http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Adaptive Neural Network Second-order Sliding Mode Control of Dual Arm Robots
Le Anh Tuan,주영훈,Le Quoc Tien,Pham Xuan Duong 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6
An adaptive robust control system is considered for dual-arm manipulators (DAM) using the combinationof second-order sliding mode control (SOSMC) and neural networks. The SOSMC deals with the system robustnesswhen faced with external disturbances and parametric uncertainties. Meanwhile, the radial basis function network(RBFN) is to constitute an adaptation mechanism for approximating the unknown dynamic model of DAM. Thestability of model estimator-integrated controller is analyzed using Lyapuov theory. To show the effectiveness ofproposed controller, a four DOFs-DAM is applied as an illustrating example. The results reveal that the controllerworks well, excellently adapt to no information of robot modeling.
Parameter Estimator Integrated-sliding Mode Control of Dual Arm Robots
Le Anh Tuan,주영훈,Pham Xuan Duong,Le Quoc Tien 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6
This paper presents the parameter estimator-integrated sliding mode control of dual arm robots. Todo so, a robust adaptive controller is designed for 3D cooperative motion of dual-arm robots based on the frameof second-order sliding mode control (SOSMC). Additionally, the method of the model-reference adaptive control(MRAC) is also utilized for constituting an adaptation mechanism then integrating it into the control loop to estimatethe unknown robot parameters. By doing so, the proposed controller is robust with disturbances and parametricuncertainties. Furthermore, the adaptive behavior is also achieved in which the control system does not need theinformation of many system parameters. Finally, the applicability and feasibility of the proposed controller ispresented through a 4 four degree-of-freedoms (DOFs) dual-arm manipulator.
Tien Huynh Manh,Khanh Quoc Le Tran,Phat Tan Ho,Man Minh Vo,Thong Quang Pham,Thong Duy Vo 대한소화기학회 2023 대한소화기학회지 Vol.81 No.6
Strongyloidiasis, a chronic helminth infection caused by the parasitic nematode Strongyloides stercoralis, has various clinical manifestations. Although rare, duodenal obstructions and venous thromboembolism are possible complications of strongyloidiasis. This paper presents the case of a 47-year-old Vietnamese male with a history of right lower limb edema, anorexia, nausea, vomiting, diarrhea, and abdominal discomfort lasting for four months. Venous Doppler ultrasound detected a thrombus in the right femoral vein, while an abdominal CT scan revealed a mass lesion suggestive of a lower bile duct tumor. Esophageogastroduodenoscopy showed a friable duodenal cap mucosa with multiple ulcers and edematous mucosa of the second part of the duodenum that caused a partial lumen obstruction. The final histological examination of the biopsy specimen revealed chronic duodenitis with larvae consistent with Strongyloides stercoralis. The patient was treated with Ivermectin for two weeks and anticoagulation therapy for three months. After treatment and a six-month follow-up, the patient's gastrointestinal symptoms and leg swelling resolved completely. This is the first documented case of a patient in Vietnam with strongyloidiasis who presented with venous thromboembolism and duodenal obstruction.