Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Nghin cu pht trin h Robot t hnh c gn camera t ng tm kim
v bm mc tiu di ng

Research Deverlopment of Mobile Robot mounted Camera automatically
Seaching and Tracking Moving Target

Ng Mnh Tin
Vin Vt L, Vin KH&CN Vit Nam
Email: nmtien@iop.vast.ac.vn
Phan Xun Minh
i Hc Bch Khoa H Ni
Email : minhxp-ac@mail.hut.edu.vn

Tm tt: Bi bo ny trnh by vic xy dng v
pht trin mt h robot t hnh c gn camera bao
gm cc bc: m hnh ha, m phng, thit k ,
thut ton iu khin bm nh t ng, lp t phn
cng, lp trnh phn mm iu khin v chy th
nghim. Cc kt qu cho thy h robot t hnh
hot ng m bo cc ch tiu cht lng t trc.
Nhng kt qu nghin cu ny l c s cho hng
pht trin mi trong cc ng dng.
Abstract: This paper presents the building and the
development of a self propelled robot mounted
camera as follows: modeling, simulation, automatic
image alignment control algorithms, hardware
configuration, software programming and running
experiments. The results showed that the robot self
propelled already satisfying the control qualities.
These researching resuls are bases for new
developing approach of applications
Keywords: Camshift, OpenCV, Robot mobile
tracking, ATmega128, Computer Vision.
K hiu
K hiu n v ngha
0
l ,
1
l ,
2
l
cm
chiu di cc khp
1 2
, m m g
khi lng cc khp
1
u ,
2
u
rad
gc quay cc khp
R
u ,
P
u ,
Y
u rad
gc quay Roll, Pitch, Yaw
Ch vit tt
FOV Field of View
LOS Line of Sight
MIMO multi input multi output

1. Tng quan h thng
Ngy nay vic xy dng mt h thng robot di
ng thng minh v c kh nng thay th con ngi
lm vic trong cc iu kin khc nghit v nguy
him l rt cn thit. Cc Robot ny thng hot ng
bng cc cm bin nh cm bin mu sc, hng ngoi,
cm bin d ng, siu m. Gn y cc robot loi
ny c pht trin v tch hp thm th gic, vic
tch hp trn Robot h thng camera v ng dng x
l nh s tng kh nng t ng, gip robot thng
minh hn [1,6].
H thng th gic c th phn thnh 2 lp, theo
nh cu trc ca h, l h tay my Robot c nh
v c camera gn c nh (H. 1) v h c camera gn
trn Robot di ng (H. 2). Trong h camera c nh,
camera c gn c nh so vi h trc ta thc,
thu thp nh ca c mc tiu v c mi trng. Mc
tiu ca h camera c nh ny l cung cp tn hiu
iu khin sao cho Robot c th phn loi v tuwng
tc vi i tng mong mun, h thng ny thng
c ng dng trong cc dy truyn sn xut, phn
loi sn phm, trong cng nghip.


H. 1 S h thng Robot v camera c nh







H. 2 S h thng Robot v camera di chuyn
Trong H.2 l h c camera gn trn Robot v c
h Robot v camera s di chuyn. Mc ch ca cu
trc ny l iu khin Robot sao cho nh ca mc tiu
di ng hoc c nh c duy tr v tr mong mun
trn mt phng nh thu c.
Trong bi bo ny h thng c thit k da trn
cu trc th 2: Xy dng mt robot t hnh c gn
camera t ng bm mc tiu di ng.
Mc ch ca h thng bm t ng l duy tr
mt ng ngm vit tt l LOS (Line Of Sight)
Camera
Robot
Tn hiu
iu khin
My
tnh
i tng
Robot mobile
camera
Vt th cn gim st
506
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
cm bin - mc tiu mt cch n nh v hon ton t
ng trong khi tn ti c chuyn ng tng i ca
mc tiu v chuyn ng ca gn cm bin lm
nhiu lon ti d liu cm bin hnh nh. Mc tiu
thng c nh v ban u, bi hoc l ngi iu
khin hoc l h thng nhn dng mc tiu t ng.
Sau , h thng bm s kho cht mc tiu v duy tr
LOS t ng.
H thng tng quan bao gm c 3 b phn chnh
H. 3: (1) b cm bin hnh nh (camera), (2) b chp
hnh l cc trc khp quay (gimbal) v bnh xe c
gn ng c in 1 chiu, v (3) my tnh PC v vi
iu khin (b vi x l). Mt vng iu khin phn
hi, c gi l vng bm, lin tc hiu chnh b chp
hnh gi trng tm ca mc tiu vo tm ca
trng nhn vit tt l FOV (Field Of View) ca b
cm bin. B vi x l s khp kn vng ny bng cch
tnh ton lch iu khin c cu chp hnh. Cc
thnh phn hot ng theo th t: (1) b vi x l nh
v tn hiu mc tiu trong cc dng hnh nh t b
cm bin, (2) b vi x l c lng trng thi mc
tiu v to ra cc lnh iu khin c cu chp hnh
trn c s cc thng tin trng thi, (3) lnh iu khin
c p dng vo LOS cm bin, (4) b cm bin to
ra mt vng video mi, v (5) qu trnh c lp li.











