Project Manager

Binh Khanh Dinh, Ph.D.

Robotic Research & Development Project Manager, Digital Media Profes-

sionals Ltd. Company (DMP), Ho Chi Minh city, Vietnam Lecturer, Department of Mechatronics, Faculty of Mechanical Engineering, HCM University of Technology and Education, Vietnam Contact

Information

Lab Address: Biorobotics Lab +847********

Department of Mechatronics, Faculty of Mechanical

Engineering

*******@******.***.**

HCM University of Technology and Education,

Vietnam

Skype:

dinh khanh0812

Research

Interests

Wearable Exoskeletons/Sensors, Series Elastic Actuators, Cable-driven Systems, Nonlinear Adaptive Control, Robust Optimal Control, System Identi cation, Machine Learning in Robotics, Mechanical/Mechanism Design, Real-time Embedded Systems

Education Nanyang Technological University, Singapore Ph.D., School of Mechanical and Aerospace Engineering August, 2013 - August, 2017

Thesis Submission: 04th August 2017

Oral Examination: 22nd January 2018

Thesis Title: ACTUATION DESIGN AND ASSISTIVE CONTROL FOR A SOFT WEARABLE EXOSUIT

Advisors: Asst. Prof. Lorenzo Masia

Relevant Courses: Computer Control Systems, Process Control, Manufacturing Control and Automation, Robotics and Intelligent Sensors, Advanced Engineering Mathematics, Design and Analysis of Experiments, Computational and Systems Biology, Machine Learning in Matlab and Python, Deep Learning

Korea Advanced Institute of Science and Technology, Daejeon, South Korea

B.S., Mechanical Engineering

September, 2009 - February, 2013

Undergraduate Research: Design and Control of a Self-balanced Segway for Personal Transportation

Relevant Courses: Programming Structure for Electrical Engineering, Digital System Design, Applied Electronics, Mechanism Design, Modelling and Control of Engineering System, Introduction to Robotics, Mechanical Vibrations, Automatic Control, Embedded Systems, Design of Machine Elements

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Research

Experience

National University of Singapore, Singapore

Research Fellow, Department of Biomedical Engineering October, 2017 - May, 2018

Research Topic: Control Design of a Series Elastic Actuator driving Bowden-cable Transmission for Lower-limb Assistance and Rehabilitation

Gait phase detection by using ground reaction force measured by optical sensors

Lower-limb joints’ torque estimation by calculating inverse dynamics

Force control design with nonlinear adaptive control for compensating the nonlinear friction in the Bowden-cable transmission

Dynamic modelling and force control implementation for Series Elastic Actuators

Program an real-time embedded system using C/C++ and data analysis with MATLAB

Nanyang Technological University, Singapore

Ph.D., School of Mechanical and Aerospace Engineering August, 2013 - August, 2017

Research Topic: Actuation Design and Assistive Control for a Soft Wearable Exosuit

Mechanical design for a novel soft exoskeleton robot driven by the Bowden-cable transmission for human arm assistance

Impedance/Admittance control with assist-as-needed algorithm for providing assistance and detecting human motion intention

Nonlinear adaptive control design for compensating the inherent nonlinear behaviours in the Bowden-cable transmission such as backlash and friction

Program by MATLAB/SIMULINK interfacing with Quarc Quanser real-time workstation

Korea Advanced Institute of Science and Technology, Daejeon, South Korea

B.S., Mechanical Engineering

September, 2009 - February, 2013

Research Topic: Design and Control of a Self-balanced Segway for Personal Transportation

Mechanical design for a two-wheel mobile platform for personal transportation

Sensor fusion (accelerometer and gyroscope) for computing the tilted angle

PID control for controlling two motors, maintaining the Segway robust and stable

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Working

Experience

Digital Media Professionals Ltd. Company (DMP), Ho Chi Minh city

Robotic Project Manager

July 2021 - Present

Senior R&D Robotic Engineer

July 2018 - July 2021

Topic: Autonomous & AI Software Research and Development AI Softwares:

Develop an object detection and multi-object tracking system for surveillance purpose - Programming language: Python

Develop an algorithm employing oating point 8/16 bit to improve the inference speed in object detection and segmentation networks

- Programming language: Python

Develop a driver-assistance system including lane detection and segmentation, and tra c light/sight detection and recognition - Programming language: Python

Port a state-of-the-art object detection and object tracking method

(called CenterNet, CenterTrack) from Pytorch to Tensor ow for hardware compatibility - Programming language: Python

