Giang Hoang
Pukyong National University
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Publication
Featured researches published by Giang Hoang.
international conference on control, automation and systems | 2014
Dae Hwan Kim; Giang Hoang; Min-Ji Bae; Jin Wook Kim; Suk Min Yoon; Tae-Kyeong Yeo; Hong Sup; Sang Bong Kim
This paper addresses exhaustive coverage path planning of a mining robot based on cellular decomposition in minable area. For this work, the followings are done. First, the map of minable area is decomposed into cells by exact cell decomposition. Second, the coverage path is generated using back-and-forth motion. Third, direction of coverage path and generating graph path using proposed special spanning tree is considered to get minimum distance of moving path. The exhaustive coverage path is obtained by combining coverage path and moving path. Fourth, a controller is designed for a two-wheeled robot to track the exhaustive coverage path generated by path planning method. Finally, simulation and experimental results can prove efficiency of the proposed exhaustive coverage path planning method.
advances in computing and communications | 2014
Amruta Vinod Gulalkari; Giang Hoang; Pandu Sandi Pratama; Hak Kyeong Kim; Sang Bong Kim; Bong Huan Jun
This paper proposes a vision-based object following system for the six-legged robot using Kinect camera. To do this task, the followings are done. First, for image processing, a Kinect camera is installed on the six-legged robot. The interesting moving object is detected by a color-based object detection method. The local coordinates of the detected object are obtained to provide the position of the object. Second, the backstepping method using Lyapunov function is adopted to design a controller for the six-legged robot to achieve object following. Finally, the simulation and experimental results are presented to show the effectiveness of the proposed control method.
international conference on control, automation and systems | 2014
Giang Hoang; Jung Hu Min; Gyeong Mok Lee; Bong-Huan Jun; Hak Kyeong Kim; Sang Bong Kim
This paper introduces omni-directional walking control of a six-legged robot (6LR). The 6LR consists of its body, six legs with four links and four rotational joints. The followings are done for this task. First, the walking gait of the 6LR is chosen. Second, modeling for one leg with four links and four rotational joints of the 6LR is proposed. It is difficult and complex to get the angles of four rotational joints in the case of using inverse kinematics. To solve this problem, differential kinematics algorithm is used to generate omni-directional walking trajectory of a leg based on back-stepping control using Lyapunov stability. Finally, simulation results for walking motion of one leg of the 6LR are shown to prove the effectiveness and applicability of the proposed controller.
asian control conference | 2013
Giang Hoang; Hak Kyeong Kim; Sang Bong Kim
This paper proposes a tracking controller for obstacle avoidance of an omni-directional mobile vehicle (OMV) using potential function method through a ceiling-mounted camera system. To do this task, the followings were done. At first, for image processing, a ceiling-mounted camera system was installed to get images. The goal point and obstacles were separated and recognized by a color recognition method. Second, potential function method was proposed to generate the shortest path to avoid obstacles from the start point to the goal point. The mobile platform is a mecanum wheel omni-directional vehicle. Third, the tracking controller is designed for the OMV to track a trajectory generated by a path planning algorithm based on the backstepping method using Lyapunov function. Finally, the simulation results were presented to show the effectiveness of the proposed trajectory planning algorithm and tracking controller for obstacle avoidance of the OMV.
