Can supervise: YES
Dinh, TH, Phung, MD & Ha, QP 2020, 'Summit Navigator: A Novel Approach for Local Maxima Extraction', IEEE Transactions on Image Processing, vol. 29, pp. 551-564.View/Download from: UTS OPUS or Publisher's site
Phung, MD, Quach, CH, Dinh, TH & Ha, QP 2017, 'Enhanced Discrete Particle Swarm Optimization Path Planning for UAV Vision-based Surface Inspection', Automation in Construction, vol. 81, pp. 25-33.View/Download from: UTS OPUS or Publisher's site
In built infrastructure monitoring, an efficient path planning algorithm is essential for robotic inspection of large surfaces using computer vision. In this work, we first formulate the inspection path planning problem as an extended travelling salesman problem (TSP) in which both the coverage and obstacle avoidance were taken into account. An enhanced discrete particle swarm optimization (DPSO) algorithm is then proposed to solve the TSP, with performance improvement by using deterministic initialization, random mutation, and edge exchange. Finally, we take advantage of parallel computing to implement the DPSO in a GPU-based framework so that the computation time can be significantly reduced while keeping the hardware requirement unchanged. To show the effectiveness of the proposed algorithm, experimental results are included for datasets obtained from UAV inspection of an office building and a bridge.
Hoang, VT, Phung, MD, Dinh, TH & Ha, Q 2018, 'Angle-Encoded Swarm Optimization for UAV Formation Path Planning', 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), International Conference on Intelligent Robots and Systems, IEEE, Madrid, Spain.View/Download from: UTS OPUS or Publisher's site
This paper presents a novel and feasible path planning technique for a group of unmanned aerial vehicles (DAVs) conducting surface inspection of infrastructure. The ultimate goal is to minimise the travel distance of DAVs while simultaneously avoid obstacles, and maintain altitude constraints as well as the shape of the UAV formation. A multiple-objective optimisation algorithm, called the Angle-encoded Particle Swarm Optimization (θ- PSO) algorithm, is proposed to accelerate the swarm convergence with angular velocity and position being used for the location of particles. The whole formation is modelled as a virtual rigid body and controlled to maintain a desired geometric shape among the paths created while the centroid of the group follows a pre-determined trajectory. Based on the testbed of 3DR Solo drones equipped with a proprietary Mission Planner, and the Internet-of- Things (loT) for multi-directional transmission and reception of data between the DAV s, extensive experiments have been conducted for triangular formation maintenance along a monorail bridge. The results obtained confirm the feasibility and effectiveness of the proposed approach.
Quach, CH, Tran, VL, Nguyen, DH, Nguyen, VT, Pham, MT & Phung, MD 2018, 'Real-time lane marker detection using template matching with RGB-D camera', Proceedings - 2018 2nd International Conference on Recent Advances in Signal Processing, Telecommunications and Computing, SIGTELCOM 2018, International Conference on Recent Advances in Signal Processing, Telecommunications and Computing, Ho Chi Minh City, Vietnam, pp. 152-157.View/Download from: UTS OPUS or Publisher's site
© 2018 IEEE. This paper addresses the problem of lane detection which is fundamental for self-driving vehicles. Our approach exploits both colour and depth information recorded by a single RGB-D camera to better deal with negative factors such as lighting conditions and lane-like objects. In the approach, colour and depth images are first converted to a half-binary format and a 2D matrix of 3D points. They are then used as the inputs of template matching and geometric feature extraction processes to form a response map so that its values represent the probability of pixels being lane markers. To further improve the results, the template and lane surfaces are finally refined by principal component analysis and lane model fitting techniques. A number of experiments have been conducted on both synthetic and real datasets. The result shows that the proposed approach can effectively eliminate unwanted noise to accurately detect lane markers in various scenarios. Moreover, the processing speed of 20 frames per second under hardware configuration of a popular laptop computer allows the proposed algorithm to be implemented for real-time autonomous driving applications.
Singh, AM, Phung, MD & Ha, QP 2018, 'Modelling and Fast Terminal Sliding Mode Control for Mirror-based Pointing Systems', 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 2018 15th International Conference on Control, Automation, Robotics and Vision, Singapore, pp. 1158-1163.View/Download from: UTS OPUS or Publisher's site
© 2018 IEEE. In this paper, we present a new discrete-time Fast Terminal Sliding Mode (FTSM) controller for mirror-based pointing systems. We first derive the decoupled model of those systems and then estimate the parameters using a nonlinear least-square identification method. Based on the derived model, we design a FTSM sliding manifold in the continuous domain. We then exploit the Euler discretization on the designed FTSM sliding surfaces to synthesize a discrete-time controller. Furthermore, we improve the transient dynamics of the sliding surface by adding a linear term. Finally, we prove the stability of the proposed controller based on the Sarpturk reaching condition. Extensive simulations, followed by comparisons with the Terminal Sliding Mode (TSM) and Model Predictive Control (MPC) have been carried out to evaluate the effectiveness of the proposed approach. A comparative study with data obtained from a real-time experiment was also conducted. The results indicate the advantage of the proposed method over the other techniques.
