Stabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter

This paper presents the design of a control model to navigate the differential mobile robot to reach the desired destination from an arbitrary initial pose. The designed model is divided into two stages: the state estimation and the stabilization control. In the state estimation, an extended Kalman filter is employed to optimally combine the information from the system dynamics and measurements. Two Lyapunov functions are constructed that allow a hybrid feedback control law to execute the robot movements. The asymptotical stability and robustness of the closed loop system are assured. Simulations and experiments are carried out to validate the effectiveness and applicability of the proposed approach.Comment: arXiv admin note: text overlap with arXiv:1611.07112, arXiv:1611.0711

Monitoring quantity and quality of pangasius pond effluent : report of a monitoring program and recommendations for certification

The quantity and quality of pangasius pond effluent was monitored by means of monthly sampling during a study conducted on four striped catfish farms located in the Mekong Delta, Vietnam. The study was undertaken to test the practical implications of the standards and guidelines with regard to catfish pond effluent that are at present developed by various certification programs for striped catfish production in Vietnam. The results showed a great variability twelve pangasius pond within the samples that were taken during one period of partial pond draining and refilling. The consequences of such variability with regard to the certification standards and guidelines are discussed and recommendations are given

Particle distribution and nuclear stopping in Au-Au collisions at sNN\sqrt{s_{NN}}=200 GeV

The transverse momentum distribution of produced charged particles is investigated for gold-gold collisions at $\sqrt{s_{NN}}=200$ GeV. A simple parameterization is suggested for the particle distribution based on the nuclear stopping effect. The model can fit very well both the transverse momentum distributions at different pseudo-rapidities and the pseudo-rapidity distributions at different centralities. The ratio of rapidity distributions for peripheral and central collisions is calculated and compared with the data.Comment: 5 pages in RevTeX, 3 eps figure

Dust masses of disks around 8 Brown Dwarfs and Very Low-Mass Stars in Upper Sco OB1 and Ophiuchus

We present the results of ALMA band 7 observations of dust and CO gas in the disks around 7 objects with spectral types ranging between M5.5 and M7.5 in Upper Scorpius OB1, and one M3 star in Ophiuchus. We detect unresolved continuum emission in all but one source, and the $^{12}$CO J=3-2 line in two sources. We constrain the dust and gas content of these systems using a grid of models calculated with the radiative transfer code MCFOST, and find disk dust masses between 0.1 and 1 M$_\oplus$, suggesting that the stellar mass / disk mass correlation can be extrapolated for brown dwarfs with masses as low as 0.05 M$_\odot$. The one disk in Upper Sco in which we detect CO emission, 2MASS J15555600, is also the disk with warmest inner disk as traced by its H - [4.5] photometric color. Using our radiative transfer grid, we extend the correlation between stellar luminosity and mass-averaged disk dust temperature originally derived for stellar mass objects to the brown dwarf regime to $\langle T_{dust} \rangle \approx 22 (L_{*} /L_{\odot})^{0.16} K$, applicable to spectral types of M5 and later. This is slightly shallower than the relation for earlier spectral type objects and yields warmer low-mass disks. The two prescriptions cross at 0.27 L$_\odot$, corresponding to masses between 0.1 and 0.2 M$_\odot$ depending on age.Comment: 9 pages,6 figures, accepted to ApJ on 26/01/201

Analyses of k_t distributions at RHIC by means of some selected statistical and stochastic models

The new data on k_t distributions obtained at RHIC are analysed by means of selected models of statistical and stochastic origin in order to estimate their importance in providing new information on hadronization process, in particular on the value of the temperature at freeze-out to hadronic phase.Comment: Modified version. One new figure, one new table and one reference addee

Using a system dynamics framework to assess disease risks of pig value chains in Vietnam

