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

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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

越南学生汉语社会称谓语偏误研究 ——以越南人民警察学院为例

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越南学生汉语社会称谓语偏误研究 ——...

作者： phan THI nhan HUYEN（潘小娴）华中师范大学

学位级别：硕士

汉、越两语的社会称谓系统“同大于异”,可汉语社会称谓语系统仍然是越南学生学习汉语的难点之一。越南是“一带一路”的重要节点,该国学习汉语的人数逐年增高,但目前对外汉语教学领域中称谓语的研究鲜有以越南学生为研究对象的。在此... 详细信息

汉、越两语的社会称谓系统“同大于异”,可汉语社会称谓语系统仍然是越南学生学习汉语的难点之一。越南是“一带一路”的重要节点,该国学习汉语的人数逐年增高,但目前对外汉语教学领域中称谓语的研究鲜有以越南学生为研究对象的。在此基础上,本文以越南人民警察学院的汉语学生为研究对象,研究他们在学习汉语社会称谓语生的困难与障碍。之所以选择越南人民警察学院,是因为笔者是该校的专职汉语教师,非常了解该大学的汉语教学情况。此外,作为培养越南警官的最高学府,该校非常注重外语教学工作,汉语是该校学生的必修课,汉语社会称谓语对这些未来的越南警官有着特殊的意义。本文依托越南人民警察学院使用的三部汉语教材,即《汉语教材》、《博雅汉语》和《警务汉语》,整理搜集到215个汉语社会称谓语,从中选取了 34个校园内常见的社会称谓语,以此为切入点来了解越南学生学习汉语社会称谓语情况,全面分析了学习过程中所产生的偏误及成因。越南学生在学习汉语社会称谓语时容易出现混淆替换、过度泛化、语素误译、语素添加、语素缺失、颠倒结构等六类偏误。比如,越南学生会说“*服务,我要点菜”等。其中,混淆替换和颠倒结构类偏误数量较多。造成这些偏误的原因比较多样,其中,汉语社会称谓语系统的庞杂性造成的干扰以及越南语的定中结构,汉译越称谓的重复等负迁移影响最大。本文还发现越南学习者对新兴的汉语社会称谓还缺乏了解,存在自我妨碍心理,容易回避。我们根据这些偏误类型以及越南学生的特点,提出了自己的建议,比如在汉语社会教学中强调理实一体,采取的教学法时注重对比分析法、情景教学法。期待为越南的教学者提供教学建议,帮助越南学生提升汉语能力,实实在在地助力“一带一路”计划中的“民心相通”。

关键词：汉语社会称谓语越南学生偏误

Microbial responses to combined oxidation and catalysis treatment of 1,4-dioxane and co-contaminants in groundwater and soil

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Frontiers of Environmental Science & Engineering 2018年第5期12卷 168-180页

作者： Yu Miao Nicholas W.Johnson Kimberly Heck Sujin Guo Camilah D.Powell thien phan Phillip B.Gedalanga David T.Adamson Charles J.Newell Michael S.Wong Shaily Mahendra Department of Civil and Environmental Engineering University of CaliforniaLos AngelesCA 90095USA Department of Chemical and Biomolecular Engineering Rice UniversityHoustonTX 77005USA Department of Health Science California State UniversityFullertonCA 92834USA GSI Environmental Inc. HoustonTX 77098USA

