Duy Nam Bui

Duy Nam Bui, Thuy Ngan Duong, Manh Duong Phung

This paper presents a new swarm intelligence-based approach to deal with the cooperative path planning problem of unmanned aerial vehicles (UAVs), which is essential for the automatic inspection of infrastructure. The approach uses a 3D model of the structure to generate viewpoints for the UAVs. The calculation of the viewpoints considers the constraints related to the UAV formation model, camera parameters, and requirements for data post-processing. The viewpoints are then used as input to formulate the path planning as an extended traveling salesman problem and the definition of a new cost function. Ant colony optimization is finally used to solve the problem to yield optimal inspection paths. Experiments with 3D models of real structures have been conducted to evaluate the performance of the proposed approach. The results show that our system is not only capable of generating feasible inspection paths for UAVs but also reducing the path length by 29.47\% for complex structures when compared with another heuristic approach. The source code of the algorithm can be found at https://github.com/duynamrcv/aco_3d_ipp.

Hoang-Anh Phan, Duy Nam Bui, Tuan Nguyen Dinh et al.

Pick-and-place robots are commonly used in modern industrial manufacturing. For complex devices/parts like camera modules used in smartphones, which contain optical parts, electrical components and interfacing connectors, the placement operation may not absolutely accurate, which may cause damage in the device under test during the mechanical movement to make good contact for electrical functions inspection. In this paper, we proposed an effective vision system including hardware and algorithm to enhance the reliability of the pick-and-place robot for autonomous testing memory of camera modules. With limited hardware based on camera and raspberry PI and using simplify image processing algorithm based on histogram information, the vision system can confirm the presence of the camera modules in feeding tray and the placement accuracy of the camera module in test socket. Through that, the system can work with more flexibility and avoid damaging the device under test. The system was experimentally quantified through testing approximately 2000 camera modules in a stable light condition. Experimental results demonstrate that the system achieves accuracy of more than 99.92%. With its simplicity and effectiveness, the proposed vision system can be considered as a useful solution for using in pick-and-place systems in industry.