Xây dựng hệ bám mục tiêu chuyển động kết hợp kỹ thuật nhận dạng ảnh và ứng dụng trong giám sát và quản lý giao thông.

2 XAY DlTNG HE BAM MyC TIEU CHUYEN D Q N G KET HO THUAT NHAN DANG ANH VA UlVG DVNG TRONG GIAM VA QUAN LI GIAO THONG Building a moved target tracking system intergrated with im recognizi

Ky y ^ H^i thto ICT.rda'06 Proceedings of lCT.rda'06 Hanoi May 2

XAY DlTNG HE BAM MyC TIEU CHUYEN D Q N G KET HO THUAT NHAN DANG ANH VA UlVG DVNG TRONG GIAM

VA QUAN LI GIAO THONG Building a moved target tracking system intergrated with im recognizing technique and applying in supervising and trafl

monitoring Nguyen Thanh Hai, Nguyin Cong Djnh

Tdm tat:

Cdc hi thong bdm dnh muc lieu chuyin ddng rdt cd y nghia Irong nhiiu linh vuc cua d song, ddc biit Id Irong an ninh quoc phong, phdn logi sdn phdm vd qudn ly giao thdn, Bdi bdo ndy Irinh bdy mgt sd kit qud nghien ciru xdy dung he thdng bdm muc lieu chuyi dgng sir dung ky thugt nhdn dgng dnh Hi thong sir dyng ca chi hgc true tuyin ddi tugr cdn bdm vd dugc tiin hdnh song song v&i nhdn dgng vd bdm dnh ddi tugng chuyen dgn, Cdc kil qud nghien ciru dugc ung dung trong gidm sdt vd qudn ll giao thdng

Tir khod: Bdt bdm ddi tugng chuyin dgng nhgn dgng dnh hgc true tuyin, mgng naroi

trich chgn dgc trung

Abstract:

Moved target tracking systems have more and more important roles in fact, especially i defense, products classify and traffic monitoring This paper introduces some results i building a moved target tracking system using image recognize technique The systei learns online the tracking objects, recognizies and tracks them parallelly The researchin, results are applied in supervising and traffic monitoring

Keywords: Moved target tracking, image recognition, online learning, neural network

feature extracting

1 DAT VAN DE ''^^ ^^"^ ^^^ ^^ thdng bam chi su di

d5c trung sai khac anh tu cac frame Cac h? thong bam anh doi tugng chuyen dugc lien tiep (hoic sai khac so v

dgng hifn dang la van de thai s\f vai nhirng thuang mang l^i hifu qua khong cao d umg dung cua no trong cac ITnh v\fc cua cugc thuc te chat lugng eac anh doi tugng

song d^c biet la trong van de giam sat giao dgng thu dugc bj anh huang eiia nhi

thong va an ninh quoc phong Da co rat nhieu nen thucmg xuyen thay doi do tac di,

nghien cuu lien quan den van de bit bam doi thai tiet, anh sang Nhieu bai toan tugng chuyen dgng Tuy nhien phin Ion cac doi hoi phai bat bam cac doi tuc;mg khc

hf bam deu t$p trung khai thac van de sai truac

khac giira cac frame anh lien tilp hoac sai ni.„A*ks»i,A w u * ^j-

u-l u ' •- • u u' A/^-* u ' A- De mgt h? thong bam ho?it dgng hi khac giua anh chua doi tugng ehuyen dgng ^a ckn nhlin d^ng ti^c tuyln d6i tug

vai anh nen hay hinh dang <:ua duang bien dot bam Vai sv phat triin eua may tinh va tugng da duge hgc truac [10, 13, 14, 15, 16, thuat nang cao hifu nSng tinh toan (n 17] de phyc vy cho cong vifc bat bam Vifc may song song, cac bang m?ch tinh tc

