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Screws on the Relative Parallel Mechanisms
Le Hoai Quoc,Nguyen Minh Thanh,Victor Glazunov,Aleksey Lastochkin 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In this paper, we consider screws on the relative parallel mechanisms with three parallel kinematic chains. The analysis of these mechanisms is carried out by means of screw theory. This approach allows avoiding satisfied equations by singularity analysis of mechanisms. The number of degrees of freedom of relative mechanism device is the total degrees of freedom of its constituent mechanisms. This property allows us to achieve the required number of degrees of freedom, using simple mechanisms in construction. Thus, it is possible to reduce the mutual effect that the motors have on each other when the mechanisms are in motion, placing them on the base. As a result of this, we are able to determine the optimal parameters of such a mechanism with the help of theoretical calculation.
Le Hoai Quoc,Nguyen Minh Thanh 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper examined the parallel mechanisms such as Stewart-Gough platform, for which an algorithm for determining the groups of linearly dependent screws that arise in singular condition. The algorithms to determine the model of mechanism take into account singularities configuration based on screw theory are proposed, the criterion of closeness to singularity is determined, the basic impact modeling results of parallel mechanisms. The research results on issues of singular condition of the parallel mechanism, which uses screw theory and Plucker coordinates. The experimental based on computation and determining the parameters of kinematic, dynamics and simulation for the control parallel mechanisms are considered. Speaking of which resolved the relations velocity, acceleration between the moving platform with the legs in the application; and relationship between external forces acting on the moving platform with forces on the legs of the system.
Improving Control Performance of a Container Crane Using Adaptive Friction Compensation
Quoc Chi Nguyen,Hoai Quoc Le,Keum-Shik Hong 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper investigates an adaptive control scheme for container cranes that transport containers between a container ship and trucks. Three unknown parameters (the mechanical friction between the trolley and the guide rails, the mass per unit length of the rope, and the payload mass) are estimated. Since the rope of the crane is flexible, an axially moving string equation is introduced to model the rope dynamics. The Lyapunov method is used to assure the uniform stability of the closed loop system. The experimental results demonstrate the effectiveness of the proposed control scheme.
The Impact of Organizational Commitment on Employee Motivation: A Study in Vietnamese Enterprises
NGUYEN, Hoai Nam,LE, Quoc Hoi,TRAN, Quang Bach,TRAN, Thi Hoang Mai,NGUYEN, Thi Hai Yen,NGUYEN, Thi Thuy Quynh Korea Distribution Science Association 2020 The Journal of Asian Finance, Economics and Busine Vol.7 No.6
The study examines direct and indirect impacts of organizational commitment on employee motivation through two mediating factors - opportunistic behavior and knowledge sharing - in Vietnamese enterprises. The samples were selected by the non-probability sampling method followed convenient sampling, relatively stratified by localities in Vietnam. The sample size was 636 employees in Vietnamese enterprises. The number of collected online questionnaires was 379, while the number of valid questionnaires was 329. In the direct survey, the number of distributed questionnaires was 750, while the number of collected questionnaires was 421 and the number of valid questionnaires was 307. The total number of valid questionnaires used for analysis was 636. The study used quantitative methods with structural equation modeling analysis. The results indicate that among the components of organizational commitment, normative commitment has both direct and indirect impacts on employee motivation through two mediating factors: opportunistic behavior and knowledge sharing. Meanwhile, affective commitment has only an indirect impact on employee motivation through these mediating factors. Continuance commitment has both direct and indirect impacts; however, it has only an indirect impact on employee motivation through opportunistic behavior. In addition, the results show opportunistic behavior has a negative impact on the knowledge sharing of employees in enterprises.
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.
Thanh-Tung Duonga,Phan Huy Hoang,Luu Thi Nhan,Luong Van Duong,Man Hoai Nam,Le Quoc Tuan 한국물리학회 2019 Current Applied Physics Vol.19 No.11
Large-grain-size and void-free CH3NH3PbI3 films with bilayer structure are fabricated by spin-coating a PbI2 layer onto a mesoporous TiO2 layer and sequentially spraying CH3NH3I (methylammonium iodide, MAI) multilayers. The sprayer is controlled by a homemade three-axis computer numerical control machine; thus, the substrates are coated by successive parallel passes achieved by moving the nozzle. Spray deposition at the optimal spray rate and substrate temperature produces a large-grain-size and void-free methylammonium lead iodide (MAPbI3) bilayer structure. The mesoporous TiO2 layer plays an important role in electron transport by preventing the return of electrons to the perovskite layer and decreasing the contact resistance at the perovskite/ compact TiO2/fluorine tin oxide interface. When the films are incorporated into a solar cell device with a conductive carbon counter electrode, a maximum power conversion efficiency of 10.58% is realised.