Develop a crime detection system including gun detection and face recognition - Programming language: Python

Develop a face mask detection and social distance alarm system for COVID-19 pandemic - Programming language: Python

Autonomous & Robotics Softwares:

Research and develop a 2-dimension pose estimation algorithm to detect best stable poses for robotic manipulator to grasp - Programming language: Python

Control Universal Robot (cobot UR3e) using ROS framework (ROS 1 version (Melodic)) for pick and place task (combined with pose estimation algorithm) - Programming language: Python

Develop an algorithm with YOLOv4 and segmentation to extract the shoe contours for shoe sole gluing with UR5e robot - Programming language: Python

Develop an algorithm based on OpenCV and depth extraction to detect boxes on a non-stop conveyor - Programming language: Python

Control Universal Robot (cobot UR5 and UR5e) using ROS framework

(ROS 1 version (Melodic)) to pick and place detected objects on a non-stop conveyor - Programming language: Python

Research and develop a method called poly-YOLO to detect the polygon (instance segmentation) bounding objects, from the detected polygons, the center and orientation of the objects can be obtained for pick and place task - Programming language: Python 3 of 7

Develop a full sofware solution (ROS version and standalone version) for placing and picking objectswithUR5e robot, the software contains AI object detection, segmentation, grasping detection, and robot control - Programming language: Python

Build mechatronic hardware for a 2-wheel driving robot (3D printing, actuator, motor driver, electronics parts)

Research for car-like robot (Ackermann steering) and di erential driving robot’s kinematics and dynamics

Research and develop an full autonomous pipeline including Simutaneous Localization and Mapping algorithm (using visual ORB-SLAM), occupancy grid map, path planning module (using hybrid A method), and controlling module for car-like and 2-wheel driving robots (development in both stand-alone version and ROS 2 version (Eloquent)) - Programming language: C++

Research and develop an full autonomous pipeline using LIDAR- based SLAM, occupancy grid map, path planning module for an autonomous vehicle for agriculture harvesting purpose (development in ROS 1 version (Melodic)) - Programming language: C++

Optimize the performance of occupancy grid map, and path planning module for real-time applications - Programming language: C++ Teaching

Experience

Ho Chi Minh University of Technology and Education, Ho Chi Minh city, Vietnam

Introduction to Programmning for Engineering

Automatic Control Theory

Robotics and Computer Vision

Machine Learning and Deep Learning

Nanyang Technological University, Singapore

Teaching Assistant for undergraduate courses

Computer Modelling, Simulation and Control of an Electromechanical System

Mechanical Experiments: Product Disassembly

Korea Advanced Institute of Science and Technology, Daejeon, South Korea

Undergraduate tutor program

Calculus I, II

Physics I

Chemistry I

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Book

Chapter

Contributions

1. Michele Xiloyannis, Binh Khanh Dinh, Leonardo Cappello, Chris W. Antuvan and Lorenzo Masia, ’Design Guidelines for Upper Limb Soft Wearable Exosuits’, submitted to Wearable Technology for Medicine and Healthcare, Elsevier, (in press).

2. Lorenzo Masia, Michele Xiloyannis, Binh Khanh Dinh, Chris W. Antuvan, Sara Contu and Yongtae Kim, ’Actuation for Robot-Aided- Rehabilitation: Design and Control Strategies’, submitted to Rehabilitation Robotics, Elsevier, (in press).

3. Lorenzo Masia, Irfan Hussain, Michele Xiloyannis, Claudio, Pacchierotti, Leonardo Cappello, Monica Malvezzi, Giovanni Spagnoletti, Chris Wilson Antuvan, Binh Khanh Dinh, Maria Pozzi and Domenico Prattichizzo, ’Soft Wearable Assistive Robotics: Exosuits and Supernumerary Limbs’, Springer, (in press).

Accepted

Journal

Publications

1. Binh Khanh Dinh, Michele Xiloyannis, Chris Wilson Antuvan, Leonardo Cappello, and Lorenzo Masia. ’Hierarchical Cascade Controller for Assistance Modulation in a Soft Wearable Arm Exoskeleton’ submitted to Robotics Automation Letters 2017 (accepted for publication). 2. Binh Khanh Dinh, Michele Xiloyannis, Leonardo Cappello, Chris Wilson Antuvan, Shih-Cheng Yen, and Lorenzo Masia. ’Adaptive Backlash Compensation in Upper Limb Soft Wearable Exoskeleton’ submitted to Robotics and Autonomous Systems 2017 (accepted for publication in the special issue: Human-oriented Approaches for Assistive and Rehabilitation Robotics).

