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Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force

Computers, Materials & Continua 2024年第11期81卷 2337-2356页

作者： Van-Truong nguyen Dai-Nhan Duong Dinh-hieu Phan Thanh-Lam Bui Xiem HoangVan Phan Xuan Tan Faculty of Mechatronics SMAEHanoi University of IndustryHanoi159999Vietnam Faculty of Electronics and Telecommunications Vietnam National University-University of Engineering and Technology(VNU-UET)Hanoi10000Vietnam College of Engineering Shibaura Institute of TechnologyTokyo135-8548Japan

This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external *** proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error *** addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control *** proposed controller is basic in design yet simple to *** ANPD controller has the advantage of being computationally lightweight and providing high robustness against external *** stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its *** and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed *** proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control *** represents a promising solution for applications requiring precise and stable motion control under varying external conditions.

关键词： Two-wheeled self-balancing robot nonlinear PD control external force genetic algorithm

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Promote Combinational Researches, Training, and Applied Scientific Technology in Universities and Institutes in Vietnam

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Sociology Study 2016年第5期6卷 342-347页

作者： Thi Dung nguyen Hong phuc nguyen University of Labour and Social Affairs Hanoi city Viemam Military Medical Chamber National Defense AcademyHanoi city Vietnam

To promote the combination of research, training, and scientific technology application is the main policy of the Vietnam Communist Party and State of their management to their meeting of the needs toward their radical and comprehensive renovation with educational and training processes. There are some solutions such as： To develop a national project on combination of research and scientific technology application in social science in Vietnam was administered, to develop a set of criteria to ensure effectiveness of combination of research and training which will be based on the needs of society was assessed, to increase self-control of research institutes and universities of social science sector in combination of research and scientific technology application was examined, to be continued of the renovation management mechanism was managed, the cost norm and means of providing finance research and scientific technology application in social science were founded. The comprehensive legal framework and criteria of combination of research and scientific technology application as a basic for evaluating activities of research and scientific technology application in social science were used. Suggestions that this study was to apply scientific technology in transferring national university and investigation of the key universities into universities＇ researches were provided.

关键词： Scientific train institute university social science

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Tin electronucleation and growth from Sn(II) in nonaqueous solutions based on ethylene glycol: Electrochemical behavior and temperature effect

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Transactions of Nonferrous Metals Society of China 2023年

作者： Kiem Do Van nguyen Van hieu Tu Le Manh Faculty of Electrical and Electronic Engineering， Phenikaa University Phenikaa Research and Technology Institute (PRATI)， A&A Green Phoenix Group Faculty of Materials Science and Engineering， Phenikaa Institute for Advanced Study (PIAS)， Phenikaa University

Thermodynamic and kinetic aspects of tin electronucleation and growth processes onto a glassy carbon electrode from SnCl2·2H2O dissolved in ethylene glycol solutions were studied. Typical reduction and oxidation peaks observed in voltammograms have demonstrated the capability of ethylene glycol solutions to electrodeposit Sn. The temperature-dependence of diffusion coefficient values derived from potentiodynamic and potentiostatic studies helped to determine and validate estimations of the activation energy for Sn(II) bulk diffusion. Chronoamperometric results have identified that， the suitable model to describe the early stage of Sn electrodeposition could be composed of Sn three-dimensional nucleation and diffusion-controlled growth and water reduction contributions， which was duly validated by theoretical and experimental approaches. From the model， typical kinetic parameters such as nucleation frequency， A， number density of tin nuclei， N0， and D， were determined. The presence of tin nuclei with excellent quality and their structure were verified using SEM， EDX， and XRD techniques.

