ori-dhumez.com
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2024 – 2025

DELIVERWHO A-LIVR8A

MIA Referent — Model, Intelligence, Autonomy

MATLAB SimulinkPID ControlKiCad PCBSolidWorksMPU-6050

Mechatronics capstone: 2-wheeled self-balancing campus delivery robot. Defined behavior laws, built a MATLAB Simulink digital twin, co-led PID stabilization and MPU-6050 sensor fusion.

Context

ICAM Toulouse mechatronics capstone project. The brief: design and build an agile 2-wheeled delivery robot for the ICAM campus, capable of carrying 5 kg packages (50×30×30 cm), with 2 hours of autonomy, PS5 DualSense controller interface, and a roadmap toward autonomous LIDAR/GPS navigation.

Team

  • Clara Vialard — Project Lead
  • Erwan De Saint Germain — Quality
  • Carla Ferrand — Procurement & Manufacturing
  • Paul Chamussy — CAD
  • Nathan Pascual — Structural Engineering
  • Léo Cirouant — Electronics
  • Ori Dhumez-Biagi — MIA (Model, Intelligence, Autonomy)

My Role

  • Defined the mathematical behavior laws governing balance and locomotion
  • Developed the MATLAB Simulink model for system simulation (PID controllers, motor dynamics) — used as a digital twin for pre-build validation
  • Co-led programming with Erwan: PID stabilization loop, MPU-6050 IMU sensor fusion, motor control firmware
  • Participated in stability tests and direction-control validation sessions

Technical Highlights

  • Mechanics: SolidWorks CAD + topology optimization + finite element analysis (Von Mises stress, displacement, deformation)
  • Electronics: Custom PCB designed in KiCad with PlatformIO firmware. System architecture in SysML.
  • Control: PID balance control, MPU-6050 IMU sensor fusion, PS5 DualSense Bluetooth interface
  • Manufacturing: Fab-lab 3D printing (PLA), €500 budget ceiling verified with SolidWorks Costing
  • Sustainability: SolidWorks Sustainability assessment (component supply chains: Asia → Europe and Europe → Europe)
  • Project management: OpenProject (Gantt + Kanban), GitHub version control

Test Results

  • Motor control: validated
  • Stability (2-wheel balance): partially validated — minor oscillation at steady state
  • Direction + balance combined: partially validated

Next Steps Identified

  • Custom PCB integration (replacing breadboard prototype)
  • LIDAR + ultrasonic sensors for autonomous navigation
  • GPS module for outdoor routing
  • Bumpers and mudguards
  • Full CAD completion with electrical integration
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