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Ho-Quoc-Phuong Nguyen,강희준,서영수 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.2
This paper introduces a robot visual-inertial tracking algorithm for a robot manipulator intended to track an object using inertial sensors incorporated into the object. To create this algorithm, the inertial Jacobian is first newly defined in order to show the relationship between an angle set velocity vector of the object and the angular velocity vector of the robot tip. Then, the inertial Jacobian is combined with the conventional image Jacobian. Therefore, the proposed algorithm requires only two landmarks with the help of an inertial measurement unit to track a moving object with six degrees of freedom, while at least three landmarks are required in the conventional stereo visual servoing algorithm. Further, the possession of a multi-rate controller allows the integration system to out-perform conventional systems in the tracking of an object’s attitude change. A suggested application of the proposed method is tracking and selection of a container from a shipping vessel that is being affected by large waves. Simulations and experiments were conducted to verify the feasibility of the proposed methodology.
A Platform Stabilization Algorithm Based on Feedforward Visual-Inertial Servoing
Nguyen, Ho Quoc Phuong,Kang, Hee-Jun,Suh, Young-Soo,Elle, Ole Jacob 한국정밀공학회 2012 International Journal of Precision Engineering and Vol.13 No.4
This paper presents a method of improving performance of visual servoing system by integrating inertial sensors to the system. The method is applied to a roll and pitch rotated platform stabilization in high control frequency. For the purpose, an inertial measurement unit is attached to the platform to provide its dynamics information. A new inertial information based feed forward control is used along with the conventional visual feedback control. Two contributions are realized: first, it helps solve the remaining limitation of static-object assumption in conventional visual servoing. Second, it helps drastically improve the response rate of the servoing system due to the utilization of a high-speed inertial measurement unit. Stability of the control system is analyzed such that the error of the system is proved to be bounded. Control algorithm was simulated using Matlab Aerospace Toolbox as well as Robotics Toolbox. Then, experiments were implemented to verify the feasibility of the proposed methodology.
A Platform Stabilization Algorithm Based on Feedforward Visual-Inertial Servoing
Ho Quoc Phuong Nguyen,강희준,서영수,Ole Jacob Elle 한국정밀공학회 2012 International Journal of Precision Engineering and Vol. No.
This paper presents a method of improving performance of visual servoing system by integrating inertial sensors to the system. The method is applied to a roll and pitch rotated platform stabilization in high control frequency. For the purpose,an inertial measurement unit is attached to the platform to provide its dynamics information. A new inertial information based feedforward control is used along with the conventional visual feedback control. Two contributions are realized: first,it helps solve the remaining limitation of static-object assumption in conventional visual servoing. Second, it helps drastically improve the response rate of the servoing system due to the utilization of a high-speed inertial measurement unit. Stability of the control system is analyzed such that the error of the system is proved to be bounded. Control algorithm was simulated using Matlab Aerospace Toolbox as well as Robotics Toolbox. Then, experiments were implemented to verify the feasibility of the proposed methodology.
Distance Estimation Using Inertial Sensor and Vision
서영수,Nguyen Ho Quoc Phuong,강희준 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.1
A simple distance estimation algorithm using inertial sensors and a mono camera is proposed. Two images of a target are obtained by moving a mono camera. The movement of the camera is estimated using inertial sensors and used as the baseline for the distance estimation. Through experiments, the accuracy of the proposed method is evaluated, where the distance error is 3.9% on average in a few meter ranges.
Chien Minh Tran,Ngoc Thi‑Thanh Nguyen,Minh Hieu Ho,Vinh Khanh Doan,Khanh Loan Ly,Nhi Ngoc‑Thao Dang,Nam Minh‑Phuong Tran,Hoai Thi‑Thu Nguyen,Long Phuoc Truong,Thai Minh Do,Quyen Ngoc Tran,Hien Quoc Ng 한국섬유공학회 2023 Fibers and polymers Vol.24 No.1
In this study, we proposed a straightforward electrospun polycaprolactone (PCL) loaded with silver nanoparticles (SNPs)membrane fabrication process, in which SNPs were directly synthesized from silver nitrate (AgNO3) in PCL–acetone mixtureby gamma irradiation. The insolubility of AgNO3in PCL solution was solved using an auxiliary dimethyl sulfoxide solvent. As a physical approach, gamma rays readily converted silver ions into SNPs without the addition of harmful reductionagents, which reduced the cytotoxicity of the synthesized material. By avoiding some processes such as purification, solventremoval, or redispersion of SNPs, this method was more time-saving compared to other related studies. SNPs formation wasconfirmed by both UV–Visible spectrum (UV–Vis) and X-ray diffraction analysis. Scanning electron microscopy (SEM)revealed that the addition of SNPs significantly reduced the fiber diameter of PCL–Ag membranes compared to that of rawPCL. Uniform spherical-shaped SNPs incorporated in PCL fibers were observed under transmission electron microscopy(TEM). The tensile test showed that the electrospun PCL–Ag membranes exhibited good mechanical characteristics. Moistureeasily penetrated the porous microstructure of PCL–Ag, facilitating wound humidity regulation. Inductively coupledplasma-mass spectroscopy (ICP-MS) was employed to study the release profiles of SNPs at different time intervals. Overall,the PCL–Ag 500 ppm sample exerted excellent antibacterial activity against Pseudomonas aeruginosa and Staphylococcusaureus strains and low in vitro cytotoxicity.