TY  - JOUR
AU  - Boulahlib, Mohammed Amine
AU  - Milinović, Momčilo
AU  - Bendjaballah, Mourad
AU  - Jeremić, Olivera
AU  - Sakan, Nenad
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2550
AB  - The paper aims to research the orientation possibilities of an object in the horizontal plane, from its start course into a required orientating recourse, by using simplified navigation methods. The object's directed motion uses controlling powering impulses, variable distributed in time, during constrained motion time. Three logical decision-making methods are designed for calculating the best maneuvering trajectory with minimal error on the target. Computing the powering impulses, their execution instances, as well as their types, are ensured by the methods and presented in the paper. The developed controlling methods are: a modified multiple shooting method, a new control law, called in this paper, current error orientation, as well as a fuzzy logic method. These methods are designed as decision-making software implemented in an electronic hardware as a predefined programmable controller. This provides pre-programmable orientation of the object at the very beginning of course motion, towards a targeted point settled out of initial direction. The controlling methods use optimal diversification of full elapsed determining time to execute, in sequences, appropriate types and number of powering impulses. Simulation tests of the methods, as well as the designed hardware, are also presented in this paper as a contribution to the development researches of horizontal motion control.
PB  - Univ Osijek, Tech Fac, Slavonski Brod
T2  - Tehnički vjesnik
T1  - Software/hardware design of decision-making controllers for object navigation in horizontal plane
EP  - 1784
IS  - 6
SP  - 1777
VL  - 24
DO  - 10.17559/TV-20160408195923
ER  - 

@article{
author = "Boulahlib, Mohammed Amine and Milinović, Momčilo and Bendjaballah, Mourad and Jeremić, Olivera and Sakan, Nenad",
year = "2017",
abstract = "The paper aims to research the orientation possibilities of an object in the horizontal plane, from its start course into a required orientating recourse, by using simplified navigation methods. The object's directed motion uses controlling powering impulses, variable distributed in time, during constrained motion time. Three logical decision-making methods are designed for calculating the best maneuvering trajectory with minimal error on the target. Computing the powering impulses, their execution instances, as well as their types, are ensured by the methods and presented in the paper. The developed controlling methods are: a modified multiple shooting method, a new control law, called in this paper, current error orientation, as well as a fuzzy logic method. These methods are designed as decision-making software implemented in an electronic hardware as a predefined programmable controller. This provides pre-programmable orientation of the object at the very beginning of course motion, towards a targeted point settled out of initial direction. The controlling methods use optimal diversification of full elapsed determining time to execute, in sequences, appropriate types and number of powering impulses. Simulation tests of the methods, as well as the designed hardware, are also presented in this paper as a contribution to the development researches of horizontal motion control.",
publisher = "Univ Osijek, Tech Fac, Slavonski Brod",
journal = "Tehnički vjesnik",
title = "Software/hardware design of decision-making controllers for object navigation in horizontal plane",
pages = "1784-1777",
number = "6",
volume = "24",
doi = "10.17559/TV-20160408195923"
}

Boulahlib, M. A., Milinović, M., Bendjaballah, M., Jeremić, O.,& Sakan, N.. (2017). Software/hardware design of decision-making controllers for object navigation in horizontal plane. in Tehnički vjesnik
Univ Osijek, Tech Fac, Slavonski Brod., 24(6), 1777-1784.
https://doi.org/10.17559/TV-20160408195923

Boulahlib MA, Milinović M, Bendjaballah M, Jeremić O, Sakan N. Software/hardware design of decision-making controllers for object navigation in horizontal plane. in Tehnički vjesnik. 2017;24(6):1777-1784.
doi:10.17559/TV-20160408195923 .

Boulahlib, Mohammed Amine, Milinović, Momčilo, Bendjaballah, Mourad, Jeremić, Olivera, Sakan, Nenad, "Software/hardware design of decision-making controllers for object navigation in horizontal plane" in Tehnički vjesnik, 24, no. 6 (2017):1777-1784,
https://doi.org/10.17559/TV-20160408195923 . .

TY  - CONF
AU  - BENDJABALLAH, MOURAD
AU  - GRAOVAC, STEVICA
AU  - BOULAHLIB, MOHAMMED AMINE
AU  - Marković, Miloš
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6183
AB  - In this paper, the classification of the on-road obstacles based on the processing of a sequence of images obtained by a monocular camera embedded on a vehicle as well as the appropriate automatic guidance principle for obstacles avoidance are presented. The typical road scenarios have been used as a testing environment for the overall algorithm. Existing obstacles (vehicles) are classified into three classes: stationary, incoming, and outgoing. The first task in the algorithm consists of obstacles detection over the road background. This is followed by their tracking from one frame to another based on the appropriate selection of features using the SURF method. After that, the obstacles are recognized in a new frame, where it is possible to determine their position from the camera and the relative velocity using projection geometry principles. Then, the polynomial method is used in order to find the path that avoids the obstacles. Synthetic and realistic video sequences are used during the tests.
PB  - Belgrade : Military Technical Institute
C3  - 7th International Scientific Conference on Defensive Technologies, Belgrade, 6-7, October 2016
T1  - STATIONARY ON-ROAD OBSTACLES AVOIDANCE BASED ON COMPUTER VISION PRINCIPLES
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6183
ER  - 