© 2018 Australasian Robotics and Automation Association. All rights reserved. This paper proposes a thresholding approach for crack detection in an unmanned aerial vehicle (UAV) based infrastructure inspection system. The proposed algorithm performs recursively on the intensity histogram of UAV-taken images to exploit their crack-pixels appearing at the low intensity interval. A quantified criterion of interclass contrast is proposed and employed as an object cost and stop condition for the recursive process. Experiments on different datasets show that our algorithm outperforms different segmentation approaches to accurately extract crack features of some commercial buildings.
Hoang, VT, Phung, MD & Ha, QP 2017, 'Adaptive twisting sliding mode control for quadrotor unmanned aerial vehicles', Proceedings of the 2017 Asian Control Conference, ASCC 2017, Asian Control Conference, IEEE, Gold Coast, QLD, Australia, pp. 671-676.View/Download from: UTS OPUS or Publisher's site
© 2017 IEEE. This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling. An adaptive twisting sliding mode control algorithm is then developed with the objective of controlling the quadcopter to track desired attitudes under various conditions. For this, the twisting sliding mode control law is modified with a proposed gain adaptation scheme to improve the control transient and tracking performance. Extensive simulation studies and comparisons with experimental data have been carried out for a Solo quadcopter. The results show that the proposed control scheme can achieve strong robustness against disturbances while is adaptable to parametric variations.
Hoang, VT, Phung, MD, Singh, AM & Ha, QP 2017, 'Adaptive Second-order Sliding Mode Control of UAVs for Civil Applications', 2017 Proceedings of the 34rd ISARC, International Symposium on Automation and Robotics in Construction, ISARC, Taipei, pp. 816-822.View/Download from: UTS OPUS
Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters however are relatively sensitive to rotational noises so that their performance may be quickly downgraded in the case of inadequate control, system uncertainties and/or disturbances. In this study, we deal with the quadrotor control problem by proposing a new control scheme named the adaptive second-order quasi-continuous sliding mode control (adaptive 2-QCSM). The goal is to achieve robust attitude control for the task of monitoring and inspection of built infrastructure. We first formulate the mathematical model of the quadcopter, incorporating nonlinearity, strong coupling, uncertain dynamics and external disturbances. We then use a Lyapunov function to derive the adaptive 2-QCSM control laws. We further tune it to ensure finite-time reaching under these control laws. Extensive simulations have been carried out for evaluation. Results show that the proposed control scheme can attenuate chattering to obtain stable operations under large parameter variations and strong disturbance conditions.
Phung, MD, De La Villefromoy, M & Ha, Q 2017, 'Management of solar energy in microgrids using IoT-based dependable control', 2017 20th International Conference on Electrical Machines and Systems, ICEMS 2017, International Conference on Electrical Machines and Systems, ICEMS 2017, IEEE, Sydney, Australia, pp. 1-6.View/Download from: UTS OPUS or Publisher's site
© 2017 IEEE. Solar energy generation requires efficient monitoring and management in moving towards technologies for net-zero energy buildings. This paper presents a dependable control system based on the Internet of Things (IoT) to control and manage the energy flow of renewable energy collected by solar panels within a microgrid. Data for optimal control include not only measurements from local sensors but also meteorological information retrieved in real-time from online sources. For system fault tolerance across the whole distributed control system featuring multiple controllers, dependable controllers are developed to control and optimise the tracking performance of photovoltaic arrays to maximally capture solar radiation and maintain system resilience and reliability in real time despite failures of one or more redundant controllers due to a problem with communication, hardware or cybersecurity. Experimental results have been obtained to evaluate the validity of the proposed approach.
