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@ -12,7 +12,7 @@
\begin{document}
\title{Improving the MAD Max\\
\thanks{INSA Toulouse, Maillon Mobility}
\thanks{laMAD}
}
%\maketitle
@ -29,13 +29,13 @@ Abescat@insa-toulouse.fr}
\textit{INSA Toulouse}\\
Toulouse, France \\
Attar@insa-toulouse.fr}
\and
%\and
\IEEEauthorblockN{Brage Flønæs Johnsen}
\IEEEauthorblockA{\textit{GEI} \\
\textit{INSA Toulouse}\\
Toulouse, France \\
Johnse@insa-toulouse.fr}
\and
Johnse@insa-toulouse.fr} \\
%\and
\IEEEauthorblockN{Oskar Orvik}
\IEEEauthorblockA{\textit{GEI} \\
\textit{INSA Toulouse}\\
@ -47,13 +47,13 @@ Orvik@insa-toulouse.fr}
\textit{INSA Toulouse}\\
Toulouse, France \\
Pavillon@insa-toulouse.fr}
\and
%\and
\IEEEauthorblockN{Nolan Reynier Nomer}
\IEEEauthorblockA{\textit{GEI} \\
\textit{INSA Toulouse}\\
Toulouse, France \\
nomer@insa-toulouse.fr}
\and
%\and
\IEEEauthorblockN{Aleksander Taban}
\IEEEauthorblockA{\textit{GEI} \\
\textit{INSA Toulouse}\\
@ -64,15 +64,25 @@ Taban@insa-toulouse.fr}
\maketitle
\begin{abstract}
Finished.
Electric bikes are becoming an increasingly attractive solution for transporting goods between short distances, especially in city-wide infrastructures. However, most commercially available controllers rely on complex integrated circuits making repair and local manufacturing difficult, particularly for organisations operating in resource-constrained or low-tech environments. La Manufacture Autonome Décentralisée (LaMAD) is developing products and solutions, particularly e-bikes, which are more repairable and sustainable. Previous studies have predominantly focused on performance optimisation of Field Oriented Control (FOC) and trapezoidal commutation strategies, with limited attention to repairability, component sourcing, and community-centred sustainability criteria. This project aims to design, assemble, and develop a functional, low-tech and open-source motor controller for electric cargo bikes. The current model uses an open-source motor control called VESC (Vedder Electronic Speed Controller) that allows precise control of electric motors. The controller needs to be compatible with a VESC controller and easily locally repairable by LaMAD. By exploring the inner workings of the VESC project, modelling of the physical systems and the Printed Circuit Board, PCB, we investigated the ways we could do it in another way. We acquired a VESC controller to compare our system and a commercial product. Preliminary results demonstrate that the adapted VESC-based controller successfully drives the target motor under both commutation strategies, and that positional control is achievable with the current hardware configuration. Security vulnerabilities related to open Bluetooth access were identified. These findings suggest that open-source, locally fabricated motor controllers can meet the functional requirements of electric cargo bikes while significantly improving repairability.
\end{abstract}
\begin{IEEEkeywords}
component, formatting, style, styling, insert
VESC Project, Brushless DC motor, Field Oriented Control, Trapezoidal commutation, Low-Tech, e-bike.
\end{IEEEkeywords}
\section{Introduction}
Finished.
The fast urbanization of global logistics has positioned electric cargo bikes as a primary solution. At the heart of these vehicles is the motor controller. Current research and industry standards primarily focus on two methods of commutation for the controller: Trapezoidal commutation and Field Oriented Control (FOC).
As motor controllers become smarter, they increasingly incorporate wireless connectivity for tuning and diagnostics. Current research highlights that while Bluetooth Low Energy (BLE) and mobile app integration improve user experience, they often introduce vulnerabilities. Open-source projects, in particular, must balance ease of access for community developers with the need to secure the vehicle.
\section{Litterature review}
\section{Research gap}
Despite this progress, limited research has examined the adaptation of open-source motor controllers to LowTech and repairability constraints. To date, researchers have not addressed the challenge of designing a controller that can 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{Bluetooth Low Energy}
@ -85,19 +95,11 @@ Bluetooth could be a vulnerability to a VESC if the VESC is to be used as a cont
\subsection{Testing of BLE-modules}
What we have done: Flash VESC on a discovery-card. As
We started by connecting the blutooth modules.
What we have done: Flash VESC on a discovery-card. We connected the HC-05 module to the PB10 and PB11-pins, which are the Rx and Tx-pins for the STM32F4xx chip. We discovered that the setup for the bluetooth module was not available in the VESC tool. This is an important limitation to consider when designing a VESC system.
\section{Prepare Your Paper Before Styling}
Before you begin to format your paper, first write and save the content as a
separate text file. Complete all content and organizational editing before
formatting. Please note sections \ref{AA}--\ref{SCM} below for more information on
proofreading, spelling and grammar.
