NGHIÊN CỨU VÀ THIẾT KẾ HỆ THỐNG GIÁM SÁT VÀ ĐIỀU KHIỂN ROBOT QUA MẠNG MÁY TÍNH SỬ DỤNG KIẾN TRÚC TRUYỀN THÔNG CORBA

May man thay, viee phat trien nhanh chong cae he thong mang may linh co day va khong day cung nhu mang Internet dua tren he thong vien thong loan cau trong nhung nam g^n day da ma ra mot

DAI HOC QUOC GIA HA NOl

NGHIEN ClTU VA THIET KE HE THONG GIAM SAT

VA DIEU KHIEN ROBOT QUA MANG MAY TINH SIJ DUNG KIEN TRUC TRUYEN THONG CORBA

Ma so: QC.09.18

Chu nhiem de tai: Phiing Manh Duong

DAI HOC QUOC GIA HA NOI_

TRUNG IA(VI I H C ' N G UN T H U V I E N 0CC6OC0OC42

H a N 6 i - 2 0 1 0

Muc luc

• • CHU'VIFTTAT ^ DANH SACH NHUlMG NGLTC)] THAM GIA THUC HIEN 1)1 r \ l -i

TOM TAT ^ BAG CAO TONG KET 7

1 Dal van de / 1.1 Sir can thiel cua de tai nghien cuu 7

1.2 Ung dung cua cac he thong giam sat va dieu khien rohol Ui \a S

1.3 Tinh hinh nghien ciru cac he thong giam sat va dieu khien vohoi ur xa qua niang ma\ tinh lai

Viet Nam ^

2 Tong quan cac van de nghien cuu ^^

2.1 PhuoTig phap phat trien cac giai thuat dieu khien tu xa cai lien ket hop voi ky ihual xa\ dung

giao dien 9 2.2 Phuang phap xay dung cac giao thuc Iruyen tai thoi gian thuc 10

2.3 Huang liep can cua de tai I 1

3 Muc lieu va Ngi dung Nghien cuu cua De lai I i

3.1 Muc lieu I 1

3.2 Noi dung nghien cuu: 12

3.2.1 Dae tinh cua mang Internet va van de dieu kliien robot qua mang Internet I 2

3.2.2 Kien true CORBA 14

3.2.3 Thiel ke he thong dieu kliien robot qua mang may tinh su dung kien true CORBA 1 5

3.2.4 Ket qua thuc nghiem 16

4 Dja diem, thai gian va phuang phap nghien cuu 1 7

4.1 Dia diem va thai gian: 1 7

4.2 Phuang phap nghien cuu 17

4.3 Trang thiel bi su dung trong de tai 17

5 Ket qua nghien cuu 18

5.1 Cac cong trinli cong bo 18

5.2 Kel qua dao tao cua de tai 18

6 Thao luan 18 6.1 Ket luan va kien nghi 18

6.2 Tai lieu tham khao 18

BAG CAO T 6 M T A T K £ T QUA BANG TIENG ANH 20

SUMMARY 20

1 Objectives: 20

2 Main contents: 20

3 Results obtained: 20

CHU VIET TAT

1 CORBA: Common Object Request Broker Architecture

2 LAN: Local Area Network

3 DIIQG HN: Dai Hoc Qu6c Gia Ha Noi

4 TCP: Transmission Control Protocol

5 UDP: User Datagram Protocol

6 RTP: Real Time Protocol

7 IRTP: Interactive Real-Time Protocol

8 IDL: Interface Description Language

9 ORB: Object Request Broker

10 HOP: Internet Interoperability Protocol

1 l.RMl: Remote Method Invocation

12.HMS: Human Motion Sensor

13 GUI: Graphic User Interface

DANH S A C H N H U N G N G U O I T H A M CJA I H l C IIIKN Dl TAI

DANH MUC CAC HINH

1 So do dieu khien robot qua mang su' dung bo loc lenh

2 Mo hinh Internet dan gian

3 Mo hinh mane Internet mo rone

4 Mo hinh kien true tong quat cua Internet

5 Trieu goi doi tuang CORBA thong qua ORB

6 Cau true phan cung he thong

7 So do phan mem he thong

8 Ket qua thuc nehiem he thone dieu khien robot qua mane may tinh

TOM TAT

Ten de tai: Nghien cuu va thiel ke he thong giam sal \ a dieu khien rob(^l qua niang ma) tinh

su dung kien true truyen thone CORBA

Mas6:^QC.09.I8

Chu tri d^ tai: NCS.Phung Manh Duong

Don vi quan ly: Truang Dai hoc Cong nghe - Dai hoc Quoc gia I la Noi

Thai gian: 06/2009 dan 06/2010

1 Muc tieii:

Muc lieu ciia de tai la ung dung kien true mai vao vice thiel ke he thong giam sal \ a dieu khien robot qua mang giup giai quyet van de ma cac he robot khac dang gap phai CORBA su dung mot doi tugng xu ly yeu cau (Object Request Broker) lam trung gian giua ehuong Irinh khach va chii (client/server) Dieu nay eho phep mot chuong trinh khaeh c6 the goi cac phuang thuc 6 chuong trinh chu qua mang ma khong can phai biet vi tri he dieu hanh \ a ngon ngu' lap trinh ma chuong trinh chu dang su dung

