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A Study on Hovering Control of Small Aerial Robot by Sensing Existing Floor Features

自动化学报：英文版 2020年第4期7卷 1016-1025页

作者： Chinthaka Premachandra Dang Ngoc Hoang thanh Tomotaka Kimura Hiroharu Kawanaka the Department of Electronic Engineering and Science Graduate School of EngineeringShibaura Institute of TechnologyTokyo 135-8548Japan the Department of Information Technology School of Business Information TechnologyUniversity of Economics Ho Chi Minh CityHue 530000Vietnam the Department of Intelligent Information Engineering Faculty of Science and EngineeringDoshisha UniversityKyoto 602-8580Japan the Department of Electrical and Electronic Engineering Faculty of EngineeringMie UniversityMie 514-8507Japan

Since precise self-position estimation is required for autonomous flight of aerial robots, there has been some studies on self-position estimation of indoor aerial robots. In this study, we tackle the self-position estimation problem by mounting a small downward-facing camera on the chassis of an aerial robot. We obtain robot position by sensing the features on the indoor *** this work, we used the vertex points(tile corners) where four tiles on a typical tiled floor connected, as an existing feature of the floor. Furthermore, a small lightweight microcontroller is mounted on the robot to perform image processing for the onboard camera. A lightweight image processing algorithm is developed. So, the real-time image processing could be performed by the microcontroller alone which leads to conduct on-board real time tile corner detection. Furthermore, same microcontroller performs control value calculation for flight commanding. The flight commands are implemented based on the detected tile corner information. The above mentioned all devices are mounted on an actual machine, and the effectiveness of the system was investigated.

关键词： Hovering control light weight algorithm development image processing self-position estimation small aerial robot tile corner sensing

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Using Adaptive Gain Scheduling LQR Method Control of Arm Driven Inverted Pendulum System Based on PIC18F4431

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Journal of Harbin Institute of Technology(New Series) 2013年第4期20卷 85-92页

作者： Huu Chan thanh Nguyen An-Wen Shen Department of Control Science and Engineering HuaZhong University of Science and Technology

The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.

关键词： Arm Driven Inverted Pendulum (ADIP) adaptive gain scheduling LQR control LQR control swing up pendlum

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An Optimal Deep learning Based Computer-Aided Diagnosis System for Diabetic Retinopathy

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Computers, Materials & Continua 2021年第3期66卷 2815-2830页

作者： Phong thanh Nguyen Vy Dang Bich Huynh Khoa Dang Vo Phuong thanh Phan Eunmok Yang Gyanendra Prasad Joshi Department of Project Management Ho Chi Minh City Open UniversityHo Chi Minh City7000000Vietnam Department of learning Material Ho Chi Minh City Open UniversityHo Chi Minh City7000000Vietnam Department of Convergence Science Kongju National UniversityGongju32588South Korea Department of Computer Science and Engineering Sejong UniversitySeoul05006South Korea

Diabetic Retinopathy(DR)is a significant blinding disease that poses serious threat to human vision *** and severity grading of DR are difficult processes to ***,it depends on ophthalmoscopically-visible symptoms of growing severity,which is then ranked in a stepwise scale from no retinopathy to various levels of DR *** paper presents an ensemble of Orthogonal learning Particle Swarm Optimization(OPSO)algorithm-based Convolutional Neural Network(CNN)Model EOPSO-CNN in order to perform DR detection and *** proposed EOPSO-CNN model involves three main processes such as preprocessing,feature extraction,and *** proposed model initially involves preprocessing stage which removes the presence of noise in the input ***,the watershed algorithm is applied to segment the preprocessed *** by,feature extraction takes place by leveraging EOPSO-CNN ***,the extracted feature vectors are provided to a Decision Tree(DT)classifier to classify the DR *** study experiments were carried out using Messidor DR Dataset and the results showed an extraordinary performance by the proposed method over compared methods in a considerable *** simulation outcome offered the maximum classification with accuracy,sensitivity,and specificity values being 98.47%,96.43%,and 99.02%respectively.

