RESEARCH PLAN

Mechatronics Laboratory, Graduate School of Kyoto University

Duong Van Lac, lac.duongvan@hust.edu.vn
Introduce myself
My name is Duong van Lac with major in Mechatronics. From the 1st April in 2017, I
become a lecturer at Hanoi university of science and technology. And to continues my
PhD degree, I want to apply to Mechatronics Laboratory of Kyoto University. The
following research plan is what I intend to research. However, due to the level of
qualification, I am very eager to receive advice from Prof. Fumitoshi Matsuno.

Introduction
Robots today are making a considerable impact on many aspects of modern life, from
industrial manufacturing to health, rescue, transportation, and exploration of the deep
space and sea. Also, there are many designs like legged robots, parallel mechanisms,
snake robots, modular robots, biomimetic robots, wheeled robots, underwater robots,
flying robot, microrobotThe new interesting directions of robotics research are
approached by Matsuno Lab are: Bio-Inspired Robotics, Swarm Robotics and Swarm
Intelligence.

Objective and contents

The objective of research: Autonomous robots/ Multi-robot system.
The problem-solving parts:
Mathematical modeling, simulation, and analysis
Investigate algorithm for mapping, navigation, and motion planning with
reactive collision avoidance procedure.
Develop the cooperative and distributed control algorithm
Build mechatronics systems and implement control algorithm get experiment
data.

Contribution and expected outcomes

Construction of mathematical models
New improved control algorithms and simulation programs
Scientific reports, about 5 papers (3 journals 2 proceedings)
Final thesis
Products (a mobile mechatronics system)

Research time plan

Before beginning PhD course, I will prepare the fundamental principles and methods
that use to model, design, and control a robotics system. If possible I will apply an
internship program to Lab for two months using financial sponsor from the Honda Y-E-
S Award Plus. (http://www.hondafoundation.jp/en/yes_plus.html)
Timeline is structured as follows:
A. First 3 months: Read books, papers, develop ideas and prepare an initial research
proposal with professor. (seminar, report)
B. First 12 months: Undertaking literature researches and defining project, construction
of mathematical models, control algorithms. (seminar, report)
C. Months 9-16: Make computer simulation programs, and verify the control algorithms.
(seminar, report, paper for conference)
D. Months 14-20: Build mechatronics systems and prepare experiments. (seminar,
report, paper for conference/journal)
E. Months 16-30: Do experiments, data analysis, and improve the control algorithms.
(seminar, report, paper for conference/journal)
F. Months 28-34: Write final thesis and thesis submission. (seminar, report, paper for
conference/journal)

Timeline Plan

Reference
[1]. Bruno Siciliano, Oussama Khatib, Springer Handbook of Robotics - 2nd Edition, 2016.
[2]. Michael John Milford, Robot Navigation from Nature Simultaneous Localisation,
Mapping, and Path Planning based on Hippocampal Models, 2008, Springer.
[3]. IEEE Transactions on Robotics; IEEE Transactions on Automatic Control; IEEE
Robotics & Automation Magazine; IEEE/ASME Transactions on Mechatronics; Journal of
Intelligent & Robotic Systems; Journal of Mechanisms & Robotics;
[4]. https://www.researchgate.net/
[5]. Many books and other digital documents from internet.