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Extended Dyna-Q Algorithm for Path Planning of Mobile Robots

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Journal of Measurement Science and Instrumentation 2011年第3期2卷 283-287页

作者： hoang-huu viet Sang-hyeok AN Tae-choong CHUNG Dept.of Computer Engineering School of Electronics and InformationKyung Hee University

This paper presents an extended Dyna-Q algorithm to improve efficiency of the standard Dyna-Q *** the first episodes of the standard Dyna-Q algorithm,the agent travels blindly to find a goal *** overcome this weakness,our approach is to use a maximum likelihood model of all state-action pairs to choose actions and update Q-values in the first few *** algorithm is compared with one-step Q-learning algorithm and the standard Dyna-Q algorithm for the path planning problem in maze *** results show that the proposed algorithm is more efficient than the one-step Q-learning algorithm as well as the standard Dyna-Q algorithm,especially in the large environment of states.

关键词：机器人路径规划 Q算法移动学习算法目标位置最大似然规划问题标准

Dry eye rate and its relationship with disease stage in patients with primary hypertension:a cross-sectional study in vietnam

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International Journal of Ophthalmology(English edition) 2024年第4期17卷 653-658页

作者： Tran Tat Thang Pham Hong Phuong Nguyen Sa Huynh Nguyen Trung Kien NguyenDuy Toan Nguyen Thi Thu Ha Le Ha Khoa Nguyen huu Dung Thai Doan Thang Le viet Thang Nghe An Eye Hospital Nghe An 43000Vietnam Nghe An Friendship General Hospital Nghe An 43000Vietnam Military Hospital 103 Ha Noi 100000Vietnam vietnam Military Medical University Ha Noi 100000Vietnam Hanoi Medical University Ha Noi 100000Vietnam Bạch Mai Hospital Ha Noi 100000Vietnam TTH Vinh General Hospital Nghe An 100000Vietnam

AIM:To determine the dry eye(DE)rate and its relationship with disease stage in patients with primary ***:A cross-sectional study included 432 patients with primary hypertension(with an equal number of patients in each group:144 in stage Ⅰ,Ⅱ,and Ⅲ hypertension)and 144 healthy subjects as a control *** Ocular Surface Disease Index(OSDI)and Schirmer Ⅰ test without anesthetics were conducted on all 576 *** with OSDI scores<13 and Schirmer Ⅰ values equal to or under 10 mm were diagnosed with ***:The ratio of DE in hypertension patients was higher than in the control group(41.7%versus 18.8%;P<0.001).The proportion of patients with DE increased gradually according to the hypertension stage:27.1% in stage Ⅰ,40.3% in stage Ⅱ,and 57.6% in stage Ⅲ,P<***,duration of hypertension,plasma urea,creatinine,and high-sensitivity C-reactive protein(CRP-hs)levels in hypertension patients with DE were higher than those without DE,P<*** age,a long duration of hypertension,diabetes mellitus,elevated plasma creatinine,and CRP-hs levels were independent factors associated with DE in primary hypertension patients,P<***:DE is a common disorder associated with advanced age,a long duration of hypertension,diabetes mellitus,elevated plasma CRP-hs,and creatinine levels in patients with primary hypertension.

关键词： primary hypertension dry eye stage of hypertension plasma creatinine

Is convenience really king? Comparative evaluation of catastrophic costs due to tuberculosis in the public and private healthcare sectors of viet Nam: a longitudinal patient cost study

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贫困所致传染病(英文) 2024年第2期13卷 17-28页

作者： Nguyen Hoa Binh Quang Vo Luan Nguyen Forse Rachel Jeanette Wiemers Anja Maria Christine Huynh Huy Ba Dong Thuy Thi Thu Phan Yen Thi hoang Creswell Jacob Dang Thi Minh Ha Nguyen Lan huu Shedrawy Jad L?nnroth Knut Nguyen Tuan Dinh Van Dinh Luong Annerstedt Kristi Sidney Codlin Andrew James National Lung Hospital Ha Noi Viet Nam Friends for International TB Relief Ha Noi Viet Nam Department of Global Public Health WHO Collaboration Centre On Tuberculosis and Social Medicine Karolinska Institute Stockholm Sweden Stop TB Partnership Geneva Switzerland Pham Ngoc Thach Hospital Ho Chi Minh City Viet Nam

Background In viet Nam, tuberculosis (TB) represents a devastating life-event with an exorbitant price tag, partly due to lost income from daily directly observed therapy in public sector care. Thus, persons with TB may seek care in the private sector for its flexibility, convenience, and privacy. Our study aimed to measure income changes, costs and catastrophic cost incurrence among TB-affected households in the public and private *** Between October 2020 and March 2022, we conducted 110 longitudinal patient cost interviews, among 50 patients privately treated for TB and 60 TB patients treated by the National TB Program (NTP) in Ha Noi, Hai Phong and Ho Chi Minh City, viet Nam. Using a local adaptation of the WHO TB patient cost survey tool, participants were interviewed during the intensive phase, continuation phase and post-treatment. We compared income levels, direct and indirect treatment costs, catastrophic costs using Wilcoxon rank-sum and chi-squared tests and associated risk factors between the two cohorts using multivariate *** The pre-treatment median monthly household income was significantly higher in the private sector versus NTP cohort (USD 868 vs USD 578;P=0.010). However, private sector treatment was also significantly costlier (USD 2075 vs USD 1313;P=0.005), driven by direct medical costs which were 4.6 times higher than costs reported by NTP participants (USD 754 vs USD 164;Pviet Nam face similarly high risk of catastrophic costs whether treated in the

