Computer

Permanent URI for this collectionhttps://dspace.univ-boumerdes.dz/handle/123456789/3082

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Design and realization of mobile robot
(2015) Bouchetibat, Ahcen; Mekkakia Maaza, Yahia Abdeslem; Guettatfi, Zakarya (supervisor)
The main purpose of this work is to design and realize a mobile robot tricycle-platform; this robot is controlled remotely through a network by a graphical user interface. The robot sends its position to the graphical user interface for localization purposes. The robot motion is based on differential drive concept.A microcontroller board called Arduino Mega 2560 is used as the brain of the tricycleplatform; this tricycle platform is designed using AutoCAD. Arduino Mega controls the operation of two motors, GPS, and a Wi-Fi Module. The two DC motors are used to move the robot. The GPS is used to locate and specify the mobile robot coordinates, these coordinates are used by the graphical user interface to show the current location of the robot on a Google Map. The Wi-Fi module is used to add networking capabilities to the mobile robot; a network is set up based on server/client architecture to exchange data and commands between the graphical user interface and the mobile robot. The graphical user interface is developed using Visual C# and is deployed on our personal computer.As a conclusion, this work shows that differential drive concept is suitable for robots that are based on tricycle-platforms. The localization feature added by the GPS to the robot makes it reachable everywhere. Networking aspect is a good way for remotely controlling robots. And with all the powerful aspects offered by Visual Studio to develop a graphical user interface making it a good first choice to use.
Implementation and control of biped humanoid robot using static walk
(2015) Cherifi, Youssouf Ismail; Aroui, Zakaria; Mohammed Sahnoun, A.
Robotics is seen to be one of the most dominant aspects in several areas of interest by the human world, and one special type of them are humanoids, which are of an important use nowadays to ease the way of our life. This project is about building a biped humanoid robot, and applying a control system to it, so that it can walk forward. This biped robot has a height of thirty three centimeters (33 cm), with 8 degrees of freedom. Two main parts were required to implement this project, the construction part, and the control part. First, the construction part, which is all about finding a suitable design for the biped robot, and building the right model of it in the real world. This part was handled as follows: - Designing the mechanical structure of the biped robot and all its parts, and set the layout of its parts. - Modeling the parts using one millimeter (1mm) aluminum sheets. - Based on the overall design, we assembled the biped robot by adding the eight necessary actuators and the needed controller. Second, the control part, which is about making the biped robot walk properly. We made use of the static walk approach for this task; that is maintaining the robot statically stable during both phases of its walking sequence, the double support phase, and the single support phase. This is achieved by keeping the robot’s center of gravity within the support area. To conclude, this project is about using static walking mechanism to make the biped humanoid robot walk on a flat surface, in hope of further improvements in the future.
Implementation and Control of Biped Humanoid Robot Using Static Walk.
(2015) Cherifi, Youssouf Ismail; Aroui, Zakaria; Mohammed Sahnoun, A. (superviser)
Robotics is seen to be one of the most dominant aspects in several areas of interest by the human world, and one special type of them are humanoids, which are of an important use nowadays to ease the way of our life. This project is about building a biped humanoid robot, and applying a control system to it, so that it can walk forward. This biped robot has a height of thirty three centimeters (33 cm), with 8 degrees of freedom. Two main parts were required to implement this project, the construction part, and the control part. First, the construction part, which is all about finding a suitable design for the biped robot, and building the right model of it in the real world. This part was handled as follows: - Designing the mechanical structure of the biped robot and all its parts, and set the layout of its parts. - Modeling the parts using one millimeter (1mm) aluminum sheets. - Based on the overall design, we assembled the biped robot by adding the eight necessary actuators and the needed controller. Second, the control part, which is about making the biped robot walk properly. We made use of the static walk approach for this task; that is maintaining the robot statically stable during both phases of its walking sequence, the double support phase, and the single support phase. This is achieved by keeping the robot’s center of gravity within the support area. To conclude, this project is about using static walking mechanism to make the biped humanoid robot walk on a flat surface, in hope of further improvements in the future.
