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Duc-Thien Tran,Tri-Cuong Do,안경관 한국정밀공학회 2019 International Journal of Precision Engineering and Vol.20 No.12
This paper presents a robust control regarding position control of an electro-hydraulic rotary actuator (EHRA) system under the presence of the lumped uncertainties such as the variant payload, the unknown friction, and the uncertain parameters. The proposed control is developed on a high order sliding mode control (HOSMC) and an extended high gain observer (EHGO). In detail, the HOSMC is derived to not only reduce the chattering effect but also guarantee the stability for the EHRA. In addition, the EHGO is used as a disturbance estimator to compensate the lumped uncertainties. Consequently, it helps to improve control performance. Furthermore, the stability and robustness of the whole system are theoretically proved by a Lyapunov approach. The proposed control is practically implemented through both the co-simulation between AMESIM and MATLAB, and the experiments. The results are compared to other controllers to exhibit the effectiveness of the proposed control with the lumped uncertainties.
Adaptive sliding mode control with backstepping technique for hydraulic manipulator
Duc-Thien Tran,Hoai Vu Anh Truong,Xuan Dinh To,Bomoon Seo,Kyoung Kwan Ahn 제어로봇시스템학회 2018 제어로봇시스템학회 국내학술대회 논문집 Vol.2018 No.5
In this paper, an adaptive sliding mode control with backstepping technique is proposed regarding to controlling position of a hydraulic manipulator in joint space. The proposed control is developed based on sliding mode control, backstepping technique, and radial basis function neural network (RBFNN). In the hydraulic manipulator, the primary torques are generated by hydraulic actuators, so it helps to extend load carrying capacity of the manipulator. But it brings some challenges, such as coupling issues, uncertainties in parameter, modeling, and external disturbance in mechanical and hydraulic dynamics. The properties of the proposed control can deal to these problems to guarantee the stability requirements and improve the precision. The sliding mode control with backstepping technique is used to handle the coupling issues and to ensure the stability and robustness. Additionally, two adaptive approximators based on RBFNN compensate the uncertainties and improve the precision. Some simulations are implemented and compared to other controllers to exhibit the effectiveness of the proposed control.
Duc-Thien Tran,Hoai Vu Anh Truong,Kyoung Kwan Ahn 한국정밀공학회 2021 International Journal of Precision Engineering and Vol.22 No.3
The paper addresses an adaptive robust position control for tracking control of a manipulator under the presence of the uncertainties, such as variant payload, modeling error, friction, and external disturbance. The proposed control uses radial basis function neural networks (RBFNN)s to approximate and cancel the uncertainties. The nonsingular fast terminal sliding mode control (NFTSMC) of the proposed control is developed to guarantees a finite-time convergence and to solve the singular issue of the terminal sliding mode control. Moreover, the learning laws are derived from the Lyapunov approach to ensure the stability and robustness of the whole system. The proposed control is compared with other controllers through both simulations and experiments on a 3-DOF manipulator to exhibit its efficiency with the variant payload and the uncertainties.
Duc Thien Tran,Nguyen Thanh Nha,Ngo Van Thuyen,Le Hoang Lam,Kyoung Kwan Ahn 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.4
This paper proposes a novel fault-tolerant synchronous sliding mode control for a 4-DOF parallel manipulator against uncertainties such as modelling error and actuator faults. The proposed control is developed with the consensus approach, sliding mode control, and extended state observer to manage the tracking objective and guarantee the synchronous requirements. The consensus approach combines the tracking and synchronous errors, which helps to integrate both the tracking and synchronous requirements into cross-coupling errors. Firstly, the kinematics and dynamics of the parallel manipulator are described according to the geometric and Euler Lagrange approaches with the challenges. Secondly, the Lyapunov approach is implemented to verify the stability and robustness of the proposed control in theory. Then, some simulations are conducted in MATLAB Simulink with the robotic dynamics generated by converting the design model in SOLIDWORKs into SIMSCAPE. The comparisons between the proposed control and other controllers are made by creating simulations to evaluate the advantages of the proposed approach.
Clerodendrum ervatamioides (Lamiaceae): A new record to the flora of Vietnam
Heyjoong KIM,Do Van Hai,Tran Duc THIEN,Tran The Bach,Bui Hong Quang,Duong Thi HOAN,Le Ngoc HAN,Tran Duc BINH,Ritesh Kumar Choudhary,이중구 한국식물분류학회 2022 식물 분류학회지 Vol.52 No.4
Clerodendrum ervatamioides C. Y. Wu was described in 1977 with its type locality in Yunnan, China. During our floristic investigation in the Muong Nhe Nature Reserve of Vietnam of Dien Bien province and in the Muong Te district of the Lai Chau province, we collected several specimens of Clerodendrum ervatamioides, marking the first record of its occurrence in Vietnam. In this paper, details of the morphological features, distribution, ecology, photo plates, and a table comparing the morphological features with its ally Clerodendrum garrettianum Craib are provided.
