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An Adaptive Backstepping Trajectory Tracking Control of a Tractor Trailer Wheeled Mobile Robot
NGUYEN THANH BINH,Nguyen Anh Tung,Dao Phuong Nam,Nguyen Hong Quang 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.2
The considered Tractor Trailer Wheeled Mobile Robot (TTWMR) is type of Mobile Robot including amaster robot – Tractor and slave robots – Trailers which moves along Tractor to track a given desired trajectory. Themain difficulties of the stabilization and the tracking control of TTWMR are due to nonlinear and underactuatedsystems subjected to nonholonomic constraints. In order to overcome these problems, firstly, we develop the modelof TTWMR and transform the tracking error model to the triangular form to propose a control law and an adaptivelaw. Secondly, the varying time state feedback controllers are designed to generate actuator torques by usingBackstepping technique and Lyapunov direct’s method, in that these are able to guarantee the stability of the wholesystem including kinematics and dynamics. In addition, the Babarlat’s lemma is used to prove that the proposedtracking errors converge to the origin and the proposed adaptive law is carried on to tackle unknown parameterproblem. The simulations are implemented to demonstrate the effective performances of the proposed adaptive lawand the proposed control law.
Inhibitory Activity of Plantago major L. on Angiotensin I-converting Enzyme
Nguyen Xuan Nhiem,김영호,Bui Huu Tai,Phan Van Kiem,Chau Van Minh,Nguyen Xuan Cuong,Nguyen Huu Tung,Vu Kim Thu,Trinh Nam Trung,Hoang Le Tuan Anh,조성훈,장해동,권영인 대한약학회 2011 Archives of Pharmacal Research Vol.34 No.3
Eight compounds were isolated from methanol extract of Plantago major L. leaves and investigated for their ability to inhibit angiotensin I-converting enzyme activity. Among them, compound 1 showed the most potent inhibition with rate of 28.06 ± 0.21% at a concentration of 100 μM. Compounds 2 and 8 exhibited weak activities. These results suggest that compound 1 might contribute to the ability of P. major to inhibit the activity of angiotensin I- converting enzyme.
Palladium-catalyzed reductive carbonylation of nitrobenzene for producing isocyanate
( Nguyen Thanh Tung ),( Anh Vy Tran ),( Thuy Tram Huynh Nguyen ),김용진 한국공업화학회 2016 한국공업화학회 연구논문 초록집 Vol.2016 No.0
Organic isocyanates (R-NCO) have achieved great commercial importance as chemical intermediates in the manufacture of many useful chemicals. The conventional route has now been proven to have many serious problems, such as the use of extremely toxic phosgene in the carbonylation step and the byproduction of a large amount of corrosive hydrochloric acid. One attractive alternative method is direct carbonylation with carbon monoxide, because it can provide a one-step conversion of nitro aromatics to the isocyanate without the use of dangerous phosgene. In this research we present the direct reductive carbonylation of nitrobenzene to phenyl isocyanate using various types of palladium catalysts.
Institutional Ownership and Stock Liquidity: International Evidence
Tung Lam Dang,Thanh Huong Nguyen,Nguyen Tram Anh Tran,Thi Thuy Anh Vo 한국증권학회 2018 Asia-Pacific Journal of Financial Studies Vol.47 No.1
This paper investigates the relation between institutional ownership and stock liquidity, and explores whether this relation differs across institutional settings. Using a comprehensive data set across 41 countries from 2000 to 2010, we find that institutional ownership is positively correlated with stock liquidity. Importantly, the positive association between institutional ownership and stock liquidity is stronger (weaker) for firms in countries with opaque (transparent) information environments or poor (good) institutional characteristics. Our additional analysis reveals that the positive association between institutional ownership and liquidity is attributable to non-block institutional investors.
Design Re-engineering of the Lower Support Structure of the APR1400 Reactor Internals
Tung, Nguyen Anh,Namgung, Ihn The Korean Society of Systems Engineering 2017 시스템엔지니어링학술지 Vol.13 No.1
This paper aims to evaluate the conservatism in the design of APR1400 (Advanced Pressurized water Reactor 1400 designed by KHNP) reactor internals component, the LSS (Lower Support Structure). Re-engineering of the LSS is done based on the system design condition data and applicable ASME code that was used for the original APR1400 design. Systems engineering approach is applied to design the LSS of APR1400 without refering APR1400 LSS dimensional parameters and tries to verify important design parameters of APR1400 LSS as well as the validity of the re-engineering design process as independent verification method of reactor component design. Systems engineering approach applied in this study following V-model approach. The re-engineered LSS design showed more than enough conservatism for static loading case. The maximum deflection of LSS is under 1mm (calculated value is 0.25mm) from 4000 mm diameter of LSS. Hence the deflection can be ignored in other reactor internals for structural integrity assessment. Especially the effect of LSS deflection on fuel assembly can be minimized and which is one of the main requirements of LSS design. It also showed that the maximum stress intensity is 2.36MPa for the allowable stress intensity of 60.1 MPa. The stress resulted from the static load is also very small compared to the maximum allowable stress intensity, hence there is more than enough conservatism in the LSS design.
