VNU-UET Repository: No conditions. Results ordered -Date Deposited. 2024-03-29T14:35:04ZEPrintshttp://eprints.uet.vnu.edu.vn/images/sitelogo.pnghttps://eprints.uet.vnu.edu.vn/eprints/2017-07-24T02:51:42Z2017-07-24T02:51:42Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/2559This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/25592017-07-24T02:51:42ZUsing multiple sensors for autonomous mobile robot navigationThis paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global map navigation, trajectory design approach using the Lyapunov function method and avoid obstacles bythe potential energy can also be presented. Also, sensor integrated method based on extended Kalman filter allows us to identify the exact location and orientation of the robot in the presence of interference from the environment.Thuan Hoang TranManh Duong Phungduongpm@vnu.edu.vnAnh Viet Dangvietda@vnu.edu.vnQuang Vinh Tranvinhtq@vnu.edu.vn2017-07-24T02:51:29Z2017-07-24T02:51:29Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/2557This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/25572017-07-24T02:51:29ZNhận dạng 26 bậc tự do của bàn tay sử dụng phương pháp mô hình với ảnh màu – độ sâuTrong báo cáo này, chúng tôi trình bày hướng tiếp cận mô hình để nhận dạng đầy đủ 26 bậc tự do của bàn tay. Thông tin vào bao gồm ảnh quan sát màu – độ sâu (RGB-D) thu được từ cảm biến ảnh Kinect và ảnh mô hình 3 chiều của bàn tay xây dựng từ cấu trúc giải phẫu học và ma trận đồ họa. Một hàm mục tiêu sau đó được thiết lập sao cho hàm đạt giá trị cực tiểu khi ảnh mô hình và ảnh quan sát là trùng nhau. Để giải bài toán tối ưu 26 chiều này, giải thuật tối ưu bầy đàn (PSO) được sử dụng với một số cải tiến. Đồng thời, những tác vụ đòi hỏi tính toán lớn được chúng tôi đưa vào khối xử lý đồ họa GPU để thực hiện tính toán song song. Kết quả mô phỏng và thực nghiệm cho thấy hệ thống có thể nhận dạng được 26 bậc tự do của bàn tay với tốc độ xử lý 0,8 giây/hình. Giải thuật kém nhạy với nhiễu môi trường. Phần cứng yêu cầu đơn giản với một camera.Cong Hoang Quachhoangqc@vnu.edu.vnMinh Trien Phamtrienpm@vnu.edu.vnAnh Viet Dangvietda@vnu.edu.vnDinh Tuan Phamtuanpd@vnu.edu.vnThuan Hoang TranManh Duong Phungduongpm@vnu.edu.vn2017-07-24T02:51:24Z2017-07-24T02:51:24Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/2556This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/25562017-07-24T02:51:24ZStabilization control of networked mobile robot using past observation-based preditive filterThis paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction of system state from delayed measurement. The state estimator combined with developed control laws ensures the asymptotic stability of the networked system. Simulations with parameters extracted from a real robot system were conducted and results confirmed the correctness as well as applicability of proposed approach.Manh Duong Phungduongpm@vnu.edu.vnThi Thanh Van Nguyenvanntt@vnu.edu.vnThuan Hoang TranQuang Vinh Tranvinhtq@vnu.edu.vn2017-07-24T02:51:12Z2017-07-24T02:51:12Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/2554This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/25542017-07-24T02:51:12ZStabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman FilterThis paper presents the design of a control model to navigate the differential mobile robot to reach the desired destination from an arbitrary initial pose. The designed model is divided into two stages: the state estimation and the stabilization control. In the state estimation, an extended Kalman filter is employed to optimally combine the information from the system dynamics and measurements. Two Lyapunov functions are constructed that allow a hybrid feedback control law to execute the robot movements. The asymptotical stability and robustness of the closed loop system are assured. Simulations and experiments are carried out to validate the effectiveness and applicability of the proposed approach.Thuan Hoang TranManh Duong Phungduongpm@vnu.edu.vnThi Thanh Van Nguyenvanntt@vnu.edu.vnQuang Vinh Tranvinhtq@vnu.edu.vn2017-07-24T02:51:07Z2017-07-24T02:51:07Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/2553This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/25532017-07-24T02:51:07ZControl of an Internet-based Robot System Using the Real-time Transport ProtocolIn this paper, we introduce a novel approach in controlling robot systems over the Internet. The Real-time Transport Protocol (RTP) is used as the communication protocol instead of traditionally using TCP and UDP. The theoretic analyses, the simulation studies and the experimental implementation have been performed to evaluate the feasibility and effectiveness of the proposed approach for practical uses.Manh Duong