AUTOMATION & ROBOTICS LABORATORY. Faculty of Electronics and Telecommunications University of Engineering and Technology Vietnam National University

Transcription

1 AUTOMATION & ROBOTICS LABORATORY Faculty of Electronics and Telecommunications University of Engineering and Technology Vietnam National University

2 Industrial Robot for Training ED7220 (Korea) SCORBOT ER Vplus (Isarel) 2

3 Industrial Robot Projects Product Classification Tele-Presence 3

4 Teleoperations Supervise and control Micro-gripper MEMS + Haptic + Microscope + Computer Vision 4

5 Intelligent Robot 5

6 Autonomous Mobile Robotics Robot Navigation Localization & Mapping Localization "Position" Global Map Cognition Path-planing Environment Model Local Map Path sensor Perception Real World Environment Motion Control Control Obstacle avoidance 6

7 Approaches of research Autonomous Mobile Robotics Sensor Fusion remote control of robot the network through Networked multi-robot Applications 7

8 Sensor Fusion Autonomous Mobile Robotics Multi-sensor Robot Omni Camera HOLUX GPS UB- 93 CCD Camera SRF-05 LMS-221 CMPS03 (0.1 ) Joystick Controller 8

9 Sensor Fusion Autonomous Mobile Robotics Data fusion of one sensor with an Extended Kalman Filter EKF 9

10 Sensor Fusion Autonomous Mobile Robotics Fusion 4 sensors (optical encoder + compass + laser range finder + omni-directional camera) to increase the accuracy of position estimation. 4 3 Odometry Compass LRF Omni Fusion TRUE Y(m) X(m) 10

11 Sensor Fusion Autonomous Mobile Robotics 3D laser image using for obstacle avoidance 11

12 Sensor Fusion Autonomous Mobile Robotics Mapping and path planing using sensor fusion s data with A* algorithm or Voronoi graph. 12

13 Networked robot Autonomous Mobile Robotics 13

14 Networked robot Autonomous Mobile Robotics 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. 14

15 Networked robot Autonomous Mobile Robotics The theory, observation, POEKFbased 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. 15

16 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 robot in the motion plane; (b) Variation of the direction of the robot. 16

17 Networked robot Autonomous Mobile Robotics Navigation using behavior-based and multi-protocol models Communications in an NRS system using multi-protocol model. Network state during the experiment: (a) Time delay; (b): Delay jitter. 17

18 Networked robot Multi-robot Searching System in a disaster area using Particle Swarm Optimization Algorithm PSO. Ant Colony Bird Flocking Fish School The system has the duty to find a location which is highly affected by radioactivity. Maintaining the connection between the robots Graph of pbest tracking gbest Nuclear contamination distribution in the operation area of robot 18

19 Applications Servicing robots Search and rescue in disaster Remote monitoring in forest fire Positioning in nuclear contamination Anti-terrorism, military, security,.. 19

20 student s projects Intelligent Serviced Robots 20

21 Embedded programming for Hexapod 12-DOF 21

22 Color Tracking using Omni-directional Camera 22

23 Smart Cleaning Robot Technical specifications: 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. 23

24 Balancing Robot First prize in the student scientific researching contest System model Simulation Implementation 24

25 Brainwaves for Control of Robot Electroencephalograph EEG 25

26 Moving Object Tracking by Computer Vision Eye Tracking NTT project Moving Motor Tracking 26

27 Publications Journal Papers: Manh Duong Phung, Thi Thanh Van Nguyen, Thuan Hoang Tran, Quang Vinh Tran, Localization of Internet-based Mobile Robot, Journal of Science, Natural science and Technology, Vietnam National University,Vol.29, Thuan Hoang Tran, Manh Duong Phung, Thi Thanh Van Nguyen, Quang Vinh Tran, Stablization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter, Journal of Science and Technology, Vietnam Academy of Science and Technology, pp , Vol. 50 (4), July-October, 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 of Computer Science and Cybernetics, pp.83-92, vol.27 no.1, June, Tran Quang Vinh, Pham Manh Thang, Phung Manh Duong, Controlling Communication Network in the Building Automation System, Journal of Science, Natural science and Technology,Vietnam National University, pp , Vol.26 no.2, September, Phung Manh Duong, Tran Hieu and Tran Quang Vinh, Supervision and control of a mobile robot through WLAN and the Internet, Journal of Science, Natural science and Technology, Vietnam National University, Vol.21 no.2, April

