Haris Balta

Haris Balta
Royal Military Academy · Department of Mechanics

Doctor of Engineering

About

29
Publications
41,116
Reads
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286
Citations
Additional affiliations
September 2020 - present
Siemens
Position
  • Manager
September 2019 - January 2021
European Commission
Position
  • Evaluation Expert (external)
Description
  • Providing expertise and consulting services in the evaluation of security project proposals. (external contract)
August 2016 - present
Unmanned Systems Consultancy
Position
  • Consultant
Description
  • Consulting services and introduction of Unmanned Systems - Robotics for different governmental and industrial organizations. Supporting technological product developments with a strong operational background.

Publications

Publications (29)
Article
Full-text available
The paper proposes a novel framework for registering and segmenting 3D point clouds of large-scale natural terrain and complex environments coming from a multisensor heterogeneous robotics system, consisting of unmanned aerial and ground vehicles. This framework involves data acquisition and pre-processing, 3D heterogeneous registration and integra...
Article
Full-text available
p style="margin: 0cm 0cm 0pt;"> This article considers the development of a system to enable the in-flight-launch of one aerial system by another. The article discusses how an optimal release mechanism was developed taking into account the aerodynamics of one specific mothership and child Unmanned Aerial Vehicle (UAV). Furthermore, it discusses th...
Conference Paper
Full-text available
This paper considers the development of a system to enable the in-flight-launch of one aerial system by another. The paper will discuss how an optimal release mechanism was developed, taking into account the aerodynamics of one specific mother and child UAV. Furthermore, it will discuss the PID-based control concept that was introduced in order to...
Article
Full-text available
During the Humanitarian-demining actions, teleoperation of sensors or multi-sensor heads can enhance-detection process by allowing more precise scanning, which is use-ful for the optimization of the signal processing algorithms. This chapter summarizes the technologies and experiences developed during 16 years through national and/or European-funde...
Article
Full-text available
This paper introduces a novel iterative 3D mapping framework for large scale natural terrain and complex environments. The framework is based on an Iterative-Closest-Point (ICP) algorithm and an iterative error minimization mechanism, allowing robust 3D map registration. This was accomplished by performing pairwise scan registrations without any pr...
Article
Full-text available
This paper proposes a very effective method for data handling and preparation of the input 3D scans acquired from laser scanner mounted on the Unmanned Ground Vehicle (UGV). The main objectives are to improve and speed up the process of outliers removal for large-scale outdoor environments. This process is necessary in order to filter out the noise...
Article
Full-text available
Search-and-rescue operations have recently been confronted with the introduction of robotic tools that assist the human search-and-rescue workers in their dangerous but life-saving job of searching for human survivors after major catastrophes. However, the world of search and rescue is highly reliant on strict procedures for the transfer of message...
Conference Paper
Full-text available
Search and rescue operations, in the aftermath of natural or manmade disasters, are complex and dangerous tasks that can benefit a lot from the use of robotics. Well known examples include the Fukushima and Costa Concordia accidents. However, a large gap exists between what is envisioned that robots can do, and what they effectively do in real situ...
Conference Paper
Full-text available
In the quest for fully autonomous unmanned aerial systems (UAS), multiple challenges are faced. For enabling autonomous UAS navigation in indoor environments, one of the major bottlenecks is the capability to autonomously traverse narrow 3D - passages, like staircases. This paper presents a novel integrated system that implements a semi-autonomous...
Conference Paper
Full-text available
Autonomous robotic systems which aspire to navigate through rough unstructured terrain require the capability to reason about the environmental characteristics of their environment. As a first priority, the robotic systems need to assess the degree of traversability of their immediate environment to ensure their mobility while navigating through th...
Conference Paper
Full-text available
In this paper, we provide a report on a real relief operation mission, jointly conducted by two European research projects, in response to the massive flooding in the Balkan in spring 2014. Un Unmanned Aerial System was deployed on-site in collaboration with traditional relief workers, to support them with damage assessment, area mapping, visual in...
Conference Paper
Full-text available
In this paper, a Training and Support system for Search and Rescue operations is described. The system is a component of the ICARUS project (http://www.fp7-icarus.eu) which has a goal to develop sensor, robotic and communication technologies for Human Search And Rescue teams. The support system for planning and managing complex SAR operations is im...
Conference Paper
Full-text available
This project paper provides a report on a real relief operation mission, jointly conducted by two European research projects, in response to the massive flooding in the Balkan in spring 2014. Un Unmanned Aerial System was deployed on-site in collaboration with traditional relief workers, to support them with damage assessment, area mapping, visual...
Conference Paper
Full-text available
In this paper, we present a ground robotic system which is developed to deal with rough outdoor conditions. The platform is to be used as an environmental monitoring robot for 2 main application areas: 1) Humanitarian demining: The vehicle is equipped with a specialized multi-channel metal detector array. An unmanned aerial system supports it for l...
Conference Paper
Full-text available
The main focus of the work presented in this paper is to investigate the application of certain biologically-inspired control strategies in the field of autonomous mobile robots, with particular emphasis on multi-robot navigation systems. The control architecture used in this work is based on the behavior-based approach. The main argument in favor...
Conference Paper
Full-text available
In this paper, we discuss the development process of a mobile robot intended for environmental observation ap-plications. The paper describes how a standard tele-operated Explosive Ordnance Disposal (EOD) robot was upgraded with electronics, sensors, computing power and autonomous capa-bilities, such that it becomes able to execute semi-autonomous...
Article
During recent years much significant progress has been made in the research of different aspects of university education. Various methods, techniques, approaches and learning concepts related to research in this area have been developed. It is undoubtedly that in the entire educational process one of the central places is occupied by teachers. In a...
Conference Paper
Complexity of data analysis in data mining often makes results difficult to interpret. This problem could be solved using various approaches. Principal component analysis (PCA) and disjoint cluster analysis (DCA) are methods used for data reduction and summarization. In this paper, PCA and DCA were applied on dataset example containing information...

