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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
Autonomous Mobile Robotics
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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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Sensor Fusion Autonomous Mobile Robotics
Data fusion of one sensor with an Extended Kalman Filter EKF
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0
1
2
3
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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.
Sensor Fusion Autonomous Mobile Robotics
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Sensor Fusion Autonomous Mobile Robotics
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.
Sensor Fusion Autonomous Mobile Robotics
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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.
Networked robot Autonomous Mobile Robotics
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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.
Networked robot Autonomous Mobile Robotics
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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.
Autonomous Mobile Robotics
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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