@conference{
author = "BENDJABALLAH, MOURAD and GRAOVAC, STEVICA and BOULAHLIB, MOHAMMED AMINE and Marković, Miloš",
year = "2016",
abstract = "In this paper, the classification of the on-road obstacles based on the processing of a sequence of images obtained by a monocular camera embedded on a vehicle as well as the appropriate automatic guidance principle for obstacles avoidance are presented. The typical road scenarios have been used as a testing environment for the overall algorithm. Existing obstacles (vehicles) are classified into three classes: stationary, incoming, and outgoing. The first task in the algorithm consists of obstacles detection over the road background. This is followed by their tracking from one frame to another based on the appropriate selection of features using the SURF method. After that, the obstacles are recognized in a new frame, where it is possible to determine their position from the camera and the relative velocity using projection geometry principles. Then, the polynomial method is used in order to find the path that avoids the obstacles. Synthetic and realistic video sequences are used during the tests.",
publisher = "Belgrade : Military Technical Institute",
journal = "7th International Scientific Conference on Defensive Technologies, Belgrade, 6-7, October 2016",
title = "STATIONARY ON-ROAD OBSTACLES AVOIDANCE BASED ON COMPUTER VISION PRINCIPLES",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6183"
}

BENDJABALLAH, M., GRAOVAC, S., BOULAHLIB, M. A.,& Marković, M.. (2016). STATIONARY ON-ROAD OBSTACLES AVOIDANCE BASED ON COMPUTER VISION PRINCIPLES. in 7th International Scientific Conference on Defensive Technologies, Belgrade, 6-7, October 2016
Belgrade : Military Technical Institute..
https://hdl.handle.net/21.15107/rcub_machinery_6183

BENDJABALLAH M, GRAOVAC S, BOULAHLIB MA, Marković M. STATIONARY ON-ROAD OBSTACLES AVOIDANCE BASED ON COMPUTER VISION PRINCIPLES. in 7th International Scientific Conference on Defensive Technologies, Belgrade, 6-7, October 2016. 2016;.
https://hdl.handle.net/21.15107/rcub_machinery_6183 .

BENDJABALLAH, MOURAD, GRAOVAC, STEVICA, BOULAHLIB, MOHAMMED AMINE, Marković, Miloš, "STATIONARY ON-ROAD OBSTACLES AVOIDANCE BASED ON COMPUTER VISION PRINCIPLES" in 7th International Scientific Conference on Defensive Technologies, Belgrade, 6-7, October 2016 (2016),
https://hdl.handle.net/21.15107/rcub_machinery_6183 .

TY  - CONF
AU  - Boulahlib, Mohammed Amine
AU  - Marković, Miloš
AU  - Jaramaz, Slobodan
AU  - Milinović, Momčilo
AU  - Bendjaball, Mourad
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5966
AB  - The current paper proposes analytical approaches implemented in a performance-calculation program of
Explosively Formed Projectiles (EFP). The proposed analytical methods, mathematically describe the EFP forming
process aiming to optimize the initial phase of the EFP warhead design. A mathematical model, based on the well-
known theoretical approaches, is accomplished and implemented in a software. The developed software provides faster
analysis of EFP design process and the possibility to test new EFP configurations, in addition to the performances of
already existing ones. The adopted model is tested and validated for several types of EFP warheads according to
available experimental reports. Program’s output results such as initial velocity, kinetic energy, axial and radial
deformation energies of liners, are compared with experimental data.
C3  - 7th International Scientific Conference – OTEH 2016, Belgrade, 6-7 October 2016
T1  - A preliminary design model for explosively formed projectile
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5966
ER  - 

@conference{
author = "Boulahlib, Mohammed Amine and Marković, Miloš and Jaramaz, Slobodan and Milinović, Momčilo and Bendjaball, Mourad",
year = "2016",
abstract = "The current paper proposes analytical approaches implemented in a performance-calculation program of
Explosively Formed Projectiles (EFP). The proposed analytical methods, mathematically describe the EFP forming
process aiming to optimize the initial phase of the EFP warhead design. A mathematical model, based on the well-
known theoretical approaches, is accomplished and implemented in a software. The developed software provides faster
analysis of EFP design process and the possibility to test new EFP configurations, in addition to the performances of
already existing ones. The adopted model is tested and validated for several types of EFP warheads according to
available experimental reports. Program’s output results such as initial velocity, kinetic energy, axial and radial
deformation energies of liners, are compared with experimental data.",
journal = "7th International Scientific Conference – OTEH 2016, Belgrade, 6-7 October 2016",
title = "A preliminary design model for explosively formed projectile",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5966"
}

