Available BSc topics

Available BSc topics

Must read: brief instructions and rules

For all students interested in the BSc theses done so far in CRTA, you can view the theses here. All BSc theses done within the old laboratory were defended before 2021. All theses from 2021 and 2022 were created and implemented within CRTA. Students who choose a thesis topic expect active engagement and responsible work on the assigned topic. All students who choose a thesis in one of the provided topics will be equipped with all necessary equipment, workstations, and (shared) computers in the laboratory and/or practicums. If the thesis involves an experimental part, students will be enabled to access to the appropriate laboratory where the experiments will be carried out: Laboratory for Autonomous Systems, Laboratory for Medical Robotics, or Laboratory for Artificial Intelligence. In addition to working in laboratories, students also have access to two practicums whose occupation schedules can be seen here. While working in the laboratories and practicums, students must adhere to all rules of behavior as well as rules for the use of the computer, laboratory, and other equipment. After work, it is necessary to leave the workstations in CRTA clean and tidy.

In addition to laboratories and laboratory equipment, in the student section of CRTA, students have their 3D printers, various student tools, and equipment that are necessary for a large number of topics that include practical experimental work.

Researcher Luka Rabuzin is responsible for working with students and other tools, and he will provide you with all the necessary guidelines when you start working on your topic.

For any general questions and experiences, you can always reach out to our current students, graduates, or demonstrators.

Writing and submission of the BSc thesis

The undergraduate thesis should be written in accordance with the official guidelines and template for the undegraduate thesis, which can be found here. Before writing the thesis, it is necessary to thoroughly study all the materials and contact mentor or comentor for any questions.

Before starting to write the thesis, it is suggested to discuss the structure of the thesis with the mentor or comentor. Considering the chosen submission deadline for the undergraduate thesis, the complete written thesis should be submitted to the mentor or comentor for review (Word and PDF formats) via email at least 7 days before the official submission deadline. The thesis sent for review must be complete free of spelling or grammar errors (make sure to perform a spell check using ispravi.me).

List of available topics Undergraduate theses

• Robotic Systems for Pipeline Inspection
• Industrial Robot Control Using the RoboDK Software Package
• Simulation of a Climbing Robot in the Gazebo Simulator
• Application of RFID in Transportation Systems
• Application of Soft Grippers for Object Manipulation
• Application of 2D Vision in Industrial Robotics
• Integration of the Robot Operating System (ROS) on the FESTO Robotino Mobile Robot
• Application of Robot Operating System (ROS2) on a Mobile Robot in the Gazebo Virtual Environment
• 3D Mapping of Enclosed Spaces using Drones in the Gazebo Simulator
• Integration of the Robot Operating System (ROS) on the Waypoint Robotics VECTOR Mobile Robot
• Integration of Robot Operating System (ROS) into the IsaacSim Virtual Environment
• User Interface for Monitoring and Controlling Industrial Robotic Systems

If you are interested in an area or topic that is not suggested, feel free to suggest your own topics, ideas and projects to one of the CRTA employees, and then you can discuss your topic proposal with a potential mentor and/or comentor and collaborators on the topic. For any other questions, feel free to email the teacher responsible for a specific topic or visit them during consultation hours.

Detailed description of available topics

Robotic Systems for Pipeline Inspection

The food, process, and many other industries utilize various types of pipelines for the transportation of formless substances such as gases, liquids, powders, and more. Due to the nature of the transported materials, the inner walls of these pipelines can become contaminated, necessitating a defined cleaning and maintenance plan. The cleaning process can be manual, mechanized, or automated/robotized. Cleaning pipelines is a time-consuming and costly task that typically requires human involvement. For this reason, robotic systems are actively being developed to navigate through challenging pipelines and perform useful tasks.

In this thesis, it is necessary to conduct a thorough review of available scientific and technical literature by searching databases such as Scopus, IEEE, Google Scholar, and patent databases. The analysis should focus on existing robotic solutions for navigating through pipelines with internal diameters ranging from 70 to 150 mm. For a given imitation of a 40m long pipeline with an internal diameter of 90 mm, it is required to propose a conceptual solution for a mobile robot utilizing existing and/or novel technical approaches.

During the conceptual development of the robot, it is necessary to utilize as many standard mechanical, electromechanical, propulsion, power, sensor, and control components as possible.

All sufficiently detailed components of the mobile robot concept can be manufactured using 3D printing technology available at CRTA.