Implementation of a Biometric Identification System using Electrocardiogram ECG/EKG
(2015) Zebbiche, Badr Eddine; CHerifi, Dalila (superviser); Harizi, Farid (superviser)
Nowadays, Biometrics is extensively being used for the purpose of authentication in security related aspects. Biometrics deals with individuals’ identification through their physiological characteristics such as fingerprint, Deoxyribonucleic Acid DNA, Electrocardiogram ECG, Face, Voice…etc. Many of these models have limitations and contains: difficultly of extraction (DNA), unique utilization of the hardware (IRIS)…etc. Hence, ECG is chosen for its accuracy, hardware utilization in tele-monitoring, and high security level. In this presented treatise, an ECG based biometric system has been developed. The project is divided into two main parts: Hardware and Software. The hardware part, performs the signal acquisition, amplification, and digitalization. The hardware is provided with the alternative of wired via UART or wireless transmission via XBee RF modules. In software part, the biometric algorithm uses the concepts of machine learning and pattern recognition. Basically, the algorithm is divided into two main part: training (enrollment) phase and testing phase. In training phase, the system gets indoctrinated with a set of ECG data recordings of different people. Then, it extracts their features after pre-processing in a form of spectral information. Features are taken into higher dimensionality space of 28 (256D) and scattered separately to form labeled classes (Principal Components Analysis – PCA). Once the testing data arrives, classification process affects them into their corresponding class, which is identification decision, using the Euclidean distance. The algorithm was developed based on the MIT-BIH Arrhythmia Database and then tested on our customized database acquired using the developed hardware. The two main aspects that have been under focus are the execution time and accuracy or identification rate. An accuracy of 98% has been achieved with the developed system.
Building detection in remote sensing images using gabor filter
(Université M’Hamed BOUGARA de Boumerdes : Institut de génie electrique et electronique (IGEE), 2015) Fares, Dalila; Mallem, Ibtissem; Zemmouri, Karima; Daamouche, Abdelhamid (superviser)
buildings from remote sensing images. In this report, we propose an unsupervised method to extract building by means of Gabor filters and morphological operators. Our proposed method starts from a set of Gabor filter parameters which is selected empirically to generate a two-dimensional impulse response. The convolution of the impulse response with the image of interest enhances the buildings and attenuates the background. Moreover, morphological operators are applied to further refine the resulting class of interest. The developed algorithm is applied on many remotely sensed images; the obtained results are highly satisfactory and promising.
FPGA-Based car-like robot path follower with obstacle avoidance
(2016) Moulay, Aicha; Laoufi, Fatima; Benzekri, A.(Supervisor)
This project is about the design and implementation of an SOPC based automated path following with obstacle avoidance using infrared sensors and ultrasonic sensor. The Line follower robot is a mobile machine that can detect and follow the line drawn on the floor. The path is predefined as a black line on a white surface with a high contrasted color. This kind of robot should sense the path using infrared sensors which installed under the robot. After that the data is transmitted to the controller to be processed by specific transition buses. The processor is going to send proper commands to the driver unit circuit and thus the path will be followed by the line follower robot. This system is provided with obstacle avoidance mechanism using ultrasonic sensor. After avoiding the obstacle either from the right side or the left side the car then has to find its path again to reach its destination with the continuity of following and scanning the path. The car will stop if an obstacle is detected on the path and on both sides of it or if the path is ended. The digital controller is designed and implemented using both off-the-shelf integrated circuits and the FPGA. The FPGA subsystem is developed using Altera Quartus II development suite tools and the Altera monitor program software. It is realized on a CycloneII EP2C35F672C6 low-cost FPGA platform and tested on a physical structure constructed in the laboratory for its feasibility and functionality.
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.
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.
FPGA-based arabic LCD display controller IP design
(2016) Rahil, Lillia; Aggoune, Khedidja; Khouas, A. (Supervisor)
A 2x16 character Liquid Cristal Display (LCD) is one of the most common Input/Output (I/O) devices. It allows designers to communicate with the outside world. Alphanumeric LCD can display English and some other special characters. However, Arabic characters cannot be displayed since the Arabic fonts are not embedded in the LCD controller, thus there are no corresponding American Standard Code for Information Interchange (ASCII) codes for it. To allow Arabic display on an LCD module and reduce designs’ time, we suggest to create an Intellectual Property (IP) core for Arabic character LCD display controller. The design was done by creating a block diagram of the LCD controller and interface it to a clock divider module and an IP core memory namely a Block Random Access Memory (BRAM). The whole design was initialized and tested using VHDL codes. The LCD initialization is done using some specific commands. These commands allow Arabic characters to be generated and read from the Character Generator RAM (CG RAM) which is one of the controller’s memory regions. The complete LCD module was described and synthesized using Xilinx Integrated Synthesis Environment (ISE) design suite tools, and implemented and tested using Xilinx Virtex 5 Field Programmable Gate Array (FPGA) and Digilent Genesys board. After creating the needed design, a simulation of each component has been made using a test bench VHDL code. However, Displaying Arabic characters using FPGA couldn’t be achieved due to lack of time and some problems, mainly changing the FPGA board, wasting time in working on some other Xilinx tools and lack of the needed documentations. Moreover, once we implemented the design LCD displayed just a cursor blinking to show clearly that the generated character couldn’t be displayed .It has not been well introduced in the CGRAM of the controller. What we suggest is to try to reuse those commands and test it once again since the same method works once we tested it on a microcontroller.