uAijito ICT.rda'06 Proceedings of ICT.rda'06 Hanoi May 20-21,2006

[tad^ng 4nh doi tugng hau nhu da duge giai

^ hoin toan Do do, vifc tieh hcyp cac ky

5^nh?n d^ng vac e4c hf bam anh muc tieu

^ dgng l i mpt bu6c phat trien rat tu

1 Bii bio nay trinh bay viec xay dung

Igrhf th6ng bam anh myc tieu chuyen dgng

Sr dung cic ky thu$t nhan dang nham thu

HOC ket qui bam tot nhat va ap dung vao bai

jjn giim sat v i quan ly giao thong do thj

^ kit qui thu nghifm buac dau cho thay

[ohbi^u qui eiia phuang phap dugc de xuat

MOT S 6 KY THUAT NHAN DANG

j^NH D 6 I TU'CFNG CHUYEN D Q N G

TltONG Wt T H 6 N G B A M A N H

I.L Lu?e do hf th6ng bam anh siir dung ky

thu^t nhSn dang

Mft hf thSng bam anh doi tugng chuyin

Ifng g^ni eie thanh phan dugc the hifn nhu

^ 1 Hf thong CO mgt camera thu nh?in anh

j6i tugng ehuyen dgng Khi phat hifn co d6i

Wgng chuyin dgng trong anh, doi tugng se

Jugrc boc tach, trich chgn va hf thong se hgc

cic dac trung can thiet cQa d6i tucjmg can bam

Cic d$c trung ciia d6i tugng or frame inh nav

dugc luu l^i va h6 trg nh§n d?ing, tim kiim doi

hrgng trong frame inh tilp theo Thong tin vl

vj tri cua doi tugng trong frame inh hifn thofi

dugc sir dyng cho mft so myc dich khac nhau

nhu: dieu khien camera bam doi tucjmg, ho trg

dua ra cic quyet djnh tiiy theo bai toan ung

dyng ey thi

^ '

Anh thu

nh$n

D$c trung

d6i tugng

-Dieu khiln camen -Bat bam

i

•

i

-Nh|in dang

- Djnh vj dii tugng

1 r

• •

-Trich chgn d$c trung

-HgcC 101 tugnj '

1

Ra quylt djnh

2.2 Trich chon dae trumg Doi tuc^ng can bim dirge hgc vi trich chgn dae trung Ta luu lai inh doi tugng hifn thai vio trong mgt viing nh6 duai dang anh mau v i dugc cap nhat lien tuc trong qui trinh bam Vifc luu cac mau inh doi tugng can chu

y dam bio tinh bat biln doi vai cac phep bien

ddi hinh hgc ca bin (tjnh tiln, quay, phong to

thu nho) Nhu vay, a thai dilm hifn thai c6

the can phai luu them mgt so anh mau cua doi

tugng a mgt so goc quay khac nhau hoac vai

do to nho khac nhau dl hf thong co the dip ung dugc khi ddi tugng chuyin dgng quay, tien l^i gan hoae ra xa camera Dl nang cao hifu qui nh$n dang ta kit hgp them cic ky thuat trich chgn dac trung cua inh doi tuc^ng (vi du, trich chgn dac trung su dyng cac phep biln doi Fourier, Wavelet [2, 4])

Camera

i

Anh l(x,y)

^

i

Xuly sai khac anh

•

r t

Anh luu J(x,y)

- •

Dac trung Fourier

I

t

Tach canh,

do bien, tach dii tugng

^

>

D^c trur thing k cip xan

Dac trung Wavelet

Hinh 2 Luge do trich chgn dgc tnmg Ciia cdc doi tugng chuyen dgng trong

mgt h4 thong bdm dnh

Luge do hoc tach doi tugng va trich chgn dae trung cua chung dugc the hifn nhu tren hinh 2 Cic frame anh thu dugc lien tilp dugc

su dyng de phan tich, tim kiem va hoc tach cac doi tugng trong anh

Trong bai bao nay chung toi sir dyng ky thuat trich chgn cac dac trung ciia doi tuc^ng thong qua phep biln doi Fourier [2] Ky thuit trich chgn dac trung Fourier ciia doi tugng dugc mo ta nhu sau:

Hinh 1 Luge do h4 thong bdm dnh muc tieu

chuyen dgng

287

Ky y^u HQi thto ICT.rda'06 Proceedings ofICT.rda'06 Hanoi May 20-21

(i) Thvc hifn phep bien doi Fourier len

bien doi tucjmg,

M-l - ' 2 ^ ^

^„ = S^*e ^ /i = 0,l, ,A/-l,

k=Q

trong do, Zj^ li tga do phuc ciia bien doi

tugng

Phep bien doi Fourier ngugc tuomg ung

la:

J M-l

M

ilhm

i~M',k = \, ,M-\

n=0

(ii) Thuc hifn cic thao tic nhim lam bat

biln cac dac trung trich chgn:

• Bat biln tinh tiln: FQ =0

c

• Bat bien dg co gian: F„ :=

•"• scale

vai K^cale 1^ ^^ ^° t ' ' ? tuomg ung

• Bat biln quay: F„ := F„ • K^o,^,^ vai

^rotate ^^ ^^ SO quay tuomg urng

(iii) Trich chgn: Qui trinh trich chgn dugc

thyc hifn tren ca sa lya chgn cic hf so

Fourier co y nghTa nhat de lim cac dac trung

cho anh doi tuc^ng

Anh bien 6 Anh bien da

* « K A « « / * • * > 1 ^ 1o»i

u

1 0.8 0.6' 0.4 0.2

0

Hinh 3 Cdc ddc tnmg trich chon dung phep bien doi Fourier

Mgt dilm dang luu y khi sijr dun{ phep bien doi trong trich chgn d^c trun| ddi tucpmg li ta bilt dugc cic thdng sd v( nghieng cua doi tugng so vai tryc chinh,

dg to nhd eua doi tugng vi ci vj tri cu tugng trong anh, tu do co the bo sun^ cac thdng tin tin cay cho vifc ra quyet tilp theo

Trong hinh 4 li mgt so hinh inh V' qui trich chgn sur dung phep biln ddi Fo ddi vai bien doi tugng d td ehuyen ddnj the thay dugc tinh bat bien cua phep chgn dac tnmg ddi vai phep quay va co inh)

2 3 Hge v i nhan dang anh doi tugn dung mang noron nhan tao

2.3.1 Tnr&ng hgp cdc doi tirang cSn bdm chura biit trur&c:

Trong mdt so bai toan, doi tugng cai bam chua bilt truoc Khi do, mgt mang nc dugc hinh thanh va cap nhit thucmg xuyc khi bat diu bit bam eie doi tugng Mdi kh nhan mau hgc moi, mang na ron phai hc?c cuong mau h<?e niy Chung tdi lya chgn r ncrron LVQ [7] dl thyc hifn cic cdng vifc n

Hfli thto ICT.rda'06 Proceedings of ICT.rda'06 Hanoi May 20-21, 2006

m i n true m?uig LVQ dugc cho trong hinh

^My li mgt m^ng Iai hoi siir dyng c i hai ca

tl hgc c6 v i khdng eo giim sat Vai tip miu

S; {pi *'}' ^P2' *2}' - ' {Pc *G} luit hgc cap

kjt cic tn?ng so m?ng dugc eho bai bilu thuc:

^w'(9) = /•w'(9-l) + cx[p(^) - ,yv\q

)] n e u a | = 1 ^^ti, = 0

Qlu vao tj6p thi dau Ldp tuy^n linh

•l7xT

y

a' =compct(n ^

Hinh 4: Mgng LVQ

Ap dyng cho bai toan bat bam ddi tugn^,

p, la cac dac trung trich chgn cua cac ddi

itugng, t, bilu thj ddi tug-ng can bat bam tuomg

^tog Khi CO mgt doi tugng mai xuit hifn can

'1)31 bim, mgt mau hgc mai {p^, t^} dugc cip

^nhit vao mang LVQ trong do p^ la vec ta

chiira cic die trung cua ddi tugng, t^ bilu thj

doi tugng do Khi bam theo doi tugng nay thi

finlu hgc {pi, t|} se dugc cip nhat vio m^ing

LVQ trong dd pi chu-a cic die trung trich

chgn ciia doi tugng do or vj tri moi, vi t| = tk

Khi doi tugng niy ra khdi vimg can bit bim,

!cac miu hgc {pi, t|} vai ti= t^ se bj xoa, m^ing

LVQ dugc cap nhit l?i

Luu dd thuit toin six dyng mang LVQ dl

hoc vi nhan dang inh ddi tugng dugc cho nhu

trong hinh 5

B$ vi xiir li 1

Thu nh^n cac frami anh

Boc tach ddi tupng

Trich chpn d$c trung

C^p nh$l thong tin batbtoi

%—

, Bff yi xur If 2

Nhan dans

M?ng LVQ

m6i (d6i

tuijimg mdi)