2 Noi dung nghien cuu:

De tai tap trung vao nghien cuu kien true truyen thong CORBA de xay dijng nen mot

he robot c6 the giam sat va dieu khien qua mang

• Nghien cuu dac tinh cua mang internet bao gom cac van de vc kien true Urn lugng, su tri tre va su mat du* lieu qua mang internet

• Nghien cuu kien true truyen thong CORBA va ung dung vao he thong dieu khien robot

• Ung dung eho robot thong minh voi cac co cau chap hanh, he sensor, he ket noi truyen thong va thuat loan tu quan tri dam bao kha nang van hanh an loan cua robot trong moi truong kliong biet truoc

3 Ket qua dat duoc:

- Ket qua ve dao tao: 01 khoa luan tot nghiep

- Ket qua ve nghien cuu:

• 01 bai bao (da duge chap nhan) lai Hoi nghi quoc te ve co hoc va tu done hoa

2010 (ICEMA 2010)

• 01 bai bao (dang eho ket qua) tai hoi nghi Co dien tu loan qu6c 2010

BAO CAO TONG KET

1 Dat van de

l.L Sy can thiet cua de tai nghien ciiu

Su can thiel nang cao nang suat va chat krgng san pham trong cong nghiep cCinu nhu

nhu'ng nhu cau moi trong cac boat dgng dich \\\ doi song, an ninli quoc ph6iig \ \ nga\

cang doi hoi viee ung dung rgng rai cac phuong lieii lu dgng hoa I rong ITnh vue na> thi xu huang thay the dan cac may tu dgng "cung" la nhfmg may chi dap ung mgl vai nhiem \ u nhat dinh bang cae thiel hj lu dgng co tinh linh hoal cao dang dan hinh thanh ro ncl nhal la trong boi canh phat trien rat nhanh chong eiia cong nghe thong lin Cac robot ihuge loai cac

Ihiet bi lu dgng mem deo do dang duge nghien cuu phat trien rgng rai Iren the gioi V>i^ dugc

trang bi cac don vi dieu khien ngay cang thong minh hon nen robot da va dang duge su dung trong nhieu nhiem vu: van chuyen nguyen \at lieu, do tim, iranh vat tham hicm trong cac moi truang co do phuc tap ngay cang cao Co the tim ra nhirng thi du ung dung cua chiing tu don gian nhu robot quel dgn nha cua den nhQng robot bet sue phuc tap nhu GaHlco ciia NASA la mgl tau vu try tham do khong gian khong nguai lai da di UVi sao Mgc va da thuc hien dugc mgl loat cac nhiem vu phuc tap ve xac dinh cac thanh phan hoa chat cau thanh nen khi quyen ciia sao [1]

Khi dugc dieu khien tu xa, nhung robot co trang bi nhung co cau chap hanh nhu lay may to ra co uu the vugl trgi trong nhung truang hgp nguai su dung muon giam sat dieu khien cae djch vu lai hien truang klii hg dang a mot noi nao khac Mgl thi du dien hinh la viee nguai dieu khien ngoi tai mot vung an loan co the giam sal dieu khien lir xa mgl robot di dgng do min tai khu vue nguy hiem Co vai each de thong tin giua nguai dieu khien va robot

tu xa Phuang phap thong thuang la diing cac Ciuong truyen true liep lin hieu giua bai dau he thong Tuy nhien, each nay gap phai nhilng ban ehe nhu chi phi lap dat duong truyen eho tiing truang hgp eu the Mgl he thong nhu vfy lai cang ton kem khi khoang each thong lin Ion va trong nhieu truang hgp la khong the eho phep xay dung eac duong truyen rieng dugc May man thay, viee phat trien nhanh chong cae he thong mang may linh co day va khong day cung nhu mang Internet dua tren he thong vien thong loan cau trong nhung nam g^n day

da ma ra mot kha nang moi eho viee thuc hien qua trinh giam sat va dieu khiSn lu xa nav Bang viee ket noi he thong dieu kliien va robot tu xa vao cac mang may tinh k^ tren, bang viee phat trien cac chuo'ng trinh phan mem thich hgp cac robot co th^ dugc giam sal di^u khien tu bat ky noi nao tren the giai qua cac kenh thong tin do 11 ] [2] [3]

