Papers by NGUYEN TAN TIEN
Journal of Computer Science and Cybernetics, 2012
This paper presents a rotating arc sensor model using Fast Fourier Transform to transform origina... more This paper presents a rotating arc sensor model using Fast Fourier Transform to transform original welding current signal into frequency domain. We analyze spectrum of signal, eliminate unwanted frequencies and inverse transform signal into time domain. This signal was used to calculate input signal for the fuzzy logic controller to control a 2D table with two DC motors and two ball screws that carries a welding torch during the process of automatic seam tracking of arc welding. Input data of the controller is the deviation of average currents between the two half-cycles current corresponding to two half-cycles rotating of the torch on the left and right of centerline of the welding track. The controller were comprised of a regression model, expressing the relationship between the average current deviation and offset distance through weaving experiments. Finally, the direction and the speed of motors are calculated. Tóm tȃ ´t. Bài báo này gió . i thiê . u mô . t mô hình ca 'm biê ´n hô `quang quay su . ' du . ng bô . lo . c FFT dê ' chuyê ' n dô ' i tín hiê . u dòng diê . n gô ´c trong miê `n thò . i gian sang miê `n tâ `n sô ´, phân tích phô ' tín hiê . u, loa . i di thành phâ `n tín hiê . u không mong muô ´n và chuyê ' n ngu . o . . c vê `miê `n thò . i gian. Tín hiê . u này du . o . . c dùng dê ' tính toán giá tri . dâ `u vào cho bô . diê `u khiê ' n mò . diê `u khiê ' n mô . t bàn máy hai tru . c vuông góc mang theo dâ `u hàn trong quá trình hàn tu . . dô . ng bám du . ò. ng hàn. Tín hiê . u vào cu 'a bô . diê `u khiê ' n là dô . lê . ch cu . ò. ng dô . dòng diê . n hàn cu 'a hai nu . ' a chu kỳ biê ´n dô ' i dòng diê . n tu . o . ng ú. ng vó . i hai nu . ' a chu kỳ quay bên trái và bên pha 'i du . ò. ng tâm rãnh hàn cu 'a dâu hàn. Du . . a vào tín hiê . u hô `i tiê ´p, bô . diê `u khiê ' n tính toán su . . liên hê . giũ . a dô . lê . ch cu . ò. ng dô . dòng diê . n hàn và dô . lê . ch dâu hàn trong rãnh hàn, cuô ´i cùng chiê `u và tô ´c dô . quay cu 'a dô . ng co . du . o . . c tính toán.
Tạp chí Y học Việt Nam, Aug 26, 2022
Sử dụng khẩu trang y tế là một trong những biện pháp vật lý được xem là hiệu quả và được khuyến n... more Sử dụng khẩu trang y tế là một trong những biện pháp vật lý được xem là hiệu quả và được khuyến nghị sử dụng rộng rãi để phòng chống sự lây lan của Covid -19. Với mục tiêu của nghiên cứu là đánh giá tính tin cậy, tính giá trị của thang đo niềm tin sức khỏe đối với việc sử dụng khẩu trang y tế ở nhân viên y tế (NVYT). Nghiên cứu cắt ngang được tiến hành trên 204 NVYT tại 3 bệnh viện (BV) tuyến đầu tại Thành phố Hồ Chí Minh (TP.HCM). Tính tin cậy được đánh giá qua tính tin cậy nội bộ. Tính giá trị cấu trúc được phân tích bằng phân tích nhân tố khẳng định (CFA). Kết quả cho thấy hệ số Cronbach's alpha là 0,84 cho thấy thang đo có tính tin cậy nội bộ tốt trong đo lường niềm tin sức khỏe trong về việc sử dụng khẩu trang y tế.
Journal of Computer Science and Cybernetics, 2012
Tuyển tập công trình HNKH toàn quốc lần thứ 3 về điều khiển & Tự động hoá VCCA - 2015, 2016
Bài báo tìm hiểu các ý tưởng về mô hình nhà hàng phục vụ tự động hiện có trên thế giới. Từ đó, ti... more Bài báo tìm hiểu các ý tưởng về mô hình nhà hàng phục vụ tự động hiện có trên thế giới. Từ đó, tiến hành phân tích các ưu nhược điểm của từng phương pháp, tiến tới xây dựng một mô hình mới về một nhà hàng phục vụ tự động kết hợp những ưu điểm cũng như hạn chế các nhược điểm hiện có. Bài báo sẽ đề xuất một mô hình chung và tập trung vào việc xây dựng các thành phần cơ bản cần phải có của một nhà hàng. Các ý tưởng sẽ được mô phỏng, thực nghiệm để chứng minh được tính khả thi của mô hình. Từ khóa: Nhà hàng phục vụ tự động, dẫn hướng bị động, dẫn hướng chủ động, định vị vị trí, AGV, CMU camera, Lyapunov, barcode, iBeacon.