C§p nh$t mlu HQC

HQC tang cirdng ^

Hinh 5 Luu d6 thu$t toin hpc v& nh$n d^ng anh

ddi tiTiTng dung m^ng LVQ

2.3.2 Trudng hgp biet trudc doi tugng cdn bdm:

Trong mgt so trufimg hgp, ddi khi doi tugng can bim di bilt truac (ching h^n li mgt chiing loai d td, xe ting, miy bay nio do) Khi do ta xiy dyng tru6e mgt tip mau hgc gom cic die trung trich chgn cua doi tucpmg or cic goc dg khic nhau Mgt m^ng naron da lap dugc hinh thinh vi huan luyfn tren tap miu hgc cua doi tugng can bam niy (ching h^n huan luyfn theo giii thuit backpropagation) M^ng sau khi huan luyfn dugc dua vio siir dyng dl nhin d^ng ra doi tugng cin bim trong inh Kit qui nhin d^ng ngoii y nghTa cho phep bit bam theo doi tugng chuyen ddng con cung cip cho ta them nhieu thdng tin khac ciia ddi tu<;mg nhu goc

dg, mire xa gin, huang chuyin dgng,

3 XAY DDNG VA DNG DDNG HD THDNG BAM DNH TRONG GIAM SAT VA QUDN

289

Ky y6u HQi thao ICT.rda'06 Proceeding of ICT.rtla'06 Hanoi May 20

Lf GIAO THING

3.1 Xay dung he thong bam anh

Hf thdng bam inh hifn dang dugc

nhom nghien ciru xiy dung thu nghifm tren

cym camera so lien kit true tuyen vcji mdi

truang LabView Mgt bd vi xii li kit ndi vai

camera se nhin tin hifu anh tir camera, thye

hifn cac thao tic xir ly inh va trich chgn die

trung, ra quyet djnh cu the tuy theo bai toan

Mgt bd vi xir ly thir hai co gin them card

chuyen dyng se thyc hifn cic chirc nang cua

mang ncrron Bg vi xu ly nay se nhin cic die

trung trich chgn ciia doi tugng tir bd vi xiir ly

thiir nhat vi tiln hanh nhin dang, cap nhit miu

hgc hoic hgc tang cuang mdt miu hgc mai

(xem hinh 5)

Hinh 6a la mdt so hinh inh vl kit qui

bam inh mdt d td chuyen ddng khdng su dyng

ky thuat nhin d^ng, chi sir dung phan tieh cac

sai khac inh tir cic frame inh lien tilp Co thi

thiy dugc tinh khdng dn djnh cua cich bim

inh nay Hinh 6b li kit qui bim cd kit hgp

ky thuit nhin d?np doi tugng Co thi thay

dugc vifc phit chit lugng bim sir dyng ky

thuit nhin d^ng on djnh vi hifu qui hom so

vai vifc bam khdng diing ky thuit nhin d?ng

a Sir dyng sai khac giita

cac frame anh

b Su dyng k$> thuat nhin d^nganh

Hinh 6 Hinh dnh bdm doi tugrng

to chuyen dgng

3.2 Cng dung trong bii toan quan I thong

Nhdm nghien cuu de xuat giii phi

ky thuit bat bim vio giii quylt bii toil

li giao thdng Hf thdng cho phep quan

dem dugc so lugng xe va van tde trun

eua luong xe tren timg tin duong vi co dyng eho ea duong I chieu cung nhu dt

chieu Dk lam dugc dieu do, hf thong sc

li vi bim din tiimg ddi tugng chuyin trong khung hinh ma camera thu nhin vc

ddi tucTng diu dugc bam vi quin li mgi

tin ve no nhu: to^ dg (vj tri) hifn t^i ei tugng, kilu xe, kich thucjc xe, huomg el

dgng cua xe, Dk quan ly dugc tit ea c;

tugng chuyin dgng trong khung hinh cj

thu nhan dugc vi phyc vy cac cong vif

thiet, nhdm nghien ciiru da thyc hifn ea dung sau:

- Xoy dDng trong khung h6nl vDch DDm, coo vung quan torn hSnh chD H, Hz Hk giDi hDn bDi vOch DDm v Ism DDDng (hdnh 7) Coc DDi tDDng sD DDC bdm va Do DDm trong phDm vi cDa coc quan torn

oon

Hfli thto ICT.rda'06 Proceedings of ICT.rda'06 Hanoi May 20-21,2006

FL^

*L

^ L

L

"ci^

i!i;i:i;

:;:i::i!

iiiiiji;

< ^

.tf

r

;:;;;iff-^

i;i;iii;