H. 3 S tng quan ca h thng Robot t hnh
bm mc tiu di ng
2. M hnh ha h thng
2.1 H xoay Pal/Tilt [4,5]

H. 4 M hnh ha h xoay Pal/Tilt
- Bng thng s DH:
Khu
i
u
i
o
i
a
i
d
1
1
u
90 0
1
l
2
2
u
0
2
l
0
- Tnh cc ma trn
1 i
i
A

:
1 1
1 1 0
1
1
0 0
0 0
0 1 0
0 0 0 1
C S
S C
A
l
(
(

(
=
(
(

2 2 2 2
2 2 2 2 1
2
0
0
0 0 1 0
0 0 0 1
C S l C
S C l C
A
(
(
(
=
(
(



1 2 1 2 1 2 1 2
1 2 1 2 1 2 1 2 0 0 1
2 1 2
2 2 1 2 2
.
0
0 0 0 1
C C C S S l C C
S C S S C l S C
A A A
S C l l S
(
(

(
= =
( +
(

(1)
- Tnh cc ma trn
ij
U :

1 1
0
1 1 1
11
1
0 0
0 0
0 0 0 0
0 0 0 0
S C
C S A
U
u
(
(
c
(
= =
( c
(

(2)

1 2 1 2 1 2 1 2
0
1 2 1 2 1 2 1 2 2
21
1
0 0 0 0
0 0 0 0
S C S S C l S C
C C C S S l C C A
U
u
(
(
c
(
= =
( c
(

(3)

2 1 1 2 2 2 1
0
1 2 1 2 2 1 2 2
22
2 2 2 2 1
0
0
0
0 0 0 0
S C C C l S C
S S S C l S S A
U
C S l C u
(
(
c
(
= =
( c
(

(4)
- M men qun tnh ca hai khu:
- Khu 1:

2
1 1 1 1
1
1 1 1
0 0 0 0
1 1
0 0
3 2
0 0 0 0
1
0 0
2
ml ml
J
ml m
(
(
(

(
=
(
(
(

(

(5)
- Khu 2 :

2
2 2 2 2
2
2 2 2
1 1
0 0
3 2
0 0 0 0
0 0 0 0
1
0 0
2
m l m l
J
m l m
(

(
(
(
=
(
(
(

(

(6)
- Tnh ma trn ( ) D u :

2 2
11 11 1 11 21 2 21 2 2 2
1
( ) ( )
3
T T
D Trace U J U Trace U J U m l C
(7)

12 21 22 2 21
( ) 0
T
D D Trace U J U = = = (8)

2
22 22 2 22 2 2
1
( )
3
T
D Trace U J U m l = = (9)
- Tnh ma trn ( , ) h u u :
Cm bin
pan/tilt
Tng bm nh
Xc nh v tr
mc tiu
Tnh ton LOS
Tng iu khin
To lut
iu khin
V tr
mc tiu
D on v tr mc tiu
Trng thi mc tiu
Pixels
Cc o lng khc ng c
xe
507
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

2
2 2 2 2 1 2
2 2
2 2 2 2 1
1
3
( , )
1
3
m l C S
h
m l C S
u u
u u
u
(

(
= (
(
(

(10)
- Ma trn vc t lc trng trng ( ) C u :