1.2 iTng dung ciia cac he thong giam sat va dieu khien rohol tiV \a

Nhu va>' nhu'ng nam gan da}' thuc su da ma ra mgl Iricn \ ong moi ehc^ phep su dung cac kenh thong tin qua mang may tinh de co the giam sal dieu khien cac co can tu dgng lu

giai Vai truyen thong lam viee trong nhu'ng moi truang 41) hi cae moi truang ban doe hai (dirty), dan dieu (dull), nguy hiem (dangerous) va kho khan (tlilllcull) nga> na\ cac robot eon dang dugc nghien cuu su dung trong nhieu ung diing dac hict khac Ta hay \ci hai ihi du trong linh vue lu dgng hoa phong thi nghiem va ITnh virc \ le I hi du Ihu nhal lien quan loi viee su dung cae lay may che tao vat lieu ban dan trong cae phong saeh (clean room) De dam bao cac quy trinh cong nghe che tao vat lieu trong no cae phong saeh na> doi hoi phai duge duy tri a mot do saeh rat cao vai lugng bui la sieu nho Thay eho \ ice de gay nguy eo 6 nhiem moi truang do con nguai phai ra vao trong phong nay cae lay ma>' robot dugc dat trong phong se thuc hien cac thao lac che tao vat lieu Cac thao lac nay duge dieu khien tu \a qua mot mang cijc bg LAN bai nguai a ben ngoai phong va do vay dam bao co dugc do saeh

an loan eho moi truang trong phong

Thi du thu hai lien quan den xu huang nghien cuu hien nay tren the giai la vice thuc hien cac ca phau thuat tu xa qua mang Internet tuy rang chae phai mgl so nam nfra moi dugc thuc hien hoan hao Do la viee mot chuyen gia y te tu mot nuac nay hoan loan eo the dieu khien tti' xa mot lay may thuc hien cac thao tac phau thuat trong mot phong mo tai nuoe khac qua kenh thong tin bang rgng truyen du' lieu hinh anh tren Internet Nhu vay, nho vao Ihanb tuu cua cong nghe robot va cong nghe thong tin ma ky nang ciia mot chuyen gia co the dugc chuyen giao tuc thi qua cac bien giai khong gian

1.3 Tinh hinh nghien ciiu cac he thong giam sat va dieu khien robot tu xa qua mang may tinh tai Viet Nam

Hoa nhap voi xu the ke tren, cong nghe tu dgng hoa noi chung va cong nghe robot noi rieng tai Viet nam trong nhung nam gan day cung dang gop phan tao ra dgng luc eho su phat trien cong nghiep hoa, hien dai hoa dat nuoe O Viet Nam, viee nghien cuu tim hieu nham thiel ke xay dung mgl mo hinh he thong dieu khien tu xa cac robot qua cac kenh thong lin may tinh, dac biet la mang Internet la mot chii de moi chua dugc nghien ciiu phat trien nhieu nhung lai la mot chii de hap dan va co tinh can thiel Vi vay, can cir vao kha nang kien thiic, CO so vat chat hien c6 a phong thi nghiem "Dieu khien tu dgng va Robotics" \'a doi ngCi giang vien eiia khoa dien tu-Vien thong, truang Dai hgc Cong nghe, DHQG HN, loi da chgn

de lai ''Nghien cuu va thiet ke he thong giam sat va dieu khien robot qua mang internet su

dung kiin true truyen thong CORBA'\

2 Tong quan cac van de nghien cuu

Giam sat va dieu khien cac he thong thai gian Ihuc qua mauL: Inlcrnel la \ an de dang nhan dugc nhieu su quan lam nghien ciiu gan da> nho kha nang niiv |-i nhung ung dung mtVi

rhct cMCtr c n n o h i ^ n Ai^\ n h i r n h n n a thi n o h i e m ^n he i h n n o \ \c In \ ; j h r i h o n p dit^n k h u ' n

thiet bi toa nha tu xa Co the nhan thay rang, do tri ire (time dela\ L do Ihang giang (dehi) jitter) va bang thong Iruyen khong the du doan truae cua mang Internet cbinh la kho khan \ a thach thiic Ian nhal voi bai loan dieu khien robot qua mang ma\ n'nh noi clnuig va mang Internet noi rieng [4] De khac phuc van de nay co hai pluroiig phap liep can chu >eu la phuang phap phat trien cac giai thuat dieu khien tu xa cai tien kel hop voi k\ thuat xa\ dung

giao dien [5]-|9] va phuong phap xay dung cac giao thiic truyen lai thoi gian thuc \A\\ 1()|

Cac phan lich danh gia ve uu nhugc diem cua moi phuang phap se dugc trinh ba> sau day

2.1 Phuong phap phat trien cac giai thuat dieu khien tu xa cai fien kc( hop \ oi ky thuat xay dung giao dien

Phuang phap phat trien cac giai thuat dieu khien lir xa cai lien ket hgp \ oi ky ihual xay dung giao dien khong can thiep vao van de Iruyen tai du' lieu qua mang ma>' tinh ma tap trung xay dung cac thuat loan de du doan va bii Iru nhung tham so ngau nhicn ga\' ra b(Vi mang may tinh nhu do tri tre, do thang giang va bang thong eho phep