For more details on this topic, please contact doc. dr. sc. Marko Švaco.

Industrial Robot Control Using the RoboDK Software Package

Commercial simulators for industrial robots are often complex and expensive software tools used to verify the functionality of industrial robots before their deployment. However, there are now various free simulators available for industrial robots. One such simulation software tool is RoboDK, which emerged as a result of a research group from Canada. In this thesis, it is necessary to conduct a thorough examination of RoboDK's capabilities, test them in multiple virtual scenarios, and describe the main limitations and features of the software tool. In this thesis it is also required:

• to demonstrate applications such as tracking 2D curves and complex 3D shapes created using 3D printing technology or other technology in simulation and on a real robot,
• for the selected industrial robot, control a real robot in the laboratory using programs written in RoboDK,
• to implement the virtual workspace of the robot and the proposed applications designed and simulated in RoboDK on a mobile platform in the laboratory for executing simulation programs on industrial robots in the laboratory.

For developed applications, it is necessary to design and manufacture all the necessary robotic tools and other structural elements. The thesis must be validated on the equipment in the Laboratory for Autonomous Systems.

For more details on this topic, please contact doc. dr. sc. Marko Švaco.

Simulation of a Climbing Robot in the Gazebo Simulator

As part of the undergraduate thesis, it is necessary to load the finalized CAD model of the robot into the Gazebo simulator and define the interrelationships of the drive, rotation, and thrust motors. The thesis requires:

• in the Gazebo simulator, load the CAD model and define all the relationships between the moving parts of the robot, the inertia moments of the moving parts, and the friction factors of the surface and wheels,
• implement a table showing the relationship between thrust force and rotational speed of brushless DC (BLDC) motors,
• control all state variables (wheel angles, wheel rotational speeds, and thrust motor rotational speeds) using ROS,
• find a suitable viaduct to simulate the robot's behavior, implement the CAD model into the Gazebo simulator and simulate the robot's movement along it.
• simulate the robot's movement on the viaduct in Gazebo using ROS.

For more details on this topic, please contact doc. dr. sc. Marko Švaco and Ph.D Branimir Ćaran.

Application of RFID in Transportation Systems

Workpiece carriers on transport systems are used in many different manufacturing processes. The carriers hold items in position during transport, production and inspection. They are usually assigned to specific objects. Therefore, it is possible to use carriers for their identification and tracking of process steps. The workpieces must be identified automatically and without errors using the carrier. This identification must be possible at different points in the plant for decentralized control of the process sequence. The individual production steps must be coordinated with each other. At the same time, the goal is to create conditions for complete traceability of individual steps. The solution is to apply the RFID tag in a suitable place, for example, on the underside of the carrier. RFID read/write heads are mounted on the relevant processing stations. The RFID system ensures secure identification of the carrier. Since the RFID tag can be written, its dataset can be supplemented at each station with information about the steps in the process performed. This information can be used to manage switches or to initiate specific production processes. Tags can also store quality data.Workpiece carriers on transport systems are used in many different manufacturing processes. The carriers hold items in position during transport, production and inspection. They are usually assigned to specific objects. Therefore, it is possible to use carriers for their identification and tracking of process steps. The workpieces must be identified automatically and without errors using the carrier. This identification must be possible at different points in the plant for decentralized control of the process sequence. The individual production steps must be coordinated with each other. At the same time, the goal is to create conditions for complete traceability of individual steps. The solution is to apply the RFID tag in a suitable place, for example, on the underside of the carrier. RFID read/write heads are mounted on the relevant processing stations. The RFID system ensures secure identification of the carrier. Since the RFID tag can be written, its dataset can be supplemented at each station with information about the steps in the process performed. This information can be used to manage switches or to initiate specific production processes. Tags can also store quality data. The RFID system ensures secure identification of the carrier. Since the RFID tag can be written, its data set can be supplemented at each station with information about the performed process steps. This information can be used to manage switches or to initiate specific production processes. Tags can also store quality data. As part of this thesis, it is necessary to apply the SIMATIC RF300 RFID PROFINET system on the laboratory transport system.

For more details on this topic, please contact dr.sc. Bojan Šekoranja.

