Login

Members

Abdelmoula Chokri

Mr Abdelmoula Chokri
Associate Professor

Department of Industrial Computing
National School of Electronic and Telecommunications of Sfax
Sfax University
 
Address: Technopark of Sfax, B.P 1163, 3018 Sfax -TUNISIE- 3018 Sfax Tunisia
Phone: 98 97 55 55
Fax: 74 86 30 37
email:


Abdelmoula Chokri

Publication


Chokri ABDELMOULA Fakher Chaari Mohamed MASMOUDI

A New Generation of a Mobile Robot For Universal and Didactic Applications , 2009 6th International Multi-Conference on Systems, Signals and Devices , 0000-00-00
[Abstract]
Abstract
Abstract – In this paper, a novel prototype of a wellstructured robot for navigation in an industrial environment, and for didactic applications is presented. The robot has two axels. The driving wheels are mounted in the rear axle of the robot, and the front axle which is equipped by two wheels is responsible of the rotation and maneuvering the robot. In addition to the mechanical components, the prototype is equipped with a DC power supply, three infra-red sensors, one ultrasound sensor, and control modules composed of an FPGA card, a microcontroller card and two cards for commanding the two DC motors installed in the rear axle, and the stepper motor which is installed in the front axle. These two cards are used to control those actuators. The parameters of the mechanical and electronic components are optimized to perform multiple tasks for training and instruction applications. A mathematical model that describes the dynamics of the robot prototype is also developed. Simulation, experimental and theoretical investigations were carried out consisting in avoiding navigation with specific maneuvers and for didactic applications such us self parking in complex environments. Experimental and theoretical results agree well in both applications. Keywords: Autonomous vehicles, embedded design, mobile robot

Chokri ABDELMOULA, Mohamed MASMOUDI, Fakher CHAARI

Obstacle Avoidance of a Mobile Robot Using a Hierarchical Control , 2008 International Conference on Design & Technology of Integrated Systems in Nanoscale Era , 0000-00-00
[Abstract]
Abstract
Abstract— A new approach of obstacle avoidance of a mobile robot (autonomous vehicles) using a hierarchical control for navigation is proposed. It is based on the identification of the kinematics model of the mobile robot to determine the procedure of navigation in an unknown environment. Then, the information about the global goal and the long-range sensory data, with regards to the navigation environment, are used to guide the mobile robot to reach its sub-goal while avoiding collisions. The implementation results of this concept are presented confirming the effectiveness of the proposed control approach. Keywords: Autonomous navigation, Mobile robot, Hierarchical control, Unknown Environment

Chokri ABDELMOULA Fakher Chaari Mohamed MASMOUDI

Implementation of Applications on a Newly Designed Robot Prototype: “Autonomous Navigation and Parallel Parking” , 2009 International Conference on Signals, Circuits and Systems , 0000-00-00
[Abstract]
Abstract
Abstract— Autonomous navigation and parallel parking of robots is usually a challenging maneuver for conductors in industrial environments and in heavy traffic congestion respectively. Soft computing techniques are suited for robots like car control system when modeled by highly non linear differential equations and navigation in unknown and unstructured environments. To demonstrate their applicability in real-world applications, two easy control units are designed for performing tasks. In this paper, a novel vision of autonavigation system and parallel parking is proposed and confirmed on the newly designed robot prototype for each model. The experimental results show the accuracy of measurement and recognition, and the robustness of dynamic auto-navigation in indoor environments. All these applications are implemented on the new prototype of the robot designed in the (EMC) research unit at the National Engineering School of Sfax. Keywords— Auto-navigation, 3D measurement, mobile robot, intelligent parking system.

