Khaled Belghith

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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 conditions in(More)
— 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 different(More)
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 approach for(More)
We present an automated planning application for generating 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 configuration to another. Our objective is to automatically plan the position of virtual cameras to film the arm in a manner that(More)
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 in the(More)
Automatic 3D 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 cinematographic(More)
—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 mean to(More)