Vaeh

.'r -'—

Viing quan

//j«A 7 A'ay </?nig vjiwg ^uan tdm bdt bdm

' Mgt tip hgp A (moi phan tiir li mgt ciu

'Iric) luu cic thdng tin ve cac doi tugng cin

1,^: thdi dilm ban dau vi to? dg ban diu ciia

dii tugng, thdi dilm hifn tai vi toa dg hifn t?i

cua doi tugng, cac dac trung trich chgn da

dugc hgc ciia doi tugng dd, kieu ddi tugng

- Mgt bg phit hifn chuyin dgng ciia doi

tugng mdi trong cac viing quan tam

- Mgt bg dim xe theo bat ky lan dudng

nao vi bat ky chilu nao Bg dim se dim moi

khi CO mgt doi tugng cd trgng tim chuyin

dfng tir ben niy sang ben kia so vai v^ch

dim Se cd hai v^ch dim tuomg irng vdi hai

chilu chuyin dgng cua xe

- Mgt bg do vin toe trung binh ciia moi

dii tugng va tinh vin toe trung binh eua cic

lan xe cung nhu vin tdc trung binh cua xe

theo moi chilu tinh eho din thdri dilm hifn

t^i

Sa do ho^t dgng ciia hf thong cd d^ng

hinh 8 Hinh 9, 10, 11 li mgt so hinh inh ve

ket qui hoat dgng ciia hf thong quan li giao thdng tren dudng 2 chilu

Cac ket qui thiir nghifm bude dau cho thay, vifc dim xe d?it dg chinh xic tren 97%, 90% so xe di sai lin dudng, di ngugc chilu duge phat hifn Dl danh gia vifc do vin toe

xe, chiing tdi cho mdt sd xe may chay qua vimg xir ly vdi van toe bilt dugc va nhin kit qui do van toe tir chucmg trinh, kit qui bude diu cho thiy dg chinh xic do vin tdc d^it dugc ciia hf thong li tren 95%

Vife do dem luu luc^ng xe cung nhu xic dinh vin tdc mdi xe hoin toin quin ly dugc,

cd thi dim dugc sd lucpmg xe ch^y tren mdi lin dudng vi ch^y theo bat ciir chilu nao Nhu vay, cic bii toin lien quan dit ra doi vdi hf thdng niy deu cd the giii quylt dugc, ching ban: dem so lugng xe vi pham di sai lin dudng, phat hifn xe di ngugc chieu, phit hifn

xe vugt qua toe dg, thong ke so lugng xe vi pham trong ngay tren do?n dudng quan sit dl

de ra bifn phap xiir li, Dieu nay khang djnh khi nang phit triin cua hf thdng trong vifc xay dyng cac hf thong giim sat xir ly vi ph^m luit giao thdng trong dd thj, giim sit toe dg

xe tren cic dudng cao tdc

Cic thir nghifm dugc tiln hanh tren miy tinh HP Workstation 3GHz, chuang trinh dugc vilt tren mdi trudng LabView 6.0.1, miy tinh dugc kit noi vdi mgt camera 24 hinh/giiy theo chuan IE 1394, dieu kifn thu nghifm ban ngiy tai mgt sd do^n dudng trong ngi thinh Hi Ngi

291

Ky y^u HQi thao ICT.rda'06 Proceedings of lCT.rda'06 Hanoi May.:

He thong quin ly giao thdng hai chieu

BQ phat hien chuyen dgng

Nhan d^ing tim vj tri xe ti

firameanh

Bo sung thong tin ve doi

tugng mdi cin bam: toa df,

thdi gian, kilu xe

Cap nhat thong tin dii tugng dang bam trong tip A

- Kiem tra xe thugc lan ni

- Theo kilu xe, lan dudng, vach dim nao dang x^t dl t s6 xe tucmg i^g

i

- Tinh van toe trung binh ciii tuomg irng theo cdng thiic: V Quang dudng di dugc/ Thdi,

- Tinh lai van tic trung binh lan xe chura xe dd B0tfti^Yiil1it6ettmi Xoa dii tugng vira dim ra k tap dii tugng cin bdm