Post-treatment impacts of a novel combined hydrogen peroxide(H2O_(2))oxidation and WOx/ZrO_(2) catalysis used for the removal of 1,4-dioxane and chlorinated volatile organic compound(CVOC)contaminants were investigated in soil and groundwater microbial *** treatment train removed~90%1,4-dioxane regardless of initial concentrations of 1,4-dioxane and *** Illumina Miseq platform and bioinformatics were used to study the changes to microbial community *** approach determined that dynamic shifts of microbiomes were associated with conditions specific to treatments as well as 1,4-dioxane and CVOCs *** biodiversity was observed to decrease only after oxidation under conditions that included high levels of 1,4-dioxane and CVOCs,but increased when 1,4-dioxane was present without ***_(x)/ZrO_(2) catalysis reduced biodiversity across all *** classification demonstrated oxidative tolerance for members of the genera Massilia and Rhodococcus,while catalyst tolerance was observed for members of the genera Sphingomonas and *** discriminant analysis effect size was a useful statistical tool to highlight representative microbes,while the multidimensional analysis elucidated the separation of microbiomes under the low 1,4-dioxane-only condition from all other conditions containing CVOCs,as well as the differences of microbial population among original,post-oxidation,and post-catalysis *** results of this study enhance our understanding of microbial community responses to a promising chemical treatment train,and the metagenomic analysis will help practitioners predict the microbial community status during the post-treatment period,which may have consequences for long-term management strategies that include additional biodegradation treatment or natural attenuation.

关键词： Coupled treatments Chlorinated solvents Diethylene ether Biological diversity Microbial populations Biomarkers

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光滑耗散粒子动力学在红细胞模拟中的应用

光滑耗散粒子动力学在红细胞模拟中的应用

犀角地黄汤合四君子汤对难治性丙型肝炎的疗效观察

第十届全国流体力学学术会议

作者：叶挺 nhan phan-thien Chwee Teck Lim 彭立娜史慧欣吉林大学数学学院计算数学系新加坡国立大学机械工程系

近年来,细胞在微管中的运动、变形和聚集吸引了越来越多的数值研究;并且随着计算能力的不断提升,所涉及的问题也越来越复杂,例如,模拟全血细胞在复杂的血管网中的动态和流变行为。一般来说,数值模拟方法可以大致分为三类:1)基于网格的方... 详细信息

近年来,细胞在微管中的运动、变形和聚集吸引了越来越多的数值研究;并且随着计算能力的不断提升,所涉及的问题也越来越复杂,例如,模拟全血细胞在复杂的血管网中的动态和流变行为。一般来说,数值模拟方法可以大致分为三类:1)基于网格的方法,像有限差分法(FDM)、有限元法(FEM)和有限体积法(FVM),2)基于粒子方法,像光滑粒子流体动力学(SPH),耗散粒子流体动力学(SDPD)和光滑耗散粒子流体动力学(SDPD),3)网格粒子混合法,像Boltzman格子法(LBM)。与网格法相比,粒子法在模拟具有复杂结构的问题时有独特的优点,而细胞在血管中的运动往往涉及的是复杂血管;因此,粒子法在细胞模拟方面更具优势。本报告就是采用一种粒子法——光滑耗散粒子动力学,来模拟红细胞在复杂管道中的运动、变形和聚集行为。细胞内外的流体由光滑耗散粒子动力学来描述;细胞膜与流体相互作用采用浸入边界法来处理;细胞膜利用三角网状结构来建模,其变形包括剪切变形、弯曲变形,并考虑了细胞膜不可压缩性以及假设细胞是不可渗透的;细胞与细胞之间相互作用采用Morse势函数来近似描述。在此模型基础上,我们分别研究了单个健康红细胞在矩形管、圆柱管、弯管、以及分叉、变窄和螺旋型管道中的运动和变形。下一步,我们将转移到几个甚至大量细胞在更加复杂管道内的动态和流变行为的研究。

关键词：光滑耗散粒子动力学浸入边界法红细胞数值模拟复杂血管

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犀角地黄汤合四君子汤对难治性丙型肝炎的疗效观察

作者：蔡潘松善（THAI phan TUNG thien）南京中医药大学

学位级别：硕士

目的：观察犀角地黄汤合四君子汤对难治性丙型肝炎的临床疗效,并通过与聚乙二醇干扰素联合利巴韦林和或保肝西药治疗相比较,讨论犀角地黄汤的四君子汤治疗难治性丙型肝炎的对于病毒应答、肝功能的变化及症状改善的影响,评价该法对于难... 详细信息

