Article_Scientifique/main.tex

@@ -214,14 +214,13 @@ PID-based (Proportional-Integral-Derivative) control strategy combined with dist
 assistance based on system dynamics.
 
 
-% ************************************** LOW TECH SIX STEP CONTROL ***************************************************** 
+% ***************************** Hardware-Based Six-Step Commutation Controller  ****************************************
-
 
 \section{Hardware-Based Six-Step Commutation Controller}
 \label{sec:sixstep}
 
 
-% ************************************** FIELD ORIENTED CONTROL ***************************************************** 
+% ***************************** STM32-Based Field-Oriented Control Motor Drive *****************************************
 
 \section{STM32-Based Field-Oriented Control Motor Drive}
 \label{sec:foc}
@@ -364,7 +363,6 @@ assistance based on system dynamics.
 	development. Once routing is completed, the board will be manufactured 
 	and tested with the VESC firmware adapted to the L476 tile.
 
-
 % ************************************** SOFTWARE AND CONNECTIVITY ***************************************************** 
 
 \section{Software and Connectivity}
@@ -448,8 +446,8 @@ for the the MAD associates.
 
 % ************************************ DYNAMIC MODELLING ***************************************************************
 
-\section{Dynamic Modelling and Control of the Bicycle-Cargo System}
 
+\section{Dynamic Modelling and Control of the Bicycle-Cargo System} 
 \subsection{Dynamic System Modelling} 
 
 The studied system consists of a bicycle towing a cargo cart through a rigid mechanical linkage. This link is only used 
@@ -614,33 +612,6 @@ However, due to the absence of direct velocity measurements during the experimen
 be extracted from these tests. Consequently, a precise estimation of dynamic friction parameters and energy efficiency 
 could not be achieved.
 
-\subsection{FOC Controller Validation}
-
-\subsubsection{Current Status Summary}
-
-Table~\ref{tab:foc_status} summarizes the current status of the FOC 
-controller development.
-
-\begin{table}[htbp]
-\caption{FOC controller development status}
-\label{tab:foc_status}
-\centering
-\begin{tabular}{l c}
-\toprule
-\textbf{Task} & \textbf{Status} \\
-\midrule
-VESC firmware compilation & Completed \\
-Pin compatibility (F405 / L476) & Completed \\
-Schematic design (KiCad) & Completed \\
-ERC validation & Completed \\
-PCB routing & In progress \\
-Tile footprint correction & In progress \\
-Board manufacturing & Planned \\
-Hardware testing & Planned \\
-\bottomrule
-\end{tabular}
-\end{table}
-
 
 % ******************************** DISCUSSION **************************************************************************
 
@@ -681,7 +652,6 @@ impose a tripping hazard. There, an encapsulation of an encrypted control frame
 Based on the results obtained and the limitations identified during this 
 project, several directions for future work are proposed.
 	
->>>>>>> 9c1f96ca2cf4e79662cccb061b48216d25c523c2
 \subsection{Hardware Completion and Testing}
 The VESC-based FOC PCB requires routing completion and prototype 
 manufacturing. Once fabricated, the board must be tested under real 
@@ -707,7 +677,6 @@ operating conditions (varying loads, road profiles, and battery voltage).
 %quantities and units. For example, write ``Temperature (K)'', not 
 %``Temperature/K''.
 
-
 % ******************************** REMERCIEMENTS ************************************************************************** 
 
 \section*{Acknowledgment}