2 2 1 2
1
2
2 2 1 2
1
2
( )
1
2
gm l C C
C
C
C
gm l S S
u
(
(
(
= = (
(
(

(

(11)
- Phng trnh ng lc hc ca h Pan-Tilt:
- Dng phng trnh :
( ) ( ). ( ) ( , ) ( )
M
F t D t h C u u u u u = + + (12)

1 11 12 1 1 1
2 21 22 2 2 2
M
M
F D D h C
F D D h C
u
u
( ( ( ( (
= + +
( ( ( ( (

(13)

2 2
2 2 2
1 1
2 2 2
2 2
2
2 2 2 2 1 2 2 2 1 2
2 2
2 2 2 2 1 2 2 1 2
1
0
3
1
0
3
1 1
3 2
1 1
3 2
M
M
m l C
F
F
m l
m l C S gm l C C
m l C S gm l S S
u
u
u u
u
(
(
( (
= + (
( (
(
(

( (

( (
+ ( (
( (

( (

(14)
- iu khin xoay Pal/Tilt [4]
y ta dng b iu khin PD:
( ) ( )
P d D
u g q K q q K q = +
Tay my
g(.)
P
K
+
+
q
q
d
q u
D
K
-
-
+ +
q
~

H. 5 S iu khin PD c b trng lc

H. 6 Kt qu m phng iu khin h xoay
Pal/Tilt bng b iu khin PD: khp 1

H. 7 Kt qu m phng iu khin h xoay
Pal/Tilt bng b iu khin PD: khp 2
2.2 Mi quan h gia camera v ta thc [7]
Gi Cc ( , ,
ccd ccd ccd
x y z ) l im cui cho mt
vector t v tr trung tm ca robot di ng n tm
ca ng knh camera. khi v tr ny c th c
tnh theo hai gc quay
1 2
, u u ca xoay Pal/Tilt nh
sau:

1 1 2 1 2
2 2
1 1 2 1 2 0
sin( ) cos( ) cos( ),
sin( ),
cos( ) sin( ) cos( )
ccd
ccd
ccd
x l l
y l
z l l l
u u u
u
u u u
= +
=
= +
(15)
y
0
l l chiu cao ca xe tnh n v tr t
xoay Pal/Tilt.
Tng t, vc t Trng thi ca ma trn ng nht
i din l cc gc: Roll (
R
u ), Pitch (
P
u ) v gc
Yaw (
Y
u ) c tnh nh sau:

1 1 2
2 2 2
1 2 2
1 1 2
2 2 2
1 2 2
2
sin( ) sin( )
tan ,
cos ( ) sin ( ) cos ( )
sin( ) cos( )
tan ,
cos ( ) cos ( ) sin ( )
.
R
P
Y
u u
u
u u u
u u
u
u u u
u u

| |
|
=
|
+
\ .
| |
|
=
|
+
\ .
=
(16)
thc hin bm i tng theo thi gian thc ta
cn c thng s khong cch t camera n i tng
cng nh kch thc tht ca i tng trong khng
gian 3D. Vic ny cn thit phi c hai camera, tuy
nhin nu dng phng php ny khi lng tnh ton
s rt ln v nh hng n tc bm, do y
chng ti ch dng mt camera v khong cch n
i tng chng ti xc nh bng sensor siu m v
gi thit kch thc ca i tng l c nh. V tr
ca tm i tng trong ta nh l (j, k), khi
chuyn v h ta (j, k) l tm ca khung nh s
c tnh theo gc quay Roll R
u
v kch thc
khung hnh nh P
x
v P
y
.

