Browsing by Author "Belaidi, Hadjira (Supervisor)"

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Building a micro-processor based mobile robot using computer vision
(2016) Mezheri, Adel; Yahoui, Sofiane; Belaidi, Hadjira (Supervisor)
This project presents the concepts and techniques used for the design and implementation of an autonomous mobile robot platform able to navigate, detect and avoid obstacles in an unknown environment using computer vision. The first part of this project proposes the strategy used for the detection of obstacles using only a camera as sensor, implemented on a Raspberry microprocessor. The second part consists of the avoidance of the obstacles found by dealing with the read of digital data from the camera and processes them in order to make the right decisions to permit the robot to reach its goal. The work will be achieved with an experimental platform realization of the robot.
Control and implementation of quadrotor using a RaspberryPI as ground station
(Université M’hamed Bougara de Boumerdes : Institut de Genie Electrique et Electronique, 2023) Attouche, Nesrine; Belkacemi, Malak; Belaidi, Hadjira (Supervisor)
As the development and utilization of Unmanned Aerial Vehicles (UAVs) continue to grow, it becomes increasingly important to address the challenges related to their control and performance. This master’s project aims to build a stable quadrotor’s fligh tcon- troller using the ESP32 microcontroller, enabling wireless guidance through a Graphical User Interface (GUI) on Raspberry Pi. In this regard, this project provides quadrotor modeling and simulating the Backstepping controller (BSC) approach with various sim- ulation scenarios. Additionally, two control approaches were practically implemented . The firs tapproac hutilize sth eclassica lProportiona lIntegra lDerivativ e(PID )technique, while the second approach employs the modern Backstepping technique. The results ob- tained from the project demonstrate that both control approaches exhibit satisfactory performance and responsiveness in terms of stailizing the quadrotor when implemented in real-world scenarios. However, it has been noticed that the Backstepping Controller can achieve higher performance, whereas, PID performance is limited by tuning and model.
Design and implementation of a LoRa mesh network
(2021) Allal, Cherif Zakaria; Hammi, Saad Eddine; Belaidi, Hadjira (Supervisor)
With the widespread use of intelligent sensors, the need for a more reliable sensor network has emerged. LoRaWan is suitable for this kind of application and has an advantage over cellular networks due to its long range, low power capabilities and doesn't require paid plans for data transfer. The purpose of this work is to design and implement a LoRaWan mesh network and test its capabilities in text based communication with the use of a smartphone application connected to lora nodes through low energy Bluetooth, allowing messages exchange between any two users connected to the network. Such application of mesh network technology could be of use in case of disaster scenarios where cellular towers could be down; enabling a secure and reliable way of alternate communication.
Design and implementation of voltage probe for monitoring cathodic protection
(Université M’hamed Bougara de Boumerdes : Institut de Genie Electrique et Electronique, 2023) Bourouaiah, Oussama; Hellas, Rania; Belaidi, Hadjira (Supervisor)
Corrosion is a natural process where materials, particularly metals, deteriorate due to a chemi- cal reaction with their surroundings.Cathodic protection is a corrosion prevention technique, which safeguards metallic structures. Cathodic protection system monitoring ensures ongoing corrosion pro- tection for metal structures by assessing factors like voltage, current flow ,an dpotentia ldifferences. By doing so, it ensures ongoing corrosion protection, maintains the integrity of metal assets, extends their lifespan, prevents expensive damage, and guarantees optimal system performance. The primary objective of this project is to develop and implement a specialized voltage probe ded- icated to monitoring cathodic protection systems. The focus is on designing a robust and efficient solution that ensures accurate and consistent voltage readings, thereby enhancing the overall perfor- mance and reliability of the monitoring system. The research developed a specialized voltage probe for accurate measurement of potential dif- ference between reference electrodes and pipeline surfaces. The probe design incorporated high- precision components and advanced circuitry in a compact size. Thorough testing and calibration validated the probe’s accuracy and stability under various operating conditions. In the implementation phase, the voltage probe was integrated into a cathodic protection monitor- ing system. It was connected to a data acquisition system based on a microcontroller, enabling data collection and analysis. Custom software was developed to process the acquired voltage data, provid- ing comprehensive visualization and reporting features for monitoring the system’s performance and detecting any potential issues. Field trials were performed on a simulated cathodic protection installation to assess the effective- ness of the designed voltage probe and monitoring system. The results demonstrated the system’s accurate monitoring capability, enabling proactive maintenance and troubleshooting for cathodic pro- tection performance. This research contributes to the fiel db yintroducin ga ninnovativ ean dreliable solution for monitoring critical voltage levels in corrosion prevention.
