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MOSAIC Project: 7 Branches of Development
The project is split into several different branches (called departments). Each participating member is in charge of one department.
These 7 branches correspond to 7 parts that are currently well-specified with the multiple tasks identified required to bring the design work to its conclusion.
The division into branches and tasks is not permanent or rigid, a department can be divided into two or more other departments.
Similarly, a task included in one department can be assigned to another department.
And finally, it is also possible to add a new department for other features or others types of robots or applications (vision equipment, robotic arm, another type of robot).

Depending on each participating member and the material he owns, each department can offer a particular skill that may be requested by another member (for example a department able to execute the routing or cabling of its PCBs or a member with a specific measurement equipment or a specific software).

1 - PROPEN DEPARTMENT: PROPULSION - ENERGY
This is the first department to be created and it designed the existing robot prototype that is described elsewhere in this website. Its main components include:
- Motors and drivers
- Stabilization via 2 linear actuators and their drivers
- Battery and charging
- General power source
- 32-bit RISC card for general management of PROPULSION / ENERGY and its embedded software
- Generation of odometric data, speed-profiles and strength-profile of robot runs
- Silent properties of the robot (dampening of noise generated by motors, power electronics)
- Monitoring of parameters (temperatures, default)

In addition, this department is in charge of developing the U-BASE, an experimental robotic platform for the robotics labs (private or public), universities and other private projects (see the "robots to be developed" menu for more information on U-BASE)
Tasks to carry out on this universal platform include:
- Creating a platform package to suit the specific needs of laboratories developers
- Creating a system of options in order to deliver a platform with varying degrees of equipment (options may include: linear actuators, embedded PC, docking station, remote emergency STOP)
- Designing a software interface with the universal base (inspired from the current software still being developed)
- Creating Libraries / DLL / API for developers who use this platform for their own applications
- Creating documentation tailored to the needs of developers (low level documentation)

Note 1: This department is unique in that a major proportion of the tasks listed above have already been developed (50%).
Bernard FROMENT will therefore be the Participating Member for this department.
Note 2: This department is also the hardware knowledge center for the MOSAIC project: design, development, cabling and testing of PCB cards.

2 - GRAND CENTRAL DEPARTMENT: Robot's main embedded software
This department mainly includes:
- Choice of the real-time embedded OS and system administration
- Centralization of the work of software developers in other departments
- Multi-robot modes (unsynchronized and synchronized)
- Complete development of the embedded HMI (adapted to each different robot that is developed)
- Design of a remote box (this part is not embedded but an extension of the embedded HMI)
- Connection to Wifi hot spot and sending messages (e-mail / text)
- Speech messages emitted by the robot
- Robot's interaction with its environment
- Robot security (anti-tilt) and various detection capabilities (rain, for example)

Note: The PC board and the wifi board currently exist on the robot prototype but the RTOS has not yet been defined (to be done).
Apart from these 2 elements, everything else must be selected and integrated (sensors, remote control, voice synthesis card, radio communication inter-robots)

3 - LMAD DEPARTMENT: Location, Mapping, Avoiding and Docking
This department corresponds to the development of real-time tasks for:
- Selecting and integrating the sensor detection of obstacles (3D LIDAR or stereo vision, taking into account the fact that multiple robots will be designed to work together)
- The robot’s SLAM: Simultaneous Localization And Mapping (by merging odometeric data with Extended Kalman Filter, or another method)
- Dynamic real-time avoidance of obstacles and determination of new path after detecting the obstacle
- Path determination through "Learning" and through map localization
- Docking: Selecting and integrating sensors for automatic connection to the robot’s docking-station
- Docking: Development of real-time docking task

Note: The docking station will not be developed by this department, but only the sensors and software that are necessary for automatic docking.

4 - NE-SOFT DEPARTMENT: Non-Embedded Software
This department will be responsible for developing all external non-embedded software for the robot. The choice of languages, tools and support are still to be made in all freedom by the Participating Member. The external software is mainly composed of:
- Application software for the various robots that will be developed (PC, Mac and/or tablet and/or smartphone)
- Software for remote maintenance: Maintenance management of robots delivered is carried out using the data transmitted by the robots via the web)
- Website support platform

Note: No specifications have yet been defined for these departments. Design and development opportunities are wide open for this sector.

5 - MECHA DEPARTMENT: Mechanical
Based on the existing prototype, this department will be responsible for:
- Designing a new mechanical chassis (lighter / space-saving)
- Designing new, larger wheels (160mm) equipped with professional tires
- Designing a system for changing wheels more easily
- Integrating a LiFePo4 battery
- Integrating a cleaning system for the wheels
- Reducing the noise generated by the robot (anti-vibration plots, etc.)
Furthermore, this department will be in charge of the mechanical design of a docking-station:
- The shape of the docking-station needs to be entirely designed from scratch
- The mechanical connection system between the robot's linear actuators (existing) and the docking-station (in order to charge the embedded battery).

Note: This department is also the center of mechanical skills and knowledge for the MOSAIC project: Design and development of specific mechanical elements.

6 - EADS DEPARTMENT: Equipment and Design
This department is in charge of the entire design of the different robotic applications that are planned:
- Refining the specifications for robotic applications, in collaboration with the marketing Dpt.
- Ergonomics of each robot
- Complete exterior design and shape of robots
- Integration of the common base propulsion unit
- Integration of specific equipment for each robot-application

Note1: This department will acts "transversely" in the MOSAIC project because it interacts closely with all other departments.
Note2: Because the required investment in this department could be large, this department will probably be split into several sub-departments.

7 - MM & Co DEPARTMENT: Money, Marketing and Communication
Even non-technical projects cannot be completed without these elements.
This department does not need to invest in the purchase of a robot prototype. Its role is to:
- Market robot applications as forecasted
- Communicate around the MOSAIC project (website, magazines, media, etc.)
- Create a brand image (logo, etc.)
- Design a website for the collaborative MOSAIC project, update and manage the site.
- Pre-order the U-BASE units
- Raise funds (European aid, private funding, internet funding, Kickstarter, etc.) for future investments required to manufacture and distribute the robots that will be developed.
These funds will be collected for the MOSAIC project Association.

This department will also have 3 main functions:
- It is the "official" voice of the MOSAIC project.
- It will prepare the future for the foundation of the European company (at the end of the MOSAIC project)
- It will research and keep informed on new events as they happen on planet robot, communicate and inform members who are "nose to the grindstone”.

Note: Due to its wide range of activities, this department is largely free to choose its methods and develop its plan of action.