Browsing by Author "Belaidi, Abderrahmane"

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Application et adaptation de la triangulation de Delaunay pour la reconstruction de surfaces = Surface reconstruction using and adapting Delaunay triangulation
(2004) Challali, Mohand Oulhadj; Belaidi, Idir; Mohammedi, K.; Belaidi, Abderrahmane; Ishiomin, Guy
La reconstruction intéresse plusieurs domaines d'application et de recherche. Parmi ceux-ci nous trouvons: la génération d'un modèle CAO, la simulation, l'inspection et le contrôle, l'usinage, technologie des prothèses, assistance au diagnostic médical, vision robotique et artificielle, reconnaissance de terrains,…etc. Parmi les techniques de reconstruction d’une surface, nous trouvons celle qui procède par polyèdrisation du nuage de points [Ver 98], [Var 97]. Dans ce papier, nous proposons une telle technique basée sur l’adaptation et l’utilisation de la triangulation de Delaunay en dimension 2D1/2
Application of splines to three-dimensional map building for mobile robot
(2012) Belaidi, Hadjira; Bentarzi, Hamid; Belaidi, Abderrahmane
In mobile robot applications, building a map for mobile robot is very important task. In this work, a surface-based on numerical method such as Splines is used to investigate a model for the robot path planning. The developed algorithm generates a free collision path through the use of Splines for extracting the triangular mesh in the 3D environment surface. The triangular mesh helps the robot to locate the different stationary obstacles, the mobile robot and to track the target position. Synthetic Aperture Radar (SAR) sensors are used for acquiring the data related to the environment and the obstacles. The obtained results are very satisfactory
Complex forms trajectory tracking in robotized welding
(2013) Belaidi, Hadjira; Belaidi, Abderrahmane
Actually, in the majority of mechanical systems such as industrial robots, mobile robots with embarked structure, etc… the end-effector mass widely exceeds that of the supported load, and lot of works do not take it into account in their algorithms. These systems must be designed based on dynamic model; moreover the synthesis of the algorithm of an autonomous manipulator must be accomplished by taking into account nonlinearity and complexity of its dynamic model, this is in order to increase the control effectiveness. Currently, tasks involving a high precision welding of complex forms with high characteristics are very required in industry in general. This paper introduces the modeling of the end-effector movement equations to allow a tracking of welding cords with complex forms in the acceptable working zone
Development of Instrumentation Adapted by C.M.M.S. Dedicate to Poly-articulated Mechanisms (Computer-assisted Maintenance Management System)
(Université M'hamed Bougara de Boumerdès : Laboratory of Signals and Systems, 2021) Benmisra, Abdelkader; Belaidi, Hadjira; Belaidi, Abderrahmane; Abdelhalim, Brahimi; Moufida, Ikri
In this article three study phases have been discussed: Landing phase of a civil transport aircraft, when part of the flow entering the reactors is redirected by thrust reversers. Phase of the functional and technical study of which reflects on the aircraft maintenance component, without forgetting the phase of synthesis of the landing system mechanisms. The approach presented relates to the description of the different instruments and languages used for the control of vibratory behavior in a maintenance plan. Active devices are used mainly in systems where the excitation acts permanently on the system and the minimization of the amplitude of the vibrations is the dominant criterion. This is the reason why it is important to plan and control the technical aspect which will contain the landing system from the point of view of geometry, torques, positions, speeds and accelerations, and trajectories from the mechanism design phase.
Intégration du tolérancement dans les système de CFAO : méthode de synthèse statistique des tolérances par estimation des graduents
(2004) Boucherit, B.; Belaidi, Idir; Belaidi, Abderrahmane; Chalali, M.O.
L’intégration de la cotation automatique dans les systèmes de CFAO est plus que jamais d’actualité. Les systèmes actuellement disponibles restent incomplets et demeurent tous perfectibles ; les méthodes d’analyse et de synthèse font toujours l’objet de recherche et de développement continus. La synthèse statistique des tolérances par estimation des graduents jouit d’une simplicité de mise en oeuvre (utilisation des distributions discrètes au lieu des distributions continues), d’un temps de calcul réduit des dérivées par rapport à la méthodes des différences finis, d’une précision appréciable pour le calcul des tolérances intervenant dans le coût et la performance du produit (perte de qualité importante, coût de fabrication important)
Les méthodes d’approches en conception mécanique routinière
(2003) Semmoud, Fath-Eddine; Belaidi, Abderrahmane; Belaidi, Idir
Un objet (de type machine outil) passe nécessairement par la phase de conception qui est la première phase du cycle de vie d’un produit. Les très grandes avancées qu’a connu l’industrie et les développements de différents produits après la seconde guerre mondiale ont commencé après les deux guerres mondiales. La conception mécanique n’est pas un simple processus, elle est plutôt un ensemble de processus. Elle est l’incarnation de la connaissance des fonctions et des interactions des composants impliqués dans le mécanisme. Même si beaucoup de développements sont en cours actuellement, le processus reste à développer, analyser et, avec l’avènement de l’informatique, à formaliser mathématiquement et à implémenter. L’intégration de la conception mécanique, dans l’industrie algérienne comme pour les pays en voie de développement, sera importante dans l’optique d’assurer la maintenance de l'outil de production (dans un premier temps) et de développer des bases de connaissances qui seront la source de création de nouveaux produits pour un second. Nous proposons dans cet article la présentation de quelques méthodes d'approche utilisées et développées que nous avons pressenties nous permettre l’implémentation de conception routinière
NURBs trajectory generation and following by an autonomous mobile robot navigating in 3D environment
(IEEE, 2014) Belaidi, Hadjira; Hentout, Abdelfetah; Bouzouia, Brahim; Bentarzi, Hamid; Belaidi, Abderrahmane
Optimization algorithm of manipulator robot performances
(IEEE, 2014) Belaidi, Abderrahmane; Belaidi, Hadjira
One aim of controlling a manipulator robot is to maximize its performances such as accuracy, speed, time etc…. However, limiting the power of actuators causes a limitation of their generalized accelerations and velocities; this is due to the high inertial forces, which create dangerous voltages at the machines elements. This paper propose an algorithm to solve the problem of maximizing the manipulator performances considering that the end-effector position and orientation is characterized by a 6x1 vector i.e., six degrees of freedom; moreover, the need to move the end-effector from the start position to the target with a minimum time, without violating its boundaries. The presented solution is well suited to this context. It is optimal with respect to time constraints, and it allows a direct calculation
Stratégie algorithmique pour le traitement complet des courbes offset
(Journal Europeen des Systemes Automatises, 2000) Khoukhi, A.; Benfriha, K.; Belaidi, Abderrahmane
The objective of this survey is the direct passage from a Bézier complex curve of high degree to a succession of offset curves, of lower degree. The retained strategy consists in treating all singular cases, before constructing the offset curves, starting from the points' normal of the main curve, one counts the exact points of the offset, and uses them for the detection and the localization of intersections by a specific treatment; we subdivide the main Bézier's curve in several portions curves, at the points that correspond to points of intersection found in the previous stage, and we eliminate all portions of curves displaying a singularity. In the same way a test is launch for the detection of an isolated cusp point in the extreme portion. One constructs then, the offset curves by subdo-reduced approximation, for the retrained curves' portions
Terrain traversability and optimal path planning in 3D uneven environment for an autonomous mobile robot
(Springer, 2014) Belaidi, Hadjira; Bentarzi, Hamid; Belaidi, Abderrahmane; Hentout, Abdelfetah