Scientific Associate

2022- present: Scientific Associate at Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany.

2020-2022: Researcher at Hanbat National University, Deajeon, South Korea.

2018-2020: Lecturer at Hochiminh University of Technology, Hochiminh, Vietnam.

2015-2018: Postdoctoral researcher at University of Ulsan, Ulsan, South Korea.

RESEARCH EXPERIENCE

2020-2022     Implement the Deep Reinforcement Learning for the hexapod robot, Department of Mechanical Engineering, Hanbat National University, South Korea.

• Build the 3d model of the hexapod robot using CAD software and convert it to the URDF model
• Import and build the hexapod environment (based OpenAI GYM) with Pybullet physics engine or RAISIM physics engine.
• Implement the deep reinforcement learning (PPO algorithm) to conduct the gait for the hexapod robot. (toolkit: stable baselines 3)
• Sim-to-Real transfers technique to apply the DRL for the real prototype of a hexapod robot
• Design and execute the specific task for the robot
• Body stabilization while walking on the rough surfaces
• Target reaching and obstacle avoidance

2017-2018 3D printed mobility humanoid robot arm, Department of Mechanical Engineering, Ulsan University.

• Design and conduct the 3d printed 5DOF humanoid robot arm.
• Kinematics, perception, and control of the 5 DOF humanoid robot arm.

2016-2018  Development of core components and systems for special purposed machine in a disaster environment, Department of Mechanical Engineering, Ulsan University, (co-work with KITECH-Field Robot Lab).

• Arm development: design two 7-DOF arms operated by the hydraulic system.
• Hydraulic system: design and simulate the hydraulic circuit to supply the fluid power for the dual arms and moving platform.
• Control system: design the control device (guide rail) to operate the dual-arm machine.

2010-2015  Autonomous Field Robot, Department of Mechanical Engineering, Ulsan University, research advisor: Prof. Soon-Yong Yang).

Doctoral Research:

• Development of a head tracking system, flexible vision system, and Virtual Reality excavator to give the operator the feeling of being at the actual work site in real-time.
• Design of the remote control of Field Robot using a portable control station.
• Track the motion of a user’s head via AHRS to control the movements of the pan/tilt CCD cameras.
• Present an intuitive configuration of joystick for the operator in the flattening task of Field Robot.

2010-2012 Field Robot real-time simulation, Department of Mechanical Engineering, Ulsan University, research advisor: Prof. Soon-Yong Yang

• Study on the hydraulic system and dynamic system of the Field Robot
• Simulation of the operation for the Field Robot using Simulink, SimHydraulic, SimMechanics, xPC target, and 3D Animation of the Matlab software.

2012-2013 Wheelchair storage and device transferring for the disabled driver, Department of Mechanical Engineering, Ulsan University, research advisor: Prof. Soon-Yong Yang (cooperation with EDEN Motor Company)

• Design of a wheelchair storage system to back up the wheelchair into the car’s trunk.
• Design of the Robot Arm for transferring the wheelchair from the car's trunk to the driver's seat

TEACHING/ADMINISTRATIVE EXPERIENCE

2012-2014 MAMI Project 

• Assistant for MAMI 2012 Project: Development of an obstacle avoidance system for an autonomous mobile robot.
• Assistant for MAMI 2013 Project: Study on the vision system for the turret robot.
• Assistant for MAMI 2014 Project: Design of the fruit collector system using a mobile manipulator

2015 World-Class Capstone Design

• Assistant for the World-Class Capstone Design: Intuitive configuration of Joystick for the operator in leveling task of field robot.

2016 - 2018       Domestic Capstone Design

• Assistant for the Domestic Capstone Design 2016: Teaching and playback for a mobility manipulator.
• Assistant for the Domestic Capstone Design 2018: Design and control a 3D printed humanoid arm robot.

2018-2020  Lecturer at Hochiminh University of Technology

• Industrial electrical device
• Applied hydraulic power system
• Industrial automation system

2020-2022 Domestic Capstone Design

• Assistant for the Domestic Capstone Design 2020: Design and control of the hybrid wheeled-legged armchair-like vehicle.
• Teaching assistant for the subject
  •  Fundamental of robotic

2010-2015 Ms-PhD combined in Mechanical and Automotive Engineering, University of Ulsan, Ulsan, South Korea.

Supervised by Professor Soon Yong Yang

Thesis title: A study on the smart observation system for remote control of Field Robot

2005-2010 BSs Mechanical Engineering in Ho Chi Minh University of Technology, Ho Chi Minh, Vietnam.

2008-2010 Quoc Hoc Hue High school, Hue, Vietnam

Publications

• Q. H. Le, Y. M. Jeong, C. T. Nguyen, and S. Y. Yang, "Development of a Virtual Excavator using SimMechanics and SimHydraulic", Journal of Drive and Control, Vol 10, No. 1, pp.29~36, 2013
• C. T. Nguyen, Q. H. Le, Y. M. Jeong and S. Y. Yang, "A Study of Stability for Field Robot using Energy Stability Level Method", KSFC, Vol 11, No. 3, pp.22~30, 2014
• Q. H. Le, Y. M. Jeong, C. T. Nguyen, and S. Y. Yang, "Development of the Flexible Observation System for a Virtual Reality Excavator Using the Head Tracking System", Journal of Drive and Control, Vol 12, No. 2,pp. 27~33, 2015.
• Q. H. Le, J. W. Lee, S. Y. Yang, “Remote control of excavator using head tracking and flexible monitoring method”, Automation in Construction, Vol: 81, pp. 99-111, 2017.
• Quang Hoan Le, WangHun Lee, YoungShik Kim, Bong-Jo Ryu, Hyun-ho Shim and Buhyun Shin, "Micro Hexapod Robot Using Dual-axis Electromagnetic Actuator ", Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 31, No. 6, pp.597-603, 2021.
• Le, Q.H., Lee, W., Kim, Y. et al. Miniaturized double-legged robot utilizing perpendicular-axes electromagnetic actuator. Microsyst Technol 28, 2249–2258 (2022).
• Ali, H.F.M., Kim, Y., Le, Q.H. et al. Modeling and control of two DOF shape memory alloy actuators with applications. Microsyst Technol 28, 2305–2314 (2022). 

Patents

• Apparatus and control method of lighting for excavator (KR102455069B1) 

worldwide.espacenet.com/patent/search/family/061003445/publication/KR102455069B1

• Remote control excavator monitoring system and method for monitoring using the system (KR20170136057A)

worldwide.espacenet.com/patent/search/family/060943203/publication/KR20170136057A

Hoan currently works as a Scientific Associate at the Munich Institute of Robotics and Machine Intelligence, in Germany. He completed his B.S. in Mechatronics Engineering from the Hochiminh University of Technology, Vietnam. He received a PhD in Hydraulic Field Robots from Ulsan University, South Korea, in 2015. He was a lecturer at the Hochiminh University of Technology three years later. In 2021, he was involved at the Hanbat National University as a scientific researcher. His research studies were initially concerned with teleoperated field robots and mechatronics system design, and latterly the locomotion of hybrid wheeled-legged robots and miniaturised robots using deep reinforcement learning.