Journal of Porous Materials | 2018
Madhappan Santha Moorthy; Giang Hoang; Panchanathan Manivasagan; Sudip Mondal; Thi Tuong Vy Phan; Hyehyun Kim; Junghwan Oh
Biopolymer-coated drug delivery system with high drug-loading efficiency and pH-stimuli responsive drug release to the target site receives much research interest in cancer therapy. In this study, we have synthesized a marine biopolymer, namely chitosan oligosaccharide (COS) coated mesoporous silica nanoparticle (MSNs@COS NPs) system for pH-responsive drug delivery applications. The COS coating onto the silica nanoparticles was performed through metal–ligand complex coordination approaches. The prepared MSNs@COS NPs system were characterized by low-angle X-ray diffraction (XRD), Fourier-transform infrared (FTIR), N2 adsorption–desorption and transmission electron microscopic (TEM), and thermogravimetric analyses. The COS-coated MSNs@COS NPs system shows high drug-loading capacity, good drug retention efficiency under physiological pH (pH 7.4) conditions, and an intracellular pH-responsive drug release behavior under acidic pH (pH 6.5, 5.0, and 4.0) environments. Furthermore, the biocompatibility and the intracellular uptake behavior of the MSNs@COS NPs system were evaluated by using MDA-MB-231 cells. The in vitro cytotoxicity and fluorescence microscopic analysis results evidenced that the synthesized MSNs@COS NPs system is biocompatible and could be readily taken up by MDA-MB-231 cells. Therefore, we believe that the proposed system could be applicable for pH-stimuli responsive controlled drug delivery applications in cancer therapy.
Journal of Materials Chemistry B | 2018
Madhappan Santha Moorthy; Giang Hoang; Bharathiraja Subramanian; Nhat Quang Bui; Manivasagan Panchanathan; Sudip Mondal; Vy Phan Thi Tuong; Hyehyun Kim; Junghwan Oh
The fabrication of nanotherapeutic systems capable of stimuli-responsive drug delivery and photoacoustic imaging (PAI)-guided photothermal therapy (PTT) is considered significant for chemo-photothermal therapy applications in cancer therapy. In the present study, the Prussian blue nanoflake (PBNF) decorated mesoporous silica hybrid nanoparticle (PB@MSH-EDA NPs) is reported for PAI-guided chemo-photothermal therapy applications. The amine group enriched mesoporous silica channels can be used to encapsulate an anticancer drug for chemotherapy, and the surface decorated PBNFs can convert a near-infrared (NIR) laser (808 nm) into heat for photothermal therapy and can also be used for PAI applications. The PB@MSH-EDA NPs show pH-responsive drug release efficiency under acidic pH (pH 5.0 and 4.0) conditions. Furthermore, the PB@MSH-EDA NPs system shows strong NIR laser absorption and photothermal conversion efficiency under 808 nm laser irradiation. The in vitro experimental result shows that the PB@MSH-EDA NPs are biocompatible and could be efficiently taken up by MDA-MB-231 cells. In addition, the in vivo results demonstrate that the tumor-bearing mice fully recovered after injecting the drug (Dox)-loaded PB@MSH-EDA/Dox NPs and being further irradiated with the 808 nm laser. We believe that the PB@MSH-EDA NPs system could be utilized as an efficient PAI-guided chemo-photothermal therapy agent for the detection and treatment of tumors in an emerging cancer therapy application.
Carbohydrate Polymers | 2018
Thi Tuong Vy Phan; Giang Hoang; Van Tu Nguyen; Thanh Phuoc Nguyen; Hye Hyun Kim; Sudip Mondal; Panchanathan Manivasagan; Madhappan Santha Moorthy; Kang Dang Lee; Oh Junghwan
This study reported a newly developed green synthesis method using chitosan and vitamin C to prepare porous flower-shaped palladium nanoparticles. We found that chitosan not only worked as a stabilizer but also as a size-control agent for the synthesis of these nanoparticles. The growth model of flower-shaped palladium nanoparticles was proposed to interpret mechanistic understanding. The obtained nanoparticles showed good biocompatibility and strong near-infrared absorption. The nanoparticles were successfully demonstrated to be highly efficient for both in vitro photothermal therapy and in vitro photoacoustic imaging.
International Journal of Science and Engineering | 2012
Giang Hoang; Hak Kyeong Kim; Sang Bong Kim
Journal of Mechanical Science and Technology | 2015
Amruta Vinod Gulalkari; Pandu Sandi Pratama; Giang Hoang; Dae Hwan Kim; Bong Huan Jun; Sang Bong Kim
Ceramics International | 2018
Sudip Mondal; Giang Hoang; Panchanathan Manivasagan; Madhappan Santha Moorthy; Thi Tuong Vy Phan; Hye Hyun Kim; Thanh Phuoc Nguyen; Junghwan Oh