Hanene Rouabah,Chokri Abdelmoula,Mohamed Masmoudi

The Realization of a Neural Network Controller for Vehicle-Type Mobile Robot Navigation , 2012 International Conference on Design & Technology of Integrated Systems in Nanoscale Era , 0000-00-00
[Abstract]
Abstract
Abstract— This work is part of improving the autonomous navigation of mobile robots. In an environment where many obstacles in form of wall are present, the robot must detect obstacles around it, steer to the nearest and track its deviations keeping a desired distance fixed. A joint use of information issued from the three sensors installed on the platform: in front, on the left and on the right are used to determine the proper motion for the robot at each position allowing it to navigate autonomously. The effectiveness of Neural Networks in mobile robot control is important in their learning abilities and their capacity to treat noisy data. Keywords-Mobile Robot; Wall Following; Neural Networks

Hanene Rouabah, Chokri Abdelmoula, Mohamed Masmoudi

Behavior Control of a Mobile Robot Based on Fuzzy Logic and Neuro Fuzzy Approaches for Monitoring Wall , 2012 International Conference on Design & Technology of Integrated Systems in Nanoscale Era , 0000-00-00
[Abstract]
Abstract
Abstract— This work describes the design and development of controllers based on artificial intelligence tried on a newly design of a mobile robot type-vehicle to control behavior for monitoring wall. Two approaches have been optimized and developed to control the robot: The first one is based on Fuzzy logic. This control algorithm combines the different sensory information and provides a suitable control command allowing the mobile robot to follow the wall deviations. The second approach consists of applying a hybrid-type Neuro-Fuzzy ANFIS controller for the same task. This controller combines the advantages of Fuzzy logic and Neural Networks. Simulations results are presented and implemented with VHDL using ANFIS architecture. Keywords- Mobile Robot; Wall Following; Fuzzy Logic; Neural Networks; Neuro-Fuzzy; ANFIS

Hanene Rouabeh, Chokri Abdelmoula, Mohamed Masmoudi

VHDL based Hardware Architecture of a High Performance Image Edge Detection Algorithm , International Journal of Computer Applications (0975 – 8887) Volume 91 – No.12, April 2014 , 0000-00-00
[Abstract]
Abstract
ABSTRACT This article presents the software and hardware implementation of a low cost and high performance image edge detection algorithm. This algorithm will be used as part of a complete vision based driver assistance system. The main challenge consists in realizing a real-time implementation of edge detection algorithm that contributes in increasing the performance of the whole system. The software implementation of the developed algorithm using MATLAB tool is discussed in this paper, as well as the hardware architecture developed using VHDL language. Test results for both implementations were presented and compared to other edge detection operators. Computational time and other features comparison have shown the effectiveness of the proposed approach. General Terms Computer science, Image processing, VHDL

Chokri Abdelmoula, Fakher Chaari, Mohamed Masmoudi

A NEW DESIGN OF A ROBOT PROTOTYPE FOR INTELLIGENT NAVIGATION AND PARALLEL PARKING , Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 3, N° 2, pp:47-58, 2009 , 0000-00-00
[Abstract]
Abstract
Abstract Nowadays, the design of industrial vehicles and movable cars is based on the automation of their different tasks, which are currently handled by humans. These tasks, such as manoeuvring robots in complex environments, require high level of precision that cannot be guaranteed by humans. Manual operations are likely to produce errors of computation and optimization of navigation and manoeuvre (left, right, veering…). In this paper, a novel prototype of a well-structured robot for intelligent navigation and parallel parking applications is presented. The robot have two axels, the front one is composed of two wheels that are manoeuvred by a stepper motor, and a pinion rack system for controlling the rotation of the wheels, and also the orientation of the robot. The driving wheels are mounted in the rear axle of the robot and are commanded by two DC motors. The design allows modification of the robot structural components whenever required. In addition to the mechanical components, the prototype is equipped with a DC power supply, three infra-red sensors, one ultrasound sensor, and control modules composed of an FPGA card, microcontroller card and two cards which are responsible for commanding actuators. The parameters of the mechanical and electronics components are optimised to perform multiple tasks for training and instruction applications. A mathematical model that describes the dynamics of the robot prototype is also developed. Simulation, experimental and theoretical investigations were carried out consisting in navigation and parallel parking manoeuvres. It was confirmed that the experimental and theoretical results agree well in both applications. Keywords: autonomous vehicles, embedded design, and mobile robot.

