HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND DUCATION
FACULTY FOR HIGH QUALITY TRAINING

GRADUATION PROJECT

DESIGN, IMPLEMENTATION AND CONTROL OF
HEXAPOD ROBOT COMBINING IMAGE PROCESSING
ON ANDROID PLATFORM

PHUNG TU MINH
Student ID: 16151028
NGUYEN HOANG HUYNH
Student ID: 16151048
Major: AUTOMATIC AND CONTROL
ENGINEERING TECHNOLOGY
Advisor: NGUYEN VAN THAI, PhD.

Ho Chi Minh City, July 2020

THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness

-Ho Chi Minh City, August 4, 2020

GRADUATION PROJECT ASSIGNMENT
Student name: Phung Tu Minh

Student ID: 16151048

Student name: Nguyen Hoang Huynh

Student ID: 16151028

Major: Automation And Control Engineering Class: 16151CL3
Technology
Advisor: PhD. NGUYEN VAN THAI
Phone number: 0902.807.576
Date of assignment: 24/02/2020

Date of submission: 26/07/2020

1. Project title: Design, Implementation and Control of Hexapod Robot combining image processing
on Android platform
2. Initial materials provided by the advisor: ___________________________________
3. Content of the project: _________________________________________________
4. Final product: ________________________________________________________
CHAIR OF THE PROGRAM

ADVISOR

(Sign with full name)

(Sign with full name)

THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness

-Ho Chi Minh City, August 4, 2020

ADVISOR’S EVALUATION SHEET
Student name: Phung Tu Minh

Student ID: 16151048

Student name: Nguyen Hoang Huynh

Student ID: 16151028

Major: Automation And Control Engineering Technology
Project title: Design, Implementation and Control of Hexapod Robot combining image
processing on Android platform.
Advisor: PhD. NGUYEN VAN THAI

EVALUATION
1. Content of the project:
.................................................................................................................................................
.................................................................................................................................................
.................................................................................................................................................
2. Strengths:
.................................................................................................................................................
....................................................................................................................................
...

...
M education
ecosystem, which brings an objective view of Robots and 4.0 technology in general to
everyone. By easily accessing HEXAPOD software on OS platforms that we research and
develop, with its lively design interface and easily interactive feature, the project is possible
for anyone. People can own a robot and study how it works. That is the biggest goal we
want to achieve in this project.
94

REFERENCE
English
[1]

John J.Craig, Introduction to Robotics, Third. United States of America: Pearson
Prentice Hall, 2005.

[3]

Zihao Zang, “Mechanism Design and Kinematics Analysis of Spider -like Octopod
Robot,” IOP Publ., 2019.

[4]

Rotation Matrix, “https://en.wikipedia.org/wiki/Rotation_matrix.”

[5]

G.Saravanan and G.Yamuna, “Real Time Implementation of RGB to
HSV/HSI/HSL and Its Reverse Color Space Models,” Internaltional Conf.
Commun. Signal Process., vol. 978, no. 1, 2016.

[6]

Joy Christy A and U. A, “A Novel Percentage Split Distribution Method for Image
Thresholding,” Pre-proof, 2020.

[7]

Mathematical morphology,
“https://en.wikipedia.org/wiki/Mathematical_morphology.”

[8]

Gaussian Blur, “https://en.wikipedia.org/wiki/Gaussian_blur.”

[9]

S. Marschner and A. Efros, Introduction to Visual Cmputing. 2019.

[10] Canny Edge Dectection,
“https://en.wikipedia.org/wiki/Canny_edge_detector#Gaussian_filter,” 2019.
[11] O. R. Vincent, “A Deive Algorithm for Sobel Image Edge Detection A
Deive Algorithm for Sobel Image Edge Detection Clausthal University of
Department of Computer,” no. January 2009, 2014.
[13] J.Canny, A Computational Approach to Edge Detection. IEEE, Pattern Anal. And
Mach, Intell.
[14] Prajwal Shetty, “Circle Detection in Image,” pp. 1–30, 2011.
[15] Virendra Kumar Yadv and etc, “ApproachtoAccurateCircleDetectionCircular.”
IEEE, India, 2014.
[16] M. Z. Zhang and H. R. Cao, “A New Method of Circle’s Center and Radius
Detection in Image Processing.” IEEE, Automation and Logistics, 2008.
[17] Ramsey Faragher, “Understanding The Basic of the Kalman Filter Via a Simple
and Intuitive Derivation.” IEEE Signal Processing Magazine, pp. 128–132, 2012.
[18] How a Kalman filter works, “https://www.bzarg.com/p/how-a-kalman-filter-worksinictures/?fbclid=IwAR1miULah3GEVi8rP140lmjZFi1t4kJECsjM8jQLRDTVAHC
GLipX7Bh9M-A,” Mini-courses, 2015.
Tiếng Việt
[2]

Ph.D. Nguyen Van Thai - Robotics, “https://bit.ly/2PWurHM” , 2017.

[12] Nguyễn Văn Long, Ứng dụng xử lí ảnh trong thực tế với thư viện OpenCV C/C++.
2017.

95