Phung, MD, Dinh, TH, Hoang, VT & Ha, QP 2017, 'Automatic Crack Detection in Built Infrastructure Using Unmanned Aerial Vehicles', 2017 Proceedings of the 34rd ISARC, Taipei, Taiwan, International Symposium on Automation and Robotics in Construction, ISARC, Taipei, Taiwan, pp. 823-829.View/Download from: UTS OPUS
This paper addresses the problem of automatic inspection by means of Unmanned Aerial Vehicles (UAV) for health monitoring of infrastructure. Our approach comprises two stages, data collection using unmanned aerial vehicles and image processing with histogram analysis. For the data collection, a 3D model of the monitored structure is first created by using vision-based sensors attached on the UAV. Based on the model developed, geometrical properties are extracted to generate way points necessary for navigating the UAV for image capturing of the structure of different materials, for example, concrete. From the images obtained, our next step is to stick them together using the overlapped field of view. We then create histograms of the stuck images and detect peaks based on cosine similarity. We finally identify a potential crack or surface defect as location of the histogram peaks. The whole process is automatically carried out so that the inspection time is significantly improved while minimising any safety hazards that may be encountered in the UAV inspection process. A prototypical system has been developed with obtained results being evaluated and verified to show its validity
Phung, MD, Quach, CH, Chu, DT, Nguyen, NQ, Dinh, TH & Ha, QP 2016, 'Automatic interpretation of unordered point cloud data for UAV navigation in construction', Proceedings of the 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, International Conference on Control, Automation, Robotics and Vision, IEEE, Phuket, Thailand, pp. 1-6.View/Download from: UTS OPUS or Publisher's site
© 2016 IEEE. The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes data recorded by two 2D laser scanners, orthogonally mounted on the UAV, and an inertial measurement unit (IMU). To achieve the goal, algorithms are developed to process the data collected. They are separated into three major groups: (i) the data registration and filtering to generate a 3D model of the structure and control the density of point clouds for data completeness enhancement; (ii) the surface and obstacle detection to assist the UAV in monitoring tasks; and (iii) the waypoint generation to set the flight path. Experiments on different data sets show that the developed system is able to reconstruct a 3D point cloud of the structure, extract its surfaces and objects, and generate waypoints for the UAV to accomplish inspection tasks.
Tran, HD, Minh, TP, Manh, DP, Duc, MN, Van, MH & Quang, VT 2014, 'Image Segmentation Based on Histogram of Depth and an Application in Driver Distraction Detection', 2014 13TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION (ICARCV), 13th International Conference on Control Automation Robotics & Vision (ICARCV), IEEE, Singapore, SINGAPORE, pp. 969-974.
Manh, DP, Thi, TVN, Thuan, HT & Quang, VT 2013, 'Localization of Networked Robot Systems Subject to Random Delay and Packet Loss', 2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Mechatronics for Human Wellbeing, IEEE, Wollongong, AUSTRALIA, pp. 1442-1447.
Manh, DP, Thuan, HT, Thanh, VTN & Quang, VT 2012, 'Control of Internet-based Robot Systems Using Multi Transport Protocols', 2012 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND INFORMATION SCIENCES (ICCAIS), International Conference on Control, Automation and Information Sciences (ICCAIS), IEEE, Ho Chi Minh City, VIETNAM, pp. 294-299.
Thi, TVN, Manh, DP, Thuan, HT & Quang, VT 2011, 'Mobile Robot Localization Using Fuzzy Neural Network Based Extended Kalman Filter', 2012 IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (ICCSCE 2012), IEEE International Conference on Control System, Computing and Engineering (ICCSCE), IEEE, Penang, MALAYSIA, pp. 416-421.
Tran, HD, Manh, DP, Thuan, HT & Quang, VT 2011, 'Localization of a Unicycle-like Mobile Robot Using LRF and Omni-directional Camera', 2012 IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (ICCSCE 2012), IEEE International Conference on Control System, Computing and Engineering (ICCSCE), IEEE, Penang, MALAYSIA, pp. 477-482.
Phung, MD, Nguyen, TVT, Quach, CH & Tran, QV 2010, 'Development of a Tele-guidance System with Fuzzy-based Secondary Controller', 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2010), 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010), IEEE, Singapore, SINGAPORE, pp. 1826-1830.
Phung, MD, Tran, QV, Hara, K, Inagaki, H & Abe, M 2008, 'Easy-setup eye movement recording system for human-computer interaction', RIVF 2008 - 2008 IEEE International Conference on Research, Innovation and Vision for the Future in Computing and Communication Technologies, pp. 292-297.View/Download from: Publisher's site
Tracking the movement of human eyes is expected to yield natural and convenient applications based on human-computer interaction (HCI). To implement an effective eye-tracking system, eye movements must be recorded without placing any restriction on the user's behavior or user discomfort. This paper describes an eye movement recording system that offers free-head, simple configuration. It does not require the user to wear anything on her head, and she can move her head freely. Instead of using a computer, the system uses a visual digital signal processor (DSP) camera to detect the position of eye corner, the center of pupil and then calculate the eye movement. Evaluation tests show that the sampling rate of the system can be 300 Hz and the accuracy is about 1.8 °/s. ©2008 IEEE.
© 2017 SERSC. This study proposes behavior-based navigation architecture, named BBFM, to deal with the problem of navigating the mobile robot in unknown environments in the presence of obstacles and local minimum regions. In the architecture, the complex navigation task is split into principal sub-tasks or behaviors. Each behavior is implemented by a fuzzy controller and executed independently to deal with a specific problem of navigation. The fuzzy controller is modified to contain only the fuzzification and inference procedures so that its output is a membership function representing the behavior's objective. The membership functions of all controllers are then used as the objective functions for a multi-objective optimization process to coordinate all behaviors. The result of this process is an overall control signal, which is Pareto-optimal, used to control the robot. A number of simulations, comparisons, and experiments were conducted. The results show that the proposed architecture outperforms some popular behaviorbased architectures in term of accuracy, smoothness, traveled distance, and time response.