Application of model reduction for robust control of self-balancing two-wheeled bicycle

In recent years, balance control of two-wheeled bicycle has received more attention of scientists. One difficulty of this problem is the control object is unstable and constantly impacted by noise. To solve this problem, the authors often use robust control algorithms. However, robust controller of self-balancing two-wheeled bicycle are often complex and higher order so affect to quality during real controlling. The article introduces the stochastic balanced truncation algorithm based on Schur analysis and applies this algorithm to reduce order higher order robust controller in control balancing two-wheeled bicycle problem. The simulation results show that the reduced 4th and 5th order controller arcoording to the stochastic balanced truncation algorithm based on Schur analysis can control the two-wheeled bicycle model. The reduced 3rd order controller cannot control the balance of the two-wheeled bicycle model. The reduced 4th and 5th order controller can replace the original controller while the performance of the control system is ensured. Using reduced 5th, 4th order controller will make the program code simpler, reducing the calculation time of the self-balancing two-wheel control system. The simulation results show the correctness of the model reduction algorithm and the robust control algorithm of two-wheeled self-balancing two-wheeled bicycle

Model reduction of unstable systems based on balanced truncation algorithm

Model reduction of a system is an approximation of a higher-order system to a lower-order system while the dynamic behavior of the system is almost unchanged. In this paper, we will discuss model order reduction (MOR) strategies for unstable systems, in which the method based on the balanced truncation algorithm will be focused on. Since each MOR algorithm has its strengths and weakness, practical applications should be suitable for each specific requirement. Simulation results will demonstrate the correctness of the algorithms

Design Low Order Robust Controller for the Generator’s Rotor Angle Stabilization PSS System

The electrical system's problem stabilizes the electrical system with three primary parameters: rotor angle stability, frequency stability, and voltage stability. This paper focuses on the problem of designing a low-order stable optimal controller for the generator rotor angle (load angle) stabilization system with minor disturbances. These minor disturbances are caused by lack of damping torque, change in load, or change in a generator during operation. Using the RH∞optimal robust design method for the Power System Stabilizer (PSS) to stabilize the generator’s load angle will help the PSS system work sustainably under disturbance. However, this technique's disadvantage is that the controller often has a high order, causing many difficulties in practical application. To overcome this disadvantage, we propose to reduce the order of the higher-order optimal robust controller. There are two solutions to reduce order for high-order optimal robust controller: optimal order reduction according to the given controller structure and order reduction according to model order reduction algorithms. This study selects the order reduction of the controller according to the model order reduction algorithms. In order to choose the most suitable low-order optimal robust controller that can replace the high-order optimal robust controller, we have compared and evaluated the order-reducing controllers according to many model order reduction algorithms. Using robust low-order controllers to control the generator’s rotor angle completely meets the stabilization requirements. The research results of the paper show the correctness of the controller order reduction solution according to the model order reduction algorithms and open the possibility of application in practice. Doi: 10.28991/esj-2021-01299 Full Text: PD

The influences of the number of concrete dowels to shear resistance based on push out tests

To reduce the depth of floor-beam structures and to save the cost of headed-shear studs, many types of shallow composite beam have been developed during the last few years. Among them, the shallow-hollow steel beam consists of web openings, infilled with in-situ concrete (named concrete dowel) has been increasingly focused recently. In this new kind of structure, this concrete dowel plays an important role as the principal shear connector. This article presents an investigation on the shear transferring mechanism and failure behavior of the trapezoid shape concrete dowel. An experimental campaign of static push-out tests has been conducted with variability in the number of web openings (WOs). The results indicate that the mechanical behavior of concrete dowel could be divided into crushing, compression, and tension zones and exhibits brittle behavior. The longitudinal shear resistance and specimen's stiffness are strongly affected by the number of considered WO

PROVISION CAPACITY OF SERVICE DELIVERY FACILITIES FOR CHILDREN WITH HEARING LOSS IN HAI PHONG, VIETNAM

Objective: Hearing loss is a commonly occurring disability that affects 466 million people worldwide. This study aimed at determining the actual situations of early intervention delivery facilities for children with hearing loss. Out of this affected population, 7% are children (34 million) who, along with their families, grapple with the serious lifelong problems that accompany the disease. Methods: This descriptive cross-sectional study was conducted with facilities investigated consisting of a school for the deaf, hospitals, an audiology center, and a social agency in Hai Phong province from January 2013 to December 2014. A sample composed of 353 children was also recruited. Results: The examined facilities suffer from shortcomings in provision capacity, which manifest in deficient materials, supplies and equipment, and human resources; the lack of interdisciplinary coordination of activities; inadequate community awareness; and the unaddressed need for early detection and intervention. The conditions of most of the children (98%) were detected by their families, and among those who were clinically diagnosed, the majority (76.8%) received such diagnosis at central hospitals. Hearing impairment among the children were detected, diagnosed, and subjected to intervention at a very late stage (on average, at ages 22.3, 34, and 32.5 months, respectively), thereby compelling up to 63.6% of the families to struggle with their children’s hearing loss. Conclusion: Solutions to current interventions are needed to enhance service delivery systems and guarantee early detection as well as timely and appropriate treatment