In Vietnam, there are more than 4 million households producing pigs and pork. This accounts for 57% of quantity of meat consumed. One of the most critical constraints to pig production is the presence of animal disease. Pig disease outbreaks are a regular occurrence in various parts of the country, with the industry affected by diseases such as foot and mouth disease, porcine reproductive and respiratory syndrome, classical swine fever, porcine high fever disease, and swine influenza. In addition, food safety issues related to pig diseases and pork-borne diseases have also increasingly become more important concerns for consumers. Recent studies have shown significant changes in consumption behaviour in response to disease outbreaks. For instance, at least half of urban consumers stop consuming pork in times of pig disease epidemics and/or shift consumption to other meat substitutes such as poultry or fish. Disease risks thus have both public health and livelihoods impacts that are important to understand for appropriate policy and practice response. A proposed methodology for investigating disease risks uses a system dynamics analysis framework. System dynamics models are particularly relevant in the study of livestock systems, as they capture the diverse actors and feedbacks present in value chains and their interface with disease risk and behaviour. A system dynamics model is developed that will describe different scenarios of disease risks and the consequences of different interventions to mitigate these risks. Data from a sample of 1000 farmers and value chain actors including all actors in the pig value chain in Vietnam was collected with support from an ACIAR-funded project on Reducing Disease Risks and Improving Food Safety in Smallholder Pig Value Chains in Vietnam. We propose to test the hypotheses that disease risk is affected by type of production system, feeding system and types of feed uses, access to inputs and services, and selected socio-demographic variables associated with farmers and location

Market-based approaches to food safety and animal health interventions: Lessons from smallholder pig value chains in Vietnam

Food safety and animal health issues are increasingly important constraints to smallholder pig production in Viet Nam. Recent studies have highlighted the significant prevalence of animal disease and food‐borne pathogens inherent within the Vietnamese pig sector. These in turn have important negative livelihoods effects on smallholder pig producers and other value chain actors, as well as important public health impacts. An important research gap is in identifying ex‐ante appropriate market‐based policy responses that take into account the tradeoffs between improved animal health and food safety outcomes and their associated costs for different value chain actors as a means of developing chain‐level solutions for their control. In this paper, we constructed a system dynamics model of the pig value chain that combines a detailed model of herd production and marketing with modules on short‐ and long‐term investment in pig capacity, and decisions by value chain actors to adopt different innovations. The model further highlights the feedbacks between different actors in the chain to identify both the potential entry points for upgrading food safety and animal health as well as potential areas of tension within the chain that may undermine uptake. Model results demonstrate that interventions at nodal levels (e.g. only at farm or slaughterhouse level) are less cost‐effective and sustainable than those that jointly enhance incentives for control across the value chain, as weak links downstream undermine the ability of producers to sustain good health practices

Extensive ethnolinguistic diversity in Vietnam reflects multiple sources of genetic diversity

Vietnam features extensive ethnolinguistic diversity and occupies a key position in Mainland Southeast Asia (MSEA). Yet, the genetic diversity of Vietnam remains relatively unexplored, especially with genome-wide data, because previous studies have focused mainly on the majority Kinh group. Here we analyze newly-generated genome-wide SNP data for the Kinh and 21 additional ethnic groups in Vietnam, encompassing all five major language families in MSEA. In addition to analyzing the allele and haplotype sharing within the Vietnamese groups, we incorporate published data from both nearby modern populations and ancient samples for comparison. In contrast to previous studies that suggested a largely indigenous origin for Vietnamese genetic diversity, we find that Vietnamese ethnolinguistic groups harbor multiple sources of genetic diversity that likely reflect different sources for the ancestry associated with each language family. However, linguistic diversity does not completely match genetic diversity: there have been extensive interactions between the Hmong-Mien and Tai-Kadai groups; different Austro-Asiatic groups show different affinities with other ethnolinguistic groups; and we identified a likely case of cultural diffusion in which some Austro-Asiatic groups shifted to Austronesian languages during the past 2,500 years. Overall, our results highlight the importance of genome-wide data from dense sampling of ethnolinguistic groups in providing new insights into the genetic diversity and history of an ethnolinguistically-diverse region, such as Vietnam