HinhS Sa do hogt dgng cua h? thong qudn ly giao thong

rnngtimCNMP

Copyright by N

Tdr:gsep{-iJ&ng'j£- Vlntectiiin«

VU-fkriVr.) f l W

TiSiKi SJS pliaing rinr, p ^ W n •&• ;i i i itj j

Hinh 9 Giao di^n h? thdng qudn li giao thong duang 2 chiiu co dai phdn cdch

292

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Trong bai bao nay cac tic gia da dua ra

cae giii phap can thiet de xay dyng mgt he

thong bim anh ddi tugng chuyen dgng Viec

tich hgp cic ky thuat tri tuf nhan tao vao hf

fhdng lim cho chit lugng ciia hf thdng dugc

nang cao mgt cich rd rft Vifc xay dung

thanh cdng hf thong se la ca sd de phit trier mgt lo^t cic irng dung thuc tl sir dyng camen nhu: cac hf thdng giam sat quin li giao thdng

hf thong hd trg lai xe an toan, cac hf thdnj phan lo^i san pham cdng nghifp, cic hf thonj bam anh dimg trong quan sy v.v

293

Ky ygu HQi thao ICT.rda'06 Proceedings ol ICI rda'06 Hanoi May 20

Tii lifu tham khao

1 Nguyen Cong Djnh, Nguyin Thanh Hai, "Vl

mpt phuong phap nhan dang anh doi tugng

tren nin mang neuron", Tgp chi Khoa hgc vd

Ky thudt - Hgc viin KTQS, 2001, so 97

(IV-2001)

2 Nguyin Cong Djnh, Nguyen Thanh Hai, "Ve

xir li anh va nhan dang anh ddi tugng tren co

sd wavelet kit hgp mang noron nhan t?o",

Thdng bdo khoa hgc Hgi nghi lodn quoc Idn

thir V vi lu dgng hod (VICA5),

24-26/10/2002, tr 66-71

3 Nguyen Dire Luyen, Nguyin Cdng Djnh,

Nguyen Thanh Hai, "Nghien ciiu xay dyng

Thu vien chuyen dyng xiir li anh va nhSn dang

anh dii tugng", Kyyiu Hgi thdo Qudc gia Idn

thir nhdt vi Nghien cvru phdt trien vd irng

dung Cdng nghe thdng tin vd truyin thdng

(ICT.rda), Hpc vien KTQS, Ha Nfi - 2/2003,

tr 242-251

4 Pham Thi Long, Nguyin Thanh Hai, "Kit

hgp mang ncrron va phep bien doi Fourier

trong mot umg dung nhan dang anh", Hgi thdo

Toi uu vd tinh lodn khoa hgc - chuang trinh

trgng diim "Mgt sd vdn di chgn Igc cua toi

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Hdi thto [CT.rda06 Proceedings of ICT.rda'06 Hanoi May 20-21.2006 1^ c i c t i c g i a :

Th^c s^ Nguyin Thanh Hdi tdt nghifp Dai hpc Khoa hgc Ty nhien - D^i hgc Quoc gia Ha Npi chuyen nganh Toan Tin img dyng nam 1999, nhSn bang Thac sy Toan Tin nSm

2001 ThS Hai hifn dang cdng tac t^i Hpc vien Ky thuit quan sy

^ S Hai hifn dang quan tam nghien ciiru vl cac

I ^ vyc xiir Iy' inh, nhan d?ing anh ddi tugng, xiJr

w anh dfng thdi gian thyc, mang noron, giai thu$t

di truyin, wavelet, logic md, diiu khiln tii uu, cac

,nd hinh toin trong md phdng

£.inail: nthhai@gmail.com

Phd Giao Su, Tiln sT Khoa hpc Nguyen C6ng Djnh tdt nghiep Dai hpc tai Hpc vien KTQS nganh Difn tu - Viln thong nam 1985, nhSn bang Tien sT nganh Dieu khiln trong cac he thing ky thuat tai Vifn han lam khoa hpc Uzobekixtan (Lien X6 trudc day) nam 1990, nhan bang Tiln sT Khoa hpc nganh Diiu khien tu dpng va Phan tich hf thing tai Dai hpc Tdng hgp

ky thuat Tashkent (Lien X6 trudc day) nam 1995 Tir nam 1995 din nay PGS Dinh cong tac tai Hpc vifn KTQS Hien nay PGS Djnh la Trudng phdng Sau Dai hpc, Phd Chu nhifm Bp mon Tu dpng va

Ky thuat tinh, Khoa Ky thuat Diiu khiln kiem Trudng Trung tam Cong nghe Mo phong, Hpc vien KTQS Nhung van de quan tam nghien ciru cua PGS Djnh bao gdm Dieu khiln thich nghi, ben vihig, Diiu khien va Xu ly tin dya tren Softcomputing, Ky thuat M6 phdng va Thuc tai

ao

E-mail: ncdinh@hn.vnn.vn

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