Faculty of Electronics and Telecommunications University of...

AUTOMATION & ROBOTICS LABORATORY

Faculty of Electronics and TelecommunicationsUniversity of Engineering and TechnologyVietnam National University

Industrial Robot for Training

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ED7220 (Korea) SCORBOT – ER Vplus

(Isarel)

Industrial Robot Projects

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Tele-Presence

Product Classification

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Tele-operations

Supervise and control Micro-gripper

MEMS + Haptic + Microscope + Computer Vision

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Intelligent Robot

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Autonomous Mobile Robotics

Robot Navigation

Localization & Mapping

sensor

Path-planing

Control Obstacle avoidance

"Position" Global Map

Perception Motion Control

Cognition

Real WorldEnvironment

Localization

PathEnvironment ModelLocal Map

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Approachesof research

Sensor Fusion

remote control of robot throughthe network

Networkedmulti-robot

Applications


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Sensor Fusion Autonomous Mobile Robotics

Multi-sensor Robot

CCD Camera

Joystick Controller

LMS-221

Omni Camera

SRF-05

CMPS03(0.1)

HOLUX GPS UB-93

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Data fusion of one sensor with an Extended Kalman Filter EKF

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0

1

2

3

4

0 0.5 1 1.5 2 2.5

X(m)

Y(m)

OdometryCompassLRFOmniFusionTRUE

Fusion 4 sensors (optical encoder + compass + laser range finder + omni-directional camera) to increase the accuracy of position estimation.


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3D laser image using for obstacle avoidance

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Mapping and path planing using sensor fusion’s data with A* algorithm or Voronoi graph.


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Networked robot Autonomous Mobile Robotics

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Localization of NRSs using Past-Observation based EKF (PO-KF)

Experimental configuration with local Internet service providers.

Experimental configuration with VPN connections to servers located at the United State.


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The theory, observation, POEKF-based estimate, and true trajectories of the robot in motion plane.

RMSE between the theory,observation, PO-EKF-based estimate and the true trajectories in X direction.


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Networked robot

Stabilization Control using Lyapunov Stability Theory and Predictive Filter

Control of NRS with the use of the predictive filter: (a) Trajectory of the robotin the motion plane; (b) Variation of the direction of the robot.

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Networked robot

Navigation using behavior-based and multi-protocol models

Network state during the experiment: (a) Time delay; (b): Delay jitter.

Communications in an NRS system using multi-protocol model.


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Networked robot

Multi-robot Searching System in a disaster area using Particle Swarm Optimization Algorithm PSO.

Ant Colony Bird Flocking Fish School

Graph of pbest tracking gbestNuclear contamination distribution

in the operation area of robot

Maintaining the connection between the robotsThe system has the duty to find a location which is highly affected by radioactivity.

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Servicing robots Search and rescue in disaster Remote monitoring in forest fire Positioning in nuclear contamination Anti-terrorism, military, security, … …..

Applications

student’s projects

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Intelligent Serviced Robots

Embedded programming for Hexapod 12-DOF

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Color Tracking using Omni-directional Camera

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Smart Cleaning Robot

Not fall in the stair. Moving along the setting paths. Go out the shadow before switch off. Using computer-vision for self-identification the electric socket in order to charge.

Technical specifications:

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Balancing Robot

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System model Simulation Implementation

First prize in the student scientific researching contest

Brainwaves for Control of Robot

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Electroencephalograph EEG

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Moving Object Tracking by Computer Vision

Eye Tracking –NTT project Moving Motor Tracking

Publications

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Journal Papers:

Manh Duong Phung, Thi Thanh Van Nguyen, Thuan Hoang Tran, Quang Vinh Tran, “Localizationof Internet-based Mobile Robot”, Journal of Science, Natural science and Technology, VietnamNational University,Vol.29, 2013 .

Thuan Hoang Tran, Manh Duong Phung, Thi Thanh Van Nguyen, Quang Vinh Tran, “StablizationControl of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter,”Journal of Science and Technology, Vietnam Academy of Science and Technology, pp.441-452, Vol.50 (4), July-October, 2012.

Nguyen Thi Thanh Van, Phung Manh Duong, Pham Dinh Tuan, and Tran Quang Vinh,“Development of a Fuzzy-based Patrol Robot Using in Building Automation System”, Journal ofComputer Science and Cybernetics, pp.83-92, vol.27 no.1, June, 2011.

Tran Quang Vinh, Pham Manh Thang, Phung Manh Duong, “Controlling Communication Networkin the Building Automation System,” Journal of Science, Natural science and Technology,VietnamNational University, pp.129-140, Vol.26 no.2, September, 2010.

Phung Manh Duong, Tran Hieu and Tran Quang Vinh, “Supervision and control of a mobile robotthrough WLAN and the Internet”, Journal of Science, Natural science and Technology, VietnamNational University, Vol.21 no.2, April 2005.