Development and implementation of an even and uneven environment navigation strategy
(2016) Belkalem, Jugurtha; Abed, Mohamed Amine; Belaidi, Hadjira (Supervisor)
Industrial robotics is evolving quickly around the world, a great interest is shown for these machines.The robot’s age is close, new citizens will join our society. However, for these machines to operate complex algorithms are needed and required to handle various situations. An important capability for mobile robots is navigation, reaching a destination without colliding the obstacles, this problem is referred as Path Planning. Path planning is required for an autonomous mobile robot to find an optimal trajectory to the destination, a human controller is not needed anymore. A new approach has been proposed in this work, built upon the internet of objects ; computers are focused on path computation and robots on the execution, information is exchanged through the network (wireless local area network). The results outperform by far the classical implementations where robots were making every decision. Scalability is also achieved easily using the proposed topology, multiple robots can be controlled without impacting on the implementation. In this project, intelligent and robust software has been written to automate every task, a simple input of the map will trigger the whole process, the computer will compute an optimal trajectory then sends it to the robot for execution through the wireless medium(WIFI). The path is preplanned and can be saved for further exploitation. The robot is also able to detect a change in the environment and report it to the computer to get a new path.
Mobile robot LIDAR based path planning and tracking
(2021) Bendref, Mansour; Sahi, Yasser; Belaidi, Hadjira (Supervisor)
This project deals with mobile robot path planning and tracking. The mobile robot is equipped with a Lidar sensor which scans the environment and returns cloud points constituting the obstacles coordinates. First, our work consists in building the robot environment using binary occupancy grid strategy. Then, an algorithm which allows the robot to reach its target starting from any initial coordinate is created (RAY based planner ). Second a graph based strategy is used to extract the free optimal path, then the obtained path is smoothed using Cubic splines. Last, pure pursuit controller is implemented to allow the robot to track the reference optimal path and find a new path in case the robot encounters a sudden static obstacle that was not present before in the ma . The work is validated by simulation results using MATLAB and Simulink. Moreover, the obtained results are compared with previous work in the literature (PRM and RRT-star) to prove their efficiency, and the obtained results are discussed.
Optimizing microgrid energy management using multi-agent systems for enhanced resilience and sustainability
(Université M’Hamed bougara : Institute de Ginie électric et électronic, 2023) Bourezza, Nawel; Slimani, Aicha; Belaidi, Hadjira (Supervisor)
Microgrids, which are networks of connected energy sources and consumers, play a vital role in modern power systems. They can work together as a single unit, even when disconnected from the main power grid. This study proposes an innovative energy management approach for microgrids, focusing on optimal power consumption. The strategy leverages Multi-Agent Systems (MAS) to ensure efficient resource allocation within the microgrid. Microgrids can be connected to or separated from the main grid, operating in different modes. This project introduces a method where microgrids communicate and collaborate, forming a smart grid. The microgrid's ability to be self-reliant and continue producing electricity during power failures is crucial. The proposed MAS-based strategy aims to fulfill energy demands autonomously. If a microgrid can not meet its needs, it can seek assistance from others. Surplus energy can also be shared to enhance overall resilience. This research employs the Cisco Packet Tracer simulation tool to validate the proposed energy management strategy. By utilizing networking and programming principles, microgrid components work together efficiently. The simulations demonstrate the effectiveness of the MAS-based approach in optimizing energy consumption, promoting self-sufficiency, and fostering collaboration among microgrids. This study contributes to microgrid technology by presenting an advanced energy management strategy grounded in Multi-Agent Systems. Through efficient coordination and resource sharing, microgrids can better handle power demand, ensure self-sufficiency, and enhance overall system resilience. This research show cases the potential for creating smarter, interconnected energy systems that are reliable and adaptable.