关键词： Diabetic retinopathy convolutional neural network classification image processing computer-aided diagnosis

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越南区域经济差距的实证研究

越南区域经济差距的实证研究

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作者： le thanh CONG 西南交通大学

学位级别：硕士

经过三十多年的革新开放,越南共产党领导越南人民在社会经济建设上取得巨大成就。由传统计划经济体制向社会主义市场经济体制转变,摆脱以往内外经济低迷的状况,并将工业化、现代化与社会主义经济推向新高度。然而在社会经济建设取得巨... 详细信息

经过三十多年的革新开放,越南共产党领导越南人民在社会经济建设上取得巨大成就。由传统计划经济体制向社会主义市场经济体制转变,摆脱以往内外经济低迷的状况,并将工业化、现代化与社会主义经济推向新高度。然而在社会经济建设取得巨大成就的同时,越南区域间经济发展差距也逐渐扩大。越南社会主义市场经济体制尚不完善,国内资本、劳动力以及科研技术资源过度集中于重点经济区,导致地区间经济发展极不平衡。长期的区域不均衡发展或者区域经济差距不断拉大,甚至出现区域发展断层,这将不单单会影响到国家长期的经济发展,更会引发一系列政治社会问题。因此关于越南区域经济差距的研究具有重要的理论与现实意义。本文基于区域发展不均衡理论,引入基尼系数分解模型与泰尔指数模型,利用越南2000-2014年国内区域经济发展数据,探讨区域经济发展差距与区域产业布局差异。并将其分解为区域之间的差距以及区域内部的差距,分析越南区域经济差距原因及其内在的机理机制。以期丰富越南区域经济差距的学术研究,助力越南区域经济发展,最终推动越南经济实现可持续发展。研究结果表明:当前越南区域间经济差距较大,地理空间上呈现明显的不均衡分布,并伴有剧烈波动态势;越南南北中三大经济区域中北部与南部经济较为发达,经济增速高,中部经济相对较弱;近年来在经济发展上,中部地区呈现出追赶南北地区的趋势,其与南北两大区域经济差距呈现出缩小趋势。并建议从完善基础设施的建设,建设对外贸易通道;加大教育培训力度,提高劳动力素质;加快外向型经济体系建设,融入国际市场;大力发展新兴行业,积极吸引外资参与等多个方面提出协调越南区域经济发展的对策建议。

关键词：越南经济区域经济差距基尼系数泰尔指数革新开放

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Taxonomic notes of three tea-plants(Camellia ***)recently described in Vietnam

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Beverage Plant Research 2022年第1期2卷 174-176页

作者： Nguyen Trung thanh Luong Van Dung le Nguyet Hai Ninh Quang cuong Truong Shixiong Yang Faculty of Biology VNU University of Science334 Nguyen TraiHanoi 100000Vietnam Faculty of Biology Dalat UniversityPhu Dong ThienVuong str.01Dalat66106Lam DongVietnam Faculty of Nong Lam Hoa Lu UniversityNinh Binh 40000Vietnam Bidoup Nui Ba National Park Tran Hung Dao str.5EDalat66116Lam DongVietnam CAS Key Laboratory for Plant Diversity and Biogeography of East Asia Kunming Institute of BotanyChinese Academy of SciencesKunming 650201YunnanChina

Camellia sinensis *** is a heterotypic synonym of *** *** flosculora and *** were excluded from ***.

关键词： notes Vietnam Camellia

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Xanthine oxidase inhibitors from Archidendron clypearia(Jack.) I.C. Nielsen: Results from systematic screening of Vietnamese medicinal plants

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Asian Pacific Journal of Tropical Medicine 2017年第6期10卷 619-626页

作者： Nguyen Thuy Duong Pham Duc Vinh Phuong Thien Thuong Nguyen Thi Hoai le Nguyen thanh Tran The Bach Nguyen Hai Nam Nguyen Hoang Anh Department of Pharmacology Hanoi University of Pharmacy Department of Pharmaceutical Analysis and Standardization National Institute of Medicinal Materials Department of Pharmacognosy Hue University of Medicine and Pharmacy Institute of Marine Biochemistry Vietnam Academy of Science and Technology Institute of Ecology and Biological Resources Vietnam Academy of Science and Technology Department of Medicinal Chemistry Hanoi University of Pharmacy