Keep your text and graphic files separate until after the text has been
formatted and styled. Do not number text heads---{\LaTeX} will do that
for you.
\section{Code integrity}
As the project is open source, and the code
\subsection{Abbreviations and Acronyms}\label{AA}
Define abbreviations and acronyms the first time they are used in the text,
@ -105,151 +107,36 @@ even after they have been defined in the abstract. Abbreviations such as
IEEE, SI, MKS, CGS, ac, dc, and rms do not have to be defined. Do not use
abbreviations in the title or heads unless they are unavoidable.
\subsection{Units}
\begin{itemize}
\item Use either SI (MKS) or CGS as primary units. (SI units are encouraged.) English units may be used as secondary units (in parentheses). An exception would be the use of English units as identifiers in trade, such as ``3.5-inch disk drive''.
\item Avoid combining SI and CGS units, such as current in amperes and magnetic field in oersteds. This often leads to confusion because equations do not balance dimensionally. If you must use mixed units, clearly state the units for each quantity that you use in an equation.
\item Do not mix complete spellings and abbreviations of units: ``Wb/m\textsuperscript{2}'' or ``webers per square meter'', not ``webers/m\textsuperscript{2}''. Spell out units when they appear in text: ``. . . a few henries'', not ``. . . a few H''.
\item Use a zero before decimal points: ``0.25'', not ``.25''. Use ``cm\textsuperscript{3}'', not ``cc''.)
\end{itemize}
\subsection{VESC compiling}
We have been able to compile the VESC tool and the VESC firmware. This firmware has been put onto an STM32F4xx Discovery card. This poses several problems for our progress on the topic of cybersecurity. We will however summarise what we have learned for you and propose some additional work for the future. The challenges we encountered were the following: The lack of bluetooth capabilities. We did not have a module with BLE eiter. We had access to a HC-05 module, but that only allows for a normal bluetooth protocol and would require further work on a bridge to UART by using an esp8622 that we had as well. We propose that the next group has access to a VESC controller from the beginning, as well as a motor we could control. This could be in cooperation with laMAD, as laMAD could propose some models they're interested in.
\subsection{Equations}
Number equations consecutively. To make your
equations more compact, you may use the solidus (~/~), the exp function, or
appropriate exponents. Italicize Roman symbols for quantities and variables,
but not Greek symbols. Use a long dash rather than a hyphen for a minus
sign. Punctuate equations with commas or periods when they are part of a
sentence, as in:
\begin{equation}
a+b=\gamma\label{eq}
\end{equation}
We also found that the information on the VESC is scattered around the net. The ressources is also sometimes based on a debian-based linux system which adds more work for someone using another distribution of linux. This could hinder the implementation facility for new users. We struggeled particularly with the Qt packages for positioning and gamepad.
Be sure that the
symbols in your equation have been defined before or immediately following
the equation. Use ``\eqref{eq}'', not ``Eq.~\eqref{eq}'' or ``equation \eqref{eq}'', except at
the beginning of a sentence: ``Equation \eqref{eq} is . . .''
\subsection{lispBM extraction}
We caugth word that the lisp code for the VESC used by Maillon mobility was easy to extract. By building an older firmware with the Maillon mobility software, we observed this by going to the lispBM tab and clicking read. It's up to laMAD if they would like to reinforce this mechanism. A modification on a parameter and then clicking upload allowed us to easily change the speed limit. This could bring up a public danger. This raises questions on the use of laMADs equipment which is in a traffic friendly manner.
\subsection{\LaTeX-Specific Advice}
When we flashed newer firmware from the project made by Benjamin Veeder\footnote{https://github.com/vedderb/bldc/}, we also observed some difficulties in uploading the lispBM script taken from the one on firmware version 6.06. This could indicate that there needs to be further maintenance of the code in order to get the software up to speed. This needs to be documented better for someone to continue the project. This could be a good investment for laMAD as well in the context of training for the people working on the motor control part of the e-bike.
Please use ``soft'' (e.g., \verb|\eqref{Eq}|) cross references instead
of ``hard'' references (e.g., \verb|(1)|). That will make it possible
to combine sections, add equations, or change the order of figures or
citations without having to go through the file line by line.
Please don't use the \verb|{eqnarray}| equation environment. Use
\verb|{align}| or \verb|{IEEEeqnarray}| instead. The \verb|{eqnarray}|
environment leaves unsightly spaces around relation symbols.
Please note that the \verb|{subequations}| environment in {\LaTeX}
will increment the main equation counter even when there are no
equation numbers displayed. If you forget that, you might write an
article in which the equation numbers skip from (17) to (20), causing
the copy editors to wonder if you've discovered a new method of
counting.
