Last Updated 2019-10-10.

1. Project Portfolio:
Control, Software & Other
Samuel Narcisse

2. Summary
 Control Project: Simulation & Control of a Propeller (MATLAB,C++,QNX)
 Coding Project-Face Recognition(OpenCV,Yocto,OdroidC2)
 Robotics Project: Path Planning & Control of Robotic Arm
 Robotics Project: Delta Robot Control & Robotic Vision
 Coding Project: Mario Sokoban Game(C,SDL,F_MOD)
 Work- System Software & Control Specialist-Aircraft Autopilot-
CAE(C++,Python,Fortran,RTOS)
 Robotic Project: 2D Parallel Cable Robot- June/Aug. 2014(MATLAB,C
CODE)
 Work:Mechanical Design Engineer-Gebo Cermex(SolidWorks)
 Work: Robotics Coordinatoor/FRC Mobile Robot (Labview, Java, NI-
roboRIO)
 Work:Eng. Consultant-Site Eng./Technical Document Writer at Show
Canada China
 Mechatronics Project: Automated Multi-Adjustable Chair
 Volunteering: FRC ROBOT 2016
 Internship: Project Engineer at Nova Bus
 Aerospace Control Project: Multicopter (Robust & Optimal Control: H∞ ,
LQR)
 Aerospace Control Project: Helicopter (Modal Control-Struct. placement)
 Navigation Project: Sensor Fusion(INS)-Kalman Filtering (AEKF)
 Navigation Project: Sensor Fusion(INS/GPS)-Kalman Filtering
(HEKF/MEKF/CEKF)
 Control Project: MIMO Water Plant systems(Modal Control-State return,
State Observers)
 Aerospace Control Project: Satellite(H∞ non-structured)
 Robotics Project: Work Space study 2PRU-1PRS Parallel manipulator
 Coding Project: RPG Class Generator(C++,Qt)/RPG MonsterWars(In
progress)
 Robotic Control Project: Standard Industrial Robot Control & Dynamic
Modeling
 Embedded Syst. Control Project :Coding & Control of a sound-oriented
gyroscope:MCU Cortex(TM4C123GH6PM), ADC, UART, PMW, CMSIS, C/Ass., uVision
 Embedded Syst. Control Project : CC Motor Control: MCU
PIC (PIC16F684), MPLAB, C/Ass., Fritzing, Matlab/Sim.
 Robotic Project: Automated Mini-Rover
 Digital Image Processing Project
 Other Project
2

3. Simulation & Control of a Propeller Wing.-
Jan./May. 2015-(MATLAB,C++,QNX)(1/6)
QNX System Architecture
ELE4200-Introduction to Control on
Embedded Computers
 Use the QNX Momentics development
environment to created real time control
task on a QNX Neutrino target machine.
Acquire & Write Data via NI_DAQ_PCI6025.
 Implement C++ Code: Periodic Threads,
Data Acquisition, Signal Creation &
Processing.
 Analyse & Implement C++ discretized
recursive function of multiple controllers.
 Analyse & Implement system controllers
via Matlab/Simulink.
 Compare Matlab Data with QNX Output
Signal via Oscilloscope.
3

4. Simulation & Control of a
Propeller Wing (2/6)
• Modeling dynamic system of an existing
Propeller wing to implement multiple
type of controllers.
• Simulate & Verify the simulation result of
the servo-controlled setup .
• Implement controller on the real physical
setup.
• Matlab & QNX implementation(C++).
4

5. Simulation & Control of a Propeller
Wing(3/6)
Math.Model - Electrical Math.Model - Mechanical
5

6. Simulation & Control of a Propeller
Wing(4/6)
2 Degree of freedom RST Compensator
6

7. Simulation & Control of a Propeller
Wing(5/6)
Results(RST Compensator)
7

8. Simulation & Control of a Propeller
Wing-Data Read & Write Short Ex.(6/6)
BoardTest_t.h
class BoardTest_t : public NI_DAQ_PCI6025
{public:
BoardTest_t( BoardConfig &_brdConfig,int _taskPriority =
20,int _taskStackSize = 0)
:NI_DAQ_PCI6025(_brdConfig, _taskPriority,
_taskStackSize)
,outputValue(1),intputValue(0),e(0),e1(0),u(0),ue(1.34),u1
(0),r(0),y(0),count(0)
{write(0,0,5);theta_e = 25*3.1416/180;a_step =
1*3.1416/180;};
~BoardTest_t(){write(0,0,5);};
protected:
void handlingData();
float outputValue;float intputValue;float e;float e1;float
u;float ue;float u1;float r;float y;float theta_e, a_step;int
count;};
BoardTest_t.cpp
void BoardTest_t::handlingData()
{read(0,intputValue);y=(intputValue-0.204)*0.1455;
printf("%fn",y*180/3.1416);count= count+1;
if (count<5000)
u = 0;
else
{ if (count<=10000)
r= theta_e;
else
r=theta_e + 20*a_step;e = r-y;u = u1 + 0.1*e -
0.098*e1;u1=u;e1=e;
}
write(0,u+ue,5);};
8

