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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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CONVERGENCE RESULTS FOR NON-OVERLAP SCHWARZ WAVEFORM RELAXATION ALGORITHM WITH CHANGING TRANSMISSION CONDITIONS

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Acta Mathematica Scientia 2022年第1期42卷 105-126页

作者： Minh-Phuong TRAN Thanh-nhan NGUYEN Phuoc-Toan HUYNH Nhu-Binh LY Minh-Dang NGUYEN Quoc-Anh HO Applied Analysis Research Group Faculty of Mathematics and StatisticsTon Duc Thang UniversityHo Chi Minh cityVietnam Department of Mathematics Ho Chi Minh City University of EducationHo Chi Minh cityVietnam Faculty of Mathematics and Statistics Ton Duc Thang UniversityHo Chi Minh cityVietnam

In this paper,we establish a new algorithm to the non-overlapping Schwarz domain decomposition methods with changing transmission conditions for solving one dimensional advection reaction diffusion *** precisely,we first describe the new algorithm and prove the convergence results under several natural assumptions on the sequences of parameters which determine the transmission *** we give a simple method to estimate the new value of parameters in each *** interesting advantage of our method is that one may update the better parameters in each iteration to save the computational cost for optimizing the parameters after many *** some numerical experiments are performed to show the behavior of the convergence rate for the new method.

关键词： domain decomposition method Schwarz waveform relaxation algorithm advection reaction diffusion changing transmission conditions

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复杂多相流体的介观模拟:耗散粒子动力学方法及应用

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力学进展 2024年第1期54卷 173-201页

作者：潘定一胡国辉陈硕 PHAN-THIEN nhan 浙江大学工程力学系流体动力基础件与机电系统全国重点实验室杭州310027 上海大学力学与工程科学学院上海市应用数学和力学研究所上海200072 同济大学航空航天与力学学院上海200092 Department of Mechanical Engineering National University of SingaporeSingapore 117575

在悬浮液、乳液和泡沫等复杂多相流体中,离散分布着大量的纳米至微米尺度的颗粒、液滴和气泡等,在流动作用下这些离散相物质呈现出复杂的个体或群体运动行为,进而显著影响这些复杂多相流体的宏观流变和流动行为.针对这类流体,开展介观... 详细信息

在悬浮液、乳液和泡沫等复杂多相流体中,离散分布着大量的纳米至微米尺度的颗粒、液滴和气泡等,在流动作用下这些离散相物质呈现出复杂的个体或群体运动行为,进而显著影响这些复杂多相流体的宏观流变和流动行为.针对这类流体,开展介观尺度数值模拟成为一种有效且相对经济的研究手段.其中,耗散粒子动力学(dissipative particle dynamics,DPD)方法是一种具有代表性的介观尺度数值模拟方法,由于其粒子方法的特质,DPD方法适合用于上述复杂多相流体内部结构的数值建模和数值模拟研究.本文对近年来DPD方法在颗粒悬浮液、乳液和气泡等复杂多相流体模拟方面研究进展进行了系统的介绍,深入探讨了DPD方法在复杂多相流体介观模拟方面的针对性改进以及当前存在的不足,并对DPD方法的研究和应用进行了总结和展望.

关键词：复杂多相流体耗散粒子动力学介观尺度模拟悬浮液乳液

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Simple Method for Evaluating Singular Integrals

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American Journal of Computational Mathematics 2017年第4期7卷 444-450页

作者： nhan T. Tran Department of Mathematics Kansas State University Manhattan USA

In this paper, we develop a method for evaluating one dimensional singular integrals (weakly, strongly, and hyper-singular) that converge in the sense of Cauchy principal value and Hadamard finite part integrals. A pr... 详细信息

关键词： Singular Integral Weakly Singular Strongly Singular Hyper Singular Numerical Integration

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Applications of Potential Theoretic Mother Bodies in Electrostatics

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American Journal of Computational Mathematics 2017年第4期7卷 481-494页

作者： nhan T. Tran Department of Mathematics Kansas State University Manhattan USA

Any polyhedron accommodates a type of potential theoretic skeleton called a mother body. The study of such mother bodies was originally from Mathematical Physics, initiated by Zidarov [1] and developed by Björn Gustafson and Makoto Sakai [2]. In this paper, we attempt to apply the brilliant idea of mother body to Electrostatics to compute the potentials of electric fields.

