Arnaud Hote

Alfred is a self-balanced, two-wheel robot based on Raspberry Pi. I chose and assembled the hardware myself: Raspberry Pi, two motors with quadrature encoders (controlled with PWM signals), an IMU (with an I2C interface), an ultrasonic proximity sensor, and a Raspberry Pi camera. I also simulated it in Gazebo and started working on it in NVIDIA Isaac Sim.

I'm using this project to apply the new skills I learn from books and online courses.

This project is based on a 3D-printed robotic arm controlled by an RP204O-based board. I added some Hall effect sensors in the base to calibrate its position, as the servo-motor controlling its rotation is continuous.
Moreover, the RTIC framework that schedules the movements allows for real-time concurrency.

This project aimed at porting the motion control strategies of a line of robots to an older one, built with different hardware architecture. To achieve this goal, the team had to gradually introduce changes to the code without altering the performances of the robots already used in production sites. I did the same to both series and integrated a software module from the newer series. I investigated an issue where an error was raised wrongly by carrying out some tests on a real robot and analyzing the data produced. I also updated part of the simulation framework to reflect some changes in the robot's behavior. The new motion control strategies were successfully tested on a small fleet of robots but are not yet deployed to production sites.

The M7003 was the latest model of the most powerful line of tractors from Kubota (M7 series). I developed two new tractor functions, Xpress restart (that allows the operator to declutch only using the brake pedals) and Multispeed steering (that allows the operator to turn with less steering wheel turns at low speed) for this new model. I analyzed the system requirements and wrote the derived software requirements and associated code for these new functionalities, while exchanging regularly with the suppliers of the involved sub-systems. I tested the implementation on a real tractor, carrying out tests on a track. Before the start of production, I supported the assembly team for the implementation of end of line testing for the new functions.
The M7003 was successfully put into production as planned and received very good reviews by specialized magazines.

This project was developed for Mercedes E Class cars. The charger was located in the centre console. My first contribution to the project was the integration and configuration of an already developed RAM checking module. I then had to design a software module responsible to report the status of the charger to the user. The version I developed used a LED but I designed the module to be completely modular and capable of accommodating other interfaces. I wrote the test plan for this module and implemented associated code and unit tests. I successfully demonstrated the module behavior to the client and the charger was put into production.