2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR), 2020
In the field of chemical and biological defence, technical and technological developments have fo... more In the field of chemical and biological defence, technical and technological developments have followed those of threats and risks. As a result, the means of detection, identification, protection, decontamination and medical, preventive or curative treatments have been significantly improved. CBRN defence More efficient, faster and especially more reliable, the equipment has undeniably made it possible to improve the CBRN defences in particular in these specific areas in order to better cope with major events. Without being exhaustive, this paper proposes to present the most significant developments in the field of chemical and biological defence, including the use of Robotics Systems, knowing that technical and technological developments have also been significant in the nuclear and radiological fields which will not be discussed here. Robotics: The Mobile Robotics Systems begin to emerge in applications related to the security and the environmental surveillance: prevention of disasters, intervention during disasters, assistance to Fire-Fighting and/or Protection Services, with all possible kinds of mission ensuring the safety of the human beings.
2005 International Conference on Information and Communication Technology
The development of a robotics system not only depends on the technical aspects and modular compon... more The development of a robotics system not only depends on the technical aspects and modular components allowing the correct design of the remote controlled platforms(s); the application related constraints have also to be carefully analysed in order to achieve the success of the whole system. The constraints related to the humanitarian demining, and more generally to outdoor applications, may be
Abstract: Landmines are prominent weapons and they are very effective, yet cheap, and easy to mak... more Abstract: Landmines are prominent weapons and they are very effective, yet cheap, and easy to make. They lie on or just under the ground surface. The removal and destruction of all forms of dangerous battlefield debris, particularly landmines and explosive remnants of war (ERW) are vital prerequisites for any region in order to recover from the aftermath of war. Although de-mining has been given top priority, mine clearing is currently a labor-intensive, slow, very dangerous, expensive, and low technology operation. Hence the development of new machines, technologies, sensors, techniques, and inexpensive field-oriented tools that are efficient and fast, which is important in humanitarian mine clearance. This chapter focuses on the problems associated with landmines, the trend of mechanical de-mining, the development of new machines for improved performance and adaptability to local circumstances and needs.
In the current situation, there is a need to correctly define the usefulness and requirements of ... more In the current situation, there is a need to correctly define the usefulness and requirements of robotics solutions , essentially in preand post-mine detection (minefield delineation and quality assurance), to develop a network of research-centers focusing on this kind of solutions , to define and continuously update generic modules of the used Robotics Systems . Beside the correct orientation of research activities , deduced from such definitions, it will be necessary to develop test methods and procedures in order to assess the performances of the 'System' in highly, costeffective and most generic way. The Network , with teams focusing on work-packages related to the modules defined in the picture 1, could help to clarify the role of the Robotics Systems (or Mechanical assistance) and assist future T&E activities of ITEP. (International Test and Evaluation Programme). This paper summarizes the results of the research activities on Robotics in Humanitarian Demining, conduct...
This paper presents an integrated visual servoing system for robot navigation. This system is abl... more This paper presents an integrated visual servoing system for robot navigation. This system is able to pursue a moving object by controlling a camera mounted on a pan/tilt head, so that the moving object is maintained in the center of the image. The visual system has four capabilities: the target detection, the target motion model online identification, camera control for target tracking and target position estimation. In order to minimize the time required for the image target detection, the target is made of elementary features: colored circular object. The target detection consists of two stages algorithm: (i) a color classification stage, and (ii) a knowledge-based shape detection stage. The color classification stage utilizes the distribution of the target color in the HSV color space in order to obtain an initial set of candidate regions. The second stage of the detection scheme uses mathematical morphology operators for circular object detection. The camera control exploits th...
A flexible system-level design methodology applied to noc, d'outils de caó electronique/micro... more A flexible system-level design methodology applied to noc, d'outils de caó electronique/microélectronique implémentant une méthodologie de " co2design " , Proc. Ecole d'Hiver francophone sur les technologies de conception des syst¨Emes embarqués hétérog¨Enes Mitotic tree construction by computer in vitro cell tracking: a tool for proliferation and
Antipersonnel mines are a pestilence and need to be dealt with as quickly as possible. Unfortunat... more Antipersonnel mines are a pestilence and need to be dealt with as quickly as possible. Unfortunately the techniques that are being used have hardly changed since the Second World War. Many people throughout the world are working to improve or perfect new minedetectors. Some are also endeavouring to develop mechanical solutions to increase efficiency of detection. In particular, this is the aim of the Robotics Laboratory of the Belgian project HUDEM. Our objective is to develop remote-controlled mobile platforms capable of carrying mine-detectors. We shall frst review the essential features these vehicles have to possess, then explain the choice that have been made, and finally present various ongoing developments.