'
'
cos( ) sin( )
2
sin( ) cos( )
2
x
R R
y R R
P
j
j
P
k
k
u u
u u
(

(
( (
( =
( (
(


(

(17)
tnh v tr thc t
0 0
( , ) x y ,
0
u v
0
r c c
tnh bng cch s dng mi quan h tuyn tnh gia
508
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
i tng thc s trong gc nhn v khung hnh nh.
Khi mt im nh c chp ti (j, k) trn trung tm
ca khung hnh nh, v tr i tng thc s, 0 u
.
v
0
r
.
c th c tnh ton nh sau (H.8):

H. 8 nh ton v tr i tng theo ta robot

H. 9 nh ton ng hc ngc cho v tr thc
camera

0
'
cos( )
2
ccd
P ry
y
z
r
k
P
u u
.
=
H
+
(18)

'
0 rx
x
j
P
u u
.
= (19)
Vi
rx
u v
ry
u l cc gc hng nhn x- v y- ca
camera CCD, tng ng. Khi v tr ca i tng
trong h ta ca robot (x,y), l:
0
0 0
.cos( ) .cos( ),
ccd Y Y
x r r u u u
. . .
= + + (20)

0 0 0
.sin( ) .sin( ),
ccd Y Y
y r r u u u
. . .
= + + (21)
Vi
Y
u l gc quay gia robot v camera, v
2 2
( )
ccd ccd ccd
r x y = + l khong cch t tm robot ti
tm ng knh camera.
- ng hc ngc ca iu khin tm ng knh
n v tr mong mun:
2 2 2 2 2 2
1 2 1 2 1 1 1
2 2
1
( )( )
cos
( )
1
,
sin( )
d d
d
d
d
l l l l l r l r
l r
o
|

| |
+ +
|
=
| +
\ .
| |
|
\ .
(22)

1
tan ,
d
d
d
y
x
|

| |
=
|
\ .
(23)
Vi
d
o v
d
| gc quay camera, (
d
x ,
d
y ) l v tr
mong mun ca camera, v
d
r l
2 2
d d
x y + .
3. Thut ton x l nh bm mc tiu
t ng
3.1 Thut ton bm theo mt tp hp cc im c
trng nh ca Lucas, Kanade v Tommasini KLT
[2,3]
y l mt phng php bm s dng rt c hiu
qu i vi nh thu c l nh en trng, nh ca
camera hng ngoi nhn m. Phng php ny c
Lucas, Kanade v Tommasini [10,11] ln u tin
a ra nm 1981 v c hon thin vo nm 1991.
Thut ton tnh ton sai lch v tr mc tiu bao
gm nhng bc sau:
(1) in x l: chuyn i nh mu thnh nh xm v
thc hin lc gauss gim bt nhiu tn s cao.
(2) Xc nh v bm cc c tnh: c thc hin bi
b bm KLT, s dng 100 c tnh. Gi thit khung t-
1 thu c 100 c tnh, vi khung t ta tm kim trong
nh bm 100 c tnh t khung t-1 thu c tp
k
t
f gm k c tnh tt thch hp. k c tnh ny c
s dng xc nh vector dch chuyn. Sau vi
khung t ta xc nh li 100-k c tnh tt vi nh t s
c bm trong khung t+1. Khi thu c k nh (nh
hn 30) kt qu bm s c hu b v dng c
breaklock cnh bo mt bm.
(3) B t chuyn ng ca camera: Xt hai nh t-1 v
t, c k c tnh bm tt tng ng l
k
t
f
1
v
k
t
f . Ta
s xc nh vector dch chuyn (d
x
,d
y
) bng cch ly
dch chuyn no m n c bao cha trong nhiu
c tnh nht. Cui cng nh I
t-1
s c bin i
b dch chuyn ny I
t-1
(i,j)= I
t-1
(i+d
x
,j+d
y
).
(4) Sai phn nh: nh I
t-1
b c th c so snh
trc tip vi nh I
t
. Ta thu c nh sai phn nh sau:
D
t
(i,j)= I
t
(i,j)-I
t-1
(i,j).
(5) nh ngng v phn on chuyn ng: Thc
nghim s dng ngng cng l 10 phn
ngng nh sai phn. loi b nhiu phn ngng
ta s dng ton t m trong php x l hnh thi.
(6) c lng v tr i tng: V tr chuyn ng
c xc nh bng phng php bm trng tm.
(7) Xc nh LOS v b vng bm: V tr mc tiu thu
c l (x,y) trong to nh s c so snh vi tm
ca nh (tm ca trng nhn) xc nh sai lch
theo phng x v y. Sai lch ny s c truyn ti b
b vng bm ti tng iu khin ng c duy tr
mc tiu vo tm trng nhn.
(8) Xy dng ca: Trong thc nghim s dng ca c
nh.
(9) Hin th nh: nh c hin th cng vi hnh bao
i tng c bm.
3.2 Thut ton Camshift [2,6]
y l phng php rt hiu qu khi nh thu c
t camera l nh mu v i tng cn bm c mu
509
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
sc c trng ring so vi nn nh. Thut ton
Camshift c pht trin trn c s thut ton
Meanshift. Camshift vit tt ca Continuously
Adaptive Meanshift. N bao gm thut ton c s
Meanshift vi thch ng cc bc thay i kch c
ca vng. Cc bc thc thi thut ton:
(1): Chn v tr ban u ca Search Window.
(2): Dng thut ton Meanshift (lp mt hoc nhiu
ln) lu ra mt vng gi l moment th 0.
(3): t kch c ca ca s tm kim bng mt hm
ca moment th 0 tm c trong bc 2.
(4): Lp li bc 2 v bc 3 cho n khi hi t.