Application of Soft Grippers for Object Manipulation

Soft grippers find their application in robotics when handling delicate objects. The advantage of soft grippers is that they can adapt to different objects through their shape or other features. To explore the capabilities of different soft grippers in this thesis, it is necessary to do:

• detailed review and analysis of soft grippers used in industry,
• on the existing robot in the Laboratory for Autonomous Systems, it is necessary to validate the operation of at least three available soft grippers (mGrip^TM , piSOFTGRIP® i FlexShapeGripper),
• propose, design and create an experimental set-up and scenario for handling at least five different objects by the selected robot using three different soft grippers,
• code robotic tools and enable automatic change of soft grippers using a standard tool changer available in the laboratory.

For the developed application of the robot, it is necessary to design and manufacture (3D print, modular aluminum profiles, etc.) all necessary robot tools, flanges, supports and other structural elements. The thesis must be validated on the equipment in the Autonomous Systems Laboratory.

For more details on this topic, please contact doc. dr. sc. Marko Švaco.

Application of 2D Vision in Industrial Robotics

The perception of the environment of the industrial robot is crucial to the intelligent functioning of the robots and its application in an unstructured and disordered work environment. Basic robotic perception systems are based on 2D vision systems and machine vision algorithms for digital image processing. Integrated machine vision algorithms enable direct image processing from the vision system on the robot's controller. This approach has the advantage of eliminating the need for communication with external devices or the development and implementation of communication protocols between the robot and the vision system. Industrial robots manufactured by FANUC use their own machine vision algorithms integrated within the iRVision software options. In this thesis, he following tasks need to be accomplished on an existing FANUC robot in the Laboratory for Autonomous Sytems:

• choose or create (e.g., using 3D printing technology) at least five different workpieces that will be used in further processes of localization, detection, quality control, or measurement using the integrated iRVision computer vision system,
• describe and apply existing image preprocessing tools,
• describe and apply computer tools for finding shapes, blobs, lines and circles,
• describe and apply tools for inspection, measurement and calculation,
• apply nested image processing tools,
• for all the above-mentioned applications, examine the possibilities of applying 2D computer vision in the Roboguide software package.

The thesis needs to be validated on the equipment in the Laboratory for Autonomous Systems and in the simulation as part of the Roboguide software package. Demonstration on equipment in the laboratory should be enabled in automatic mode of operation through an arbitrary user interface.

For more details on this topic, please contact doc. dr. sc. Marko Švaco.

Integration of the Robot Operating System (ROS) on the FESTO Robotino Mobile Robot

The task of this thesis is to develop control of the FESTO Robotino mobile robot using the Robot Operating System (ROS). Controlling the robot using ROS provides the user with an environment for developing modular control software, a communication infrastructure that connects software components, and an open library of implemented algorithms. ROS enables the application of pre-existing algorithms to any robot with minimal adjustments, as it uses a strictly defined message exchange standard within the ROS framework.

• select a computer (e.g. NVIDIA Jetson Nano, Xavier…etc.) that will communicate with the mobile robot and have ROS installed on it,
• study and implement a node (program) that serves to communicate and exchange information with the robot. The program must send speeds to the mobile robot, and read values from sensors (encoders, distance sensors, etc.) from the robot.
• integrate 2D LIDAR on the robot and use remote control to map CRTA,
• study and choose one of the existing mobile robot localization algorithms,
• integrate the navigation algorithm in such a way that the robot is able to navigate independently from the Laboratory for Artificial Intelligence to the Laboratory for Autonomous Systems in CRTA.

For more details on this topic, please contact doc. dr. sc. Marko Švaco and Ph.D Branimir Ćaran.

Application of Robot Operating System (ROS2) on a Mobile Robot in the Gazebo Virtual Environment

The Robot Operating System (ROS) is a hugely popular environment within the academic robotics community. In recent years, there has been an increasing presence of ROS in the industry, leading to a need for its improvement. As ROS was initially developed as an environment for researchers, and therefore, it may not be sufficiently robust for industrial applications, the community started developing ROS2. ROS2 is the second version of ROS that was developed with the aim of better and more robust implementation in the mobile and industrial robot industry. The main emphasis on the ROS2 environment is real-time performance, robustness and system security.
In this thesis, it is necessary:

• to examine in detail ROS2, its possibilities and its application and to compare with ROS,
• to research and implement algorithms developed for ROS in the ROS2 environment,
• in the Gazebo simulator, build as detailed as possible the virtual environment of the Laboratory for Artificial Intelligence in CRTA,
• using the ROS2 environment, add a mobile robot to the Gazebo simulator and form the ability to handle it,
• to implement existing algorithms for mapping and localization of a mobile robot.