Objective: To screen Vietnamese medicinal plants for xanthine oxidase(XO) inhibitory activity and to isolate XO inhibitor(s) from the most active plant. Methods: The plants materials were extracted by methanol. The active plant materials were fractionated using different organic solvents, including n-hexane, ethyl acetate, and n-butanol. Bioassay-guided fractionation and column chromatography were used to isolate compounds. The compounds structures were elucidated by analysis of spectroscopic data, including IR, MS, and NMR. Results: Three hundreds and eleven methanol extracts(CME) belonging to 301 Vietnamese herbs were screened for XO inhibitory activity. Among these plants, 57 extracts displayed XO inhibitory activity at 100 μg/m L with inhibition rates of over 50%. The extracts of Archidendron clypearia, Smilax poilanei, Linociera ramiflora and Passiflora foetida exhibited the greatest potency with IC_(50) values below 30 μg/m L. Chemical study performed on the extract of Archidendron clypearia resulted in the isolation of six compounds, including 1-octacosanol, docosenoic acid, daucosterol, methyl gallate, quercitrin and(-)-7-O-galloyltricetiflavan. The compound(-)-7-O-galloyltricetiflavan showed the most potent XO inhibitory activity with an IC_(50) value of 25.5 μmol/L. Conclusions: From this investigation, four Vietnamese medicinal plants were identified to have XO inhibitory effects with IC_(50) values of the methanol extracts below 30 μg/m L. Compound(-)-7-O-galloyltricetiflavan was identified as an XO inhibitor from Archidendron clypearia with IC_(50) value of 25.5 μmol/L.

关键词： Xanthine oxidase Inhibitor Medicinal plants Vietnam

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The mechanism and effects of subgrade fluidisation under ballasted railway tracks

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Railway Engineering Science 2020年第2期28卷 113-128页

作者： Buddhima Indraratna Mandeep Singh thanh Trung Nguyen Centre for Geomechanics and Railway Engineering University of WollongongWollongong CityNSW 2522Australia Australian Research Council(ARC)Industrial Transformation Training Centre ITTC-RailUniversity of WollongongWollongong CityNSW 2522Australia

The rapid growth in railway infrastructure and the construction of high-speed heavy-haul rail network,especially on ground that is basically unsuitable,poses challenges for geotechnical engineers because a large part of the money invested in the development of railway lines is often spent on track *** fact around the world,the mud pumping of subgrade fines is one of the common reasons why track performance deteriorates and track stability is *** article presents a series of laboratory tests to examine following aspects of mud pumping:(1)the mechanisms of subgrade fluidisation under undrained condition,(2)the effects of mud pumping on the engineering characteristics of ballast,and(3)the use of vertical drains to stabilize subgrade under cyclic *** undrained cyclic triaxial testing on vulnerable soft subgrade was performed by varying the cyclic stress ratio(CSR)from 0.2 to 1.0 and the loading frequency f from 1.0 to 5.0 *** is seen from the test results that for a specimen compacted at an initial dry density of 1790 kg/m3,the top portion of the specimen fluidises at CSR=0.5,irrespective of the applied loading *** cyclic railway loading,the internal redistribution of water at the top of the subgrade layer softens the soil and also reduces its *** response to these problems,this paper explains how the inclusion of vertical drains in soft subgrade will help to prevent mud pumping by alleviating the build-up of excess pore pressures under moving train loads.

关键词： Mud pumping Ballasted track Subgrade fluidisation Fouled ballast Prefabricated vertical drains

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Numerical investigation of the influence of casting techniques on fiber orientation distribution in ECC

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Frontiers of Structural and Civil Engineering 2022年第11期16卷 1424-1435页

作者： Chung Nguyen VAN Hai TRAN thanh Thuc Nhu NGUYEN Jianchun LI Faculty of Civil Engineering Ho Chi Minh City University of Technology and EducationHo Chi Minh 721400Vietnam School of Civil and Environmental Engineering University of Technology SydneySydneyNSW 2007Australia School of Civil Engineering Hue Industrial CollegeHue 49120Vietnam

Engineered cementitious composites(ECC),also known as bendable concrete,were developed based on engineering the interactions between fibers and cementitious *** orientation of fibers,in this regard,is one of the major factors influencing the ductile behavior of this *** this study,fiber orientation distributions in ECC beams influenced by different casting techniques are evaluated via numerical modeling of the casting *** casting directions and two casting positions of the funnel outlet with beam specimens are modeled using a particle-based smoothed particle hydrodynamics(SPH)*** this SPH approach,fresh mortar and fiber are discretized by separated mortar and fiber particles,which smoothly interact in the computational domain of *** movement of fiber particles is monitored during the casting ***,the fiber orientations at different sections of specimens are determined after the fresh ECC stops flowing in the *** simulation results show a significant impact of the casting direction on fiber orientation distributions along the longitudinal wall of beams,which eventually influence the flexural strength of *** addition,casting positions show negligible influences on the orientation distribution of fibers in the short ECC beam,except under the pouring position.