目的：观察犀角地黄汤合四君子汤对难治性丙型肝炎的临床疗效,并通过与聚乙二醇干扰素联合利巴韦林和或保肝西药治疗相比较,讨论犀角地黄汤的四君子汤治疗难治性丙型肝炎的对于病毒应答、肝功能的变化及症状改善的影响,评价该法对于难治性丙肝治疗优势。方法：采用阳性药物队列研究的方法,按标准入选难治性丙型肝炎患者50例,其中治疗组25例,对照组25例。治疗组给犀角地黄汤合四君子汤加减组方治疗,对照组给予聚乙二醇干扰素联合利巴韦林和或保肝药物治疗,疗程为48周。观察两组患者在治疗前及治疗48周时的综合疗效、抗病毒疗效、症候疗效、中医症候积分、肝功能及安全性指标,比较两药的治疗效果。结果：共有47例病人完成48周疗程,其中治疗组为24例,对照组为23例。治疗组有1例因失访而脱落,对照组有2例因不良反应脱落,无剔除病例。治疗48周后临床综合疗效比较,经48周治疗后综合疗效方面如下,治疗组显效率、有效率、总有效率分别为4.2%、83.3%、87.5%。对照组组显效率、有效率、总有效率分别为30.4%、34.8%、65.2%,治疗组及对照组综合疗效比较明显著差异(P<0.05)。整个研究过程未出现不良反应。结论：本研究发现犀角地黄汤合四君子汤治疗难治性丙型肝炎时在改善病患的临床症候及体征上具有明显的优势。中医治疗及西医治疗在降低ALT和AST水平无明显差异,但可在短时间内有显著疗效,减轻肝脏损害程度减缓肝纤维化进程。中医治疗虽然有抗病毒作用不具有统计学差异,相较西医抗病毒效果差,存在一定差距。长疗效也是不可获缺的治疗条件。犀角地黄汤合四君子汤对难治性丙型肝炎的临床研究过的获得较好的疗效,主要体现在改善临床症状体征方面,是一种使用方便,无毒副作用的方法。

关键词：难治性丙型肝炎中医治疗犀角地黄汤四君子汤临床疗效

Shunting,optic nerve sheath fenestration and dural venous stenting for medically refractory idiopathic intracranial hypertension:systematic review and meta-analysis

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Annals of Eye Science 2018年第1期3卷 169-183页

作者： Daniel B.Scherman Adam A.Dmytriw Gia Thanh Nguyen nhan Thi Nguyen Nana Tchantchaleishvili Julian Maingard Hamed Asadi Mark Brooks Christoph Griessenauer Christopher Ogilvy Ajith J.Thomas Justin M.Moore Kevin phan NeuroSpine Surgery Research Group(NSURG) Prince of Wales Private HospitalSydneyAustralia Department of Neurosurgery Beth Israel Deaconess Medical CenterHarvard Medical SchoolBostonUSA Hue University of Medicine and Pharmacy Hue CityVietnam University of Medicine and Pharmacy Ho Chi Minh CityVietnam Interventional Neuroradiology Service Department of RadiologyAustin HospitalMelbourneAustralia Interventional Neuroradiology Unit Monash ImagingMonash HealthMelbourneAustralia Faculty of Health School of MedicineDeakin UniversityWaurn PondsAustralia Department of Neurosurgery Geisinger Health SystemDanvilleUSA Department of Neurosurgery Stanford UniversityStanfordUSA