DQN-based Relay UAV Trajectory Planning in Cellular Network
Duc Thien Hua,Jeonghwa Lee(이정화),Demeke Shumeye Lakew,Anh-Tien Tran,Thanh Phung Truong,Sungrae Cho(조성래) 한국통신학회 2021 한국통신학회 학술대회논문집 Vol.2021 No.11
Currently, the application of unmanned aerial vehicles (UAVs) to tackle the path planning tasks has proliferated and appeal interest in academic research, civil and military applications. In this paper we propose a deep Q network (DQN)-based solution framework, in which a single UAV act as a relay node establishing downlink transmission to all the mobile user in a cellular area. DQN-based trajectory planning algorithm is proposed, which effectively maximize the Signal to interference& noise ratio (SINR) by optimizing the flying path of the relay UAV.
듀티 사이클 환경의 무선센서네트워크에서 분산 브로드캐스트 스케줄링 기법
( Thien-binh Dang ),( Manh-hung Tran ),( Duc-tai Le ),염상길 ( Sanggil Yeom ),추현승 ( Hyunseung Choo ) 한국정보처리학회 2017 한국정보처리학회 학술대회논문집 Vol.24 No.1
Accompanying the Internet of Things (loT) is a demand of advanced applications and services utilizing the potential of the IoT environment. Monitoring the environment for a provision of context-aware services to the human beings is one of the new trends in our future life. The IoTivity Cloud is one of the most notable open-source platform bringing an opportunity to collect, analyze, and interpret a huge amount of data available in the IoT environment. Based on the IoTivity Cloud, we aim to develop a novel platform for comprehensive monitoring of a future network, which facilitates on-demand data collection to enable the network behavior prediction and the quality of user experience maintenance. In consideration of performance evaluation of the monitoring platform, this paper presents results of a preliminary test on the data acquisition/supply process in the IoTivity Cloud.
How Leader Characteristics and Leader Member Exchange Lead to Social Capital and Job Performance
TRAN, Duc-Thuan,LEE, Li-Yueh,NGUYEN, Phuoc-Thien,SRISITTIRATKUL, Wethima Korea Distribution Science Association 2020 The Journal of Asian Finance, Economics and Busine Vol.7 No.1
The study aims to verify the relationship between leaders' personality traits in leader - member exchange (LMX), and job performance. Hierarchical Regression Analysis was used to examines (a) how leaders' personality traits and LMX affect the influence of social capital on job performance and organizational citizenship behavior; (b) how perceived organization support (POS) can moderate the influences of LMX on social capital, in turn impacting job performance and OCB. Responses are employees in the service industry in Thailand, which consisted of 236 independent samples in 77 groups. Each group included at least one leader and 1-5 followers. The results show that there is a significant relationship between leader's personality traits, LMX and social capital. Leader with the higher level of conscientious, and agreeableness can always create good relations with their followers. The level of LMX are also related to social capital and both of these influence OCB and job performance. The moderating effect of perceived organizational support is also significant that POS can amplify the influence of LMX on social capital. Finally, the research findings show that perceived organizational support is one of the moderating factors in LMX exchanges. Followers perceived organizational support can amplify the influence of LMX on social capital.
무선 센서 네트워크에서의 이상 징후 감지를 위한 공동 지수 평활법 및 추세 기반 주성분 분석
( Thien-binh Dang ),양희규,( Manh-hung Tran ),( Duc-tai Le ),김문성 ( Moonseong Kim ),주현승 ( Hyunseung Choo ) 한국정보처리학회 2019 한국정보처리학회 학술대회논문집 Vol.26 No.2
Principal Component Analysis (PCA) is a powerful technique in data analysis and widely used to detect anomalies in Wireless Sensor Networks. However, the performance of conventional PCA is not high on time-series data collected by sensors. In this paper, we propose a Joint Exponential Smoothing and Trend-based Principal Component Analysis (JES- TBPCA) for Anomaly Detect ion which is based on conventional PCA. Experimental results on a real dataset show a remarkably higher performance of JES-TBPCA comparing to conventional PCA model in detection of stuck-at and offset anomalies.