Design and fabrication of a moving robotic glove system

This paper presents the research, design, and manufacture of a robotic hand to control movement with a glove. The moving glove-controlled robotic hand is based on two main parts: the hand mechanism and the control circuit. The control glove unit includes an Arduino nRF24l01 microcontroller module and five flex sensors for five fingers. These sensors are used to collect data about the curvature of each finger. Then those data will be received by the Arduino microcontroller and sent by the nRF24l01 module. The hand's microcontroller will process that information and control five servo motors so that the five fingers of the robotic hand are moved. The result of this research is to produce a robotic hand that accurately simulates the curvature of a user's finger and mimics the motion of a glove well. Moreover, the robot hand can grip objects of different sizes (from 0.1 to 1 kg) and shapes, from which this robot helps users easily manipulate objects

On the Interference Alignment Designs for Secure Multiuser MIMO Systems

In this paper, we propose two secure multiuser multiple-input multiple-output transmission approaches based on interference alignment (IA) in the presence of an eavesdropper. To deal with the information leakage to the eavesdropper as well as the interference signals from undesired transmitters (Txs) at desired receivers (Rxs), our approaches aim to design the transmit precoding and receive subspace matrices to minimize both the total inter-main-link interference and the wiretapped signals (WSs). The first proposed IA scheme focuses on aligning the WSs into proper subspaces while the second one imposes a new structure on the precoding matrices to force the WSs to zero. When the channel state information is perfectly known at all Txs, in each proposed IA scheme, the precoding matrices at Txs and the receive subspaces at Rxs or the eavesdropper are alternatively selected to minimize the cost function of an convex optimization problem for every iteration. We provide the feasible conditions and the proofs of convergence for both IA approaches. The simulation results indicate that our two IA approaches outperform the conventional IA algorithm in terms of average secrecy sum rate.Comment: Updated version, updated author list, accepted to be appear in IEICE Transaction

VULNERABLITY OF RURAL LIVELIHOODS IN NINH THUAN PROVINCE TO DROUGHT

The risk of drought poses a significant challenge to agricultural production in Ninh Thuan Province. Therefore, this study aims to identify the factors that influence farmers’ livelihood outcomes due to the impact of drought. Data were collected from a survey of 231 farmers randomly selected from the districts of Thuan Nam, Thuan Bac, and Ninh Hai. In addition to descriptive statistics, a Tobit regression model was used to identify the factors influencing livelihood outcomes during mild and severe droughts. The results showed that farmers’ livelihood outcomes were generally low. The regression identified the financial (β=0.230 and 0.205), social (β=0.200 and 0.291), and human capital (β=0.195 and 0.196) impacts on farmers’ livelihood outcomes from both mild and severe droughts. During mild drought years, seasonal adjustment (β=-0.009) and migration (β=0.013) were found to significantly influence livelihood outcomes. In severe drought years, government support (β=-0.030) negatively affected livelihood outcomes. There is a need to establish an early warning system for climate change and extreme weather events while simultaneously disseminating information widely to farmers so that they can take timely measures to cope. Enhancing human capital by raising awareness and skills in adapting to drought and developing comprehensive abilities to implement drought adaptation strategies is needed

Adaptive Control For Mobile Robots Based On Inteligent Controller

The paper presents three position controller designs for a mobile robot. The first is a position controller using a classic PID controller. The second is the position controller is designed based on optimal three coefficients for PID controller by fuzzy logic control (FLC). The last, the mobile robot is moved according to the trajectories set by the FLC controller. All three controllers have two state variables (position error and position deviation derivative and one output variable, velocity) and one velocity output variable of the robot. The robot is moved according to the trajectories set based on the PID-FLC controller flow fuzzy rules with a 7x7 matrix to the optimal three coefficients of the PID controller. Meanwhile, the FLC controller is done by a 9x9 matrix rule. Evaluated the efficiency of PID-FLC and FLC controllers are compared to classical PID controllers. The correctness of the three controllers is proven through MATLAB/Simulink simulation. The PID-FLC controller has the result better than the other two controllers

Experiment-based Comparative Analysis of Nonlinear Speed Control Methods for Induction Motors

Field-oriented control (FOC) for induction motors is widely used in industrial applications. By using a fast and accurate torque controller based on a stator current controller it is possible to flexibly implement advanced speed control methods to achieve proper performance both in transient and steady-state states. In this study, a deadbeat controller was used for the current loop. The nonlinear methods used for the outer loop controller were backstepping, flatness-based control, and exact feedback linearization with state derivative. The dynamic responses of these three controls were compared through various experimental results. The advantages and disadvantages of the different control structures were analyzed and evaluated in detail. Based on this evaluation, an appropriate scheme can be specified when deployed in practice

ARSENIC REMOVAL FROM WATER BY CHEMICAL OXIDATION AND ADSORPTION ON IN-SITU FORMED FERRIC HYDROXIDE

Joint Research on Environmental Science and Technology for the Eart

Active Voltage Control (AVC) for Reducing Three-phase Voltage Fluctuations

The paper presents an active voltage compensator (AVC) to prevent voltage fluctuations on the load in both voltage’s rise and fall directions. This AVC is designed based on modeling a three-phase four-branch inverter according to the large-signal average model and the small-signal model—calculation and design of d-q channel controller and 0 channel controller by the frequency-domain method. This AVC significantly reduces production interruptions while protecting equipment life reduction. The theory results are proven through MATLAB/Simulink simulation

Straightforward Procedure for Laboratory Production of DNA Ladder

DNA ladder is commonly used to determine the size of DNA fragments by electrophoresis in routine molecular biology laboratories. In this study, we report a new procedure to prepare a DNA ladder that consists of 10 fragments from 100 to 1000 bp. This protocol is a combination of routinely employed methods: cloning, PCR, and partial digestion with restriction enzymes. DNA fragments of 100 bp with unique restriction site at both ends were self-ligated to create a tandem repeat. Once being cloned, the tandem repeat was rapidly amplified by PCR and partially digested by restriction enzymes to produce a ladder containing multimers of the repeated DNA fragments. Our procedure for production of DNA ladder could be simple, time saving, and inexpensive in comparison with current ones widely used in most laboratories

The Relationship between Public Debt, Budget Deficit, and Sustainable Economic Development in Developing Countries: The Role of Corruption Control

This study investigates the effects of public debt and budget deficits on the sustainable economic development of developing countries, taking into account the role of control of corruption. The two-step GMM method was applied for unbalanced panel data of 59 developing countries from 2004 to 2015. The study found that public debt and the budget deficit had negative effects on sustainable development, while the effect of control of corruption was positive. Moreover, using interaction terms between control of corruption and public debt and budget deficit, respectively, empirical results showed that controlling corruption limited these adverse effects. Thus, if the objective is to achieve sustainable economic development, developing countries should not see raising public debt or maintaining budget deficits as a strategy for economic development. The study contributes empirical evidence to the theory of debt overhang, crowded effects, and institutional theory in the context of developing countries. The implications are also discussed in this paper

Arsenic removal from groundwater by a combination of chlorination and consecutive sand filtration

Joint Research on Environmental Science and Technology for the Eart