Background:Cerebrospinal fluid(CSF)-diversion procedures have traditionally been the standard of treatment for patients with medically refractive idiopathic intracranial hypertension(IIH).However,dural venous sinus stent(VSS)placement has been described as a safe and effective procedure for the management of medically refractive *** performed a meta-analysis comparing outcomes and complications of CSF-diversion procedures,VSS and optic nerve sheath fenestration(ONSF)for the treatment of medically refractive ***:Electronic searches were performed using six databases from 1988 to January *** was extracted and meta-analysed from the identified ***:From 55 pooled studies,there were 538 CSF-diversion cases,224 dural venous stent placements,and 872 ONSF *** improvements were found in terms of postoperative headaches(CSF *** ***:84%vs.78%vs.62%,P=0.223),papilledema(CSF *** ***:71%vs.86%vs.77%,P=0.192),whilst visual acuity changes favored venous stenting(CSF *** ***:55%vs.69%vs.44%,P=0.037).There was a significantly lower rate of subsequent procedures with venous stent placement(CSF *** ***:37%vs.13%vs.18%,P<0.001),but other complication rates were similar(CSF *** ***:13%vs.8%vs.14%,P=0.28).Subgroup analysis of lumbar-peritoneal *** shunts found no differences in symptom improvements,complications and subsequent procedure ***:Our findings suggest that dural venous sinus stenting may be a viable alternative to traditional surgical interventions in patients who are refractory to medical treatment.

关键词： Cerebrospinal fluid diversion procedures(CSF-diversion procedures) idiopathic intracranial hypertension(IIH) optic nerve sheath fenestration(ONSF) venous sinus stent placement(VSS)

The Effects of Nutritional Media and Initial Cell Density on the Growth and Development of Spirulina platensis

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Journal of Agricultural Science and Technology(A) 2017年第B10期7卷 60-67页

作者： Nguyen Van Khanh Nguyen Thi Diem Le Thi Tuyet nhan phan Van Cu Tran Quang Khanh Van Ngo Thi Hoan Institute of Biotechnology Hue UniversityPhu ThuongPhu VangThua Thien Hue 530000Vietnam Faculty of Fisheries University of Agriculture and ForestryHue University102 Phung Hung StreetHue 530000Vietnam Faculty of Fisheries Ha Long University258 Bach Dang StreetUong Bi City 207900Quang NinhVietnam

The main objective of the study was to determine the effects of nutritional media and initial cell density on the growth and development of Spirulina *** study was carried out at the Center for Incubation and Technology Transfer,Hue University from May 2015 to August *** the first experiment,*** was cultured in four different nutritional media,including Zarrouk,Spi-RIA3,Nisole and Thuoc medium(Vietnamese).Resulted showed that *** grew significantly in the Zarrouk medium rather than in other nutritional medium at the same time,and gained the maximum density of 2,736.5 mg/L after 13 d inoculums,with specific growth rate of 4.987%per day and the time to doubling population of 0.139 *** the second experiment,*** was cultured in six different initial cell densities:100,400,700,1,000,1,300 and 1,600 mg/L,and the optimum nutritional medium was Zarrouk medium selected from experiment *** showed at the initial culture density of 400 mg/L,the highest biomass was gained with the maximum density of 3,071.2 mg/L after 21 d inoculums,with specific growth rate of 9.15%per day and time to double population of 0.076 *** biomass from culture in Zarrouk medium at initial cell density 400 mg/L obtained total protein of 51.98%,total lipid of 1.75%,total carbohydrate of 0.75%,carotene of 0.36%and total minerals of 5.2%,on a basis of dry matter.

关键词： Spirulina platensis nutrient medium initial density growth rates

BTH处理对哈密瓜品质产量及抗叶部病害的影响

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中国农学通报 2007年第2期23卷 226-230页

作者：李学文姜明冯作山毛晓英 K.Y.phan-thien 新疆农业大学食品科学学院乌鲁木齐830052 新疆昌吉西域种业股份有限公司新疆昌吉831100 石河子大学食品科技学院石河子832000 Australian Youth Ambassador for Development to China

以厚皮甜瓜哈密瓜‘早皇后’品种(***)为试材,研究BTH、Amistar和KDF在甜瓜生长期处理对果实品质、产量、抗病性的影响。试验采用完全随机区组设计,在甜瓜生长期,施用药剂,对其对甜瓜品质等指标进行评价。结果表明:三种处理能够提高甜... 详细信息