H. 10 Lu thut ton Camshift
u tin l mt Histogram c to ra, Histogram
ny cha cc thuc tnh lin quan n mu sc v tip
theo tm v kch c ca mc tiu c tnh ton
theo di mc tiu khi hnh dng v kch c ca n
thay i. Tnh xc sut phn b mc tiu cn c vo
Histogram nhn c. Dch chuyn n v tr mi vi
mi khung hnh va nhn c t video. Camshift s
dch chuyn n v tr m n c lng trn i tng
tp trung nhiu im sng nht trong bc nh xc
sut. Tm v tr mi bt u t v tr trc v tnh
ton gi tr trng tm va tm c.
c hai thut ton trn u c th vin cc hm tnh
ton trong OpenCV v nhm tc gi chn lp trnh
phn bm nh trn Visual C 6.0 c s dng th vin
m ngun m OpenCV ca Intel.
4. Thit k phn cng v phn mm
cho h thng
Cu trc ca h bm gm hai phn chnh:
- Phn 1: x l nh da vo chui hnh nh thu c
t camera nhn dng v tnh ton v tr ca i
tng mc tiu.
- Phn 2: l phn iu khin, da vo thng s v tr
i tng nhn c trong mt phng nh, tnh ton
tn hiu iu khin robot sao cho i tng di chuyn
c duy tr mt v tr nht nh trn mt phng nh
v mt khong cch nht nh.
Trong h thng ny ngoi b vi x l chung l my
tnh laptop cn c mt khi giao tip thc hin bt
tay gia camera, c cu chp hnh v my tnh.
p ng yu cu v kh nng iu khin c cu
chp hnh v va c kh nng x l, chng nhiu tt
nhm tc gi s dng vi iu khin AVR,
ATmega128 v n c y tnh nng v c kh nng
chng nhiu tt.

H. 11 Cu trc tng th phn cng
s dng iu khin cc c cu chp hnh v kim
sot tc v gc quay ti s dng mt s linh
kin chuyn dng iu khin cu ng c l dng
MC ca Freescale v DVR ca Texas Intrument. Vi
mc ch xy dng mt kit vi iu khin a nng c
th va thc hin nhim v iu khin c cu chp
hnh va c kh nng thc hin nhim v x l tn
hiu t cc cm bin trong cng nghip nh PIR, IR
ca Sharp, cm bin gia tc v nghing ADXL203
v MMA7455 v c th giao tip RS232, giao tip
khng dy RF CC1101 tn s 450MHz phc v
qu trnh truyn v x l tn hiu.

H. 12 Lu thut ton

5. Kt qu chy th nghim








H. 13 H thng chy th nghim
Chng ti xy dng hon chnh mt h thng robot
bm mc tiu di ng, c v phn cng ln chng
trnh phn mm v giao din iu khin. H thng bao
gm phn mm cho my tnh iu khin ti trung tm
v phn mm cho my tnh, h vi iu khin trn
robot. H thng c chy th nghim bm theo mc
tiu l i tng mu sm.
Mt s hnh nh thc nghim:
Start
Chp nh

Ly mu
Histogram
Lc nhiu
Camshift
Tnh ta
tm, hng
Giao tip
RS232,RF
iu kin
dng
Khi to
Dng
Camera X l nh
frame RF
RS232
ATmega128
RF
RS232
Driver K
C
Cng tc
hnh trnh
Cm bin
ng c
Mch VK My tnh v lu tr
Chp
n