Chokri Abdelmoula, Fakher Chaari and Mohamed Masmoudi

Real time algorithm implemented in Altera’s FPGA for a newly designed mobile robot Autonomous navigation and parallel parking , Multidiscipline Modeling in Materials and Structures Vol. 10 No. 1,pp. 75-93, 2014 , 0000-00-00
[Abstract]
Abstract
Abstract Purpose – The purpose of this paper is to propose a generic platform for a robotic mobile system, seeking to obtain a support tool for under-graduation and graduation activities. Another objective was to gather knowledge in the mobile robotic area in order to provide practical solutions for industrial problems. Design/methodology/approach – The proposed new integrated platform would serve as didactic material for many disciplines, shown to be an ideal platform to teach DC motor drives, stepper motor and motion-control systems. To reach this objective, the ability of the robot to plan its motion autonomously is of vital importance. The control of a mobile robot in dynamic and unstructured environments typically requires efficient processing of data/information to ensure precise navigation and many other applications. Path planning is also one common method of auto-navigation. After the computation of the shortest path, mobile robot can navigate safely and without occlusion. Findings – The developed platform is an integrated system for intelligent software middleware to coordinate many activities in the field of electric drives, robotics, autonomous systems and artificial intelligence. Originality/value – As a result of the study, this paper contributed to research in the industrial development, principally in the fields of industrial robotics and also in different application purposes such as entertainment, personal use, welfare, education, rehabilitation, etc. Keywords Artificial intelligence, Industrial robotics, Mobile robot, 3D measurement, Auto-navigation, Intelligent parking system Paper type Research paper

Chokri Abdelmoula, Hanen Rouabeh, Mohamed Masmoudi

Behavior Control of a New Designed Mobile Robot Based on Fuzzy Logic and Neuro Fuzzy Approaches for MonitoringWall , International Journal of Intelligent Engineering and Systems, Vol.6, No.3, pp: 17-26, 2013 , 0000-00-00
[Abstract]
Abstract
Abstract: This work describes the design and development of controllers based on artificial intelligence applied to a newly designed mobile robot type-vehicle to control behavior for monitoring wall. Two approaches have been developed and optimized to achieve this task. The first one is based on Fuzzy logic. This control algorithm combines different sensory information and provides a suitable control command allowing the mobile robot to follow the wall deviations. The second approach consists of the application of a hybrid-type Neuro-Fuzzy ANFIS controller for the same task. An important feature of this approach is that the controller combines the advantages of both Fuzzy logic and Neural Networks.The simulation results are presented and implemented with VHDL using ANFIS architecture.

Chokri Abdelmoula, Karim Jaber and Mohamed Masmoudi

Path tracking control of a driven mobile robot in a dynamic environment , International Journal of Engineering Intelligent Systems (Vol 29, Issue 2, 2014) , 0000-00-00
[Abstract]
Abstract
This paper deals with the problem of path tracking of a driven mobile robot in a dynamic environment, where the workspace is cluttered with unpredictably moving persons and objects. The multidisciplinary system was described in VHDL-AMS. A concept of virtual prototype makes possible the characterization and the optimization of the mobile robot. A robust adaptive controller is proposed using an adaptive control feed forward Neural Network technique. The proposed control scheme employs the adaptive control approach to make the tracking error as small as possible. This algorithm was developed as a model of the feed forward Neural Network for generalization and fast convergence. Moreover, this algorithm is designed for testing a new physical structure of mobile robot in different configuration of environment for autonomous navigation. This can be achieved when the robot must reach a distance on the right or on the left or go straight and also when persons and objects are in activity in the same environment. The performance of the proposed approach is demonstrated through a simulation and experimental results.