Trong [11], Kuk-Hyun Han da phat trien mot he thong dieu khien robot qua mang Internet dua tren nhiing du doan ve thai gian tri tre va vi tri ciia robot de lu do xay dung mgl

bg Igc lenh (command filter) eho phep dieu chinh cac tin hieu dieu khien robot Hinh 1 trinh bay so do khoi he thong

o

Vii'inal Enviionmcjil

Local S:te Remoie Site

Hinh 1: Sa do dieu khien robot qua mang su dung ho loc lenh

Theo so do nay mgl ban do ao da dugc xa> dung o phia nguoi diing eho phep mo phong chuyen dgng eiia robot cung nhu tga do ^•a \'i tri sap t(Vi. NIKV i}o nguoi dung co the dc

dang quan sat va ra lenh dieu khien robot De khac phuc do tri tic dt* mang ga\ ra

kuk-TJxnir^ TJot-» / i o /4o - v ' l i o t r^Arvrr t K i V r ' H I T H o o n i V i r v i r r i ' i i i t r i 1 r r

Trong do Td(k) la do tri tre lai thai diem k li la chieu dai eiia lien kel thu i C la toe

do anh sang liR la toe do dinh tuyen cua niit mang thu i, tiL(k) la do tre ga> ra boi lai cua niit mang thu i M la lugng du' lieu, va bi la bang thong eiia lien kel thu i dN la tham so doc lap voi thai gian, va dL(k) la tham so phu thugc thai gian

Til' thai gian tri tre du doan nay lac gia xay dung mgl bg Igc lenh truoc khi gui lin hieu do tai dieu khien true tiep robot

Trong mot nghien cuu khac [12], thay vi co gang bu tru thai gian tri Ire Dawei Wang

da phat trien cac thuat loan tranh vat can va co che an loan eho phep robot co the phan ling dugc vai nhiing tinh huong khong mong dgi do su tri tre gay ra Cac thuat loan nay ve co ban dua tren cac thuat loan tranh vat pho bien nhu thuat loan truang the hay thuat loan sir dung logic ma nhung dugc cai lien eho phu hgp vai bai loan dieu khien qua mang Mot moi truang ao cung dugc xay dung a phia nguai dung nham du doan quy dao robot va Irg giiip dieu khien

Nhu vay, co the nhan thay rang huang tiep can nay khong co gang lam giam eac tham

so ngau nhien do mang gay ra nhu do tri tre, do thang giang ma lap trung vao van de giam thieu anh huang va phan ling lai vai cae yeu to do Tiep sau day lac gia xin trinh bay hmVng tiep can thu hai trong bai loan dieu khien robot qua mang may linh Do la thiel ke eac giao Ihii'c dieu khien thai gian thuc

2.2 Phuong phap xay dung cac giao thiic truyen tai thoi gian thuc

Trong phuong phap nay, cac tac gia tap trung xay dung cae giao thiic lap truyen lai (transport layer) phu hgp vai cac ung dung thai gian thuc nhu giam do tri tre, do thang giang Ian dung l6i da bang thong eho phep

Di6n hinh theo huang tiep can nay, Peter X Liu da de xuat giao thuc lruy£n tai thai gian thuc Trinomial Giao thuc nay cai lien co che dieu khien luong dua tren toe do lru\en tai du" lieu ( rate-based flow control) de giam do thang giang va tan dune nhi^u hoii bane

thong eho phep Cong thuc eho su tha} doi toe do Iruyen du iieu dn-vc Peter X I iu dua ra nhu sau:

increase: S) = ><, -^ 1 - 1 " J ~ n

decrease: 5^_ == (1 - / i S - i' • -' I

Trong 66 t la chi so thai gian; St la loc do truyen lai ihoi diem i : SO la loc do truyen

sau Ian giam gan nhal; St+ la toe do Iruyen ngay sau thai diem t: (/ (3 \ a y la nhung hang so

khong am Cae ket qua mo phong va thuc nghiem Peter X I iu da chiing to giao Ihiic do Uie gia de xuat eho ket qua tot hon cac giao thiie dang dung hien lai nhu TCP va [l\W \e mat

bang thong va do thang giang

Trong mgl nghien ciiu khac, tac gia LI Ling de xuat giao thuc IR1 P cai lien tu giao thuc RTP de loi uu hoa eho ling dung thai gian thuc Trong giao thuc IR I P lieu de cua moi goi tin dugc nil ggn xuong 9 byte thay vi 40 byte nhu cua RTP \a do do tang dugc hieu suat truyen tin hon 10% so vai giao Ihiie RTP

2.3 Huong tiep can cua de tai

Trong bai bao nay, chiing loi trinh bay mot he thong phan tan sir dung kien Iriic truyen thong CORBA (Common Object Request Broker Architecture) eho phep chuong trinh khaeh