关键词： Tuberculosis Patient cost Catastrophic cost Private sector Comparative analysis viet Nam

Spiritual Forests—A Nature Conservation Model of Ethnic Minority Communities in Central viet Nam

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Open Journal of Forestry 2024年第1期14卷 74-86页

作者： Tran huu Nghi Nguyen Quynh Thu Tropenbos viet Nam 149 Tran Phu Street Hue City Thua Thien Hue Province Viet Nam

This paper aims to analyze and evaluate a model of forest conservation and management of ethnic minority (or indigenous) people in central vietnam, often referred to as the spiritual forest. These forests, called sacred forest or ghost forests by the ethnic minority people in Thua Thien Hue province, have existed for a long time among forest residents. However, they have recently declined, both in quality and quantity, due to various factors, including changes in society, economy, environment, and perception, among other reasons. Based on research conducted in A Luoi district, Thua Thien Hue province with household interviews, group discussions, and field surveys, we find that spiritual forest retains religious and human significance. They are also often among the last remaining natural forests left due to deforestation by human activities. The research results indicate challenges that conservation of spiritual forest may face, while giving recommendations derived from communities for sustainable forest development and conservation in the region.

关键词： Forest Conservation Ethnic Minority Spiritual Forest

Dyna-QUF:Dyna-Q based univector field navigation for autonomous mobile robots in unknown environments

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Journal of Central South University 2013年第5期20卷 1178-1188页

作者： viet hoang-huu CHOI Seung-yoon CHUNG Tae-choong Department of Computer Engineering Kyung Hee University

A novel approach was presented to solve the navigation problem of autonomous mobile robots in unknown environments with dense obstacles based on a univector field method. In an obstacle-free environment, a robot is ensured to reach the goal position with the desired posture by following the univector field. Contrariwise, the univector field cannot guarantee that the robot will avoid obstacles in environments. In order to create an intelligent mobile robot being able to perform the obstacle avoidance task while following the univector field, Dyna-Q algorithm is developed to train the robot in learning moving directions to attain a collision-free path for its navigation. Simulations on the computer as well as experiments on the real world prove that the proposed algorithm is efficient for training the robot in reaching the goal position with the desired final orientation.

关键词：自主移动机器人环境导航智能移动机器人目标位置移动方向现实世界 Q算法

Hydrogen roles approaching ideal electrical and optical properties for undoped and Al doped ZnO thin films

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Journal of Materiomics 2022年第1期8卷 123-135页

作者： Dung Van hoang Nam hoang Vu Nga Thi Do Anh Tuan Thanh Pham Truong huu Nguyen Jer-Lai Kuo Thang Bach Phan Vinh Cao Tran Laboratory of Advanced Materials University of ScienceHoChiMinh City700000Viet Nam vietnam National University HoChiMinh City700000Viet Nam HoChiMinh City Institute of Physics HoChiMinh City700000Viet Nam Institute of Atomic and Molecular Sciences Academia SinicaTaipei10617Taiwan Center for Innovative Materials and Architectures(INOMAR) HoChiMinh City700000Viet Nam Faculty of Materials Science&Technology University of ScienceHoChiMinh City700000Viet Nam

This paper distinguished hydrogen roles to improve electron mobility and carrier concentration in ZnO and Al doped ZnO sputtered *** combining experimental evidences and theoretical results,we find out that hydrogen located at oxygen vacancy sites(H_(O))is the main factor gives rise to increase simultaneously mobility and carrier concentration which has not been mentioned *** appropriate hydrogen content during sputtering not only results in crystalline relaxation but also supports doping Al into ZnO,increasing carrier concentration and electron mobility in the *** principles calculations confirmed hydrogen substitutional stability for oxygen vacancy,significantly reducing electron conductivity effective mass and hence increasing electron *** particular,0.8%hydrogen partial pressure ratio achieved 61 cm^(2)V^(-1)s^(-1)maximum electron mobility,optical transmittance above 82%in visible and near-infrared regions,and 2×10^(20) cm^(-3)carrier concentrations for H-Al co-doped ZnO *** values approach ideal electrical and optical properties for transparent conducting oxide *** presence of one maximum electron mobility was attributed to competition between increasing mobility due to restoring effective electron mass and hydrogen passivation of native defects,and decreased electron mobility due to electron-phonon scattering.

