Projects
Ph.D. Thesis Nov, 2017 - Nov, 2020:
Motion Generation and Planning System for a Virtual Reality Motion Simulator: Development, Integration, and Analysis
The main objective of the thesis is to develop a motion generation and planning system for a virtual reality-based motion simulator. The simulator is constituted by a bespoke hybrid parallel robotic manipulator with an RSS configuration. The primary contribution is the algorithmic design, implementation, and analysis of a various motion cueing algorithm (MCA) for effectively generating motion and visual signals that enhance the user's immersion in the simulator. Additional contributions are related to experimental and user evaluations of the system, motion compensation, and a system for motion tuning of MCA parameters. The thesis was funded by Singular perception s.r.l.
Thesis available at: http://hdl.handle.net/11567/1046138
Below are few links to videos produced during my doctoral thesis:
Dynamic pose tracking performance of HTC Vive lighthouse tracking system using an industrial serial robot
SP7 flight simulator - Pilot Free Flight - MCA
SP7 flight simulator - Subjective evaluation of MCA - Experiment run through:
SP7 Motion Simulator video presentation ACA and MCA
DT implementation of motion cueing algorithm for real time applications
Experiment with SP7 flight simulator- Pilot 1 - MCA - ICRA Submission (1/4)
Experiment with SP7 flight simulator- Pilot 1 - ACA - ICRA Submission (2/4)
Experiment with SP7 flight simulator- Pilot 2 - MCA - ICRA Submission (3/4)
Experiment with SP7 flight simulator- Pilot 2 - ACA - ICRA Submission (4/4)
Masters Thesis Jan, 2017-Aug, 2017
Generation of motion of a motion simulator for virtual reality experiences from real (measured) linear and rotational accelerations
The classical motion cueing algorithm for the motion simulator was developed as part of my master thesis. Matlab and Simulink were used to develop and test the initial implementation. The final implementation was accomplished in C++ on a custom microcontroller.
1st year Master Project (2016):
Determination of Interference Free Orientation Workspace for Cable Driven Parallel Robots
In this work, an algorithm was developed in Matlab for determining the feasible orientation workspace in all axis for any cable driven parallel robot (CDPR)
Presentation video: https://youtu.be/6f9w3TDrNEU
Final Year Bachelor Project (2013-2014):
Design and Fabrication of Pomegranate Aril (pulp) Extractor.
The scope of the project was to design a system that can extract the arils (seeds) from the pomegranate fruit. The main focus was given to making the product commercially viable.
If you're looking for additional information of a specific project in my Github, feel free to contact me.