CO the trieu ggi cae lenh dieu kliien mot robot di dgng qua mang Internet ma khong can phai quan lam cac lenh do duge cai dat a dau, bang ngon ngij' lap Irinh gi va tren he dieu hanh nao Dieu nay giiip khac phuc nhugc diem ciia ca hai phuang phap da neu thuang chi luong Ihieh vai mot ngon ngu' lap trinh va he dieu hanh nhat dinh He thong ciing cung cap cae du' lieu phan hoi theo thai gian thuc ve moi truang a xa tai nguai dieu khien nhu dir lieu hinh anh du' lieu sieu am du' lieu hong ngoai, vi tri va toe do hien tai cua robot Cac phep thuc nghiem eho thay he thong co the boat dgng on dinh va hieu qua tren moi truang khong biet truoc trong ling dung giam sat an ninh toa nha

3 Muc tieu va Noi dung Nghien ciiu cua De tai

3.1 Muc tieu

Muc lieu ciia de tai la ling duns kien triic mai vao viee thiel ke he ihona aiam sal va dieu khien robot qua mang giiip giai quyet van de ma eac he robot khac dang gap phai CORBA sii' dung mot doi tugng xu ly yeu cau (Object Request Broker) lam trung gian giua chuo'ne trinh khaeh va chii (client/server) Dieu nay eho phep mot chuo'no Irinh khaeh co the

ggi cac phuang thuc a chuong trinh chu qua mang nia khong caii phai biel \ i tri he dieu hanh va ngon ngfr lap trinh ma chuong trinh chu dang su dung

3.2 Noi dung nghien cuu:

De dat dugc muc lieu nghien cuu ciia de tai lac gia da thiet ke \ a \a> dirng mgl he thong dieu khien robot qua mang inay linh sir dung kien true tru\en thong CORBA bao gom cac ngi dung nghien ciiu sau:

3.2.1 Dac (inh ciia mang Internet va van de dieu khien robot qua nising Internet

Vein de dieu khien robot qua mang Internet da duge trinh bay o' muc 2 Trong phan n a \ tac gia xin trinh bay ve cac dac tinh va anh huang cua mang Internet loi cac he ihonu thai gian thuc

Internet la mgl lien mang, lire la mang eiia cac mang con Va} dau tien la \ an de ket noi hai mang eon De kel noi hai mang eon voi nhau co hai van de can giai quyet Ve mat vat ly hai mang con chi eo the ket noi vai nhau khi co mot may linh co the ket noi v(Vi hai mang nay Viee ket noi don thuan ve vat ly chua the lam eho hai mang eon eo the Irao doi thong lin voi nhau Van de thu hai la may kel noi duge ve mat vat ly voi hai mang con phai hieu duge

ca hai giao Ihiie truyen tin dugc sii' dung tren hai mang eon nay va cac goi lin ciia hai mang con se dugc gui qua nhau thong qua do May linh nay dugc ggi la internet gateway hay router

Hinh 2: Mo hinh Internet dan gian

Khi kel noi tra nen phuc lap ho'n, cac may gateway can phai biel so do kien Irtic ciia cac mans ket noi

Nhu \ a \ router Rl phai chuyen tat ca cac 2.o\ thong lin den nuM iiia} nam o mang Net2 hoac Net3 Vai kich thuac Ian nhu mang Internet \iec eac routei' lam sao co the qu\el dinh viee chuyen goi thong lin eho cac ma}' trong cae mang se \vo ncu phuc lap hoii Cac router

chuyen eac goi thong tm dua tren dia cni mang cua noi uen cnu KUong pnai uua ircn uia cin ciia may nhan Tren internet tat ca cae mang deu co qu}en hinh dang eho du chung eo to chuc hay so lugng may la chenh lenh nhau Nhu \a} nguoi dung trong internei hinh dung Internet la mot mang thong nhat va bat ky may nao tren Internet deu dugc noi voi nhau thong qua mgl mang duy nhat Hinh 4 mo ta kien true long the cua Internet

/c/en iruc tong quat cua mang Internet

Hinh 4: Mo hinh kien true tong quat ciia Internet

Tu mo hinh Internei da neu, co the nhan thay cac may linh trong mang Internet la khong dong nhat ve ca phan ciing Ian phan mem va do do gay kho khan eho eac he thong dieu khien qua mang Internet thuang chi boat dgng tren nen phan cung va phan mem xac djnh De tai cua chiing loi khac phuc van de nay bang viee xay dung he thong dieu khien dua tren ki^n triic CORBA se trinh bay sau day

3,2.2 Kien true CORBA

CORBA la mot chuan cong nghiep eho phep ggi cae phuong thuc lu xa \ a nhan ket c|ua Ira ve No co the duge su dung khi ben phia ggi va ben phia phuong thuc dugc ggi co the su

1 ' ^ -r 1 " i V - 1 1.1- i - -1 * S - - C „ ^ A - ^ t , r, i:\,, 1- , , , K I - U ' , , , U , , ,

U U U g C d C l l g t M l i l ^ U l a p L l l l l l i K l i a c l u i c i u i i c i i i i c u L U U ^ i i y V J J ^ - U I D L U M I ,s,m^ ,,,,,.i<.t

CORBA (Common Object Request Broker Archileelure) la mgl chuan cong nghiep eho phep ggi eac phuang thiie lu xa va nhan kel qua tra \'e duoc hinh thanh tu moi to chuc

nghien cuu quoc te OMG (Object Management Group) N oi su hop lac cua lum 800 cong \y