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Investigation of Polymorphisms in Coding Region of OsHKT1in Relation to Salinity in Rice

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Rice science 2016年第6期23卷 334-338页

作者： pham quynh-hoa tran xuan-an nguyen thi-nha-trang tran thi-thuy-anh hoang hai-yen nguyen thi-hong-van tang thi-hanh do thi-phuc Faculty of Biology VNU University of ScienceHanoi334 Nguyen TraiThanh XuanHanoiVietnam Faculty of Agronomy Vietnam National University of AgricultureNgo Xuan Quang StreetTrau QuyGia LamHanoiVietnam

Rice （Oryza sativa） is sensitive to salinity, but the salt tolerance level differs among cultivars,which might result from natural variations in the genes that are responsible for salt tolerance. High-affinitypotassium transporter （HKTs） has been proven to be involved in salt tolerance in plants. Therefore, wescreened for natural nucleotide polymorphism in the coding sequence of OsHKT1, which encodes the HKTprotein in eight Vietnamese rice cultivars differing in salt tolerance level. In total, seven nucleotidesubstitutions in coding sequence of OsHKT1 were found, including two non-synonymous and five synonymoussubstitutions. Further analysis revealed that these two non-synonymous nucleotide substitutions （G50Tand T1209A） caused changes in amino acids （Gly17Val and Asp403Glu） at signal peptide and the loop ofthe sixth transmembrane domain, respectively. To assess the potential effect of these substitutions on theprotein function, the 3D structure of HKT protein variants was modelled by using PHYRE2 webserver. Theresults showed that no difference was observed when compared those predicted 3D structure of HKTprotein variants with each other. In addition, the codon bias of synonymous substitutions cannot clearlyshow correlation with salt tolerance level. It might be interesting to further investigate the functional roles ofdetected non-synonymous substitutions as it might correlate to salt tolerance in rice.

关键词： polymorphism salt stress OsHKT1 gene rice

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Behavior of noncircular tunnels excavated in stratified rock masses-Case of underground coal mines

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Journal of Rock Mechanics and Geotechnical Engineering 2019年第1期11卷 99-110页

作者： Ngoc Anh Do Daniel Dias Van Diep Dinh Tien Tung Tran Van Canh Dao Viet Doan Dao phuc Nhan nguyen Department of Underground and Mining Construction.Faculty of Civil Engineering Hanoi University of Mining and Ceology School of Automotive and Transportation Engineering Hefei University of Technology Laboratory 35R Crenoble Alpes University

The amount of tunnels excavated along stratified/sedimentary rock masses in Quangninh coal mine area,Vietnam, is gradually increasing. Rock mass in Quangninh is characterized by beddings between rock layers. The behavior of stratified rock masses surrounding the tunnels depends on both the intact rock and the beddings between rock layers. The main characteristics of stratified rock masses that need to be considered are their heterogeneity and anisotropy. Depending on the dip angle of rock layers, movements and failure zones developed surrounding the tunnels can be asymmetrical over the vertical axis of tunnel. This asymmetry causes adverse behaviors of the tunnel structures. The objective of this study is to highlight convergences and yielded zones developed in rock masses surrounding noncircular tunnels in Quangninh coal mine area using a finite element method. The presence of bedding joints is explicitly simulated. The numerical results indicated that with the increase in dip angle of bedding joints, the stress asymmetry over the tunnel vertical axis increases. It gradually leads to an asymmetry of the failure zone surrounding the tunnel. An increase of rock mass quality means a decrease of rock mass sensitivity to the discontinuities. In addition,a dip angle of the bedding joints of approximately 45° could be considered as the critical angle at which the rock mass mechanism changes between sliding and bending.

关键词： Tunnel Bedding Stratification Anisotropic Heterogeneity

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越南西北部Posen花岗岩锆石U-Pb年龄和Hf同位素组成特征

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岩石学报 2009年第12期25卷 3141-3152页

作者： hieu PhamTrung 陈福坤祝禧艳王伟 nguyen ThiBichThuy BUI MinhTam nguyen QuangLuat 中国科学院地质与地球物理研究所矿产资源研究重点实验室北京100029 中国科学院研究生院地球科学学院北京100039 Department of Geology Hanoi University of Mining and GeologyHanoiVietnam Research Institute of Geology and Mineral Resources Thanh Xuan-Dong DaHanoiVietnam

本文报道出露于越南西北部的Posen花岗岩岩体锆石U-Pb年龄和Hf同位素组成特征,讨论岩石成因和该地区新元古代岩浆作用的大地构造意义。分析3个花岗岩样品获得723Ma至760Ma的锆石U-Pb年龄,表明花岗岩形成于新元古代。该花岗岩的锆石Hf同... 详细信息