Phungduongpm@vnu.edu.vnThuan Hoang TranQuang Vinh Tranvinhtq@vnu.edu.vn2015-12-30T15:56:28Z2015-12-30T15:58:58Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/805This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/8052015-12-30T15:56:28ZDẫn đường cho robot di động kết hợp phương pháp điều khiển ổn định Lyapunov và điều khiển mờThi Thanh Van Nguyenvanntt@vnu.edu.vnManh Duong Phungduongpm@vnu.edu.vnThuan Hoang TranQuang Vinh Tranvinhtq@vnu.edu.vn2015-12-30T15:52:57Z2015-12-30T15:54:36Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/804This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/8042015-12-30T15:52:57ZMobile Robot Localization using Fuzzy Neural Network based Extended Kalman FilterThi Thanh Van Nguyenvanntt@vnu.edu.vnManh Duong Phungduongpm@vnu.edu.vnThuan Hoang TranQuang Vinh Tranvinhtq@vnu.edu.vn2015-12-30T15:48:47Z2015-12-30T15:51:24Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/802This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/8022015-12-30T15:48:47ZLocalization of Networked Robot System Subject to Random Delay and Packet LossManh Duong Phungduongpm@vnu.edu.vnThi Thanh Van Nguyenvanntt@vnu.edu.vnThuan Hoang TranQuang Vinh Tranvinhtq@vnu.edu.vn2015-12-14T03:18:34Z2015-12-14T03:19:47Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/801This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/8012015-12-14T03:18:34ZLocalization of Internet-based Mobile RobotManh Duong Phungduongpm@vnu.edu.vnThi Thanh Van Nguyenvanntt@vnu.edu.vnThuan Hoang TranQuang Vinh Tranvinhtq@vnu.edu.vn2015-12-03T06:55:34Z2015-12-03T07:02:52Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/863This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/8632015-12-03T06:55:34ZTrajectory Tracking Control of the Nonholonomic Mobile Robot using Torque Method and Neural NetworkThuan Hoang TranTran Hiep Dinhhiep.tran.dinh@vnu.edu.vnGia Duong Bachduongbg@vnu.edu.vnQuang Vinh Tranvinhtq@vnu.edu.vn2015-08-14T06:42:21Z2015-11-12T07:52:24Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/1365This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/13652015-08-14T06:42:21ZDetection of 26 DOF of Hand using Model-based Method with Color-Depth ImageCong Hoang QuachMinh Trien Phamtrienpm@vnu.edu.vnAnh Viet Dangvietda@vnu.edu.vnDinh Tuan Phamtuanpd@vnu.edu.vnThuan Hoang Tran2015-05-22T04:46:49Z2015-11-21T15:48:59Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/865This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/8652015-05-22T04:46:49ZProposal of Algorithms for Navigation and Obstacles Avoidance of Autonomous Mobile RobotThuan Hoang TranTran Hiep Dinhtranhiep.dinh@vnu.edu.vnManh Duong Phungduongpm@vnu.edu.vnThi Thanh Van Nguyenvanntt@vnu.edu.vnGia Duong Bachduongbg@vnu.edu.vnQuang Vinh Tranvinhtq@vnu.edu.vn2013-03-27T06:24:30Z2017-01-06T09:07:36Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/137This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/1372013-03-27T06:24:30ZControl of Internet-Based Robot Systems using Multi Transport ProtocolsThis paper proposes a novel approach to implement communication channels for Internet-based robotic systems. The exchange information between the operator and the robot is classified into categories with specific features and requirements. Appropriate transport protocols are utilized for each set of data. The TCP is for the administrative data; the UDP is for the control signals and the RTP is for the vision data. Simulations and experiments show that this approach strengthens advantages of each transport protocol while maintains good performance of the system.Manh Duong Phungduongpm@vnu.edu.vnThuan Hoang TranThi Thanh Van Nguyenvanntt@vnu.edu.vnQuang Vinh Tranvinhtq@vnu.edu.vn2013-03-27T06:15:17Z2015-11-12T07:54:06Zhttp://eprints.uet.vnu.edu.vn/eprints/id/eprint/139This item is in the repository with the URL: http://eprints.uet.vnu.edu.vn/eprints/id/eprint/1392013-03-27T06:15:17ZMulti-Sensor Perceptual System for Mobile Robot and Sensor Fusion-Based LocalizationThis paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing the kinematic model of the robot as well as estimating the input noise covariance matrix as being proportional to the wheel's angular speed. At the correction step, the measurements from all sensors including incremental pulses of the encoders, line segments of the LRF, robot orientation of the compass and deflection angular of the omni-directional camera are fused. Experiments in an indoor structured environment were implemented and the good localization results prove the effectiveness and applicability of the algorithm.Thuan Hoang TranManh Duong Phungduongpm@vnu.edu.vnThi Thanh Van Nguyenvanntt@vnu.edu.vnAnh Viet Dangvietda@vnu.edu.vnQuang Vinh Tranvinhtq@vnu.edu.vn