28 Publications 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 Mobile Robot, 8th IEEE Conference on Industrial Electronics & Applications (ICIEA2013), Melbourne, Australia, pp T. T. Hoang, P. M. Duong, N. T. T. Van, D. A. Viet and T. Q. Vinh, Development of an EKFbased Localization Algorithm Using Compass Sensor and LRF, The 12th IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV), pp , Guangzhou, China,December 2012.(ISI Conference) Manh Duong Phung, Thuan Hoang Tran, Thanh Van Thi Nguyen and Quang Vinh Tran, Control of Internet-based Robot Systems Using Multi Transport Protocols,The First IEEE International Conference on Control, Automation and Information Sciences (ICCAIS),pp ,Ho Chi Minh City, Vietnam, November T. T. Hoang, P. M. Duong, N. T. T. Van, D. A. Viet and T. Q. Vinh, Multi-Sensor Perceptual System for Mobile Robot and Sensor Fusion-based Localization, The First IEEE International Conference on Control, Automation and Information Sciences (ICCAIS), pp , Ho Chi Minh City, Vietnam, November

29 Publications Thi Thanh Van Nguyen, Manh Duong Phung, Thuan Hoang Tran, Quang Vinh Tran, Mobile Robot Localization Using Fuzzy Neural Network Based Extended Kalman Filter, 2012 IEEE International Conference on Control System, Computing and Engineering (ICCSCE), pp., Penang, Malaysia, November Tran Hiep Dinh, Manh Duong Phung, Thuan Hoang Tran, Quang Vinh Tran, Localization of a Unicycle-like Mobile Robot Using LRF and Omni-directional Camera, 2012 IEEE International Conference on Control System, Computing and Engineering (ICCSCE), pp., Penang, Malaysia, November T. H. Hoang, P. M. Duong, N. V. Tinh and T. Q. Vinh, A Path Following Algorithm for Wheeled Mobile Robot Using Extended Kalman Filter, The 3rd IEICE International Conference on Integrated Circuits and Devices in Vietnam (ICDV), pp ,danang, Vietnam, August P. M. Duong, T. T. Hoang, N. T. T. Van, D. A. Viet and T. Q. Vinh, A Novel Platform for Internet-based Mobile Robot Systems, The 7th IEEE Conference on Industrial Electronics and Applications (ICIEA), pp , 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 2012 International Conferenceon Systems and Informatics (ICSAI),pp , Yantai, China, May

30 Manh Duong Phung, Thanh Van Thi Nguyen, and Tran Quang Vinh, Control of an Internetbased Robot System Using Fuzzy Logic, The 2011 IEICE International Conference on Integrated Circuits and Devices in Vietnam (ICDV), pp , Hanoi, Vietnam, August T. T. Hoang, D. A. Viet, T. Q. Vinh (2011), A 3D image capture system using a laser range finder, IEICE Proceeding of the 2th international conference on Integrated Circuit Design ICDV, Ha Noi,Vietnam, pp Manh Duong Phung, Thanh Van Thi Nguyen, Cong Hoang Quach, Quang Vinh Tran, Development of a Tele-guidance System with Fuzzy-based Secondary Controller, The 11th IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV), pp , Singapore, December 2010.(ISI Conference) Manh Duong Phung, Quang Vinh Tran, Kok Kiong Tan, Transport Protocols for Internetbased Real-time Systems: A Comparative Analysis, The Third International Conference on Communication 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 Eye Movement Recording System for Human-Computer Interaction, The 2008 IEEE International Conference on Research, Innovation and Vision for the Future (RIVF), pp , Hochiminh City, Vietnam,July 2008.(ISI Conference) Phung Manh Duong, K. Hara, H. Inagaki and M. Abe, Fast Pupil Center Detection Using A Double Circle Fitting Algorithm, IEICE General Conference, Japan, Phung Manh Duong, K. Hara, H. Inagaki and M. Abe, Fast and Robust Pupil Center Detection Algorithm for Eye Movement Tracking, IEICE Technical Report, vol.107 no.491, PRMU , pp ,tsukuba, Japan, February

31 Thank you for attention 31

32 Intellgent Robot Trilobots DrRobot Aibo Robot 32

33 Intelligent Robot Projects Color Tracking Cleaning Robot Internet Robot 33