http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Motion Control of Omnidirectional Mobile Platform for Path Following Using Backstepping Technique
Viet-Tuan Dinh,Thinh Doan-Phuc,Hoang Giang,Hak Kyeong Kim,Sea June Oh,Sang Bong Kim 한국해양공학회 2011 韓國海洋工學會誌 Vol.25 No.5
The paper proposes a controller design for an omnidirectional mobile platform (OMP) with three wheels using backstepping control. A kinematic model and dynamic model of the system are presented. Based on the dynamic modeling a backstepping controller is designed to stabilize the OMP when following a desired path. The controller is designed based on a backstepping control theory. It includes two steps: first, a virtual state and a stability function are introduced. Second, Lyapunov functions for the system are chosen and an equation for the virtual control that makes the system stabile is obtained. The system stability is guaranteed by the Lyapunov stability theory. The simulation and experimental results are presented to demonstrate the effectiveness of the proposed controller.
Control of a 2-DOF omnidirectional mobile inverted pendulum
Tuan Dinh Viet,Phuc Thinh Doan,Hoang Giang,김학경,김상봉 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.9
In this paper, stabilization of a 2-degrees-of-freedom (2-DOF) omnidirectional mobile inverted pendulum (OM-IP) is studied. The OM-IP consists of the rod that rotates around a rotary point of a universal joint which is connected at the center of the omnidirectional mobile platform (OMP). For ease of analysis, the OM-IP is decoupled into two subsystems: a 2-DOF inverted pendulum (IP) and an OMP. The IP is a rod that rotates around a universal joint with 2-DOF. The OMP is a body consisting of disk and three omnidirectional wheels that moves on plane and keeps the rod in balance. Dynamic modeling of the 2-DOF OM-IP is presented. From the dynamic equation,an adaptive backstepping control method is proposed to keep the rod in balance. Update law is presented as differential equation of an unknown parameter when the distance from the center of gravity of the rod to the rotary point on the OMP is unknown. Stability of the adaptive controller is proven by using Lyapunov function. Simulation and experimental results show the effectiveness of the proposed controller.
Tuan Dinh Viet,Phuc Thinh Doan,Nguyen Hung,김학경,김상봉 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.7
This paper proposes a tracking control method for a three-wheeled omnidirectional manipulator system (OMMS) with disturbance and friction. The OMMS is separated into two subsystems, a three-wheeled omnidirectional mobile platform (OMP) and a selective compliant articulated robot for assembly (SCARA) type of manipulator. Therefore, two controllers are designed to control the OMP and the manipulator system. Firstly, based on a kinematic modeling of the manipulator, a kinematic controller (KC), combined with an integral sliding mode controller (ISMC), is designed for the end-effector of the manipulator to track a desired trajectory with the desired angular velocity vector of links. Secondly, a differential sliding mode controller (DSMC) based on a dynamic modeling of the OMP with force external disturbances is proposed to obtain control inputs moving the OMP so that the manipulator tracks the desired posture without singularity. The system stability is proven using Lyapunov stability theory. The simulation and experimental results are presented to illustrate the effectiveness of the proposed controllers in the presence of disturbance and friction.
Viet-Tuan Dinh,김상봉,Hung Nguyen,신승목,김학경,변기식 한국정밀공학회 2012 International Journal of Precision Engineering and Vol.13 No.1
In this paper, a differential sliding mode tracking controller (DSMC) using voltage input is designed for trajectory tracking of the three-wheeled omnidirectional mobile platform (OMP) based on its dynamic modeling with disturbances. First, a tracking error vector is defined, and then a differential sliding surface vector is chosen. A control law is obtained by using Lyapunov direct method with backstepping technique. The control law stabilizes the sliding surface vector and makes the tracking error vector go to zero asymptotically. To implement the designed controllers, a control system is developed based on PIC microcontroller. A camera sensor and encoders are used. The simulation and experiment results are presented to illustrate effectiveness of the proposed controller.
김상봉,Tuan Dinh Viet,임재성,김학경,Nguyen Hung 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.6
In this paper, a new tracking controller that integrates a kinematic controller (KC) with an integral sliding mode dynamic controller (ISMC) is designed for an omnidirectional mobile platform (OMP) to track a desired trajectory at a desired velocity. First, a posture tracking error vector is defined, and a kinematic controller (KC) is chosen to make the posture tracking error vector convergent to zero asymptotically. Second, an integral sliding surface vector is defined based on the angular velocity tracking error vector and its integral term. An integral sliding mode dynamic controller (ISMC) is de-signed to make the integral sliding surface vector and the angular velocity tracking error vector con-vergent to zero asymptotically. The above controllers are obtained based on the Lyapunov stability theory. To implement the designed tracking controller, a control system is developed based on PIC18F452. A scheme for measuring the posture tracking error vector using a camera sensor combined with an angular sensor is introduced. The simulation and experimental results are presented to illustrate the effectiveness and applicability of the proposed tracking controller.
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.
The Factors Affecting Corporate Income Tax Non-Compliance: A Case Study in Vietnam
NGUYEN, Loan Thi,NGUYEN, Anh Hong Viet,LE, Hac Dinh,LE, Anh Hoang,TRUONG, Tu Tuan Vu Korea Distribution Science Association 2020 The Journal of Asian Finance, Economics and Busine Vol.7 No.8
In many countries, the Government enacts tax laws in order to manage tax collection and regulate the macro-economy. According to Noor, Jamaludin, Omar, and Aziz (2013), tax non-compliance is a growing concern because of its negative effects on the state budget. The main objectives of this article are to identify the factors affecting corporate income tax non-compliance of enterprises in Ho Chi Minh City in accordance with the current situation of Vietnamese tax administration. We use several research methods, including the exploitation of information and practical experiences from both taxpayers and tax authorities; with Probit regression model on a sample of 187 enterprises that have been inspected or examined by tax authorities in Vietnam during the period from 2013 to 2017.The article identified eight factors affecting corporate income tax (CIT) non-compliance: (1) working capital/total assets; (2) revenue/total assets; (3) total debt/total assets; (4) loss in the previous year; (5) receivables/revenue; (6) the size of enterprises; (7) tax administrative penalties/tax payable; and (8) business field. In particular, the tax non-compliance was studied as a violation of Vietnamese tax laws by enterprises declaring an insufficient amount of CIT payable to the State budget.