Thanh-Tung Duong,Ta Quoc Tuan,Dang Viet Anh Dung,Nguyen Van Quy,Dinh-Lam Vu,Man Hoai Nam,Nguyen Duc Chien,윤순길,Anh-Tuan Le 한국물리학회 2014 Current Applied Physics Vol.14 No.12
Polyaniline nanowires (PANI NWs) were deposited onto fluorine-doped tin oxide (FTO) glass substrate using the cyclic voltammetric method with aniline monomer precursor in HCl aqueous solution. The secondary oxidation peak plays an important role in polymerization of aniline monomer and the optimization of catalytic activity of PANI-based counter electrodes was achieved by controlling the number of cycles. The photovoltaic performance of the dye-sensitized solar cells (DSSCs) with PANI NWs counter electrodes (CEs) was optimized at 4th cycles, and then following parameters were obtained: Jsc ¼ 17.2 mA cm2, Voc ¼ 0.71 V, FF ¼ 59.3%, and efficiency (h) ¼ 7.24%. While, Jsc ¼ 14.7 mA cm2, Voc ¼ 0.77 V, FF ¼ 70.6%, and efficiency (h) ¼ 7.98% in cells with Pt CEs. The PANI NWs were attractive as an alternative CEs for the low-cost DSSCs instead of Pt.
Some Results of Recent Investigation and Application of Rubber Blends in Vietnam
Bui Chuong,Nguyen Thanh Liem,Dang Viet Hung,Nguyen Huy Tung,Nguyen Pham Duy Linh,Nguyen Thanh Nhan,Pham Ngoc Linh,Le Anh Kien,Chu Chien Huu 한국고분자학회 2021 한국고분자학회 학술대회 연구논문 초록집 Vol.46 No.1
We have investigated the change of tensile strength (TS) of Natural rubber/chloroprene rubber (NR/CR) blends during combination ageing, including heating and dynamic mechanical loading. Using model of statistical experiment, we built the equation describing the dependence of TS on four factors: temperature T, number of cyclic loadings N, contents of NR (C<sub>NR</sub>) and chloroprene (CCR). This equation allows predict the TS change of NR/CR blends after combination ageing with accepted inaccuracy – less than 10%. We also investigated the effect of nanofillers, such as nanoclay, SiO2, Fe<sub>3</sub>O4, on adhesion of some rubber blends to polyester and steel cords. It was found, in the case of EPDM/CIIR rubber blends, both nanoclay and SiO2 have no effect on adhesion to steel cords, while nano SiO2 may enhance adhesion to polyester cords. On other side, Fe<sub>3</sub>O4 may remarkably enhance adhesion of NR/CR blends to steel. Mentioned results are successfully applied in some practical rubber products working under fatigue conditions, such as rubber/steel antivibration pad for locomotive, heat resistant conveyor, water dam, underwater lift bag.
Le-Phuc Nguyen,Yen Thi Hai Pham,Phuong Thuy Ngo,Tri Van Tran,Loc Vinh Tran,Nam Thi Hoai Le,Luong Huu Nguyen,Tung Thanh Dang,Duc Anh Nguyen,Marco Wenzel,David Hartmann,Karsten Gloe,Jan J. Weigand,Klaus 한국화학공학회 2018 Korean Journal of Chemical Engineering Vol.35 No.5
Acid leaching and a two-step solvent extraction procedure were developed to produce high purity mixture of La and Ce from iron-rich spent FCC catalyst discharged from Dzung Quat refinery (Vietnam). Acid leaching of the spent catalyst with 2M HNO3 and a solid-to-liquid ratio of 1/3 at 80 oC in 1 h dissolved almost 90% of La while 12% of Al and 25% of Fe were transferred to the leachate. The extraction of RE metals and main impurities such as Al and Fe by a mixture of di-2-ethylhexyl phosphoric acid (D2EHPA) and tributyl phosphate (TBP) was investigated. Experiments showed that it was necessary to remove Fe before extracting RE and the optimum extraction conditions for a high recovery of RE while 0% of Al extraction were pH1, contact time=10min, and D2EHPA/TBP volume ratio= 4 : 1. At these conditions, the extraction yields of La(III) and Ce(III) were 72% and 89%, respectively. A two-step solvent extraction was developed to achieve a high purity of RE mixture, which included (1) the removal of impurity Fe by 25% (v/v) diisooctyl phosphinic acid (DiOPA) in n-octane for 140 min, (2) the extraction of rare earths by a mixture of di-2-ethylhexyl phosphoric acid (D2EHPA) and tributyl phosphate (TBP) in n-octane for 10 min without the need for adjusting the pH of the leaching solution.
A Study on the Effect of Distributed Generation of the Reconfiguration of Distribution Networks
Nguyen Tung Linh,Trinh Trong Chuong,Truong Viet Anh 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.4
Distributed generation (DG) in the future will play an important role in the electricity supply systems, in wich can provide DG capacity from a few hundred kW to tens of MW. However, it is connected to the local power grid, DG will have certain influence on the power quality of the power grid. One of the most significant effects is that they will change the configuration of the local power grid as well as affecting the operation mode of the grid. This paper presents a method of finding the optimal open loop, analyzing and selecting the appropriate mode of operation to reduce power losses of power distribution networks that includes DG.