9. Coding Project-Face
Recognition(OpenCV,Yocto,OdroidC2)
Embedded H/W: OdroidC2 Face Recognition Detection:
9
 The goal of this project is to
interface an Odroid-c2 board with
a webcam to a computer through a
TCP-IP connection for face
recognition.
 CODE:https://github.com/Weltgeis
t/projetCamera
 VIDEO:https://www.youtube.com/
watch?v=5bsJF_Ennxw

10. Robotics Project: Path Planning &
Control of Robotic Arm
Control System Diagram Tool Path
10

11. Robotics Project: Delta Robot Control &
Robotic Vision
Object Detection & Pick &
Place Operations Delta Robotic
11

12. Coding Project/Personal Learning Project-
Mario Sokoban Game(C,SDL,F_MOD)-July 2015
 Build a game from
scratch using:
 SDL Image and Event
library
 F_MOD Sound Library
 Internet
Documentation
 C Code.
 Specification:
 Map Editor
 Multiple Levels
 1-Player Mode
12

13. Work- System Software & Control
Specialist-Aircraft Autopilot-CAE
13
 Autopilot Software
Development & Engineering.
 Implement, Design & Debug
software solutions for Real-
Time Aircraft Simulation.
 Solving Software & Hardware
Defects/Issues. Code
optimisation & refactoring.
Piloting.

14. 2D Parallel Cable Robot- June/Aug.
2014(MATLAB,C CODE)(1/3)
CAD
Prototype
Includes :
Programming, Electrical Circuit, Structural Analysis,
Modeling, Fabrication, Testing, Optimizing and Problem
solving.
14

15. 2D Parallel Cable Robot(2/3)
Circuit Math. Model
15

16. 2D Parallel Cable Robot(3/3)
Result-PID(Kp=400,Ki=1.5, Kd=75)
16

17. Work-Mechanical Design Engineer-Gebo
Cermex
 Design and carry out
mechanical analysis of
conveyors, palletizing and
packaging machines.
 Inspect the installation and
assembly of the product on
site or in the workshop.
 Perform structural calculation,
pneumatic design and
electrical integration.
 Assistant of the robotics
department
17

18. Work-FRC ROBOT-Oct.2014-
Apr.2015 (LabView)(1/3)
• Team: 1 Engineering Student (me),1
Teacher, 1 Technician, 5 Engineers & High
school Kids.
• Goal:
• Construct a robot from A to Z to
participate in a provincial
competition.
• Help Kids develop an interest in
sciences & school in general
VIDEO:
• Match:https://www.youtube.com/watch?
v=s5EcxI4OpvE&feature=youtu.be
• Practice:https://www.youtube.com/watc
h?v=F-1HZ4rC0_s
18

19. FRC ROBOT 2015(2/3)
Circuit
Field Match
19

20. FRC ROBOT 2015(3/3)
Team
20

21. Work-Eng. Consultant-Site Eng./ Technical
Document Writer at Show Canada China-
Nov.2015-Mars 2016
Tasks:
 Technical documentation writing for a Disney
Project.
 Project management assistance
 General engineering tasks(Mechanical & Electrical)
 Manual labor in a manufacturing environment.
21

22. Work-Eng. Consultant Technical Document
Writer at Show Canada China-Nov.2015-Mars
2016
https://www.youtube.com/watch?v=QFMwAotc1nA
Nigel appears at 7:32 in the video
Example of project: Nigel’s float-Mickey's Storybook Express
Shanghai Disneyland
22

23. Automated Multi-Adjustable Chair -
Aug.2014-May 2015(1/2)
 Goal: develop an adjustable chair to adequately position the children on
whom clinicians take dimensional fingerprints for the manufacture of shin
splints.
 Apply concepts of CAD, finite element analysis, prog. , testing & teamwork.
 Multidisciplinary project including engineering, industrial design & market
analysis.
 Project spanned 2 years and fabrication and final minor adjustments been left
to the second team.
 Any other information is subject to a confidentiality agreement
23

24. Automated Multi-Adjustable Chair -
Aug.2014-May 2015 (2/2)
24

25. Volunteering. FRC ROBOT Mars./April
2016
25

26. Internship.-Project Engineer at
Nova Bus-Aug./Dec.
2013(VISUAL BASIC)
• Learn about all the possible configurations and
layout of the bus subparts & systems
• Gather technical information to my superiors
from a database:
• Technical description of parts, Assembly
designs, Pictures, Reference Number &
mores.
• Present, explain and simplify technical product
configuration changes to clients.
• Update multiple progress reports
• Use, improve or create multiple macro in VISUAL
BASIC
Planning & Configuration Department
26

27. Multicopter(1/2)-Top Level-LQR,H∞
27
Summary:
 Based on a research project, compare the
effects of a LQR and Hinf structured controller
in a windy environnement
 Dryden’s Wind Model+Khan’s Propeller model
(Force & Torks)
AscTec Pelican MulticopterSimulink Top Levels; Standard Matlab
Aerospace block Alternative

28. Multicopter(2/2)-H∞ struct. synthesis
28
H∞ structured method:
 An alternative to it’s non-structured counterparts
 PID format
 Possible to impose frequency requirement on input and outputs to have better results.

