Nghiên cứu và thiết kế hệ thống giám sát và điều khiển robot qua mạng máy tính sử dụng kiến trúc truyền thông corba

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
HaN6i-2010


Muc luc
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CHU'VIFTTAT
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DANH SACH NHUlMG NGLTC)] THAM GIA THUC HIEN 1)1 r \ l
-i
D A N H IvjuC C A C HiNH
^
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
I1
3.2. Noi dung nghien cuu:
12
3.2.1. Dae tinh cua mang Internet va van de dieu kliien robot qua mang Internet
I2
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

15
3.2.4. Ket qua thuc nghiem
16
4. Dja diem, thai gian va phuang phap nghien cuu
17
4.1. Dia diem va thai gian:
17
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 SACH N H U N G N G U O I T H A M CJA I H l C IIIKN Dl TAI

TT

Ho va ten

Hoc vi

Chuven nsan!
-J -

PGS. TS. Tran

Tien sT

Dien tu Vien thona

Thac si

Dien tu Vien thoniz

Khoa Dien tu vien

KIKXI

Dien tu" \'icn

thonu

Van
DanR Anh Vict

*;,

thong

Quang Vinh
Nguyen Thi Thanh

-

Thac sT

Dieu khien tu dona

Khoa lOien tu vien
thons.


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^\ nhir 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.

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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. kukTJxnir^ 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

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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
10


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
decrease: 5^_ == (1 -

/iS-

"
i' •

J
-'

~

n

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 na\.
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.

•

Net 1

Net 2

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.

^'

n

y
Nel I

\
Net 2

'

•

.....y

Hinh 3: Mo hinh mang Internet mo rong

12

Nei5


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.

Internet

zu

_

router

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i

Physical
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en

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/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 "
U U U g CdC llgt.Ml i l ^ U l a p

i V - 1 . 1.1- i - .-1
* . . S . - .- C „ ^ A.- ^ t, r, .i:\,,
1- , , . , K I - U . ' , , . , U , , . ,
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:
Interface calculator {
long

addnumber(in long x, in long y);

}

•

Trinh chuyen tiep yeu cau cua cac doi twang ORB (Object Request Broker) boat
"N.

dgng nhu mot dich vu eho phep phien dich yeu cau ciia cac doi tugng viet bang
ngon ngu- khac nhau thanh lai ggi theo mot quy tac chung. Hinh x trinh bay co che
trieu ggi Ian nhau ciia cac doi tugng viet bang C++, Delphi, Java thong qua ORB.
Trong qua trinh boat dgng, ORB hoan loan trong suot doi vai nguai thiet ke va eac
lenh trieu ggi doi tugng ciia Java trong C++ hay Delphi hoan loan theo each tu
nhien nhu khi trieu ggi doi tugng duge xay dung lir chinh ngon ngu- goe.

14


Dciplii
Corba
ObjecJ

I Corba
\ Object

A

( )

m

\

\

CD

1

rv
O

Network

y

c

I

/

/

ORB

\

£: Java

£• Corba
Y Object

///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.

-

^
<^

( III tit

\ \ ill U.MIK

I llilr;il S t u i i I I ' : : n i . i i3.)"">n.:ii

S1I2.11.1

'IMiiiMk M M I M I .

I{-I>..I

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.

Spiilmk

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.

16


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
Ma s6 quan ly:A.08.CN.18.07.61
17
DAI HOC OUOC GIA HA W *
rpUNG 1AM THONG UN T H U V I E N

QOOSGCCCG^g


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 Internetbased 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.
18


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 ^ CU'aNG
f)F T A T N G H T F N n r i T KHOA HOC
DO TRlTOfNG DAI H O C CONG NGHE QUAN LY
CAP DAI HOC QUOC 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

-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:

, nit

n


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

Ten de tai/cong trinh

Tu each tham gia

Xay dung robot thong

2006-2008

minh

2008-2008

Eye tracking system

Thanh vien

Cap quan ly/noi cong bo
Dai hoc Cong Nghe - DH

Thanh vien

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

TT
1

Ho va ten
PGS. TS. Tran

Hoc vi
Tien si

Chuyen nganh
Dien tu Vien thong

Quang Vinh
3

Nguyen Thi Thanh

Dang Anh Viet

Khoa Dien tu vien
thong

Thac sT

Dien tii Vien thong

Van
4

Co quan cong tac

Khoa Dien tii' vien
thong

Thac SI

Dieu khien tu dong

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


L de thiel lap kel noi giua chuong trinh khach (client)
va he robot tu xa giiip tao ra mot he thong \ oi nhijng uu diem sau:
-

Cho phep cac doi tugng client va server viet a cac ngon ngu lap trinh khac
nhau, chay tren he dieu hanh khac nhau va ket noi tu hai mang khac nhau co
the lien ket lam viee.

-

Client CO the ggi cac phuang thuc tren server ma khong can quan tam tai \'i
tri, ngon ngii lap trinh va he dieu hanh server dang boat dgng.

-

He thong robot dua tren kien tnic CORBA dugc xay dung tu cac thanh phan
dgc lap do do dan gian cho viee phat trien mo rgng.

De tai tap trung vao nghien cuu kien tnic truyen thong CORBA de xay dung

nen mot he robot co the giam sat va dieu khien qua mang.
Nghien cuu dac tinh ciia mang intemet bao gom cac van de ve kien tnic, luu
lugng, su tri tre va su mat du lieu qua mang intemet.
Nghien cuu kien tnic truyen thong CORBA va ung dung vao he thong dieu
khien robot.
Ung dung cho robot thong minh vai cac ca cau chap hanh, he sensor, he ket
noi tmyen thong va thuat loan tu quan tri dam bao kha nang van hanh an loan
cua robot trong moi truang khong biet truoc.
9. Cac chuyen de nghien cuu du kien ciia de tai (ten va ngi dung chinh ciia ti'mg
chuyen de):
Chuyen de 1: Dac tinh ciia mang intemet
Ngi dung:
•

Kien tnic mang internet

•

Cac dac trung ve su hieu suat, luu lugng, sir tri tre va sir mat du lieu ciia
mang intemet.
Chuyen de 2: Kien tnic truyen thong CORBA

Ngi dung: Kien tnic truyen thong CORBA
Chuyen de 3: Ung dung cho robot thong minh
Noi dung: Ung dung kien tnic CORBA cho robot thong minh
10. Ciu tnic du kien bao cao ket qua ciia de tai (chi tiet hoa cac chuong muc):
Tong quan de tai.
Ket qua chuyen de 1.
Ket qua chuyen de 2.
KSt qua trien khai robot thong minh.

11. Tinh da nganh va lien nganh ciia de tai:
De tai lien quan den nganh/ehuyen nganh:
•

Dien tii - Vien thong, xii ly tin hieu.

•

Dieu khien tu dgng - Co hgc ky thuat va Tu dgng hoa.

Tinh da / lien nganh trong ngi dung va qua trinh trien khai cua de tai: San
pham cuoi cung ciia de tai ia long hgp ciia cac kien ihuc tu cac nganh noi tren.
12. Phuang phap luan va phuong phap khoa hgc sir dung trong de tai
13. Su dung nhung trang thiet bi ciia Bg mon, ciia Khoa: sii dung mot so thiet bi co ian
trong khoa nhu may tinh, dao dgng ky, may phat ham, mo ban va mot so thiet
khac.
14. Kha nang hgp tac quoc te
15. Cac boat dgng nghien ciiu ciia de tai:
Nghien ciiu ly thuyet

X

Dieu tra khao sat

X

Bien soan tai lieu
Viet bao cao khoa hgc

X

Hoi thao khoa hgc

X

Tap huan
Hoat dgng khac

X

16. Ket qua du kien:
16.1 Ket qua khoa hgc
Du kien nhiing dong gop ciia de tai:
•

Khoa luan tot nghiep dai hgc.
So bai bao, saeh, bao cao khoa hgc du kien se dugc cong bo

•

01 bai bao khoa hgc tap chi trong nuac.