Due to the complexity of walking robots which has in general a great number of degrees of freedom... more Due to the complexity of walking robots which has in general a great number of degrees of freedom, cognitive modelling controller such as Fuzzy Logic, Neural Networks...seems to be reasonable in the design of adaptive control of such robot. Fuzzy Logic Controller is more used because it lets you describe desired system behaviour with simple “if-then” relations. But it has a major limitation because in many applications, the designer has to derive “if-then” rules manually by trial and error. On the other hand, Neural Networks perform function approximation of a system but we cannot interpret the solution obtained neither check if its solution is plausible. The two approaches are complementary. Combining them, Neural Networks will allow learning capability while Fuzzy-Logic will bring knowledge representation (Neuro-Fuzzy). In this paper, we show an original method to design an adaptive Neuro-Fuzzy controller which consists in five steps that are: the initial design of an ANFIS contro...
Due to the complexity of walking robots which has in general a great number of degrees of freedom... more Due to the complexity of walking robots which has in general a great number of degrees of freedom, cognitive modelling controller such as Fuzzy Logic, Neural Networks...seems to be reasonable. Fuzzy Logic Controller is more used because it lets you describe desired system behaviour with simple “if-then” relations. But it has a major limitation because in many applications, the designer has to derive “if-then” rules manually by trial and error. In this paper, we show an original method to fix initial parameters of a Sugeno fuzzy controller apparently to Ziegler-Nichols rules. Simulations and application to a six-legged robot named AMRU5 has proved the effectiveness of this method. Then, we make the fuzzy controller obtained adaptive by combining it to Neural Networks technologies.
The Nomad200 is an electrical mobile robot who is equipped with different kinds of sensors. It ca... more The Nomad200 is an electrical mobile robot who is equipped with different kinds of sensors. It can be programmed and controlled in two ways: directly via the on board PC card or remotely via a UNIX workstation. In the late case, commands and data are transmitted by an ethernet radio link. The purpose of this work is to build a
2011 IEEE International Conference on Mechatronics, 2011
... SLAM for Geo-Localization of a Mobile Robot Sid Ahmed Berrabah',#, Yvan Baudoin', H... more ... SLAM for Geo-Localization of a Mobile Robot Sid Ahmed Berrabah',#, Yvan Baudoin', Hichem Sahli# * Royal Military Academy of Belgium (RMA), Av. ... An early approach was proposed byDeans [16], who combined Kalman fIlter and bundle adjustment in fIlter ...
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR), 2020
In the field of chemical and biological defence, technical and technological developments have fo... more In the field of chemical and biological defence, technical and technological developments have followed those of threats and risks. As a result, the means of detection, identification, protection, decontamination and medical, preventive or curative treatments have been significantly improved. CBRN defence More efficient, faster and especially more reliable, the equipment has undeniably made it possible to improve the CBRN defences in particular in these specific areas in order to better cope with major events. Without being exhaustive, this paper proposes to present the most significant developments in the field of chemical and biological defence, including the use of Robotics Systems, knowing that technical and technological developments have also been significant in the nuclear and radiological fields which will not be discussed here. Robotics: The Mobile Robotics Systems begin to emerge in applications related to the security and the environmental surveillance: prevention of disasters, intervention during disasters, assistance to Fire-Fighting and/or Protection Services, with all possible kinds of mission ensuring the safety of the human beings.
2005 International Conference on Information and Communication Technology
The development of a robotics system not only depends on the technical aspects and modular compon... more The development of a robotics system not only depends on the technical aspects and modular components allowing the correct design of the remote controlled platforms(s); the application related constraints have also to be carefully analysed in order to achieve the success of the whole system. The constraints related to the humanitarian demining, and more generally to outdoor applications, may be
Abstract: Landmines are prominent weapons and they are very effective, yet cheap, and easy to mak... more Abstract: Landmines are prominent weapons and they are very effective, yet cheap, and easy to make. They lie on or just under the ground surface. The removal and destruction of all forms of dangerous battlefield debris, particularly landmines and explosive remnants of war (ERW) are vital prerequisites for any region in order to recover from the aftermath of war. Although de-mining has been given top priority, mine clearing is currently a labor-intensive, slow, very dangerous, expensive, and low technology operation. Hence the development of new machines, technologies, sensors, techniques, and inexpensive field-oriented tools that are efficient and fast, which is important in humanitarian mine clearance. This chapter focuses on the problems associated with landmines, the trend of mechanical de-mining, the development of new machines for improved performance and adaptability to local circumstances and needs.