29. Helicopter (1/2)-Modal Control
29
 Problem 1: Find
equilibrium condition for
Yamaha R-Max helicopter
for stationary flight and
find linearize system.
 Problem 2: Apply
structure placement
principle on reduced
model to decouple
certain states from one
another. Per example, a
control input to move in
longitude plan should not
affect the lateral plane.
Yamaha R-MAX helicopter
Modal control/Structure placement:
Output Y state return model:

30. Helicopter (2/2)-Modal Control
30
Results

31. Sensor Fusion(INS)-Kalman
Filtering(1/1)-AEKF
Algorithm Results
31
Summary: Comparing Adaptative Extented Kalman filter(AEKF) and Conventional extended
kalman filter(CEKF) on a simplified 2 Axis Intertia measuring Unit(INU). INU is measuing
angular velocity using gyroscope and is using the acceleromter as a inclinomter to measure
angular displacement. Algorithm is started with a known bad estimate of Q and R and as
show on results(only AEKF) it still converge and error (3d figure) is dropped dramatically.

32. Sensor Fusion(INS/GPS)-Kalman Filtering
(HEKF/MEKF/CEKF)-1/2
Navigation Syst.
Architechture
Navigation Syst. Trajectory &
Results
32
Note: Quaternion Based AHRS

33. Sensor Fusion(INS/GPS)-Kalman Filtering
(HEKF/MEKF/CEKF)-2/2
Cartesian & Angular Position Velocity & Gyro Bias
33
Note: Bias on Accelerometer, Scale Factor on Accelerometer, Not Showed.

34. MIMO Water System Plant(1/2)
Valves after pump 1 and pump 2 are used to control
flow rate and influence the height of the 4 water
tanks.
Non-Linear & Linear Model
34
System plant-Valve control

35. MIMO Water System Plant(2/2)
 Step Tracking-State space Return  Step Tracking-State space Complete
Observer
35

36. Satellite-H∞ non-struct.(Robust Control)
36
 Open Loop Augmented Frequency
Weighted System
 Closed loop robust system

37. Robotics Project: Work Space study
2PRU-1PRS Parallel (1/2)
37
 Workspace study algorithm
 Pattern Search Optimization
 Parallel Robot Model (Schematic+Solidworks)

38. Robotics Project: Work Space study
2PRU-1PRS Parallel (2/2)
38
 WS0: Possible pose restricted by inverse
kinematics
 WSS: Possible pose restricted by all
phenomenon +Biggest sphere in that WS.

39. Coding Project/Personal Learning Project II-
RPG Class Generator(C++,Qt)-Feb.2017-
Today(In progress)
 Build a game from
scratch (In
Progress) using:
 Qt Library
 F_MOD Sound
Library
 Allegro, SFML
Libraries (In
Progress)
 Internet
Documentation
 C++ Code.
 Specification:
 Class Generator
39

40. Standard Industrial Robot Control &
Dynamic Modeling.-Aug./Dec. 2014
 Developing Direct & Inverse
kinematic model with Denavit-
Hartenberg parameters.
 Program robot for simple
application: Hanoï Tower
 VIDEO:
https://www.youtube.com/watch?
v=b8UiJTjoLDw
40

41. Other Projects-Coding & Control of a
sound-oriented gyroscope (1/2) (C/ASM)
Sound Application Diagram ELE3312:Microcontrollers &
Application
 Development
environment: MDK-
ARM V5
 IDE:uVision5+Matlab
 Microcontroller:TM4C1
23GH6PM
41
Summary: Taking 3 input signals from micro-
phones, we triangulate a position and sed
the information by UART to Matlab and by
PWM to stepmotor

42. Other Projects –CC Motor Control
(C/ASM/MATLAB)(2/2)
Control Circuit MEC4360:Mechatronics 2
 Microcontroller:PIC16F684
 IDE:MPLAB
42
Flash loading example:
Summary: Testing the CC trough a standard PIC
Workbench we determine the motor parameters. We
use these to implement a controller on Matlab via
SISOTool, Then we implement the controller found via
Matlab on the PIC and control the motor in position
and speed.

43. Automated Mini-Rover (1/2)-Jan./May
2013 (C,Arduino)
VIDEO: https://www.youtube.com/watch?v=-DZd3499sww 43

44. Automated Mini-Rover(2/2)
Technical Drawing CAD
44

45. Digital Image Processing
Canny Segmentation &
Hough transform
Notch Filter-Frequency Domain
Wavelet Transform-Harr
45

46. Other Projects
 Analysis of the clamping of a
injection molding machine (Ansys)
 Bike Design & Analysis(Catia)
 Finite Element Analysis of a
Nuclear Radiation Shield(Nastran)
 Fluid Mechanics Study, Material
resistance Study
 Thermal Analysis project(Ansys):
Processor, Composite Walls, House
Piping, Multi-Modal
 Vibration Analysis Project(Matlab)
 Others
46