•

01 bao cao khoa hgc tai hoi nghi trong nuac.

16.2. Ket qua ung dung
San pham cong nghe:

h
L^l

UU


VI lit UHJIJ5 giciiii ominh, cac phan mem server va cliem cho phep giam sal \ a dieu khien.
Kha nang ling dung thuc te ciia cac kel qua:
He thong co the dugc ket hgp ciing vai cac he sensor khac de tao thanh mot he
thong an ninh bao ve toa nha hoan chinh.
16.3. Ket qua dao tao
So cii nhan, thac sT, tien sT dugc dao tao trong khuon kho ciia de tai:
•

Ho trg cho 01 luan an tien sT.

•

01 cii nhan tot nghiep

16.4. Ket qua ve tang cuong tiem luc cho don vi
Bo xung kien thiic cho can bg kien tnic truyen thong CORBA.
San pham he thong giam sat va dieu khien robot qua mang phuc vu nghien
ciiu, trien khai cac bg dieu khien va thuat loan dieu khien thong minh cho
phong thi nghiem Retiotics'^vS^ieu khien tu dgng - Khoa Dien tu Vien thong.
17. Tong kinh phi de ngl^i: -

\'V\

2f trieu d6ng iMifA^O^k^

ti'S^ W-r^

Jj^)•

18. NOI DLTNG VA TIEN iXQ THUC HIEN CUA DE TAI (CAC CONG VIEC CAN TRIEN
KHAI, THdl HAN T H U C l & N ^ - A ' S A N ' P H A M DAT DUOC)
TT

Hoat dong nghien ciru

Thoi gian thirc hien
TIT thang Den thang

San pham khoa hoc

1

Thu thap va viet long quan tai lieu

8/2008

9/2008

01 tong quan

2

Xay dung de cuong nghien ciiu chi tiet

9/2008

10/2008

01 de cuong

Nghien ciiu dac trung mang intemet

10/2008

12/2008

01 bao cao

Nghien ciiu kien tnic CORBA

10/2008

12/2008

01 bao cao

Xay dung robot thong minh

10/2008

2/2009

12/2008

4/2009

3
4

Nghien ciiu, thiet ke, che tao thii
nghiem, thu thap so lieu.,..
Viet bao cao cac chuyen de

4/2009

6/2009

So chuyen de (nhu muc 2)

5

Hoi thao giua ky

4/2009

Bo sung so lieu/thu nghiem/iing dung

6/2009

Tong ket so lieu

8/2009

01 module thii
nghiem
04 bao cao


! 8 2009

Viet Dao cao tong nop

b

7

Hoi thao Ian cuoi

8/2009

Hoan thien hao cao

8'200Q

N O P <;an n h a m

8/2009

•

1

X

Nghiem thu de tai

8

01 bao cao

01 he thong

8/2009

19. PHAN BO KINH PHI
Noi dung

TT
1

Xay dung de cuong chi tiet

2

Thu thap va viet long quan tai lieu
500.000

Dich tai lieu tham khao (so trang x gia)

500.000

5

6

500.000

Chi phi thue muon

4.000.000

Chi phi hoat dgng chuyen mon

4.000.000

Thue, mua sam trang thiet bj, nguyen vat heu
Thue trang thiet bi

3.500.000

Mua nguyen vat lieu, cay, con

1.000.000

Viet bao cao khoa hoc, nghiem thu
Viet bao cao

2.000.000

Hoi thao

2.900.000

Nghiem thu

1.000.000

Chi Ichac
Mua van phong pham

500.000

In an, photocopy

500.000

Quan ly phi
7

1.000.000

Dieu tra, khao sat, thi nghiem, thu thap so lieu, nghien ciiu ...
Chi phi tau xe, cong tac phi

4

1.600.000

Thu thap tu lieu (mua, thue)
Viet long quan tu lieu
3

Kinh phi ( \ ^ D )

Tong kinh phi

1.500.000
25.000.000