本文报道出露于越南西北部的Posen花岗岩岩体锆石U-Pb年龄和Hf同位素组成特征,讨论岩石成因和该地区新元古代岩浆作用的大地构造意义。分析3个花岗岩样品获得723Ma至760Ma的锆石U-Pb年龄,表明花岗岩形成于新元古代。该花岗岩的锆石Hf同位素组成有较大的变化范围,ε_(Hf)(t)值变化范围为-16.1至+3.4,单阶段Hf模式年龄为1186～1945Ma,暗示Posen花岗岩有着复杂的源区物源组成。在误差范围内,锆石两阶段Hf同位素模式年龄值主要集中在2.0～2.1Ga,与两阶段Nd同位素模式年龄值2.1～2.2Ga一致,说明花岗岩体主要由古元古代地壳物质部分熔融形成的。部分锆石颗粒具有正ε_(Hf)(t)值,可能指示花岗岩岩浆形成过程中存在壳-幔混合相互作用。在越南西北部发育新元古代岩浆作用可能与扬子板块广泛发育的、伴随Rodinia超大陆裂解过程的岩浆活动存在成因的联系,也揭示越南西北部地体可能与扬子板块具有亲缘关系,因此,可以推断马江断裂带应该代表印支板块和华南板块之间的古特提斯缝合带在越南西北部的延伸。

关键词：越南西北部花岗岩岩浆岩体锆石 U-Pb年龄同位素组成组成特征 isotopic composition ages Yangtze block 新元古代模式年龄扬子板块岩浆作用 material sources Rodinia超大陆两阶段 South China study fault zone

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Structure-based Comparative Analysis and Prediction of N-linked Glycosylation Sites in Evolutionarily Distant Eukaryotes

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Genomics, Proteomics & Bioinformatics 2013年第2期11卷 96-104页

作者： phuc Vinh nguyen Lam Radoslav Goldman Konstantinos Karagiannis Tejas Narsule Vahan Simonyan Valerii Soika Raja Mazumder Life Sciences Department Paris Diderot University Department of Biochemistry and Molecular Biology George Washington University Medical Center Department of Oncology Georgetown University Center for Biologics Evaluation and Research Food and Drug Administration

The asparagine-X-serine/threonine （NXS/T） motif, where X is any amino acid except proline, is the consensus motif for N-linked glycosylation. Significant numbers of high-resolution crystal structures of glycosylated proteins allow us to carry out structural analysis of the N-linked glycosylation sites （NGS）. Our analysis shows that there is enough structural information from diverse glycoproteins to allow the development of rules which can be used to predict NGS. A Python-based tool was developed to investigate asparagines implicated in N-glycosylation in five species： Homo sapiens, Mus musculus, Drosophila melanogaster, Arabidopsis thaliana and Saccharo- myees cerevisiae. Our analysis shows that 78 % of all asparagines of NXS/T motif involved in N-gly- cosylation are localized in the loop/turn conformation in the human proteome. Similar distribution was revealed for all the other species examined. Comparative analysis of the occurrence of NXS/T motifs not known to be glycosylated and their reverse sequence （S/TXN） shows a similar distribu- tion across the secondary structural elements, indicating that the NXS/T motif in itself is not bio- logically relevant. Based on our analysis, we have defined rules to determine NGS. Using machine learning methods based on these rules we can predict with 93% accuracy if a particular site will be glycosylated. If structural information is not available the tool uses structural prediction results resulting in 74% accuracy. The tool was used to identify glycosylation sites in 108 human proteins with structures and 2247 proteins without structures that have acquired NXS/T site/s due to non-synonymous variation. The tool, Structure Feature Analysis Tool （SFAT）, is freely available to the public at http：//***/tools/sfat.

