Amedeo Fabris

Research Assistant

Environmental Robotics Laboratory (ERL)•  May 2021 - Present

I assisted Ph.D. students in their research on robots with an environmental purpose. I developed an autonomous bioinspired drone that can fold and access narrow crevices. In this project I: • Designed (SolidWorks), built and ordered all the components needed for the realization of the system (including the electronics). • Developed the high-level control strategy (using C++, ROS, and OpenCV) running on an onboard single-board computer to: - Detect the entrance of the crevice. - Align the drone with respect to the entrance of the crevice and compute a trajectory to center such entrance. - Switch locomotion strategy when needed. - Return in hover after the crevice traversal.

Control/Embedded Engineering Internship

Fotokite•  March 2020 - September 2020

During my internship I: • Developed a tool to query Fotokite's flight database to receive flight-specific logs (Python). • Worked on a new feature that detects if the drone's estimation is compromised, and if so, initiates an emergency landing (C++). • Added features to Fotokite Log Analyzer Tools (Python). • Developed a proof-of-concept IR image stitching involving parallel threads, first in Python and then in C++, by: - Sending different orientations to the gimbal - Collecting an image at each gimbal pose (RTSP, and TCP-IP). - Re-projecting the images, stitching, and blending them together in the correct positions (OpenCV).

Volunteer

Autonomous River Cleanup (ARC)•  November 2019 - July 2020

Volunteered in founding the ARC focus project whose goal is to collect wastes in rivers before they reach the sea/ocean. I presented this project to students, contacted sponsors, performed scientific research on the topic of river pollution, and defined the mission along with the conceptual design of a proof-of-concept system that can collect wastes in rivers (during the summer of 2021, the prototype was deployed on the Limmat river in the center of Zurich).