Hi, I'm Franck

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The focus of my master's thesis was on advancing the capabilities of swarm robotics through the integration of a 360-degree vision module for Sphero RVR robots. Swarm robotics, an emerging field, aims to achieve complex tasks through the collaboration of simple robots with limited sensors. The thesis tackled the challenge of enhancing information for each robot and, consequently, the entire swarm by proposing a cost-effective vision module.

The designed 360-degree vision module, tailored for a swarm of Sphero RVR robots, included a microprocessor and various cameras. Three distinct methods were explored for robot recognition: color segmentation utilizing LEDs, ArUco markers for localization, and a neural network trained on a dedicated dataset. Experimental evaluations and real-time applications were conducted to assess the performance of these methods.

Results revealed that real-time operations in computer vision demanded substantial resources, with challenges like motion blur affecting the effectiveness of certain methods. Despite limitations, the thesis showcased the potential of the vision module, providing a foundation for future enhancements in the capabilities of Sphero RVR robots within a swarm robotics context.

In summary, the master's thesis introduced a practical 360-degree vision module and outlined methods for robot recognition, enabling robots to identify and locate their peers. Integrating this vision module creates possibilities for extracting additional features in the future, improving information flow within a robot swarm. The thesis highlights the potential of computer vision in advancing swarm robotics, preparing it for more complex tasks and interactions with the environment.

In a Virtual Reality course, our team collaborated on a project using WebGL to craft a 3D RPG game. Emphasizing various virtual reality elements, the game featured immersive aspects like lights, bump mapping, reflection, refraction, particles, animations, explosions, shadows, sound effects, and a user-friendly interface with an ATH.

A notable challenge was avoiding external libraries, showcasing our ability to maximize the inherent capabilities of WebGL. The project captured the essence of creating a virtual reality, offering users a dynamic and interactive experience.

As part of my master's thesis, I developed a specialized package for the Robot Operating System (ROS) to enhance the capabilities of the Sphero RVR robot. This project, a crucial component of my thesis, involved the implementation of a vision module that I meticulously designed, prototyped, and built using a Raspberry Pi. The primary goal of my master's thesis was to smoothly integrate the growing potential of computer vision with swarm robotics.

The ROS package I created serves a pivotal role in enabling the Sphero RVR robot to recognize other robots. This recognition is achieved through various methods, including color segmentation, ArUco markers, and the utilization of a neural network EfficientDet0. By providing these recognition capabilities, the package contributes to advancing the field of swarm robotics, where collaboration and communication among robots are facilitated through innovative computer vision techniques.

In a collaborative project focused on pathfinding optimization, we dug into the complexities of the A* algorithm. Our implementation involved a comprehensive exploration of various heuristics, ranging from Chebyshev distance to the Euclidean metric. To enhance the user experience, we integrated a graphical interface, offering a visual representation of the algorithm's outcomes.

The project's main function visualizes the shortest path in an undirected node graph using the A* algorithm. A noteworthy addition was bidirectionality, enabling the algorithm to start from both ends simultaneously. Though this innovation boosted efficiency through parallelization, it did impact the guaranteed optimality of the solution. Nevertheless, the bidirectional approach demonstrated adaptability in balancing computational speed and solution quality for the A* algorithm.

In my second year of engineering, a friend and I started a Java project applying object-oriented programming principles. We created a simulation game inspired by the lively world of manga characters, reflecting my passion for anime.

In our 2D simulation game, we animated manga characters with lively sprites and added immersive sound effects. The gameplay included an experience system for character evolution and transformations, each equipped with multiple attacks. To up the challenge, we introduced enemies, including an intelligent boss. Throughout, we incorporated various anime references in characters and sounds, creating a fun blend of programming and pop culture.

During my academic journey, our team collaborated on a project centered on designing, prototyping, and building a robot with advanced functionalities. This versatile robot was engineered to detect, grasp, sort, and transport tubes based on their size. To achieve these capabilities, we integrated various sensors such as infrared, ultrasonic, and limit switches. The robot's mobility relied on wheel motors, while a carefully 3D-printed gripper, designed using Solidworks, was controlled by servomotors.

Our approach to project development included the creation of a simulation environment using Python and the turtle library. This environment served as a testing ground to validate various models before transitioning to the physical implementation phase. The logic governing the robot's actions was integrated using an Arduino, ensuring efficient communication between hardware components. Throughout the project, we followed an agile methodology, organizing our work into sprints to keep a dynamic and iterative development process. Our collective efforts led to the creation of a functional robot dedicated to its designated task, showcasing the collaborative spirit and technical abilities of our team.

In an engaging project sparked by my Quantum Physics teacher's proposal, I designed, prototyped, and built a homemade cloud chamber. Using 3D printing, plexiglass, and aluminum, I transformed the initial mini-prototype concept into a larger-scale cloud chamber. It proved capable of visualizing the radioactivity present in the air—an unexpected revelation.

This innovative project allowed me to witness the effects of radioactivity without the need for an external radioactive source. From the initial design to the meticulous construction, the cloud chamber became a tangible manifestation of theoretical concepts discussed in class. This practical experience not only offered valuable insights into the real-world applications of quantum physics but also highlighted the thrill of applying classroom theories to hands-on experiments.

In the first year of my bachelor's program, I participated in a collaborative project focusing on the design, prototyping, and construction of an autonomous car. The aim was to create a vehicle capable of autonomously navigating a predefined arena, following roads, and interpreting traffic signs. To achieve this, we integrated various sensors, including a camera and infrared sensors, along with motors for precise wheel control.

The project followed a methodical approach, starting with simulations to validate our model before moving on to the implementation phase. Operating under agile methodology, we organized our workflow into sprints for a structured and iterative development process. The successful integration of hardware and software, alongside the use of microcontrollers, represented the achievement of our goals in creating a functional autonomous car prototype during our first year in the bachelor's program.