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International Conference Papers:

T. T. Hoang, D. T. Hiep, P. M. Duong, N. T. T. Van, D. A. Viet and T. Q. Vinh (2013),“Proposal of Algorithms for Navigation and Obstacles Avoidance of autonomous MobileRobot”, 8th IEEE Conference on Industrial Electronics & Applications (ICIEA2013),Melbourne, Australia, pp.1308-1313. T. T. Hoang, P. M. Duong, N. T. T. Van, D. A. Viet and T. Q. Vinh, “Development of an EKF-based Localization Algorithm Using Compass Sensor and LRF,” The 12th IEEE InternationalConference on Control, Automation, Robotics and Vision (ICARCV), pp.341-346, Guangzhou,China,December 2012.(ISI Conference)

Manh Duong Phung, Thuan Hoang Tran, Thanh Van Thi Nguyen and Quang Vinh Tran, “Controlof Internet-based Robot Systems Using Multi Transport Protocols”,The First IEEE InternationalConference on Control, Automation and Information Sciences (ICCAIS),pp.294-299,Ho Chi MinhCity, Vietnam, November 2012.

T. T. Hoang, P. M. Duong, N. T. T. Van, D. A. Viet and T. Q. Vinh, “Multi-Sensor PerceptualSystem for Mobile Robot and Sensor Fusion-based Localization”, The First IEEE InternationalConference on Control, Automation and Information Sciences (ICCAIS), pp.259-264, Ho Chi MinhCity, Vietnam, November 2012.

Publications

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Thi Thanh Van Nguyen, Manh Duong Phung, Thuan Hoang Tran, Quang VinhTran, “Mobile Robot Localization Using Fuzzy Neural Network Based ExtendedKalman Filter”, 2012 IEEE International Conference on Control System, Computingand Engineering (ICCSCE), pp. , Penang, Malaysia, November 2012. Tran Hiep Dinh, Manh Duong Phung, Thuan Hoang Tran, Quang Vinh Tran,“Localization of a Unicycle-like Mobile Robot Using LRF and Omni-directionalCamera”, 2012 IEEE International Conference on Control System, Computing andEngineering (ICCSCE) , pp. , Penang, Malaysia, November 2012. T. H. Hoang, P. M. Duong, N. V. Tinh and T. Q. Vinh, “A Path Following Algorithm forWheeled Mobile Robot Using Extended Kalman Filter”, The 3rd IEICE International Conferenceon Integrated Circuits and Devices in Vietnam (ICDV), pp.179-183,Danang, Vietnam, August2012.

P. M. Duong, T. T. Hoang, N. T. T. Van, D. A. Viet and T. Q. Vinh, “A Novel Platform forInternet-based Mobile Robot Systems”, The 7th IEEE Conference on Industrial Electronics andApplications (ICIEA), pp.1969-1974, Singapore,July 2012.(ISI Conference)

T. T. Hoang, P. M. Duong, N. T. T. Van, D. A. Viet and T. Q. Vinh, “Development of a Multi-Sensor Perceptual System for Mobile Robot and EKF-based Localization,” The IEEE 2012International Conferenceon Systems and Informatics (ICSAI),pp.519-523, Yantai, China, May2012.

Publications

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Manh Duong Phung, Thanh Van Thi Nguyen, Cong Hoang Quach, Quang VinhTran, “Development of a Tele-guidance System with Fuzzy-based SecondaryController”, The 11th IEEE International Conference on Control, Automation,Robotics and Vision (ICARCV), pp.1826-1830, Singapore, December 2010.(ISIConference) Manh Duong Phung, Quang Vinh Tran, Kok Kiong Tan, “Transport Protocols for Internet-based Real-time Systems: A Comparative Analysis,” The Third International Conference onCommunication and Electronics (ICCE),Nha Trang, Vietnam, August 2010.(ISI Conference)

Manh Duong Phung, Quang Vinh Tran, K. Hara, H. Inagaki and M. Abe, “Easy-Setup EyeMovement Recording System for Human-Computer Interaction,” The 2008 IEEE InternationalConference on Research, Innovation and Vision for the Future (RIVF), pp.292-297, HochiminhCity, Vietnam,July 2008.(ISI Conference)

Phung Manh Duong, K. Hara, H. Inagaki and M. Abe, “Fast Pupil Center Detection Using ADouble Circle Fitting Algorithm,” IEICE General Conference, Japan, 2008.

Phung Manh Duong, K. Hara, H. Inagaki and M. Abe, “Fast and Robust Pupil CenterDetection Algorithm for Eye Movement Tracking,”IEICE Technical Report, vol.107 no.491,PRMU2007-236, pp.127-130,Tsukuba, Japan, February 2008.

Manh Duong Phung, Thanh Van Thi Nguyen, and Tran Quang Vinh, “Control of an Internet-based Robot System Using Fuzzy Logic”, The 2011 IEICE International Conference onIntegrated Circuits and Devices in Vietnam (ICDV), pp.98-101, Hanoi, Vietnam, August 2011.

T. T. Hoang, D. A. Viet, T. Q. Vinh (2011), “A 3D image capture system using a laser rangefinder”, IEICE Proceeding of the 2th international conference on Integrated Circuit DesignICDV, Ha Noi,Vietnam, pp. 76-81.

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Thank you for attention

Intellgent Robot

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DrRobot

Trilobots

Aibo Robot

Intelligent Robot Projects

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Internet Robot

Color Tracking

Cleaning Robot

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