RGB HSV

Tnh ton
Histogram
Xc sut
phn b
mu
Camshift
Reset vng
tnh ton
t tm search
window
Video
To v tr v
kch c search
window
X,Y
510
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

H. 14 Giao din trn my tnh

H. 15 Giao din kt ni vi vi iu khin
Ngoi vic t ng bm mc tiu di ng, h thng
cn cho php ngi iu khin bng tay robot t xa
qua sng RF vi khong cch l <500m, v c th
quan st cng nh lu tr hnh nh v video thu c
trn my tnh ti trung tm iu khin.
6. Kt Lun
Bi bo trnh by tng th t nghin cu l thuyt,
xy dng cc s cu trc, thit k phn cng v lp
trnh phn mm cho mt robot t hnh bm mc tiu
di ng. Vic gn thm camera gip cho robot hot
ng thng minh hn, tip cn vi cc hnh vi ging
con ngi nhm mc ch thay con ngi lm cc
cng vic trong mi trng nguy him cng l mc
ch ca sn phm ca bi bo. H thng lm vic n
nh c khi c s xut hin ca cc i tng khc
chuyn ng trong trng quan st.
Hn ch ca h l tc bm cn chm (khong 10
frame/s), cng nh h thng bm cha ch nhiu ti
cc o lng quan trng khc nh: o gia tc v vn
tc ng c; o xa xc nh chiu su thng tin. Vic
o lng ny trc ht phc v tnh ton LOS v
ng hc ngc cng nh iu khin cc ng c.
Tuy cn nhiu vn cn c nng cp, nhng h
thng ca chng ti thu c kt qu chp nhn
c v n nh. Cc vn tn ti s c khc
phc trong hng pht trin tip theo.
Ti liu tham kho
[1].Gio trnh Nhp mn x l nh s, H Bch
Khoa H Ni.
[2].Carlo Tomasi, Takeo Kanade: Detection and
Tracking of Point Features; Technical Report
CMU-CS-91-132; April 1991
[3].Gary Bradski and Adrian Kaehler: Learning
OpenCV Computer Vision with the OpenCV
Library; OReilly; 2008
[4].Mark W. Spong, Seth Hutchinson, and M.
Vidyasagar; Robot Dynamics and Control;
Addison Wesley Publishing Company; 2004
[5].Frank L.Lewis, Darren M.Dawson, Chaouki
T.Abdallah: Robot Manipulator Control Theory
and Practice; MARCEL DEKKER, INC, 2004
[6].Gary R. Bradski: Computer Vision Face Tracking
For Use in a Perceptual User Interface,
Microcomputer Research Lab, Santa Clara, CA,
Intel Corporation, 2005
[7].Sang-joo Kim, Jin-woo Park, and Jang-Myung
Lee: Implementation of Tracking and Capturing
a Moving Object using a Mobile Robot,
International Journal of Control, Automation,
and Systems, vol. 3, 2005





















H. 16 Mt s hnh nh chp qu trnh chy th nghim



511
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Ng Mnh Tin: Hc i hc
Bch Khoa H Ni, chuyn ngnh
iu khin t ng t nm 1996-
2001. Bo v Thc s nm 2004
v hin nay ang theo hc Tin s
ti i Hc Bch Khoa H Ni.
Hin ti cng tc ti phng Quang
in t - Vin Vt L-Vin Khoa Hc v Cng Ngh
Vit Nam.
Hng nghin cu chnh: iu khin qu trnh, iu
khin thng minh v thch nghi, h M v mng
Neuron, iu khin Robot, Robot t hnh, h thng
quang in t nhn m, x l nh.

Phan Xun Minh: Nhn bng
Thc s k thut (1976) v Tin s
k thut (1989) - chuyn nghnh:
iu khin hc ti trng Ilmenau
University of Technology
Ilmenau, c.
Hin l Ph Gio s, cng tc v
ging dy ti B mn iu khin
t ng Vin in - Trng i hc Bch Khoa
H Ni.
Hng nghin cu chnh: iu khin ti u v bn
vng, diu khin thch nghi, h m v mng Nron,
iu khin qu trnh.























512