3. Michele Xiloyannis, Leonardo Cappello, Binh Khanh Dinh, Chris Wilson Antuvan, and Lorenzo Masia. ’Preliminary design and control of a soft exosuit for assisting elbow movements and hand grasping in activities of daily living’ submitted to Journal of Rehabilitation and Assistive Technologies Engineering (RATE) 2016 (accepted for publication).

Refereed

Conference

Publications

1. Binh Khanh Dinh, Michele Xiloyannis, Chris Wilson Antuvan, Leonardo Cappello, and Lorenzo Masia. ’Hierarchical Cascade Controller for Assistance Modulation in a Soft Wearable Arm Exoskeleton’. IEEE International Conference on Robotics and Automation ICRA 2017, Singapore 29th May-03rd June 2017

2. Binh Khanh Dinh, Leonardo Cappello, Michele Xiloyannis, and Lorenzo Masia. ’Position Control using Adaptive Backlash Compensation for Bowden Cable Transmission in Soft Wearable Exoskeleton’. IEEE International Conference on Intelligent Robots and Systems IROS 2016, Daejeon, South Korea 9th 14th October 2016 5 of 7

3. Binh Khanh Dinh, Leonardo Cappello, and Lorenzo Masia. ’Localized Extreme Learning Machine for Online Inverse Dynamic Model Estimation in Soft Wearable Exoskeleton’. IEEE International Conference on Biomedical Robotics and Biomechatronics BIOROB 2016, Singapore 26th 29th June 2016.

4. Binh Khanh Dinh, Leonardo Cappello, Lorenzo Masia. Control Implementation of Compliant CompositeMaterial Actuators for Wearable Robotic Exoskeletons IEEE International Conference on Robotic Rehabilitation ICORR 2015, Singapore 11th 14th August 2015

5. Leonardo Cappello, Binh Khanh Dinh, and Lorenzo Masia. ’Design of SARCOMEX: a Soft ARm COMpliant Exoskeleton’. IEEE International Conference on Biomedical Robotics and Biomechatronics BIOROB 2016, Singapore 26th 29th June 2016

6. Jeong-Yean Yang, Binh Khanh Dinh, Han-Gyeol Kim, and Dong- Soo Kwon. ’Development of emotional attachment on a cleaning robot for the long-term interactive a ective companion’. IEEE International Symposium on Robot and Human Interactive Communication RO- MAN 2013, South Korea 26th 29th August 2013

7. Michele Xiloyannis, Leonardo Cappello, Binh Khanh Dinh, Chris Wilson Antuvan, and Lorenzo Masia. ’Design and Preliminary Testing of a Soft Exosuit for Assisting ElbowMovements and Hand Grasping’. International Conference on Neurorehabilitation ICNR 2016, Spain 18th 21st 2016.

8. Michele Xiloyannis, Leonardo Cappello, Binh Khanh Dinh and Lorenzo Masia. ’Towards the Design of an Underactuated Soft Exoskeleton for Grasp Assistance’. IEEE International Conference on Biomedical Robotics and Biomechatronics BIOROB 2016, Singapore 26th 29th June 2016

Key Skills Actuators, sensors, and robotics

Mechatronics and mechanism design

Solid modelling and analysis with Solidworks

Machining, manufacturing, and 3D printing

Analog and digital circuit design and analysis

Programming language: Matlab (4-year experience), C/C++ (4-year experiance), Python (5-year experience) and R (1-year experience)

Matlab and Simulink technical computing software

Deep Learning frameworks: Tensor ow, Keras, and Pytorch

Robotic plarform: Robotic Operation System (ROS 1 and ROS 2)

Robotic simulation: Gazebo, Moveit Planning

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Hardware frameworks: NVIDIA Jetson Xavier AGX, NVIDIA Jetson Xavier NX, Rasperry Pi

Robotic arm: Universal Robot UR3e, UR5, UR5e

Awards and

Honors Runner up nalists of "Best Human-Robot Interaction (HRI) Paper Award" at ICRA 2017, rst author

Best Student Paper Award at BioRob 2016, third author

Singapore International Graduate Award scholarship

Singapore Summer Research Internship scholarship

KAIST full scholarship for international undergraduate student

Universal Robots Training certi cate

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