以厚皮甜瓜哈密瓜‘早皇后’品种(***)为试材,研究BTH、Amistar和KDF在甜瓜生长期处理对果实品质、产量、抗病性的影响。试验采用完全随机区组设计,在甜瓜生长期,施用药剂,对其对甜瓜品质等指标进行评价。结果表明:三种处理能够提高甜瓜果实可溶性固形物的含量,对单果重量、单位面积的产量、果实硬度影响较小。BTH处理使果形指数下降,KDF提高了果实整齐度。各处理改善了果实色泽,减少了果皮裂纹。Amistar、BTH和KDF处理使果实病害指数分别下降了14.9%和12.4%,1级果率提高5.9%和5.2%。各处理均降低了甜瓜叶部白粉病病害指数。BTH处理的细菌性角斑病的发病指数比对照降低了0.95。BTH处理对甜瓜品质、产量没有影响,降低了甜瓜果实病害,抑制了白粉病和细菌性角斑病的发展。

关键词： BTH 哈密瓜品质产量抗病性

A new species of green rat snake(Squamata:Colubridae:Ptyas)from Vietnam

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Zoological Research:Diversity and Conservation 2024年第3期1卷 180-190页

作者： Sang Ngoc Nguyen Ba Dinh Vo Nikolai L.Orlov Khanh Duy phan Manh Van Le Luan Thanh Nguyen An thien Tran Robert W.Murphy Jing Che Institute of Tropical Biology Vietnam Academy of Science and Technology85 Tran Quoc Toan St.Dist.3Ho Chi Minh City 722700Vietnam Graduate University of Science and Technology Vietnam Academy of Science and Technology18 Hoang Quoc Viet RoadHanoi 11300Vietnam Department of Biology University of ScienceHue University77 Nguyen Hue St.Hue City 49000Vietnam Division of Herpetology Zoological InstituteRussian Academy of SciencesSt.Petersburg 199034 Universitetskaya nab.133701Russia Asian Turtle Program—Indo-Myanmar Conservation CT1 Bac Ha C14 BuildingTo Huu RoadHa Noi 12000Vietnam Science and International Cooperation Division Bach Ma NP.Thua Thien-Hue 49000Vietnam Reptilia Zoo and Education Centre 2501 Rutherford Rd VaughanOntario L4K 2N6Canada Key Laboratory of Genetic Evolution and Animal Models and Yunnan Key Laboratory of Biodiversity and Ecological Conservation of Gaoligong MountainKunming Institute of ZoologyChinese Academy of SciencesKunmingYunnan 650223China Southeast Asia Biodiversity Research Institute Chinese Academy of SciencesYezinNay Pyi Taw 05282Myanmar

Rat snakes(genus Ptyas)include 13 large Asian species with sizes reaching 3.8 *** more than 100 years,no new species have been discovered in this ***,we describe a new Ptyas from central Vietnam based on morphological data and nucleotide sequences from the MT-CYB *** bachmaensis *** diagnosed by the following morphological characters:large-sized snake(largest total length 2401 mm in adult male);body scale rows in even numbers,16-16-14 rows;two medial vertebral scale rows distinct;two and two or four medial scale rows keeled on middle and posterior parts of body,respectively;ventrals 194-199;subcaudals 132-138;supralabials 8,fourth and fifth entering orbit;maxillary teeth 28 or 29;hemipenis spinose and unforked,reaching 12th subcaudal;cloacal plate divided;lateral side of tail black,without a bright *** new species forms an independent clade on the phylogenetic tree and differs from its congeners by an uncorrected p-distance in MTCYB sequences of at least 5.7%.

关键词： Bach Ma National Park Thua thien-Hue Province Kon Tum Ptyas bachmaensis Ptyas nigromarginata Zaocys