关键词： N-linked glycosylation Gain and loss of glycosyla-tion nsSNP nsSNV Variation

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Sn nucleation and growth from Sn(II)dissolved in ethylene glycol:Electrochemical behavior and temperature effect

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Transactions of Nonferrous Metals Society of China 2024年第8期34卷 2714-2732页

作者： Kiem Van DO hieu Van nguyen Tu Manh LE Faculty of Electrical and Electronic Engineering Phenikaa UniversityYen NghiaHa-DongHanoi 10000Vietnam Phenikaa Research and Technology Institute(PRATI) A&A Green Phoenix Group167 Hoang NganHanoi 10000Vietnam Faculty of Materials Science and Engineering Phenikaa Institute for Advanced Study(PIAS)Phenikaa UniversityHanoi 10000Vietnam

Thermodynamic and kinetic aspects of Sn nucleation and growth processes onto a glassy carbon electrode from SnCl2·2H2O dissolved in ethylene glycol solutions were *** reduction and oxidation peaks observed in voltammograms have demonstrated the capability of ethylene glycol solutions to electrodeposit *** temperature-dependence of diffusion coefficient values derived from potentiodynamic and potentiostatic studies helped to determine and validate estimations of the activation energy for Sn(II)bulk *** results have identified that,the suitable model to describe the early stage of Sn electrodeposition could be composed of Sn three-dimensional nucleation and diffusion-controlled growth and water reduction contributions,which was duly validated by theoretical and experimental *** the model,typical kinetic parameters such as the nucleation frequency of Sn(A),number density of Sn nuclei(N_(0)),and diffusion coefficient of Sn(II)ions(D),were *** presence of Sn nuclei with excellent quality and their structures were verified using SEM,EDX,and XRD techniques.

关键词： Sn nucleation growth ethylene glycol nucleation kinetics electrodeposition

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Automated Behavioral Phenotyping Reveals Presymptomatic Alterations in a SCA3 Genetrap Mouse Model

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Journal of Genetics and Genomics 2012年第6期39卷 287-299页

作者： Jeannette Hübener Nicolas Casadei Peter Teismann Mathias W. Seeliger Maria Bjrkqvist Stephan von Horsten Olaf Riess Huu phuc nguyen Department of Medical Genetics University of TubingenTubingen 72076Germany Institute of Medical Sciences University of AberdeenAB25 2ZDUK Division of Ocular Neurodegeneration Centre for OphthalmologyInstitute for Ophthalmic ResearchUniversity of TubingenTubingen 72076Germany Neuronal Survival Unit Department of Experimental Medical SciencesWallenberg Neuroscience CenterLund UniversityLund 221 84Sweden Experimental Therapy Franz-Penzoldt-CenterUniversity of Erlangen-NurnbergErlangen 91054Germany

Characterization of disease models of neurodegenerative disorders requires a systematic and comprehensive phenotyping in a highly standardized manner. Therefore, automated high-resolution behavior test systems such as the homecage based LabMaster system are of particular interest. We demonstrate the power of the automated LabMaster system by discovering previously unrecognized features of a recently characterized atxn3 mutant mouse model. This model provided neurological symptoms including gait ataxia, tremor, weight loss and premature death at the age of 12 months usually detectable just 2 weeks before the mice died. Moreover, using the LabMaster system we were able to detect hypoactivity in presymptomatic mutant mice in the dark as well as light phase. Additionally, we analyzed inflammation, immunological and hematological parameters, which indicated a reduced immune defense in phenotypic mice. Here we demonstrate that a detailed characterization even of organ systems that are usually not affected in SCA3 is important for further studies of pathogenesis and required for the preclinical therapeutic studies.

关键词： Automated homecage behavior Genetrap mouse model Spinocerebellar Ataxia Type 3

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Spectroscospy method for determination of Thorium with Azocalix[4]arene

Spectroscospy method for determination of Thorium with Azoca...

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International Conference on Biology, Environment and Chemistry（ICBEC 2010）

作者： Tran Quang hieu Le Van Tan nguyen Ngoc Tuan Saigon Technology University Ho Chi Minh City University of Industry Dalat nuclear research Institutive

ISBN: (纸本)9789810886424

A research of possible application of azocalixarene for evaluation of thorium content was *** on the complex of Ortho-Ester Tetra-Azophenylcalix[4]arene(TEAC) with Thorium(IV) in acetate buffer solution,the precision,reproducibility and interference of foreign metal ions were *** these results,a new method has been built to determine *** this recommended method could be applied for determination of thorium concentration in some monazite ore with high confident results.

关键词： Azocalixarene,Spectroscopy,Thorium,Complex,Molecular Mechanism,Calculation.

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