2019 International Conference on System Science and Engineering (ICSSE), 2019
The main goal of this paper studies modeling of a direct current coaxial motor (DCCM) and testing... more The main goal of this paper studies modeling of a direct current coaxial motor (DCCM) and testing the main parameters of DCCM on the experimental model. The DCCM contains two rotors named inner runner and outer runner. The inner runner and the outer runner rotate in opposite directions to each other. The shaft of the inner runner and the shaft of the outer runner are coincident and inserted on two separate bearings. To prove this idea, the mathematic model is achieved by a combination of a mathematic model of DC motor and mathematic model of single phase coaxial motor. Simulation result of the mathematic model in Matlab shows the truth of the hypothesis of the design. The result of testing DCCM of the experimental model is fit to the result of simulation of DCCM in Matlab. Consequently, the DCCM can substitute for other kinds of propellers especially in marine applications.
KSME International Journal, 2001
This paper deals with dynamic analysis of Pipeline Inspection Gauge (PIG) flow control in natural... more This paper deals with dynamic analysis of Pipeline Inspection Gauge (PIG) flow control in natural gas pipelines. The dynamic behaviour of PIG depends on the pressure differential generated by injected gas flow behind the tail of the PIG and expelled gas flow in front of its nose. To analyze dynamic behaviour characteristics (e.g. gas flow, the PIG position and velocity) mathematical models are derived. Two types of nonlinear hyperbolic partial differential equations are developed for unsteady flow analysis of the PIG driving and expelled gas. Also, a non-homogeneous differential equation for dynamic analysis of the PIG is given. The nonlinear equations are solved by method of characteristics (MaC) with a regular rectangular grid under appropriate initial and boundary conditions. Runge-Kutta method is used for solving the steady flow equations to get the initial flow values and for solving the dynamic equation of the PIG. The upstream and downstream regions are divided into a number of elements of equal length. The sampling time and distance are chosen under Courant-Friedrich-Lewy (CFL) restriction. Simulation is performed with a pipeline segment in the Korea gas corporation (KOGAS) low pressure system, Ueijungboo-Sangye line. The simulation results show that the derived mathematical models and the proposed computational scheme are effective for estimating the position and velocity of the PIG with a given operational condition of pipeline.
ABSTRACT: This paper studies on development of an automatic marking robot. To welding the “Draft ... more ABSTRACT: This paper studies on development of an automatic marking robot. To welding the “Draft Mark ” for a ship, an automatic welding system, called automatic marking robot, is developed. Software and hardware of the system are designed for this purpose. Experiment has been done to verify the proposed solution. 1.
International Journal of Mechanical and Mechatronics Engineering, 2020
Development of a joint controller for humanoid robot is a challenging task since the dynamic syst... more Development of a joint controller for humanoid robot is a challenging task since the dynamic system of the humanoid robot has nonlinearity characteristic and is extremely vulnerable to disturbance. This paper presents a robust backstepping sliding mode controller to track the pre-computed joint trajectories in a commercial humanoid robot known as UXA-90. The proposed controller utilizes the back-stepping technique to decompose the dynamic equation of UXA-90 into reduced order systems which is asymptotically stable, then the control law for back-stepping SMC is chosen to guarantee that the system's states are driven to the sliding manifold and stay there for all future time. Furthermore, the control law utilizes saturation function instead of sign function to reduce the chattering effect. Finally, some simulation results are carried out through MATLAB to evaluate the effectiveness of the proposed controller in comparison to the previous controller.
International Journal of Mechanical and Mechatronics Engineering, 2020
Recent state-of-art researches have revealed and developed various biomimetic mechanical fin. How... more Recent state-of-art researches have revealed and developed various biomimetic mechanical fin. However, there is still a lot of work to do aiming to understand the effect of kinematic parameters and undulating patterns to the characteristic of the undulating fin on generated thrust. This paper aims to study factors influencing the thrust performance of a biomimetic underwater undulating fin driven propulsor inspired by gymnotiform fish species. The undulating robotic fin comprises of sixteen of fin-rays interconnected with a rubber membrane that could produce a thrust force by the propagation sinusoidal wave come along the mechanical fin. First, the kinematic parameter of the elongated undulating fin including the amplitude envelope, wavelength, and the oscillatory frequency was briefly summarized. A drag platform of this undulating robotic fin designed to study its various kinematic was then presented. Latter, the undulating fin with four patterns for cyclic motion in combination with the variable kinematic parameters has been investigated to understand the locomotion performance. Finally, the experimental results show that the thrust force gradually increases with the increase of amplitude envelope, oscillatory frequency, and the fact that the pattern with the amplitude envelope-liked stingray fish provides for the best performance on generated thrust. Index Term-Undulating fin, biomimetic, underwater propulsion, bio-inspired robotic.
International Journal of Mechanical and Mechatronics Engineering, 2020
This paper presents the development of multi-sensor data fusion using extended Kalman filter (EKF... more This paper presents the development of multi-sensor data fusion using extended Kalman filter (EKF) for virtual path tracking of two wheels differential drive mobile robot. First, a tracking controller based kinematic model is constructed by a quadratic curve tracking algorithm and a model reference adaptive control approach. Then, a sensor fusion data based on EKF is developed to complement the strength of dead-reckoning and Ultrawide-band localization method. Later, the proposed tracking controller and pose estimator are validated through experiment on a hardware-custom developed from a Pioneer DX3 mobile robot. The experiment results have revealed that the proposed controller can drive the mobile robot to obtain welltracking the desired reference points as well as the proposed pose estimator can provide a high accuracy.
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Papers by NGUYEN TAN TIEN