Industrial Engineering

Experimenting with the STM32N6 devkit + ST VD66GY MIPI-CSI2 global shutter camera to stream video feed over Ethernet (RTP / RTSP, H.264).

I designed the embedded system architecture for this robot hand.

It uses EtherCAT (with DC), CAN-FD, Multiple IMUs , FSR sensors for haptic feedback etc…

I worked as senior firmware engineer on this IP67 rated Q-UGV robot.

LINKEDIN VIDEO:
https://www.linkedin.com/login?session_redirect=https%3A%2F%2Fwww%2Elinkedin%2Ecom%2Ffeed%2Fupdate%2Furn%3Ali%3Aactivity%3A7038932824661327873

Port the schunk hand driver to ROS2 and code a C++ QT slider GUI to control the finger joints.

I was the lead embedded system engineer designing this hand (Firmware and Embedded system architecture and coding). Hand is using EtherCAT with Distributed clock for low jitter synchronized motion control and CAN-FD for the sensors…

Using a Raspberry Pi 3 with custom linux image PI24 running  fr24feed data sharing software +   an ADS-B receiver usb dongle ( Jetvision DVB-T R820T2 & SDR) + 1090MHz ADS-B high sensitivity antenna in order to setup my own ADS-B/Mode S receiver station with MLAT option enabled.

More info on how aircraft tracking works here : https://www.flightradar24.com/how-it-works :

 

IoT fun demo project to gather sensors data by using  Digi Xbee Zigbee modules  to create a wireless mesh network. If one of the nodes drops from the network, the Digi Xbee technology allow automatic packet re-routing through other healthy Xbee nodes.

For the purpose of this demo, we have 3 nodes. 1 Xbee coordinator gateway node (On the bottom of the picture) always powered ON  and act as the bridge/gateway between the internet connected cloud back-end (Amazon AWS, Microsoft Azure, IBM Watson etc..) and other Xbee nodes.

Besides, there is a service running on an embedded hw platform connected to 2G/3G or LoRa . This service will read and unpack Xbee packets using the Xbee API Mode and send them to the back end services. There is also the possibility to store data on SD card when the gateway cannot be reached (offline mode).

In this demo, 2 Xbee are configured in end devices and gather sensors data in the field.  When deployed in the field, this nodes will be standalone and battery powered.

PS: The usb connection for both end device nodes is just for the sake of this demo to provide power to the modules.

Refer to blog diagram below for a more complete system view.

 

 

The full bloc diagram of the project :

Multi-thread program with FreeRTOS, based on Producer /Consumer Architecture with queues synchronizing data between threads on AVR32 EVK1100.

The 2 producers read the ADC port for value of temperature (NTC Thermistor) and potentiometer, then send data via a queue to the consumer that convert it to degree and display it to the LCD and LEDs.

Servo-actuated stereo vision project with Visual studio C++ and OPENCV. Objective track object and give the depth in cm. Using Polulu servo controller to steer the Hitec digital servos and Turnigy 2S Lipo to power it all. Baseline between cameras == 11cm. Algorithm steps are:

1. Offline calibration
2. Undistort images
3. Rectify images
4. Find features (Camshit or HSV color Filter + Blob detection)
5. Triangulation

Link:  Technical Report Vision Project

This slideshow requires JavaScript.

 

 

Testing Camshift :