In the current situation, there is a need to correctly define the usefulness and requirements of ... more In the current situation, there is a need to correctly define the usefulness and requirements of robotics solutions , essentially in preand post-mine detection (minefield delineation and quality assurance), to develop a network of research-centers focusing on this kind of solutions , to define and continuously update generic modules of the used Robotics Systems . Beside the correct orientation of research activities , deduced from such definitions, it will be necessary to develop test methods and procedures in order to assess the performances of the 'System' in highly, costeffective and most generic way. The Network , with teams focusing on work-packages related to the modules defined in the picture 1, could help to clarify the role of the Robotics Systems (or Mechanical assistance) and assist future T&E activities of ITEP. (International Test and Evaluation Programme). This paper summarizes the results of the research activities on Robotics in Humanitarian Demining, conduct...
This paper presents an integrated visual servoing system for robot navigation. This system is abl... more This paper presents an integrated visual servoing system for robot navigation. This system is able to pursue a moving object by controlling a camera mounted on a pan/tilt head, so that the moving object is maintained in the center of the image. The visual system has four capabilities: the target detection, the target motion model online identification, camera control for target tracking and target position estimation. In order to minimize the time required for the image target detection, the target is made of elementary features: colored circular object. The target detection consists of two stages algorithm: (i) a color classification stage, and (ii) a knowledge-based shape detection stage. The color classification stage utilizes the distribution of the target color in the HSV color space in order to obtain an initial set of candidate regions. The second stage of the detection scheme uses mathematical morphology operators for circular object detection. The camera control exploits th...
A flexible system-level design methodology applied to noc, d'outils de caó electronique/micro... more A flexible system-level design methodology applied to noc, d'outils de caó electronique/microélectronique implémentant une méthodologie de " co2design " , Proc. Ecole d'Hiver francophone sur les technologies de conception des syst¨Emes embarqués hétérog¨Enes Mitotic tree construction by computer in vitro cell tracking: a tool for proliferation and
Antipersonnel mines are a pestilence and need to be dealt with as quickly as possible. Unfortunat... more Antipersonnel mines are a pestilence and need to be dealt with as quickly as possible. Unfortunately the techniques that are being used have hardly changed since the Second World War. Many people throughout the world are working to improve or perfect new minedetectors. Some are also endeavouring to develop mechanical solutions to increase efficiency of detection. In particular, this is the aim of the Robotics Laboratory of the Belgian project HUDEM. Our objective is to develop remote-controlled mobile platforms capable of carrying mine-detectors. We shall frst review the essential features these vehicles have to possess, then explain the choice that have been made, and finally present various ongoing developments.
Due to the complexity of walking robots which has in general a great number of degrees of freedom... more Due to the complexity of walking robots which has in general a great number of degrees of freedom, cognitive modelling controller such as Fuzzy Logic, Neural Networks...seems to be reasonable in the design of adaptive control of such robot. Fuzzy Logic Controller is more used because it lets you describe desired system behaviour with simple “if-then” relations. But it has a major limitation because in many applications, the designer has to derive “if-then” rules manually by trial and error. On the other hand, Neural Networks perform function approximation of a system but we cannot interpret the solution obtained neither check if its solution is plausible. The two approaches are complementary. Combining them, Neural Networks will allow learning capability while Fuzzy-Logic will bring knowledge representation (Neuro-Fuzzy). In this paper, we show an original method to design an adaptive Neuro-Fuzzy controller which consists in five steps that are: the initial design of an ANFIS contro...
Due to the complexity of walking robots which has in general a great number of degrees of freedom... more Due to the complexity of walking robots which has in general a great number of degrees of freedom, cognitive modelling controller such as Fuzzy Logic, Neural Networks...seems to be reasonable. Fuzzy Logic Controller is more used because it lets you describe desired system behaviour with simple “if-then” relations. But it has a major limitation because in many applications, the designer has to derive “if-then” rules manually by trial and error. In this paper, we show an original method to fix initial parameters of a Sugeno fuzzy controller apparently to Ziegler-Nichols rules. Simulations and application to a six-legged robot named AMRU5 has proved the effectiveness of this method. Then, we make the fuzzy controller obtained adaptive by combining it to Neural Networks technologies.
The Nomad200 is an electrical mobile robot who is equipped with different kinds of sensors. It ca... more The Nomad200 is an electrical mobile robot who is equipped with different kinds of sensors. It can be programmed and controlled in two ways: directly via the on board PC card or remotely via a UNIX workstation. In the late case, commands and data are transmitted by an ethernet radio link. The purpose of this work is to build a
2011 IEEE International Conference on Mechatronics, 2011
... SLAM for Geo-Localization of a Mobile Robot Sid Ahmed Berrabah',#, Yvan Baudoin', H... more ... SLAM for Geo-Localization of a Mobile Robot Sid Ahmed Berrabah',#, Yvan Baudoin', Hichem Sahli# * Royal Military Academy of Belgium (RMA), Av. ... An early approach was proposed byDeans [16], who combined Kalman fIlter and bundle adjustment in fIlter ...
Uploads
Papers by Yvan Baudoin