Khaled Belghith

Khaled Belghith
University of Carthage | UCAR · Higher Institute of Information Technologies and Communication

PhD Computer Science

About

15
Publications
1,959
Reads
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167
Citations
Additional affiliations
October 2014 - present
University of Carthage
Position
  • Professor (Assistant)
January 2005 - August 2010
Université de Sherbrooke
Position
  • Research Assistant
September 2002 - August 2004
Université du Québec à Montréal
Position
  • Research Assistant

Publications

Publications (15)
Article
Full-text available
In this paper we consider the problem of planning paths for articulated bodies operating in workplaces containing obstacles and regions with preferences expressed as degrees of desirability. Degrees of desirability could specify danger zones and desire zones. A planned path should not collide with the obstacles and should maximize the degrees of de...
Article
Full-text available
Automatic D animation generation techniques are becoming increasingly popular in different areas related to computer graphics such as video games and animated movies. They help automate the filmmaking process even by non professionals without or with minimal intervention of animators and computer graphics programmers. Based on specified cinematogra...
Article
Full-text available
Roman Tutor is a tutoring system that uses sophisticated domain knowledge to monitor the progress of students and advise them while they are learning how to operate a space tele-robotic system. It is intended to help train operators of the Space Station Remote Manipulator System (SSRMS) including astronauts, operators involved in ground-based contr...
Conference Paper
Full-text available
Probabilistic roadmaps (PRM) have been demonstrated to be very promising for planning paths for robots with high degrees of freedom in complex 3D workspaces. In this paper we describe a PRM path-planning method presenting three novel features that are useful in various real-world applications. First, it handles zones in the robot workspace with dif...
Conference Paper
Full-text available
This paper describes the integration of robot path-planning and spatial task modeling into a software system that teaches the operation of a robot manipulator deployed on International Space Station (ISS). The system addresses the complexity of the manipulator, the limited direct view of the ISS exterior, and the unpredictability of lighting condit...
Conference Paper
Full-text available
In this paper, we present Roman Tutor, an intelligent tutoring simulator to train astronauts on manipulating the SSRMS, an articulated robot arm deployed on the International Space Station. Roman Tutor incorporates a model of the system operations curriculum, a kinematic simulation of the robotics equipment and the ISS, a high performance path plan...
Conference Paper
Full-text available
In this paper we describe a new randomized path-planning approach presenting two novel features that are useful in various complex real-world applications. First, it handles zones in the robot workspace with different degrees of desirability. Given the random quality of paths that are calculated by traditional randomized approaches, this provides a...
Conference Paper
Full-text available
In this paper we describe the Automatic Task Demonstration Gen- erator (ATDG), a system implemented into a software prototype for teaching the operation of a robot manipulator deployed on the Inter- national Space Station (ISS). The ATDG combines the use of path planning and camera planning to take into account the complexity of the manipulator, th...
Conference Paper
Full-text available
We present an automated planning application for generat- ing 3D tasks demonstrations involving a teleoperated robot arm on the International Space Station (ISS). A typical task demonstration involves moving the robot arm from one con- figuration to another. Our objective is to automatically plan the position of virtual cameras to film the arm in a...
Conference Paper
Full-text available
Manipulating the Space Station Remote Manipulator (SSRMS), known as “Canadarm II”, on the International Space Station (ISS) is a very challenging task. The astronaut does not have a direct view of the scene of operation and must rely on cameras mounted on the manipulator and at strategic places of the environment where it operates. In this paper, w...
Conference Paper
Full-text available
In this paper, we describe the open knowledge structure of Roman Tutor, a simulation-based intelligent tutoring system we are developing to teach astronauts how to manipulate the Space Station Remote Manipulator (SSRMS), known as "Canadarm II", on the International Space Station (ISS). We show that by representing the complex ISS-related knowledge...
Conference Paper
Full-text available
Manipulating the Space Station Remote Manipulator (SSRMS) on the International Space Station (ISS) is a very challenging task. The operator does not have a direct view of the scene of operation and must rely on cameras mounted on the manipulator and at strategic places of the environment where it operates. In this paper, we describe how a new appro...
Conference Paper
Full-text available
This paper discusses the problem of planning a robot path in a workplace that contains a set of obstacles, a set of dangerzones, and a set of desirezones. The path cannot collide with the obstacles, should avoid the dangerzones, and should go through the desirezones. In order to plan such a path, we introduce the notion of fuzzy probabilistic roadm...
Article
Full-text available
This demonstration will be about Roman Tutor, a system that we are developing to teach astronauts how to operate a robot manipulator deployed on the International Space Sta- tion (ISS). Operators do not have a direct view of the scene of operation on the ISS and must rely on cameras mounted on the manipulator and at strategic places of the environm...

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