关键词： Newtonian Kernel Potential Mother Body Convex Polyhedron Geometry Geophysics Electrostatics

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Numerical Method for Solving Electromagnetic Wave Scattering by One and Many Small Perfectly Conducting Bodies

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American Journal of Computational Mathematics 2017年第4期7卷 413-434页

作者： nhan T. Tran Department of Mathematics Kansas State University Manhattan USA

In this paper, we investigate the problem of electromagnetic (EM) wave scattering by one and many small perfectly conducting bodies and present a numerical method for solving it. For the case of one body, the problem is solved for a body of arbitrary shape, using the corresponding boundary integral equation. For the case of many bodies, the problem is solved asymptotically under the physical assumptions a d a is the characteristic size of the bodies, d is the minimal distance between neighboring bodies, λ = 2π/k is the wave length and k is the wave number. Numerical results for the cases of one and many small bodies are presented. Error analysis for the numerical method is also provided.

关键词： Electromagnetic Scattering Many Bodies Perfectly Conducting Body Integral Equation EM Waves

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Numerical Method for Solving Electromagnetic Scattering Problem by Many Small Impedance Bodies

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American Journal of Computational Mathematics 2017年第4期7卷 435-443页

作者： nhan T. Tran Department of Mathematics Kansas State University Manhattan USA

In this paper, we study electromagnetic (EM) wave scattering problem by many small impedance bodies. A numerical method for solving this problem is presented. The problem is solved under the physical assumptions ka??1, where a is the characteristic size of the bodies and k is the wave number. This problem is solved asymptotically and numerical experiments are provided to illustrate the idea of the method. Error estimate for the asymptotic solution is also discussed.

关键词： Electromagnetic Scattering Integral Equation Boundary Impedance Many-Body Scattering EM Waves

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Identical Machine Scheduling Problem with Sequence-Dependent Setup Times: MILP Formulations Computational Study

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American Journal of Operations Research 2021年第1期11卷 15-34页

作者： Farouk Yalaoui nhan Quy Nguyen Chaire Connected Innovation ICD-LOSI Université de Technologie de Troyes Troyes France

This work aims to give a systematic construction of the two families of mixed-integer-linear-programming (MILP) formulations, which are graph- based and sequence-based, of the well-known scheduling problem. Two upper bounds of job completion times are introduced. A numerical test result analysis is conducted with a two-fold objective 1) testing the performance of each solving methods, and 2) identifying and analyzing the tractability of an instance according to the instance structure in terms of the number of machines, of the jobs setup time lengths and of the jobs release date distribution over the scheduling horizon.

关键词： Identical Machine Scheduling Problem Release Date Sequence Dependent Setup Time

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Erratum to “Simple Method for Evaluating Singular Integrals” [American Journal of Computational Mathematics, Volume 7, Number 4, December 2017 PP. 444-450]

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American Journal of Computational Mathematics 2019年第3期9卷 201-206页

作者： nhan T. Tran Department of Mathematics Kansas State University Manhattan KS USA

In this paper, we study the class of one-dimensional singular integrals that converge in the sense of Cauchy principal value. In addition, we present a simple method for approximating such integrals.

关键词： Singular Integral Weakly Singular Strongly Singular Numerical Integration

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Polarization sensitive optical coherence tomography with single input for imaging depth-resolved collagen organizations

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Light(Science & Applications) 2021年第12期10卷 2455-2466页

作者： Peijun Tang Mitchell A.Kirby nhan Le Yuandong Li Nicole Zeinstra G.Nina Lu Charles E.Murry Ying Zheng Ruikang K.Wang Department of Bioengineering University of Washington372015th Ave NESeattleWA 98195USA Department of Otolaryngology-Head and Neck Surgery Facial Plastic and Reconstructive SurgeryUniversity of WashingtonSeattleWA 98195USA Department of Pathology University of WashingtonSeattleWA 98109USA Center for Cardiovascular Biology University of WashingtonSeattleWA 98109USA Institute for Stem Cell&Regenerative Medicine University of WashingtonSeattleWA 98109USA Department of Ophthalmology University of WashingtonSeattleWA 98105USA

Collagen organization plays an important role in maintaining structural integrity and determining tissue ***-sensitive optical coherence tomography(PSOCT)is a promising noninvasive three-dimensional imaging tool for mapping collagen organization in *** PSOCT systems with multiple polarization inputs have demonstrated the ability to visualize depth-resolved collagen organization,systems,which use a single input polarization state have not yet demonstrated sufficient reconstruction *** we describe a PSOCT based polarization state transmission model that reveals the depth-dependent polarization state evolution of light backscattered within a birefringent *** on this model,we propose a polarization state tracing method that relies on a discrete differential geometric analysis of the evolution of the polarization state in depth along the Poincare sphere for depth-resolved birefringent imaging using only one single input polarization *** demonstrate the ability of this method to visualize depth-resolved myocardial architecture in both healthy and infarcted rodent hearts(ex vivo)and collagen structures responsible for skin tension lines at various anatomical locations on the face of a healthy human volunteer(in vivo).

关键词： polarization function. optical

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