关键词： High electron mobility Hydrogen roles Passivation effects Effective electron mass DFT calculations Doped ZnO thin Film

Depleted uranium oxide supported nickel catalyst for autothermal CO_(2)methanation in non-adiabatic reactor under induction heating

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Journal of Energy Chemistry 2023年第10期85卷 310-323,I0010页

作者： Lai Truong-Phuoc Jean-Mario Nhut Loïc Vidal Cuong Duong-viet Sécou Sall Corinne Petit Christophe Sutter Mehdi Arab Alex Jourdan Cuong Pham-huu Institute of Chemistry and Processes for Energy Environment and Health(ICPEES)ECPMUMR 7515 CNRS-University of Strasbourg25 rue Becquerel67087 Strasbourg Cedex 02France BlackLeaf SAS 210 rue Geiler de Kaysersberg67400 IllkirchFrance Institute of Materials Science of Mulhouse IS2MUMR 7361Universitéde Haute-AlsaceCNRS15rue Jean Starcky-BP 248868057 MulhouseFrance ORANO Tricastin Direction de La Recherche&DéveloppementSite du TRICASTIN BP 1626701 Pierrelatte CedexFrance

Undoped nickel-based catalysts supported on depleted uranium oxide allow one to carry out CO_(2)methanation process under extremely low reaction temperature under atmospheric pressure and powered by a contactless induction *** adjusting the reaction conditions,the catalyst is able to perform CO_(2)methanation reaction under autothermal process operated inside a non-adiabatic reactor,without any external energy *** autothermal process is possible thanks to the high apparent density of the UO_x which allows one to confine the reaction heat in a small catalyst volume in order to confine the exothermicity of the reaction inside the catalyst and to operate the reaction at equilibrium heat in-heat *** autothermal operation mode allows one to significantly reduce the complexity of the process compared to that operated using adiabatic reactor,where complete insulation is required to prevent heat disequilibrium,in order to reduce as much as possible,the heat exchange with the external *** catalyst displays an extremely high stability as a function of time on stream as no apparent *** is expected that such new catalyst with unprecedented catalytic performance could open new era in the field of heterogeneous catalysis where traditional supports show their limitations to operate catalytic processes under severe reaction conditions.

关键词： CO_(2)methanation Auto-methanation Induction heating Depleted uranium oxide Electrification process Operando DRIFTS

New Results on H_(∞) Control for Nonlinear Conformable Fractional Order Systems

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Journal of Systems Science & Complexity 2021年第1期34卷 140-156页

作者： MAI viet Thuan NGUYEN Thi Huyen Thu NGUYEN huu Sau NGUYEN Thi Thanh Huyen Department for Management of Science and Technology Development Ton Duc Thang UniversityHo Chi Minh CityVietnam Faculty of Mathematics and Statistics Ton Duc Thang UniversityHo Chi Minh CityVietnam Faculty of General Science Hanoi University of Natural Resources and EnvironmentHanoiVietnam Faculty of Fundamental Science Hanoi University of IndustryHa NoiVietnam Department of Mathematics and Informatics Thainguyen University of SciencesThainguyenVietnam

This paper deals with H_(∞) control problem for nonlinear conformable fractional order systems. The authors first derive new sufficient condition for exponential stability of nonlinear conformable fractional order systems based on Lyapunov-like function method for conformable fractional order systems and linear matrix inequalities(LMIs) approach. Then, by introducing a new concepts of H_(∞) control problem for nonlinear conformable fractional order systems, the authors study H_(∞) performance analysis and H_(∞) state feedback controller design problems for the considered systems. In terms of LMIs, a sufficient condition is proposed to ensure the nonlinear conformable fractional order systems are not only exponentially stable, but also satisfy H_(∞) performance γ. An explicit expression for state feedback controllers is also designed to make the closed-loop system is exponentially stable with H_∞performance γ. Finally, numerical examples are given to illustrate the validity and effectiveness of the proposed results.

关键词： Conformable fractional-order H_(∞)control problems H_(∞)performance analysis linear matrix inequalities nonlinear systems

A combination of damage locating vector method （DLV） and differential evolution algorithm （DE） for structural damage assessment

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Frontiers of Structural and Civil Engineering 2018年第1期12卷 92-108页

作者： T. NGUYEN-THOI A. TRAN-viet N. NGUYEN-MINH T. VO-DUY V. HO-huu Division of Computational Mathematics and Engineering Institute for Computational Science Ton Duc Thang University Hochiminh City Vietnam Division of Construction Computation Institute for Computational Science Ton Duc Thang University Hochiminh City Vietnam Faculty of Civil Engineering Ton Duc Thang University Hochiminh City Vietnam

In this study, a two-stage method is presented for identifying multiple damage scenarios. In the first stage, the damage locating vector （DLV） method using normalized cumulative energy （nce） is employed for damage localization in structures. In the second stage, the differential evolution algorithm （DE） is used for damage severity of the structures. In addition, in the second stage, a modification of an available objective function is made for handing the issue of symmetric structures. To verify the effectiveness of the present technique, numerical examples of a 72-bar space truss and a one-span steel portal frame are considered. In addition, the effect of noise on the performance of the identification results is also investigated. The numerical results show that the proposed combination gives good assessment of damage location and extent for multiple structural damage cases.

关键词： damage assessment damage locating vector method (DLV) differential evolution (DE) multiple damagelocation assurance criterion (MDLAC) mode shape error function