For more details on this topic, please contact doc. dr. sc. Marko Švaco and Ph.D Branimir Ćaran.

3D Mapping of Enclosed Spaces using Drones in the Gazebo Simulator

The field of aerial robotics is experiencing increasing research and application in both science and industry. The ability to move freely in space allows drones to map hard-to-reach areas where conventional mobile robots cannot access. The use of drones, along with the Robot Operating System (ROS) and the Gazebo simulator, offers the opportunity to apply pre-existing and robust mapping algorithms and test them in virtual simulators before deploying real drones. In this thesis, it is necessary:

• to study thoroughly the market of finished drones, research and commercial
• in the Gazebo simulator, create a virtual environment of the Laboratory for Artificial Intelligence
• to choose a virtual one and implement it in the Gazebo environment and communicate with it from ROS
• to apply the selected drone to map the virtual space in the Gazebo simulator

For more details on this topic, please contact doc. dr. sc. Marko Švaco and Ph.D Branimir Ćaran.

Integration of the Robot Operating System (ROS) on the Waypoint Robotics VECTOR Mobile Robot

The Waypoint Robotics VECTOR is a mobile robot with four Swedish wheels set at 45 degrees (mecanum wheels). The robot is controlled through a web service by connecting to the robot's IP address and assigning tasks such as mapping, localization, navigation, and mission solving. Due to the impracticality of such an implementation and the desire to integrate a robotic arm onto the robot in the near future, the task of this undergraduate thesis is to:

• establish communication with the robot using rosbridge node in ROS
• enable sending speed commands and reading sensor status in ROS,
• implement algorithms for mapping and localization,
• to implement a robot navigation algorithm in mapped space,
• prepare the system for the integration of the robotic arm.

For more details on this topic, please contact doc. dr. sc. Marko Švaco and Ph.D Branimir Ćaran.

Integration of Robot Operating System (ROS) into the IsaacSim Virtual Environment

NVIDIA Isaac Sim, powered by Omniverse, is a scalable robotics simulation application and a tool for generating artificial data that runs photorealistic, physically accurate virtual environments for the development, testing, and control of AI-based robots. Isaac Sim includes the capability to integrate with the Robot Operating System (ROS) for controlling the robots created in the simulator. Therefore, the task of this thesis is to:

• study thoroughly and compare Isaac Sim and Gazebo simulators,
• integrate ROS in such a way that a mobile robot can be controlled from ROS nodes
• in the Isaac Sim simulator recreate the Regional Centre of Excellence for Robotic Technologies (CRTA) as realistically as possible
• add a differential kinematics mobile robot, with all the necessary sensors for space mapping
• integrate the mapping algorithm and test it in the Isaac Sim simulator

For more details on this topic, please contact doc. dr. sc. Marko Švaco and Ph.D Branimir Ćaran.

User Interface for Monitoring and Controlling Industrial Robotic Systems

The application of robots in industry requires clearly defined procedures for commissioning and monitoring of the robot's work process. Control and monitoring graphic panels are often installed in industrial facilities which facilitate monitoring the current state of the process and production, obtaining the necessary information about the process and for canceling errors, commissioning and managing the available process parameters. In the Laboratory for Autonomous Systems, there are several FANUC industrial and collaborative robots for which, as part of this thesis, it is necessary to create a graphical user interface for monitoring and control. The thesis requires:

• create three different interfaces for monitoring and managing existing palletization processes, applying force sensor functions and tracking parts in motion on three different robots,
• user interfaces should display all basic feedback from each of the three processes on the teach pendant screen of each of the three robots,
• using the user interface, it should be possible to manage process parameters such as: motion execution speed, transport belt speed, selection of force sensor application function, basic palletization parameters and others.

As preparation for this undergraduate thesis, it is necessary to study the undergraduate thesis of Jurica Cvetić and Domagoj Filar. In those theses papers the application of the force sensor function and tracking of moving parts is described.

For more details on this topic, please contact doc. dr. sc. Marko Švaco.

The undergraduate theses must be written according to the official guidelines of the FMENA. The grade of the mentor and comentor is formed by adherence to formal regulations and directions, but more importantly by work on the undergraduate thesis, independence, and originality. In addition to the individual grade of the undergraduate thesis, a grade is also awarded during the presentation in front of the committee.

Pozivamo sve studentice i studente da obavezno pročitaju sva rules and instructions vezane uz izradu završnih radova. Za upute za izradu prezentacije završnog rada obratite se izravno vašem mentoru.