No CO the dugc sir dung khi ben phia ggi va ben phia phuong ihuc dugc ggi co the su dung cae ngon ngii" lap trinh khac nhau tren nen tang he dieu hanh khac nhau Ve co ban COKBA

bao gom ba thanh phan chinh la ngon ngu dac td giao tiep IDL {Intcr/acc Description

Language), trinh chuyen tiep yeu cau cua cac doi tuang ORB (Object Rccpiest Broker) \ a Giao thuc HOP (Internet Interoperabilit}^ Protocol)

• N^dn ngu dac td giao tiep IDL (Interface Description Language) qui dinh mgl lap

eac mo ta ham kieu du' lieu va cac khai bao eho phep dac ta doi lugng Dac la doi tugng a day chi mo ta ehiie nang ciia doi tugng thong qua ham.« phuong thiic thugc tinh khong c6 bat ky cai dat ma lenh nao trong ngon ngu" dac la Vi du duoi day la mot dac ta ciia doi tugng Calculator viet bang ngon ngir IDL ciia CORBA:

///V?/? 5.' Triei4 goi doi tuang CORBA thong cpia ORB

• Giao thuc HOP (Internet Interoperability Protocol) eho phep lien lac giua nhieu

tien trinh Giao thuc nay do to chiie CORBA de xuong va no lam nen king eho Uil

r t I -»

ca cac doi tugng co the giao tiep duge vai nhau tren mang Internet mgl each de

dang Hien nay, giao thiic HOP dugc dung kha pho bien va tham chi eon vugl trgi

hon giao Ihiic trieu ggi tu xa RMI cua Java

3.2.3 Thiet ke he thong dieu khien robot qua mang may tinh sir clung kien triic

CORBA

Tir nhUng nghien cuu ly thuyet neu tren, tac gia da xa) dung thuc nghiem mgl he

thong dieu khien robot qua mang Internet sii' dung kien triic trujen thong CORBA I linh 6

trinh bay cau triic phan ciing ciia he thong bao gom ba thanh phan chinh:-robot di dgng

DrRobot, may tinh trung tarn va may tinh Client

Hinh 6: Cau triic phan cung he thong

Trong he thong, robot di dgng duge su dung la robot Sputnik cua hang DrRobot | 9 |

bao s6m cae Ihanh phan co ban sau: sau cam bien hong ngoai gan xung quanh robot: ba cam

bi^n sieu am Ian lugl gan a phia truoc ben phai \a ben trai cua robot: hai camera man eho

15

kich CO anh 353x288 vai toe do lay mau 15 khung hinh gia>: hai cam bien phat hien sir chuyen dgng ciia nguai HMS (Human Motion Sensor) irong khoang 150 em: \ a bon dgng co*

dieu khien dieu khien loan bg chuyen dgng cua robot Ngoai ra vohoX eo the ket noi voi mo

d n n t n ^ n o t A m n n a i n a n o r n r h o k h n n o r\^\' Wirpl^Qtc 1 AT\1 bo-^r i r n r l i ( } n \'/vi m t m o Int*M-n(^i

qua mo dun khong day wi-fi 802.11 Ma>' tinh trung lam va ma\' tinh Clienl la cac ma\ linh

PC thong thuang dugc cai dat chuong trinh phan mem dieu khien dua tren (X)RBA

S p i i l m k

Hinh 7: So' do phan mem he thong

Hinh 7 trinh bay thiet ke phan mem he thong su dung CORBA bao gom hai mo dun Client va Server

• Mo dun Client co chiic nang cung cap giao dien nguai dung (GUI) va iruyen cac lenh dieu khien tai robot bang each trieu ggi doi tugng dieu khien tren Server Clienl dong thai ciing nhan du' lieu phan hoi tii' robot ve vi tri toe do trang thai va hien thi eho nguai dieu khien Client dugc viet bang ngon ngu' Visual Basic

• Mo dun Server dugc viet bang ngon ngu' Java bao gom eac cai dat doi lugng dieu khien robot nhu quay trai, quay phai, tien, lui, dgc sensor Cac doi tugng nay luan theo chuan CORBA va co the duge trieu ggi tu xa tir bat ky Clienl nao Khi dugc trieu ggi, doi tugng se dieu khien robot va gui phan hoi ve eho Clienl

3.2.4 Ket qua thuc nghiem

De danh gia boat dgng ciia he thong dieu khien robot sir dung CORBA nhieu Ihuc nghiem da dugc chiing loi tien hanh tai tang 3 toa nha G2 thugc Khoa Dien lir - Vien thong truang Dai hgc Cong nghe Dai hgc Quoc gia Ha Ngi a eac thai diem khac nhau trong nhiing dieu kien khac nhau va vai nhieu tinh huong gia dinh co the xay ra

I

^; h)

