Thanh Hung Tran

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Understanding the vehicle-terrain interaction is essential for autonomous and safe operations of skid-steering unmanned ground vehicles (UGVs). This paper presents a comprehensive analysis of the dynamic processes involved in this interaction, using the vehicle kinetics and the theory of terramechanics to derive systematically shear displacement, reaction(More)
This paper presents an efficient approach for low-level control of an unmanned ground vehicle (UGV) operating in rough terrains. In particular, it tackles with the problem of overshoot in the vehicle braking system that arises from severe nonlinearity and input time-delay. The resultant high-performance and robustness of the control system are achieved by(More)
Voice control has long been considered as a natural mechanism to assist powered wheelchair users. However, one implementation difficulty is that a voice input system may fail to recognise a user's voice. Indeed, speech activated interface between human and autonomous/semi-autonomous systems requires accurate detection and recognition. In this area pitch and(More)
Speech activated interface between human and autonomous/semi-autonomous systems requires accurate voice detection and recognition. In this area, pitch and end-point detection is of vital importance. This paper presents a new method for pitch detection based on the phase of the continuous wavelet transform. The advantage of the proposed technique is that it(More)
Overshoot is a serio us problem in automatic control systems. This paper presents a new method for elimination of the step response overshoot in a conventional PID-controlled system and enhancement of its robustness by cascading a sliding mode controller in the outer loop. The idea is first to use the cascade control principle to model the under-damped(More)
On-line prediction of unmanned ground vehicle (UGV) behaviour during interactions with terrain is essential for autonomous and safe operations of skid-steering UGVs. This paper presents a fast and accurate algorithm for a new interaction model to predict performance of a UGV running on a particular terrain. By approximating nonlinear relations involved in(More)
In this study, an investigation of mobile robot manipulation applied stereo vision system, tracking and gripping the object with different disciplines to produce a robotics system with abilities to perform a complex real task is conducted. Stereo cameras for pose-based visual servoing and construction 3D map of the object to the manipulator is generated.(More)
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