I'm Tuan Dang

A software developer and researcher
Wireless and Sensor Systems Lab
Department of Computer Science and Engineering
University of Texas at Arlington, USA

My work almost relates to designing and implementing emdedded system for applications in automation and networking domain. My favorite programming languages are C/C++ because of their speed and extremely small memory footprint. Therefore, programs that are written in C/C++ can run with determined behavivor on very low-end mirocontroller (CPU: 1MHz-100MHz, Memory: 16KB~1MB).

My previous job is involved in many projects that are almost related to robot and motion controller. Motion control algorithm is an essential element of the controller, but a motion control algorithm alone is not enough for the system to work. There are several elements such as real-time Operating System (Linux RT, Xenomai, TI SYS/BIOS, VxWorks, ), real-time network (EtherCat, sample time 250us, jitter 1~2us, support more than 10,000 IO devices and 64 axes), and an interpreter that plays a role as a commander who centralized controls of all connected IO and axes.

To make the controller easy to use for end users, we also created a GUI program for PC, Teaching Pendant 3.5 inches (ARM Cortex m3, RS-232, low-cost), Teach Pendant 7 inches (TI AM335x, Ethernet, RS-232, Oscilloscope, 3D View support). In order to implement these system, I luckily work on PCB design, Embedded programming (C, C++, Qt), PC programming (WPF, C#), Human Machine Interface (HMI, Modbus TCP/IP, Modbus RTU, Pro-face, Weintek).

Projects

Presto Robot Controller

EtherCat based robot and motion controller that supports controlling up to 10 robots and thousand IOs simultaneously.

PPL-Robot Programming Language

Take advantages of popular usage of C in automation domain (syntax), Matlab (matrix processing), and ACSPL+ (ASC Motion Control, Isarel with mapping variables) to create new language that supports directly mapping variable to external physical devices such as robot and IO. Additional, it operates in determined behaviors by using real-time OS (Xenomai, RT Linux) that is the first place required in many automation application. It also supports multi-tasking as well as some inter-program communication such global variable could be shared over all programs. Plus, it support rich APIs for motion, IO, math, diagnosis.

Teaching Pendant 7 inches - TP7

A touching based Teaching Pendant that is used to teach robot works. It written in C++ with hardware powered in pure Linux (kernel only, without GUI likes Ubuntu or Fedora,...). The project's challenge is to re-create GUI from scratch on the top of Linux system call. This is because TP7 uses low-end CPU and need to reponse to quick user's behaviors. It also supports 3D view under OpenGL ES 3.0 core profile API

Teaching Pendant Simulator for Windows

A software that simulates Teaching Pendant 7 inches on Windows PC so that user can play around with functions of TP before deciding to buy it.

Oscilloscope

This scope connects to controller via TCP/IP to acquire the real-time raw data and view with many analysis functionalities like physical Oscilloscope

Teaching Pendant 3.5 inches

This low-end Teaching Pendant and written in pure C on MCU Coretex M4 (STM32F429, 180MHz, 256KB RAM) with TFT 320x240 LCD

GUI PC for Robot Controller

This software give user the first hand to work with robot controller in Windows environment.

Samsung SDC Mark-III

Robot Controller for Samsung SDC project that uses EtherCat technology

Acontis EcMaster Porting

My work is to port EcMaster stack with different Operating System (VxWorks, RT Linux, Xenomai, TI SYS/BIOS, Hypervior: Linux in Windows (LxWin), On-time OS 32 in Win (EcWin)) and different CPU architecture (x86, x64, ARM7, ARM15), then make demo application for support customers like Samsung, Hyundai, Hanwha, Fastech, AjinTech,...

EtherCat Slave IO

Digital & Analog Input/Output devices that are based on EtherCat technology. I worked on a feature named Enhanced Link Detection that needs internal communication between MCU PIC24 and ET1100

Publications

A virtual LiDAR sensor for autonomous vehicles

Third Asian Conference on Information Systems, Dec 2014, Nha Trang - Vietnam
Tuan Thanh Dang, Nghia Van Luong, and Vinh Quang Dinh

Performance Analysis of Mechatrolink-III

IEEE International Conference on Industrial Informatics, Jul 2013, Bochum - Germany
Tuan Thanh Dang, Jin Ho Kim, Prof. Jae Wook Jeon

Design of a Seamless Gateway for Mechatrolink-III

IEEE International Conference on Industrial Technology, February 2013, South Africa
Jin Ho Kim, Tuan Thanh Dang, Prof. Jae Wook Jeon, Bok Sun Yeom

A Gateway for Multi-device Communication between Mechatrolink-III and RS-485

International Conference on Control, Automation and Systems, October 2012, Jeju - South Korea
Tuan Thanh Dang, Jin Ho Kim, Prof. Jae Wook Jeon

Awards

Seoul Award 2019

Along with Team at Presto

Outstanding Employee of the year (2017, 20018)

Presto Solution, Korea

Vietnam Robot contest Awards in 2008 & 2009

Held by Vietnam Robot contest

Second prize at HCMc University of Technology in Robot contest 2008

Held by Ho Chi Minh City University of Technology

First prize Software NXP competition 2008

Held by NXP Semiconductor – USA

Third prize Hardware NXP competition 2008

Held by NXP Semiconductor – USA

Consolation prize NextGen 2007

Held by Mobifone Vietnam

Wireless and Sensor Systems Lab
The University of Texas at Arlington
Engineering Research Building, 500 UTA Blvd Arlington, TX 76010
Phone: 817-272-2571, Email: tuandang@uta.edu