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@@ -181,11 +181,30 @@ repairability constraints. To date, researchers have not addressed the challenge
 be locally fabricated, repaired with standard components, and secured against unauthorised wireless access requirements 
 that are critical for decentralised, community-operated fleets.
 
-\section{The aim of the study}
-This report presents the design and implementation of a VESC-based motor controller tailored to the needs of the 
-Manufacture Autonome Décentralisée (MAD), an organisation operating electric cargo bikes and freight tricycles. 
-We aim to focus on adapting the VESC open-source firmware to support both FOC and trapezoidal commutation, integrating 
-positional control, and addressing Bluetooth security, while prioritising local manufacturability at INSA Toulouse.
+\section{Aim and Research Objectives}
+This work presents the design and implementation of a motor control system for electric bicycles and cargo transport 
+applications developed within the context of the Manufacture Autonome Décentralisée (MAD) initiative at INSA Toulouse. 
+The main objective is to develop a modular, open-source, and locally manufacturable control architecture adapted to 
+low-cost electric mobility systems.
+
+To achieve this, the project is structured into four main technical contributions.
+
+First, a low-cost motor controller is designed based on a six-step (trapezoidal) commutation strategy. The objective is 
+to eliminate the need for a microcontroller by relying exclusively on discrete MOSFETs and standard electronic 
+components, thereby improving repairability, accessibility, and ease of local manufacturing.
+
+Second, a high-performance controller based on Field-Oriented Control (FOC) is developed using an STM32 microcontroller 
+platform. This implementation leverages and adapts the open-source VESC firmware to ensure compatibility with the 
+selected hardware while enabling advanced motor control capabilities.
+
+Third, the security of the wireless communication interface is investigated, with a focus on Bluetooth Low Energy (BLE) 
+vulnerabilities. A Flipper Zero device is used as a diagnostic tool to evaluate potential attack surfaces and identify 
+weaknesses in the communication layer.
+
+Finally, a dynamic model of the bicycle–cargo system is developed to improve rider experience. 
+The objective is to minimize the perceived additional effort when towing a cargo cart. This is achieved through a 
+PID-based (Proportional–Integral–Derivative) control strategy combined with distance sensing, allowing adaptive 
+assistance based on system dynamics.
 
 \section{Software and Connectivity}