The Photocatalytic Activity of the Bi2O3-B2O3-ZnO-TiO2 Glass Coating

Due to the low melting temperature, the glazes based on the Bi2O3-B2O3-ZnO system are used as coatings on the surface of industrial glass substrates. Moreover, the composition of these coatings does not contain PbO, meeting the optical and environmental properties requirements. In this study, TiO2 was used in the Bi2O3-B2O3-ZnO glaze system to improve its photocatalytic ability. This can be considered a four – component glass system Bi2O3-B2O3-ZnO-TiO2. The heating microscopy results show that the melting temperature of the glaze system is 606 °C. The Fourier transform infrared spectroscopy results show that the TiO2 polyhedra are located independently in the structure without participating in forming a glass network. Thanks to that, the photocatalytic properties of TiO2 are maintained. The X-ray diffraction patterns results show that the formed TiO2 nanocrystals are rutile and anatase crystals. The results of determining the band gap energy using UV-Vis show that the band gap energy of the base glaze system increases with the addition of TiO2. The methylene blue decomposition results also showed that the ability to decompose organic increased when TiO2 was added to the glaze coating. The characteristics such as melting temperature, microstructure, and photocatalytic capacity of Bi2O3-B2O3-ZnO-TiO2 white glazes (5 and 10 % weight of TiO2) also were indicated in this paper

Determination of triacylglycerol and fatty acid compositions of Impatiens seed oils using reverse phase high performance liquid chromatography

In the present work, triacylglycerol and fatty acid compositions of Impatiens balsamina L. and Impatiens walleriana Hook.f. seed oils were determined using reverse phase high performance liquid chromatography with both refractive index and spectrophotometric detection

Impacts of Economic Development on the Awareness of Cultural Preservation of Ethnic Minority People in the Border Region of Northern Vietnam

Purpose: The aim of this study is to examine how the Vietnamese government's economic development strategies affect ethnic minority people's knowledge of cultural preservation in the border area of Northern Vietnam.   Theoretical framework: The study focuses on three main driven factors of the awareness of cultural preservation that are economic changes, societal changes, and environmental changes from three economic fields: agriculture, industry, and trade and services.   Design/methodology/approach: The research sample was taken from ethnic minorities in Northern Vietnam's border area. For questionnaire administration, interviewees are selected at random from the population. Face-to-face, drop-off, and phone-calling approaches were used to disseminate the questionnaire. We received 544 completed returns out of 725 surveys sent out. The data was then cleaned and analyzed with SPSS 20 software using Partial Least Squares Structural Equation Modelling (PLS-SEM).   Findings: The results of a study of ethnic minority communities in seven provinces in Northern Vietnam's border region show that the development of agriculture, industry, trade and service significantly impacts ethnic minority people's awareness of cultural preservation issues due to environmental changes. In contrast, economic and sociological developments appear to have little influence on ethnic minority people's attention to cultural preservation. This phenomenon may be due to the long-term effects of economic and sociological changes, which mostly affect intangible cultural heritages. In contrast, environmental impats are felt swiftly and primarily on physical cultural heritages that can be seen.   Research, Practical & Social implications: The findings of the research provide policymakers with valuable insights on the effects of economic development on cultural preservation. The study's recommendations can inform policies that promote sustainable economic development while preserving the cultural heritage of ethnic minority communities.   Originality/value: The research focuses on the border region of Northern Vietnam, which is an area of strategic importance for economic development and cultural preservation. The study's unique focus on this region provides insights into the cultural and economic dynamics of a specific area that has not been extensively studied

Risk assessment, implementation of occupational health, safety and hygiene in small and medium manufacturing enterprises: A case study in central Vietnam

This study aims to identify and evaluate the influence of the factors affecting the implementation of occupational health and safety of employees and employers and its impact on occupational health and safety and legalize risk assessment in small and medium-sized manufacturing enterprises in central Vietnam through the survey among 246 business representatives and data processing through the software SPSS 20 and AMOS 20. The results show that there are 3 factors affecting the implementation of occupational health, safety and hygiene. In order: (1) Safety regulations and instructions; (2) Occupational health, safety policy and (3) Occupational health and safety training. There is no relationship between the impacts on the implementation of occupational health and safety of the employer. In addition, a very interesting finding about the relationship of factors implementing occupational health and safety of employers was a positive influence on the legalization of risk assessment activities. On the basis of these results, employees, business owners and state management agencies will have grounds to offer useful solutions in risk assessment in order to better perform safety work and occupational health