Denis Nikitin

I worked with the Technical University of Berlin on an analysis of biological neural networks. I programmed a simulation system in C++ and developed a control algorithm for the special type of the network. Now the paper is due to be published.

I created an object-recognition system with an RGBD sensor in C++ for RoboCup@Work competition. Also, I implemented a navigation system for KUKA youBot robot in ROS C++ with SLAM and A* algorithm.

This is an ultrasound-based system with four fixed ultrasound beacons which transmit a frequency-modulated signal. I developed a model of this system in MATLAB and created filtering and position estimation algorithms.

This is a small quadrotor that was created for indoor flights. I implemented (in C++) its attitude estimation and stabilization system, then (after the positioning system was complete) the position estimation and stabilization system. Also, I built, in MATLAB, a trajectory generation and control algorithm for several quadrotors with a guarantee of collision avoidance. Finally, I created an algorithm for continuous flipping of the quadrotor.

I invented my own way to store and update a map of 3D space, then created a SLAM system and reconstructed 3D models in C++.

I developed my own quaternion-based mathematical model of the quadrotor, then built a stabilization algorithm and thrust identification algorithm. These results were published in a Russian mathematical journal and are now in the translation process for an international journal; also, they were part of my bachelor thesis. Finally, I built a quadrotor from scratch and programmed it in C++ using my model.

I created a classification system of EEG signals for detecting "thoughts" like "turn left" or "turn right". This allowed a user to control a simple robot only with my mind. The classification was done in MATLAB whereas the robot was programmed in C++.

This was a pair of robots with the goal to maintain the condition of statues in Saint Petersburg's Summer Garden. The robots use a computer vision-based navigation system, RGBD sensors for statue model building, and several brushes for cleaning. C++ with OpenCV, OpenNI, and Eigen was used.

I created and programmed (in C++) a robot that can play drum lines for famous songs and improvise on its own.