Offre de stage Master 2, équipe IRA2 IBISC : « Mechatronics update and control architecture of a mobile base using ROS »

Title: Mechatronics update and control architecture of a mobile base using ROS          

Context:

The mobile base platform is a wheeled robot developed for the MBZIRC challenge (2017-UAE). The omnidirectional wheel and the innovative integration were patented [WO2018158445-PCT/EP2018/055214].  The mobile base integrates three omni wheels with BLDC motors which should be operated by ROS2.

Objectives of the internship:

• Understand the mobile base functioning mechanism, mechatronically update it and operate it on ROS2.
• Perform an update on the hardware components
• Build the control architecture of the mobile base, based on the EtherCAT as a communication protocol, for the connection between the microcontroller (slaves) and the PC (master) with the aim of controlling it by ROS (Robot Operating System).
• Control each of these motors using ROS2 and create a ROS2 package for the mobile base.

During the project, the candidate will explore different solutions and present a research proposal within two weeks, including a vision of the solution he intends to implement throughout the project cycle. Milestones will then be set to deliver parts of the project.

Required skills:

• Mechanical or electrical engineering background.
• Knowledge of C++ language or Python
• Understanding the principles of the ROS2.
• Microsoft Office suite (Word/Excel/Power point).
• Ability to work in a multidisciplinary team.
• English (Spoken and written).

Supervisors

• Eng. GHANDOUR Maysoon: maysoon.ghandour@gmail.com
• Dr. SLEIMAN Maya: mayasleiman02@gmail.com
• Prof. ALFAYAD Samer: samer.alfayad@univ-evry.fr

Reference

Alfayad, S.; Kardofaki, M.; Fouda, K. Omnidirectional Wheel and Vehicle Implementing Said Wheel, Patent WO2018158445-PCT/EP2018/055214, 2018

• Date de l’appel : 09/02/2023
• Statut de l’appel : Non pourvu
• Contacts cotés IBISC: Samer ALFAYAD (PR IUT Évry, IBISC équipe IRA2) samer.alfayad@univ-evry.fr, Maysoon GHANDOUR (doctorante IBISC, équipe IRA2), maysoon.ghandour@gmail.com
  , Maya SLEIMAN (postdoc IBISC équipe IRA2), mayasleiman02@gmail.com
• Sujet de stage niveau Master 2 (format PDF)
• Web équipe IRA2