A Proposed algorithm for diffusion magnetic resonance imaging brain tractography
(2016) Boudjada, Messaoud; Morsli, Abdelatif; Cherifi, Dalila (Supervisor)
Most of previously published diffusion magnetic resonance imaging reconstruction methods are linked to their own track integration method, some of them use Euler integration others try to improve the integration using the second order and the fourth-order Rang Kutta algorithms. In this work, we have formulated a general, deterministic tractography algorithm (CIERTE), which is a combination of Improved Euler and Range-Kutta fourth-order algorithm, which combine the speed and accuracy at the same time. We have used also trilinear interpolation, which works with voxel level information about fiber orientations including multiple crossings, and employs a range of stopping criteria as those described in EuDX [1] algorithm and FACT [2]. The purpose of this algorithm is to make tracking accurate and fast at the same time and make it general for all deterministic tracking methods.
QRS detection in ECG signals
(2016) Boutoudj, Taous; Benaziz, Meriem; Daamouche, Abdelhamid
The detection of QRS complexes is of great importance for the analysis of the electrocardiogram (ECG) signal, which traces the activity of the heart. ECG signal is the most used non invasive method to acquire the electrical heart activity. Because of its ease of measurement and its availability, the ECG signal is widely used to identify different types of arrhythmias. In our project, we have used MATLAB to implement two softwares that detect QRS complex by means of both types of digital filters (IIR and FIR). To test the performance of these two implementations, we have used the benchmark MIT-BIH dataset and also we have generated a data base by recording the ECG of different persons at rest and in activity situations, what was done at CDTA by the help of two doctors. Also, the R peak count was done by a doctor from MUSTAPHA Hospital to be able to evaluate our results.
Fault detection in power systems based on power line communication
(Université M’Hamed BOUGARA de Boumerdes : Institut de génie electrique et electronique (IGEE), 2016) Haroun, Macinissa; Gharmouli, Djilani; Recioui, Abdelmadjid (Supervisor)
Power Line Communications (PLC) is the technology that has the advantage of using the existing electrical infrastructure to transfer data in communication networks. The aim of this work is to apply this technology in power system by designing a bidirectional system capable to transfer data over transmission lines from different sites to the control center in order to detect the faults and then correct them by sending control signals to trip the protective instruments when necessary via PLC.
Simulation and Implementation of single phase, single stage, grid connected photovoltaic system
(2016) Ayad, Mohamed; Mahboubi, Meriem; Kheldoun, Aissa
This work describes the single-phase, single-stage, Grid-Connected Photovoltaic System (GCPV) using Hysteresis Current Control Inverter. The complete Matlab/Simulink simulation and hardware implementation of the system are perform.To achieve reliable and efficient power generation from photovoltaic systems; perturb and observe (P&O) maximum power point tracking (MPPT) method has been used. The latter maximizes the power from the PV system under various lighting conditions. A four-MOSFET bridge inverter that takes DC power supplied by a solar panel and transforms it into a 220 volt AC power source. A Hysteresis current controller has been employed to adjust the inverter’s frequency according to the grid frequency. As compared to other control methods, the proposed solution provides robust current regulation, achieves unity power factor, low total harmonic distortion (THD) and maximizes the PV power extracted from the PV generator. Simulation and experimental results are provided and commented to demonstrate the effectiveness of the design.
Home automation system using raspberry Pi
(2016) Bouattit, Abdelmounaim; Mohamed Sahnoune, A. (Supervisor)
A growing topic in modern society is the concept of smart homes, which consist of smart automated devices, such as home appliances, that interact with humans and with each other. This work presents the overall design of Home Automation System (HAS) with flexible, low cost system to remote control home appliances. The fundamental control system uses Android and Web Application to provide to the user the full monitoring and controlling capabilities over his home and its devices. Both of android and web application communicates with a common server, which is able to serve them simultaneously and provide data in real time. Raspberry pi embedded system is selected in this work because of its ability of running the given server, allowing the connection of different devices and its intuitive interface.
Design and implementation of a maze navigation robot
(2016) Djezairi, Salim; Fali, Thamila; Khalifa, Mohamed (Suprvisor)
This project goes through the design and implementation process of an autonomous navigation robot, capable of exploring an unknown environment and perform numerous tasks such as, 2D reconstruction of the environment, self-location inside the map, finding shortest path to a given destination, map inspection and target search. The robot uses a front camera and two sensors to observe the environment and navigate inside it. The System is built around the Raspberry PI microcomputer running Raspbian operating system and programmed with Java and Python languages. The different tasks’ algorithms are first simulated in a software application, without hardware restriction in an error free environment, then implemented on the hardware design and tested inside a maze created in the laboratory. The result obtained were satisfactory, since even with some limitations, the robot performed the requested tasks.