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Projects

Projects (3)
Project
Multi-domain mobile 3D mapping and inspection toolbox for cultural heritage preservation (3DVMS) aims at developing a mobile, remotely control, fleet capable of digitisation, guarding, and preservation of small and large scale cultural heritage sites. The main focus is on providing a full 3D virtual reality model for the VR inspection and help in preservation of cultural heritage sites. The specific objectives of 3DVMS are: 1. Development of an autonomous robotic fleet for fully autonomous 3D digitisation, including UAVs and UGVs. 2. Development of a semantic model generation methodology for the visualization of cultural heritage sites. 3. Integration of VR technology for visualisation, inspection, and analysis of cultural heritage sites. 4. Demonstration of cost effectiveness and affordability of the proposed technology. A highly mobile data acquisition system will be realized with an innovative, high-resolution, high-precision multi-modal sensor and platform concept. The fleet of mobile robots will be deployed on a site, each with their own mission, or part of a cultural heritage site that is to be digitised. UAVs can also act as wireless network repeaters for other members of the fleet. Furthermore, a combination with human (e.g. rucksack) carrier systems, it will offer new insights through complementary sensors and advanced data processing. 3DVMS innovations are: 1. Swarm based digitisation and 3D model generation of small and large scale cultural heritage sites 2. Fusion of different sensing technologies for data acquisition 3. Automated generation of semantic 3D models of cultural heritage sites including indoor and outdoor parts that are fully registered. Data processing using methods, algorithms and data structures for the effective visualization (VR), presentation and archiving of the hyper-spectral and multi-attribute scanned data sets will be developed. This project aims at providing simple and affordable tools to archaeologists, historians, architects for automated digitisation and VR¬-based inspection of cultural heritage sites.
Archived project
Development of a toolkit for humanitarian demining
Project
Development of unmanned search and rescue tools