Boulahlib, M. A., Marković, M., Jaramaz, S., Milinović, M.,& Bendjaball, M.. (2016). A preliminary design model for explosively formed projectile. in 7th International Scientific Conference – OTEH 2016, Belgrade, 6-7 October 2016.
https://hdl.handle.net/21.15107/rcub_machinery_5966

Boulahlib MA, Marković M, Jaramaz S, Milinović M, Bendjaball M. A preliminary design model for explosively formed projectile. in 7th International Scientific Conference – OTEH 2016, Belgrade, 6-7 October 2016. 2016;.
https://hdl.handle.net/21.15107/rcub_machinery_5966 .

Boulahlib, Mohammed Amine, Marković, Miloš, Jaramaz, Slobodan, Milinović, Momčilo, Bendjaball, Mourad, "A preliminary design model for explosively formed projectile" in 7th International Scientific Conference – OTEH 2016, Belgrade, 6-7 October 2016 (2016),
https://hdl.handle.net/21.15107/rcub_machinery_5966 .

TY  - CONF
AU  - Živković, Saša
AU  - Filipović, Miloš
AU  - Elek, Predrag
AU  - Milinović, Momčilo
AU  - Gligorijević, Nikola
AU  - Boulahlib, Mohammed Amine
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4593
AB  - In solid propellant rocket motor internal ballistic calculation, next coefficients, performance parameters and characteristics are required: specific impulse, discharge coefficient, thrust coefficient and propellant burning rate law. All those RM working parameters can be theoretically or semi-empirically predicted, but depends from rocket motor design and combustion products flow losses; theoretical values can be very unreliable. Correction of theoretical working parameters can be provided using experimental data, although this approach is expensive and requires necessary experimental equipment. By using corrected working parameters in internal ballistic calculation highly precise results can be achieved, and accuracy of this approach is demonstrated in two different examples.
PB  - Belgrade : Military Technical Institute
C3  - 6th International Scientific Conference – OTEH 2014, Belgrade, 9-10 October 2014
T1  - Experimental determination of rocket motor internal ballistic coefficients and performance parameters
SP  - 289-298
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4593
ER  - 

@conference{
author = "Živković, Saša and Filipović, Miloš and Elek, Predrag and Milinović, Momčilo and Gligorijević, Nikola and Boulahlib, Mohammed Amine",
year = "2014",
abstract = "In solid propellant rocket motor internal ballistic calculation, next coefficients, performance parameters and characteristics are required: specific impulse, discharge coefficient, thrust coefficient and propellant burning rate law. All those RM working parameters can be theoretically or semi-empirically predicted, but depends from rocket motor design and combustion products flow losses; theoretical values can be very unreliable. Correction of theoretical working parameters can be provided using experimental data, although this approach is expensive and requires necessary experimental equipment. By using corrected working parameters in internal ballistic calculation highly precise results can be achieved, and accuracy of this approach is demonstrated in two different examples.",
publisher = "Belgrade : Military Technical Institute",
journal = "6th International Scientific Conference – OTEH 2014, Belgrade, 9-10 October 2014",
title = "Experimental determination of rocket motor internal ballistic coefficients and performance parameters",
pages = "289-298",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4593"
}

Živković, S., Filipović, M., Elek, P., Milinović, M., Gligorijević, N.,& Boulahlib, M. A.. (2014). Experimental determination of rocket motor internal ballistic coefficients and performance parameters. in 6th International Scientific Conference – OTEH 2014, Belgrade, 9-10 October 2014
Belgrade : Military Technical Institute., 289-298.
https://hdl.handle.net/21.15107/rcub_machinery_4593

Živković S, Filipović M, Elek P, Milinović M, Gligorijević N, Boulahlib MA. Experimental determination of rocket motor internal ballistic coefficients and performance parameters. in 6th International Scientific Conference – OTEH 2014, Belgrade, 9-10 October 2014. 2014;:289-298.
https://hdl.handle.net/21.15107/rcub_machinery_4593 .

Živković, Saša, Filipović, Miloš, Elek, Predrag, Milinović, Momčilo, Gligorijević, Nikola, Boulahlib, Mohammed Amine, "Experimental determination of rocket motor internal ballistic coefficients and performance parameters" in 6th International Scientific Conference – OTEH 2014, Belgrade, 9-10 October 2014 (2014):289-298,
https://hdl.handle.net/21.15107/rcub_machinery_4593 .