{\BibTeX} does not work by magic. It doesn't get the bibliographic
data from thin air but from .bib files. If you use {\BibTeX} to produce a
bibliography you must send the .bib files.
{\LaTeX} can't read your mind. If you assign the same label to a
subsubsection and a table, you might find that Table I has been cross
referenced as Table IV-B3.
{\LaTeX} does not have precognitive abilities. If you put a
\verb|\label| command before the command that updates the counter it's
supposed to be using, the label will pick up the last counter to be
cross referenced instead. In particular, a \verb|\label| command
should not go before the caption of a figure or a table.
Do not use \verb|\nonumber| inside the \verb|{array}| environment. It
will not stop equation numbers inside \verb|{array}| (there won't be
any anyway) and it might stop a wanted equation number in the
surrounding equation.
\subsection{Some Common Mistakes}\label{SCM}
\begin{itemize}
\item The word ``data'' is plural, not singular.
\item The subscript for the permeability of vacuum $\mu_{0}$, and other common scientific constants, is zero with subscript formatting, not a lowercase letter ``o''.
\item In American English, commas, semicolons, periods, question and exclamation marks are located within quotation marks only when a complete thought or name is cited, such as a title or full quotation. When quotation marks are used, instead of a bold or italic typeface, to highlight a word or phrase, punctuation should appear outside of the quotation marks. A parenthetical phrase or statement at the end of a sentence is punctuated outside of the closing parenthesis (like this). (A parenthetical sentence is punctuated within the parentheses.)
\item A graph within a graph is an ``inset'', not an ``insert''. The word alternatively is preferred to the word ``alternately'' (unless you really mean something that alternates).
\item Do not use the word ``essentially'' to mean ``approximately'' or ``effectively''.
\item In your paper title, if the words ``that uses'' can accurately replace the word ``using'', capitalize the ``u''; if not, keep using lower-cased.
\item Be aware of the different meanings of the homophones ``affect'' and ``effect'', ``complement'' and ``compliment'', ``discreet'' and ``discrete'', ``principal'' and ``principle''.
\item Do not confuse ``imply'' and ``infer''.
\item The prefix ``non'' is not a word; it should be joined to the word it modifies, usually without a hyphen.
\item There is no period after the ``et'' in the Latin abbreviation ``et al.''.
\item The abbreviation ``i.e.'' means ``that is'', and the abbreviation ``e.g.'' means ``for example''.
\end{itemize}
An excellent style manual for science writers is \cite{b7}.
\subsection{Authors and Affiliations}
\textbf{The class file is designed for, but not limited to, six authors.} A
minimum of one author is required for all conference articles. Author names
should be listed starting from left to right and then moving down to the
next line. This is the author sequence that will be used in future citations
and by indexing services. Names should not be listed in columns nor group by
affiliation. Please keep your affiliations as succinct as possible (for
example, do not differentiate among departments of the same organization).
\subsection{Identify the Headings}
Headings, or heads, are organizational devices that guide the reader through
your paper. There are two types: component heads and text heads.
Component heads identify the different components of your paper and are not
topically subordinate to each other. Examples include Acknowledgments and
References and, for these, the correct style to use is ``Heading 5''. Use
``figure caption'' for your Figure captions, and ``table head'' for your
table title. Run-in heads, such as ``Abstract'', will require you to apply a
style (in this case, italic) in addition to the style provided by the drop
down menu to differentiate the head from the text.
Text heads organize the topics on a relational, hierarchical basis. For
example, the paper title is the primary text head because all subsequent
material relates and elaborates on this one topic. If there are two or more
sub-topics, the next level head (uppercase Roman numerals) should be used
and, conversely, if there are not at least two sub-topics, then no subheads
should be introduced.
\subsection{Figures and Tables}
\paragraph{Positioning Figures and Tables} Place figures and tables at the top and
bottom of columns. Avoid placing them in the middle of columns. Large
figures and tables may span across both columns. Figure captions should be
below the figures; table heads should appear above the tables. Insert
figures and tables after they are cited in the text. Use the abbreviation
``Fig.~\ref{fig}'', even at the beginning of a sentence.
