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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.
DO, Anh Duc,PHAM, Ngoc Thach,BUI, Hong Phuong,VU, Duc Thanh,NGUYEN, The Kien,NGUYEN, Thi Huyen Korea Distribution Science Association 2020 The Journal of Asian Finance, Economics and Busine Vol.7 No.8
This paper aims to develop a conceptual framework for evaluating the impact of motivational factors on the work results of lecturers at Vietnam National University, Hanoi (VNU), one of two leading multidisciplinary and multi-sectoral national universities in Vietnam. This study has considered wages and other benefits (WB), training and development (TD), working environment (WE) and working motivation (WM) as motivational factors, and proposed a structural model of the impact of motivational factors on the work results of lecturers at VNU. The empirical analysis used data from the survey data of 321 university lecturers. Comprehensive, valid, and reliable tools (SPSS 26 and SmartPLS 3.0 software) are used to evaluate rigorous statistical tests including convergence validity, discriminatory validity, reliability, and average variance extracted to analyze and verify the gathered data, and the hypotheses developed. The result of path analysis shows that four motivational factors constitute a structured system with different degrees of influence on the work results of lecturers. There is also a positive relationship between the motivational factors and the work results of lecturers. As a result, it can be concluded that all hypotheses developed are supported. Several recommendations are further suggested to improve the performance of lecturers at VNU.
Dieu Linh Tran,Anh Phuong Nguyen Hong,Ngoc Hoi Nguyen,Ngoc Trinh Huynh,Bao Ha Le Tran,Cam Tu Tran,Minh Dung Truong,Quan Dang Nguyen,박기동,Dai Hai Nguyen 한국공업화학회 2023 Journal of Industrial and Engineering Chemistry Vol.120 No.-
α-calcium sulfate hemihydrate (α-HH) was synthesized by salt solution methods to prepare a promising biomaterial for bone tissue repair and regeneration. The successful synthesis of α-HH was evaluated by field emission scanning electron microscopy (FE-SEM), thermogravimetric analysis (TGA), X-ray diffraction (XRD), and Fourier transform infrared (FTIR) scanning. The sterility of α-HH before and after irradiation with gamma ray was firstly confirmed by Colonies Forming Units (CFU) counting assay, to target the surgical grade application. In vitro tetrazolium bromide (MTT) assay, crystal violet (CV) and acridine orange (AO) staining was performed to assess the initial cytotoxicity and cell attachment ability of α-HH. Further in vivo implantation into rabbit distal femoral condyles defect exhibited the ability of salt solution-synthesized α-HH to promote the localization of osteocytes and osteoblasts, which improve the bone tissue repair and regeneration. The findings suggested that α-calcium sulfate hemihydrate synthesized by salt solution method is a potential material that can be used as bone substitutes.
Chitosan Oligomer as a Hopeful Adjuvant for H5n1 Influenza Vaccine
( Le Van Hiep ),( Mai Thi Thanh ),( Dang Thi Hong Van ),( Vo Thi Phuong Khanh ),( Nguyen Anh Dzung ) 한국키틴키토산학회 2008 한국키틴키토산학회지 Vol.13 No.1
Effect of Chitosan oligomer (dp = 8-16) and other adjuvant such as: Aluminum phosphate (AlPO4) and Freund on immune response of H5N1 influenza vaccine in Swiss mice has been investigated. The Swiss mice were twice vaccinated alternative 20 days with dose 0.1 ml/mouse. After 10, 20 and 30 days, the immune response of Swiss mice with H5N1 vaccine was detected. The result showed that after 20 days of the first vaccination, immune response of chitosan oligomer test and Freund was 100%, but Freund test reduced 80% after 30days of vaccination. Meanwhile, immune response of the control and AlPO4 test was very low, only 40%. The Effect of chitosan oligomer and the others on antibody titer has been also investigated. The result showed that the antibody titer of chitosan oligomer test was 60 HIU (Hemagglutination units), 70 HIUs after 10 and 20 days of the first vaccination, and increased up to 112 HIUs after 10 days of the second vaccination and the antibody titer of the chitosan oligomer test was higher than the others. Therefore, chitosan oligomer is a hopeful adjuvant for H5N1 influenza vaccine.