Hinh 8: Ket qua thuc nghiem he thong dieu khien robot cpui mang may linh a) Duong di cua robot trong qua trinh dieu khien tu diem dau den diem d/ch

b) Mot chuoi hinh anh ciia robot trong qua trinh dieu khien

Trong eac thuc nghiem, bang viee su dung giao dien GUI da thiet ke nguoi dung, o \ i

tri each xa 15km, da dieu khien thanh cong robot di chuyen lir diem xuat phai ()., den diem

dich Oj qua mang Internet (Hinh 8a) Hinh 8b trinh bay mgl chuoi hinh anh eiia robot duge

ghi lai trong qua trinh dieu khien tren

4 Dia diem, thoi gian va phuong phap nghien cuu

4.1 Dja diem va thoi gian:

• Dia di^m: Phong thi nghiem Dieu kliien tu dgng va Robotics, bg mon Dien lir va Ky

thuat may tinh, khoa Dien tu - Vien thong, truang Dai hgc Cong nghe, Dai hgc Quoc

gia Ha Ngi

• Thai gian: tii" 08/2009 dSn 06/2010

4.2 Phuong phap nghien ciiu

De tai nghien cuu dugc tac gia chia thanh ba chuyen de nho de nghien ciru va phat

trien Ian lirgt nhu sau:

• Chuyen de 1: Dae tinh cua mang internet va van de dieu khien robot qua mang

Internet

• Chuyen de 2: Kien triic truyen thong CORBA

• Chuyen dh 3: Ung dung eho robot thong minh

4.3 Trang thiet bj su dung trong de tai

1 Wireless Internet Remote Monitoring Robot with Software Development Kit-Sputnik

5 Ket qua nghien ciVu

5.1 Cac cong trinh cong bo

- Phung Manh Duong, Quach Cong Hoang Vu Xuan Ouang Iran (Juang N'inh Wmn-'ol

of a Mobile Robot over the Internet Using CORBA as C\)nmumicaiion Arcliiiccturc."

Proceeding of the International Conference on Engineering Mechanics and Aiilomation (ICEMA 2010) Hanoi Vietnam 2010

- Manh Duong Phung Thanh Van Thi Ngu> en Qi^i^ing Vinh Tran "Control of cm

Internet-based Robot System Using the Real-time Transj)ort Protocol, " The 5lh Vielnam

Conference on Mechatronics, Ho Chi Minh Vietnam (submited waiting for re\ie\ving)

5.2 Kel qua dao tao ciia de tai

- 01 khoa luan lot nghiep: Sinh vien Duong Due Tien "Thief ke he thong dieu khien dong

ngat thiet bi qua mang Internet, " 2010

6 Thao luan

6.1 Ket luan va kien nghj

Trong de tai nay, chung loi da xay dung thanh cong mgl he thong eho phep dieu khien robot qua mang Internet ma khong can phai quan lam cac doi tugng dieu khien dugc cai dat

a dau, bang ngon ngu lap trinh gi va tren he dieu hanh nao Dieu nay giiip khac phuc nhugc diem ciia da so he thong dieu khien robot qua mang may Internet hien nay thuang chi luong thich voi mot nen tang ngon ngu* nhat dinh Nhieu phep thuc nghiem dugc lien hanh da chiing minh tinh kha thi va thanh cong ciia he thong trong bai loan dieu khien i;obot noi rieng

va cac he thong thai gian thuc noi chung qua mang may tinh

6.2 Tai lieu tham khao

1 Laurent A Nguyen el al., Virtual Reality Inter-faces for Visualization and Control o\'

Remote Vehicles Autonomous Robots, Kluwer Academic Publishers, manufactured

in The Netherlands, p.59-68, 11 (2001)

2 .loseph Alex et al A virtual reality tele-operator interface for assembly of hybrid MEMS prototypes Proceeding of Design Engineering Technical Conference DETC"98 Atlanta, GA (1998)

3 Kuk-Hyun Han, Sinn Kim Yong-Jae Kim and long-Hwan Kim Internei Control Architecture for Internet-Based Personal Robot Dept ol' Electrical Engineering

3 Kuk-Hyun Han Sinn Kim Yong-.lae Kim and 'ong-llwiin Kim Inlcrnel COiilrol Architecture for Internet-Based Personal Robot Depl of blcclrical fngincering Korea Advanced Institute ol Science and fechnolog} Kusong-dong ^Ousong-gu Taeion-shi ^05-701 Republic of Korea

4 Peter X Liu, Max Q.-H Meng Policy R Liu and Simt)n X Yang "An 1 nd-lo-lnd Transmission Architecture for the Remote C^MilroI of KobcHs ()\cr IP Nct\\t>rks."" lEEE/ASME transactions on mechatronics Vol 10 No 5 October 2()0x

5 R C Luo and T M Chen ''Development of a mulli-bcha\ ior based niobile robot lor remote supervisory control through the Internei."" Il^l.-J-, ASMI- Trans Mechatronics vol 5 no 4, pp 376-385 Dec 2000