\begin{table}[htbp]
\caption{Table Type Styles}
\begin{center}
\begin{tabular}{|c|c|c|c|}
\hline
\textbf{Table}&\multicolumn{3}{|c|}{\textbf{Table Column Head}} \\
\cline{2-4}
\textbf{Head} & \textbf{\textit{Table column subhead}}& \textbf{\textit{Subhead}}& \textbf{\textit{Subhead}} \\
\hline
copy& More table copy$^{\mathrm{a}}$& & \\
\hline
\multicolumn{4}{l}{$^{\mathrm{a}}$Sample of a Table footnote.}
\end{tabular}
\label{tab1}
\end{center}
\end{table}
\begin{figure}[htbp]
%\begin{figure}[htbp]
%%\centerline{\includegraphics{fig1.png}}
\caption{Example of a figure caption.}
\label{fig}
\end{figure}
%caption{Example of a figure caption.}
%\label{fig}
%\end{figure}
Figure Labels: Use 8 point Times New Roman for Figure labels. Use words
rather than symbols or abbreviations when writing Figure axis labels to
avoid confusing the reader. As an example, write the quantity
``Magnetization'', or ``Magnetization, M'', not just ``M''. If including
units in the label, present them within parentheses. Do not label axes only
with units. In the example, write ``Magnetization (A/m)'' or ``Magnetization
\{A[m(1)]\}'', not just ``A/m''. Do not label axes with a ratio of
quantities and units. For example, write ``Temperature (K)'', not
``Temperature/K''.
%Figure Labels: Use 8 point Times New Roman for Figure labels. Use words
%rather than symbols or abbreviations when writing Figure axis labels to
%avoid confusing the reader. As an example, write the quantity
%``Magnetization'', or ``Magnetization, M'', not just ``M''. If including
%units in the label, present them within parentheses. Do not label axes only
%with units. In the example, write ``Magnetization (A/m)'' or ``Magnetization
%\{A[m(1)]\}'', not just ``A/m''. Do not label axes with a ratio of
%quantities and units. For example, write ``Temperature (K)'', not
%``Temperature/K''.
\section*{Acknowledgment}
@ -258,38 +145,15 @@ an ``e'' after the ``g''. Avoid the stilted expression ``one of us (R. B.
G.) thanks $\ldots$''. Instead, try ``R. B. G. thanks$\ldots$''. Put sponsor
acknowledgments in the unnumbered footnote on the first page.
\section*{References}
%\section*{References}
Please number citations consecutively within brackets \cite{b1}. The
sentence punctuation follows the bracket \cite{b2}. Refer simply to the reference
number, as in \cite{b3}---do not use ``Ref. \cite{b3}'' or ``reference \cite{b3}'' except at
the beginning of a sentence: ``Reference \cite{b3} was the first $\ldots$''
Number footnotes separately in superscripts. Place the actual footnote at
the bottom of the column in which it was cited. Do not put footnotes in the
abstract or reference list. Use letters for table footnotes.
Unless there are six authors or more give all authors' names; do not use
``et al.''. Papers that have not been published, even if they have been
submitted for publication, should be cited as ``unpublished'' \cite{b4}. Papers
that have been accepted for publication should be cited as ``in press'' \cite{b5}.
Capitalize only the first word in a paper title, except for proper nouns and
element symbols.
For papers published in translation journals, please give the English
citation first, followed by the original foreign-language citation \cite{b6}.
%Please number citations consecutively within brackets \cite{b1}. The
%sentence punctuation follows the bracket \cite{b2}. Refer simply to the reference
%number, as in \cite{b3}---do not use ``Ref. \cite{b3}'' or ``reference \cite{b3}'' except at
%the beginning of a sentence: ``Reference \cite{b3} was the first $\ldots$''
\begin{thebibliography}{00}
\bibitem{b1} G. Eason, B. Noble, and I. N. Sneddon, ``On certain integrals of Lipschitz-Hankel type involving products of Bessel functions,'' Phil. Trans. Roy. Soc. London, vol. A247, pp. 529--551, April 1955.
\bibitem{b2} J. Clerk Maxwell, A Treatise on Electricity and Magnetism, 3rd ed., vol. 2. Oxford: Clarendon, 1892, pp.68--73.
\bibitem{b3} I. S. Jacobs and C. P. Bean, ``Fine particles, thin films and exchange anisotropy,'' in Magnetism, vol. III, G. T. Rado and H. Suhl, Eds. New York: Academic, 1963, pp. 271--350.
\bibitem{b4} K. Elissa, ``Title of paper if known,'' unpublished.
\bibitem{b5} R. Nicole, ``Title of paper with only first word capitalized,'' J. Name Stand. Abbrev., in press.
\bibitem{b6} Y. Yorozu, M. Hirano, K. Oka, and Y. Tagawa, ``Electron spectroscopy studies on magneto-optical media and plastic substrate interface,'' IEEE Transl. J. Magn. Japan, vol. 2, pp. 740--741, August 1987 [Digests 9th Annual Conf. Magnetics Japan, p. 301, 1982].
\bibitem{b7} M. Young, The Technical Writer's Handbook. Mill Valley, CA: University Science, 1989.
\end{thebibliography}
\vspace{12pt}
\color{red}
IEEE conference templates contain guidance text for composing and formatting conference papers. Please ensure that all template text is removed from your conference paper prior to submission to the conference. Failure to remove the template text from your paper may result in your paper not being published.
\end{document}