关键词： ECC fiber orientation distribution casting direction casting position

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Comparative mammalian cell cytotoxicity of wastewater with elevated bromide and iodide after chlorination,chloramination, or ozonation

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Journal of Environmental Sciences 2017年第8期29卷 296-301页

作者： Shengkun Dong thanh H.Nguyen Michael J.Plewa Department of Civil and Environmental Enoineering University of Illinois at Urbana-Champaign Urbana IL 61801 USA Department of Crop Sciences University of Illinois at Urbana-Champaign Urbana IL 61801 USA Safe Global Water Institute Uniuersity of Illinois at Urbana-Champaign Urbana IL 61801 USA

Recycling wastewater is becoming more common as communities around the world try to better control their water resources against an increased frequency of either prolonged droughts or intense flooding. For communities in coastal areas, wastewaters may contain elevated levels of bromide（Br^-） and iodide（I^-） from seawater intrusion or high mineral content of source waters. Disinfection of such wastewater is mandatory to prevent the spread of pathogens, however little is known about the toxicity of wastewater after disinfection in the presence of Br^-and I^-. In this study we compared the induction of chronic cytotoxicity in mammalian cells in samples of municipal secondary wastewater effluent amended with elevated levels of Br^-/I^-after disinfection by chlorine, chloramines or ozone to identify which disinfection process generated wastewater with the lowest level of adverse biological response. Chlorination increased mammalian cell cytotoxicity by 5times as compared to non-disinfected controls. Chloramination produced disinfected wastewater that expressed 6.3 times more cytotoxicity than the non-disinfected controls and was 1.3 times more cytotoxic than the chlorinated samples. Ozonation produced wastewater with cytotoxicity comparable to the non-disinfected controls and was at least 4times less cytotoxic than the chlorine disinfected wastewaters. These results indicate that compared to chlorination and chloramination, ozonation of wastewater with high Br^-/Ilevels yielded the lowest mammalian cell cytotoxicity, suggesting its potential as a more favorable method to disinfect wastewater with minimizing the biological toxicity in mind.

关键词： Cytotoxicity Ozonation Chlorination Chloramination Wastewater Bromide Iodide Disinfection

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Multiparticle^(nat)Sr(γ,xny p)reactions induced with bremsstrahlung end-point energies of 55,60,and 65 MeV

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Chinese Physics C 2022年第9期46卷 185-196页

作者： Nguyen Van Do Nguyen thanh Luan Nguyen Thi Xuan Kim Tien thanh Nguyen Thi Hien Guinyun Kim Institute of Theoretical and Applied Research Duy Tan UniversityHanoi 100000Vietnam Faculty of Natural Sciences Duy Tan UniversityDa Nang 550000Vietnam Institute of Physics Vietnam Academy of Science and Technology10 Dao TanHanoi 10000Vietnam Department of Physics Kyungpook National UniversityDaegu 415661Republic of Korea Graduate School of Science and Technology Vietnam Academy of Science and Technology18 Hoang Quoc VietHanoiVietnam

This study measured the yields of the radionuclides^(82)Sr,^(83(m+g))Sr,^(85m)Sr,^(85g)Sr,^(87m)Sr,^(81(g+0.976m))Rb,^(82m)Rb,^(83g)Rb,^(84(m+g))Rb,and^(86(m+g))Rb produced in^(nat)Sr(γ,xnyp)multiparticle reactions with bremsstrahlung end-point energies of 55,60,and 65 *** bremsstrahlung radiation was generated using the 100-MeV electron linear accelerator at the Pohang Accelerator Laboratory,Korea,and the reaction yields were derived from the induced activitiesmeasured using off-lineγ-ray *** obtain accurate experimental results,we performed the necessaryγ-ray interference *** experimental results were compared with the theoretical predictions obtained using the TALYS-1.95 statistical nuclear model *** calculations were performed using six different level-density models to ascertain which model best fitted the experimental *** dependence of the reaction yield on the incident bremsstrahlung energy and on the number of nucleons emitted by the photonuclear reactions was also investigated.

关键词： reaction yield activation method ^(nat)Sr(γ xnyp)reactions γ-ray spectrometry 55- 60- and 65-MeV bremsstrahlung.

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