FPGA based VGA controller and arcade games
(2016) Lakhdari, Zineb; Elkhabazi, Hayet; Benzekri, A. (Supervisor)
This report describes the design and implementation of an FPGA-based VGA controller and arcade games. The hardware modules are developed in the Very High Speed Hardware Description Language (VHDL) and implemented onto the FPGA of the low-cost DE2 board. As a standard interface, Video Graphic Array VGA has been widely used. The system displays on the VGA monitor a menu which consists of two games (pong & breakout games), where the user is able to choose any one of them. The first game is a two player game, they are controlling paddles to punch a moving ball to the opponent's side. Whereas the second game is a one player game, in which he controls a moving paddle to bounce the ball trying to destroy all the bricks that are situated on the top of screen. During the course of this project we added some modifications such as the adjustment of the paddles and ball’s speed, yet the text generation like the score of players, the menu selection. The results show that the proposed algorithms give good performance with short processing time, low resource utilization, small power consumption and memory usage. Because the data can be sent directly to monitors, the design improve system reliability in real time and save hardware resource.
Design and implementation of a quadcopter with image reconstruction and object detection
(2016) Beladjeri, Mohammed Ilyes; Khadraoui, Souleymen; Cherifi, Dalila (supervisor)
Aerial robotics is seen to be one of the most dominant aspects in several areas in the last few years, and one special type of the flying robots are quadcopters, which are of an important use nowadays to ease the way of our life. This project is about building a quadcopter, and implementing a control algorithm to stabilize the system, the second aspect is to develop a ground control station equipped with two image processing applications using Emgu.CV. The GCS communicates with the quadcopter in order to take aerial pictures and perform image reconstruction from the captured ones, the second application is to detect a specific object in the reconstructed image or from any other captured scene.
Desing and implementation of an autonomous hexapod robot with obstacle avoidance and object finding/tracking
(2016) Tellache, Mohamed Mounir; Namane, Rachid (Supervisor)
The aim of this project is the design and implementation of an autonomous hexapod robot with obstacle avoidance and object finding/tracking. The robot has eighteen DOF1 with each leg having three DOF (degrees of freedom) and the frame is radially symmetric. The mechanical structure is made of an acrylic or Forex frame, steel rods and nineteen servo motors. For the electronic part, it’s based on an arduino-mega, placed on the top of the hexapod to manage the six legs in a very easy and efficient manner, and a camera with some sensors used for the robot walking, obstacle avoidance and object finding/tracking. An efficient inverse kinematics engine should be developed to help the robot walk in different ways with obstacle avoidance at variable speeds.
3D statistical shape modeling
(2016) Omari, Sabrina; Soual, Imene; Cherifi, Dalila (supervisor)
Statistical shape models (SSMs) have been firmly established as a robust tool for segmentation of images. Widespread utilization of three-dimensional models appeared only in recent years, primarily made possible by breakthroughs in automatic detection of shape correspondences; while 2D models have been in use since the early 1990s. The objective of this project is to build a 3D statistical shape modeling for a given data; the implemented process goes through those basic steps, first collect the given data then apply the alignment algorithm based on the ICP (iterative closest point) method which in turn relies on Procrustes analysis result as a starting point, next we apply fitting algorithm which is also based on ICP. Finally we obtain the model using PCA (principle component analysis). To achieve this work, we have implemented the above process on two different shape models, one tested with the Basel Face Model (BSF) and the other is the femur model data samples from the SICAS (Swiss Institute for Computer Assissted Surgery) Medical Image Repository which is used by the Basel University (Switzerland) for both samples, where these models allow the generation and the exploration of the possible shape variation.
Design and simulation of sun tracker with MPPT
(2016) Hassani, Islam; Bourezg, A. (Supervisor)
Solar electricity is seen as being a significant source of renewable energy.The photovoltaic generator is a source characterized by only one point of operation where the generated power is maximum called maximum power point(MPP). Unfortunately that point moves according to the weather conditions (temperature and rradiance) and needs a controller to track it. Many MPPT techniques were proposed such as perturb and observe (P&O), Incremental conductance (InC), the fractional open circuit voltage (FOCV) ,fractional short circuit current (FSCC). This work presents an improved sun tracker controller for PV systems. An mproved P&O algorithm using a microcontroller to achieve this objective. The developed MPPT uses the Sun tracker to extract the maximum power. The simulation results show that the response of the proposed design is faster than the P&O algorithm without sun tracke. i