Đồ án tốt nghiệp - Application of Image Processing and AI in Controlling a 6-DOF Robot Arm for WC

HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION
************

GRADUATION THESIS
Project : Application of Image Processing and AI in Controlling a 6DOF Robot Arm for Waste Classification

Major : AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY
Instructor : PhD. Tran Duc Thien
Member : Pham Duc Thang ID : 20151293
Nguyen Hoang Tu ID : 20151299
Course : 2020 - 2024

HO CHI MINH City , December 2024

HCMUTE FACULTY OF

SOCIALIST REPUBLIC OF

INTERNATIONAL EDUCATION

VIETNAM

AUTOMATION AND CONTROL

INDEPENDENCE - FREEDOM –

ENGINEERING TECHNOLOGY

HAPPINESS
…***…

HCMC, December 30????ℎ , 2024

COMMITMENT AND CONFIRMATION OF TEST RESULTS
I.

General information

1. Academic product name: Application of Image Processing and AI in Controlling a
6-DOF Robot Arm for Waste Classification
2. Academic product type: Graduation thesis
3. Academic product code: No
4. Author information
Number

Full Name

Student ID

Role

1

Nguyễn Hoàng Tú

20151299

Project manager

2

Phạm Đức Thắng

20151293

Member

5. Instructor information
Full name : PhD. Tran Duc Thien
Faculty : International Education
II.

Plagiarism test results

Date of product Date of
submission

III.

plagiarism test

% of duplicate content

Highest % of duplicate
from one source

Commitment

The group of authors of the academic product and the instructor commit that
Page i

1. The content of the above academic product does not violate ethics and scientific
integrity.
2. The % duplication results stated in Section II are completely accurate and honest.
3. By signing this confirmation form, the group of authors and the instructor commit
to take full responsibility related to the above academic product.
Confirmation by the representative of the author group
(Sign and print full name)

Confirmation by the instructor
(Sign and print full name)

Page ii

HCMUTE FACULTY OF

SOCIALIST REPUBLIC OF

INTERNATIONAL EDUCATION

VIETNAM

AUTOMATION AND CONTROL

INDEPENDENCE - FREEDOM –

ENGINEERING TECHNOLOGY

HAPPINESS
…***…

HCMC, December 30????ℎ , 2024

GRADUATION PROJECT TASKS
Students carry out the topic:
1. Pham Duc Thang

Student ID: 20151293

Class: 20151CLA4

2. Nguyen Hoang Tu

Student ID: 20151299

Class: 20151CLA4

Major: Automation and Control Engineering Technology
Instructor: PhD. Tran Duc Thien

Phone number: 0988862588

Date of receipt of topic: 20/08/2024
Date of topic submission: 06/01/2025
1. Project: Application of Image Processing and AI in Control
...

...
 Increase the number of training objects for more diverse classification.

Page 62

REFERENCES
REFERENCES
[1] Rui Song, Fengming Li, Tianyu Fu and Jie Zhao. (2020). A Robotic Automatic
Assembly System Based on Vision. MDPI Applied Sciences.
[2] K S Tan , M N Ayob , H B Hassrizal, A H Ismail , M S Muhamad Azmi , M S
M Hashim, S M Othman , A B Shahriman and Y H Low (2021), Integrating
Vision System to a Pick and Place Cartesian Robot, International Conference on
Man Machine Systems.
[3] LearnOpenCV,YOLOV5: How to Train a Custom YOLOv5 Object Detector |
Official YOLOv5,https://www.youtube.com/watch?v=Ciy1J97dbY0&ampt=1724s.
[4] Do Thuan,EVOLUTION OF YOLO ALGORITHM AND YOLOV5: THE
STATE-OF-THE-ART OBJECT DETECTION ALGORITHM.
[5] https://blog.roboflow.com/how-to-train-yolov5-on-a-custom-dataset/.
[6]https://colab.research.google.com/github/ultralytics/yolov5/blob/master/tutorial.
[7]

https://docs.ultralytics.com/yolov5/tutorials/train_custom_data/#train-

oncustom-data.
[8] Nguyễn Thế Hùng, Lê Tiến Thành,”Ứng dụng Robot tích hợp thị giác máy
tính phân loại rác nhựa”, Đồ án tốt nghiệp Đại Học Sư Phạm Kỹ Thuật TPHCM,
2022.
[9]

Adrian

Rosebrock,Intersection

over



(IoU)

for

object

detection,https://pyimagesearch.com/2016/11/07/intersection-overiou-for
object-detection/.
[10] Nachi-fujikoshi, FD CONTROLLER INSTRUCTION MANUAL Robot
language 8th, 1512, TFDEN-012-008, 001.
[11] Nachi-fujikoshi, FD CONTROLLER INSTRUCTION MANUAL User Task,
2nd edition, 1508, TFDEN-123-002, 001.
[12] Nachi-fujikoshi, FD CONTROLLER INSTRUCTION MANUAL Socket
Communication, 3rd edition, 1501, TFDEN-127-003, 001.
[13] Yizhe Zhang, Lianjun Li, Michael Ripperger, Jorge Nicho, Malathi
Veeraraghavan and Andrea Fumagalli, (2018), Gilbreth: A Conveyor-Belt Based
Page 63

REFERENCES
Pick-and-Sort Industrial Robotics Application, Second IEEE International
Conference on Robotic Computing.
[14] Nguyễn Hữu Lộc (2013). Cơ sở Thiết kế máy. Nhà xuất bản Đại học Quốc
Gia TP.HCM.
[15] Nguyễn Nhật Trường, Trần Bửu Thạch “THIẾT KẾ MÔ HÌNH ROBOT
DELTA ỨNG DỤNG PHÂN LOẠI RÁC THẢI”, Đồ án tốt nghiệp Đại Học Sư
Phạm Kỹ Thuật TPHCM, 2023.
[16] Ngo Trieu Vy, Nguyen Truong Thinh “IMAGE PROCESSING
APPLICATION

FOR

PRODUCT

CLASSIFICATION

AND

ROBOT

CONTROL”, Graduation thesis HCMC University of Technology and Education,
2024.
[17] Le Dong Tam Git code (2023), PyKinectV2-PointCloud-NachiRobot,
https://github.com/dongtamlx18/PyKinectV2-PointCloud-NachiRobot.

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