFO-01/A
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5
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5 CFU A SCELTA A Scelta dello Studente
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The teaching unit introduces the basics of Machine Learning and Artificial Neural Networks, as well as other well-known techniques for solving supervised and unsupervised learning problems, with a specific emphasis on Robotics applications. Such learning systems can be applied to pattern recognition, function approximation, time-series prediction and clustering problems. Some mention will be made to the use of ANNs as static systems for information coding, and dynamical systems for optimization and identification.
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80183
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MECHANICAL DESIGN METHODS IN ROBOTICS
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IIND-02/A
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5
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5 CFU A SCELTA A Scelta dello Studente
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The purpose of the teaching unit is to introduce the design process, including specification, conceptual design, and product design, and to provide students with the basic principles of industrial robot design.
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105038
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SIGNAL PROCESSING IN ROBOTICS
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IIET-01/A
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5
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5 CFU A SCELTA A Scelta dello Studente
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TThe goal of the teaching unit is to provide the basic notions for the design of analog (both passive and active) and digital filters tailored for processing sensor measurements in robotic applications. The topics are proposed to students through both theoretical lessons and practical activities such as the simulation and the hardware realization of filters.
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