Olivier Matthey's activities at the LAMI, EPFL

Main project: DSP-based motion controller with CAN-bus

I am currently implementing a motion control system based on a fixed-point DSP, intended to be embedded in DC and brushless motors (Ø22 - 35 mm). Data exchange between controllers and/or a supervisor unit is achieved through an ISO-normalized fieldbus, CAN, complying with a protocol commonly used in industrial applications, CANopen. This work is developed in collaboration with Portescap, la Chaux-de-Fonds (NE, Switzerland).

Software for the LAMI 1 cm³ mobile robot

Our lab built a 1 x 1 x 1 cm (0.39 x 0.39 x 0.39 in) mobile robot, based on two brushless RMB smoovy motors. The software I wrote for the embedded microcontroller simultaneously handles the 2 x 3 PFM signal generation for both motors and the exchange of data with the single-wire remote control unit I also developed.

"Active seeds" for bio-inspired behavioral experiments with Khepera robots

To make the small objects ("seeds") moved by Khepera robots more easily detectable and to give them the ability to evolve (aging), an active seed that responds the IR pulses of the obstacle-avoidance sensors of the Khepera has been designed. I mainly wrote the software for the seeds' embedded microcontroller, whose smart behavior boosted their autonomy to several days.

As some of the computers used in our lab still require a mouse with "bus" interface, which is no longer manufactured, I designed a small one-chip "serial to bus" mouse interface converter. The circuit used costs under US$ 2 (in small quantities).

Finally, as a lab assistant, I also help students with several labs.

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Last updated: 19-Mar-97 / OM. -- hits since 24-Feb-97. -- Copyright © 1997 Olivier Matthey.