ROS navigation STACK on the B21r mobile robot.
(2022) Delhoum, Nabil; Lakreb, Samira; Belaidi, Hadjira (Supervisor)
Perception is an imperative task for a mobile robot to be able to navigate autonomously inits environment. The robot can perceive its surrounding through one or more sensors; then, create a representative map of the environment and locate itself on it in real time. The propose of this project is to build a surveillance strategy to enable a mobile robot to navigate and supervise an interior environment. It consists in the implementation of a perception techniques, localization and navigation strategy on a surveillance robot. Hence, this project deals with ROS Navigation Stack which is powerful for mobile robots to move from place to place. We worked with B21r mobile robot of CDTA equipped with light detection and ranging (LIDAR) sensor and D435i depth camera. First, our work consists of building a map of the hall of CDTA (the Advanced Technologies Development Center) using Lidarsensor and Simultaneous Localization and Mapping techniques. Then, we localized our robot inside that map using AMCL, therefore, our B21r mobile robot is well localized. Second, we created a path so that our robot reaches its goal or target and creates a new path in case the robot faces obstacles that were not present in the old map. However, our robot was not able to correctly deal with its last task consisting in tracking the planned path; even that, its position is updated enabling it to achieve its desired destination, due to mechanical problem of robot wheel. The work is implemented using ROS melodic and Rviz tool.
SD-WAN solutions: transition to next generation WAN
(2021) Chaouane, Hammou; Bouzid, Mustapha; Belaidi, Hadjira (Supervisor)
Multi-Protocol Label Switching (MPLS) is a general used solution for the design of reliable, high-performance wide area networking (WAN). However, this Technology has its limitations, leading many organizations to search for alternative options for their WAN connections. The big advancement in Software defined networking SDN contributed in the rise of a new technology known as Software-defined WAN (SD- WAN), which enables organizations to remove the constraints of legacy networking technologies and create a flexible, reliable, and high-performance network. This project deals with the implementation of both MPLS VPN Layer 3 network and SD-WAN network architecture using Riverbed Steelconnect SD-WAN products then testing the functionality and comparing the performance of both of them and analyze if SD-WAN delivers the promised benefits.
Standalone PV system implementation and DC load consumption management using Raspberry PI 4
(Université M’hamed Bougara de Boumerdes : Institut de Genie Electrique et Electronique, 2023) Amrani, Celine; Sabeur, Hassina; Belaidi, Hadjira (Supervisor)
The rise demand for clean and sustainable energy sources has led to the widespread adop- tion of PV systems. To optimize their performance and eﬀiciency ,i ti scrucia lt ostud yand analyze their behavior. In this project, we propose a modeling and simulation approach using MATLAB Simulink to simulate a standalone PV system. Additionally, we also designed a stand-alone PV system prototype using the Raspberry Pi 4 and ESP32 microcontroller for real-time monitoring and controling to demonstrate how this system is implemented practi- cally and test our energy management system algorithm performance with actual hardware implementation. The simulation model in MATLAB Simulink incorporates components such as PV panels, batteries, DC-DC converters, and DC loads. By simulating various scenarii, such as changes in solar irradiance and load demand, we can evaluate the system’s performance and assess the effectivenes so fdiffere ntcontr olstrategie s.Furthermor e, int hepractic alimplementa- tion, the Raspberry Pi 4 acts as the central control unit, gathering data from sensors and communicating with the ESP32 microcontroller which serves as battery data collector. This study contributes to the design, analysis, and implementation of standalone PV systems by combining the power of MATLAB Simulink simulation software with the flexibility and control capabilities of Raspberry Pi 4 and ESP32.