6 K Goldberg et al "Desktop teleoperation via the world wide web." in Proc 11:1:1- Int

ConL Robotics and Automation Nagoya Japan 1995 pp 654-659

7 K Taylor and B Dalton, "Issues in Internei lelerobotics." in Proc Int Conf Eield and Sei"vice Robotics Canben*a, Australia, 1997, pp 151-157

8 C Sayers, ''Remote control robotics,'' New York: Springer Verlag I 998

9 T Pong and C Thorpe, "Vehicle teleoperation interfaces.'" Autonomous Robots, vol

11 no Lpp 9-18, Jul 2001

10 P Li, W Lu, and Z Sun, "Transport layer protocol reconfiguration for network-based robot control system", IEEE Networking, Sensing and Control, ICNSC2005 -Proceedings 2005, pp 1049-1053, 2005

11.Kuk-Hyun Han, Sinn Kim, Yong-Jae Kim and Jong- Hwan Kim "Internet Control Architecture for Internet-Based Personal Robot."' Journal 6 Autonomqus Robots 10

135-147,2001

12.Dawei Wang, Jianqiang Yi, Dongbin Zhao Guosheng Yang "Teleoperation System

of the Internet-based Omni-direetional Mobile Robot with A Mounted Manipulator."' Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation August 5 - 8 2007, Harbin China

n.Markus Aleksy Axel Korthaus, Martin Schader, "Implementing Distributed Systems

with Java and CORBA, " Springer Berlin Heidelberg Pub January 2010

19

TRirONG DAI HOC CONG NGHE

D ^ C U ' a N G f)F T A T N G H T F N n r i T KHOA H O C

DO TRlTOfNG DAI H O C CONG NGHE QUAN LY

CAP DAI H O C Q U O C GIA HA NOI

1 Ten de tai:

Tieng Viet: Nghien ciru va thiet ke he thong giam sat va dieu khien robot qua

mang internet su dung kien triic truyen thong CORBA

Tieng Anh: Investigation and designing of internet-based robotics system using

CORBA communication architecture

2 Thai gian thuc hien: 12 thang (tir 08/2008 din 08/2009)

3 De tai thuoc linh virc uu tien: Vat ly - Dien tii Vien thong

4 De tai co trung vai mot de tai da hoac dang tien hanh khong? neu co, neu ly do:

La mot nhanh nghien cuu quan trong, ho trg dac luc eho de tai "Giam sat va dieu

khien robot qua mang may tinh" luan an Tien sT Phung Manh Duong, khoa Dien tir

-Vien thong, truang Dai hoc Cong Nghe

5 Chii tri de tai: ^

- Ho va ten: Phung Manh Dwang Nam V , nit

-Nam sinh: 1983

- Chuyen mon dao tao: Dien tic vien thong

- Hoc ham, hoc vi: Cu nhan

- Chicc vu: Giang vien

- Don vi cong tac (Truang, Vien, Khoa true thuoc, Trung tdm):

Khoa Dien Tu - Vien Thong, truang Dai hoc Cong Nghe

- Dia chi lien he: Nha G2 144 Xuan Thuy Cau Giay- Ha Noi

SSdien thogi: 0983 361683

- Tom tat hoat dong nghien ciru cua Chu tri de tai:

n

-*ai NCKH da tham gia cac cong Iriiih da cong be gan day lien quan tai phuang huang cua de tai i

Eye tracking system

Tu each tham gia Thanh vien

Thanh vien

Cap quan ly/noi cong bo Dai hoc Cong Nghe - DH Quoc Gia Ha Noi NTT Cyber Solutions Laboratories, Japan

6 Co quan phoi hgp va cac cong tac vien chinh cua de tai

• Cac cong tac vien chinh

Thac sT

Thac SI

Chuyen nganh Dien tu Vien thong

Dien tii Vien thong

Dieu khien tu dong

Co quan cong tac Khoa Dien tu vien thong

Khoa Dien tii' vien thong

Khoa Dien tu vien thong

7 Muc tieu:

Sir bung no cua mang intemet bang rong nhung nam gan day da ma ra mot trien vong mai eho phep su dung cac kenh thong tin qua mang may tinh de co the giam sat dieu khien cac co cau tu dong tu mot khoang each gan mot vai chuc met eho tai khoang each xa den bat ky noi nao tren the giai Tuy nhien, cac he thong nay can phai khac phuc dugc 3 kho khan ciia mang intemet do la: su tri tre, su mat du lieu va tinh

da truy cap

Muc tieu ciia de tai la ung dung kien true mai vao viee thiet ke he thong giam sat va dieu khien robot qua mang giiip giai quyet van de ma cac he robot khac dang gap phai CORBA su dung mot doi tugng xii ly yeu cau (Object Request Broker) lam trung gian giua chuong trinh khach va chu (client/server) Dieu nay eho phep mot chuong trinh khach co the ggi cac phuang thuc a chuong trinh chii qua mang ma khong can phai biet vi tri, he dieu hanh va ngon ngu lap trinh ma chuong trinh chii dang su dung

8 Tom tat noi dung nghien cuu ciia de tai