DYNAMIC MODEL WITH A NEW FORMULATION OF CORIOLIS/CENTRIFUGAL MATRIX FOR ROBOT MANIPULATORS

The paper presents a complete generalized procedure based on the Euler-Lagrange equations to build the matrix form of dynamic equations, called dynamic model, for robot manipulators. In addition, a new formulation of the Coriolis/centrifugal matrix is proposed. The link linear and angular velocities are formulated explicitly. Therefore, the translational and rotational Jacobian matrices can be derived straightforward from definition, which makes the calculation of the generalized inertia matrix more convenient. By using Kronecker product, a new Coriolis/centrifugal matrix formulation is set up directly in matrix-based manner and guarantees the skew symmetry property of robot dynamic equations. This important property is usually exploited for developing many control methodologies. The validation of the proposal formulation is confirmed through the symbolic solution and simulation of a typical robot manipulator

Groundwork-Based Research to Design Application SCC - Building a Sustainable Community for Children in Mountainous Area

Children’s clothing is a prime example of fast fashion, as their continuous growth requires frequent purchases. This not only impacts the environment but also puts financial strain on parents. Concurrently, many highland children lack essential material and educational resources, contributing to poverty in the region. To address these challenges, local authorities urgently require a sustainable solution that supports children, communities, and localities, fostering comprehensive development. The project development criteria are evaluated based on the United Nations’ 17 sustainable development goals (SDGs). Data was collected through an online survey of 50 married individuals, 162 non-married individuals, and interviews with those who have organized events for children in the highlands. Additionally, insights were obtained from three children from disadvantaged areas. The results indicate that all target groups show a keen interest in social activities for children. Parents facing difficulties accessing charities, and the lack of effective collaboration between charities and local authorities, hinders sustainable development efforts. Keywords: children, SDG, social sustainabilty, communit

Records of birds in Quang Nam Chau proposed Species and Habitat conservation area, Quang Ninh province, northeastern Vietnam

Quang Nam Chau is a proposed species and habitat conservation area located in Quang Ninh province, northeastern Vietnam. The area is covered by primary forest and plays an important role in watershed protection. However, there has not been any previous ornithological study conducted in the area. This study was carried out in October and November 2021 to investigate the diversity of bird species and identify the current threats to avifauna and biodiversity in Quang Nam Chau. A total of 121 bird species belonging to 47 families and 17 orders were identified, with Passeriformes (73 species, 60.3%) and Muscicapidae (11 species, RDi = 9.09) being the most diverse order and family, respectively. Five of the 121 recorded species were globally threatened, and 29 were nationally rare and/or threatened. The avifauna and general biodiversity of the region are threatened by illegal hunting and trapping, agriculture expansion, grazing, and non-timber resource exploitation

Molecular identification of three Habenaria species from Binh Chau-Phuoc Buu Nature Reserve, Vietnam

The present provides molecular data for species of Habenaria diphylla (Nimmo) Dalzell, H. khasiana Hook.f. and H. rostellifera Rchb.f. collected from Binh Chau-Phuoc Buu Nature Reserve, Vietnam for the first time. Along with other DNA sequences from GenBank database, the phylogenetic trees for Habenaria species from Vietnam have been established

Investigating determinants of quality of life: The case of older people in Ho Chi Minh City

This study was conducted to investigate the factors affecting the quality of life in terms of the health of the elderly in Ho Chi Minh City (HCMC), Vietnam. Health production theory was used to form the analytical framework for the study. The data set of 300 surveyed elderly people, which was randomly drawn from the list of 841,000 older people in HCMC by Excel random function, was used for quantitative analysis, including Exploratory Factor Analysis (EFA) and linear regression. Research results show that gender and marital status are not statistically significant while education, employment, bonding, bridging, and linking social capital statistically significant impact on the quality of life of the elderly. Specifically, the level of education improves the quality of life while employment reduces the quality of life. This finding is an important implication for policies related to the retirement age of employees. The research results have also provided empirical evidence on the potential of social capital, a resource existing in the network of relationships, in improving the quality of life besides other traditional resources. This finding is an important basis for policymakers in mobilizing social capital resources in the context of resource scarcity

Robust Adaptive Cerebellar Model Articulation Controller for 1-DOF Nonlaminated Active Magnetic Bearings

This paper presents a robust adaptive cerebellar model articulation controller (RACMAC) for 1-DOF nonlaminated active magnetic bearings (AMBs) to achieve desired positions for the rotor using a robust sliding mode control based. The dynamic model of 1-DOF nonlaminated AMB is introduced in fractional order equations. However, it is challenging to design a controller based on the model\u27s parameters due to undefined components and external disturbances such as eddy current losses in the actuator, external disturbance, variant parameters of the model while operating. In order to tackle the problem, RACMAC, which has a cerebellar model to estimate nonlinear disturbances, is investigated to resolve this problem. Based on this estimation, a robust adaptive controller that approximates the ideal and compensation controllers is calculated. The online parameters of the neural network are adjusted using Lyapunov\u27s stability theory to ensure the stability of system. Simulation results are presented to demonstrate the effectiveness of the proposed controller.The simulation results indicate that the CMAC multiple nonlinear multiple estimators are close to the actual nonlinear disturbance value, and the effectiveness of the proposed RACMAC method compared with the FOPID and SMC controllers has been studied previously

Load Shedding in Microgrid System with Combination of AHP Algorithm and Hybrid ANN-ACO Algorithm

This paper proposes a new load shedding method based on the application of intelligent algorithms, the process of calculating and load shedding is carried out in two stages. Stage-1 uses a backpropagation neural network to classify faults in the system, thereby determining whether or not to shed the load in that particular case. Stage-2 uses an artificial neural network combined with an ant colony algorithm (ANN-ACO) to determine a load shedding strategy. The AHP algorithm is applied to propose load shedding strategies based on ranking the importance of loads in the system. The proposed method in the article helps to solve the integrated problem of load shedding, classifying the fault to determine whether or not to shedding the load and proposing a correct strategy for shedding the load. The IEEE 25-bus 8-generator power system is used to simulate and test the effectiveness of the proposed method, the results show that the frequency of recovery is good in the allowable range

Village Baseline Study – Site Analysis Report Ma village-Yen Binh district, Vietnam

Ma village, Vinh Kien commune, Yen Binh district, Yen Bai province has been selected to be one of Climate Smart Villages (CSVs) under the CGIAR Research Program on Climate Change, Agriculture and Food Security (CCAFS) in Southeast Asia. The village baseline survey (VBS) of Ma village, was therefore conducted as part of the baseline effort. This VBS aimed to provide baseline information at the village level about some basic indicators of natural resource utilization, organizational landscapes, and information networks for weather and agricultural information, which can be compared across sites and monitored over time. The study was conducted using the method developed and provided by CCAFS. The study’s findings show that Ma Village is rich and diverse in natural resources. There are three main resources of vital importance for the local people livelihoods, namely farmland, forest and water resources. However, improper exploitation and management have caused negative impacts on these resources. As mentioned by farmers, in the past, farmland of the village used to be very fertile, but has now become severely degraded due to overexploitation and improper management. Regarding forest resources: before 1980s, natural forests existed in large areas and consisted of valuable timber and wild animals. Today, much of the forest area has been converted to production forests or to food crop production land. Water resources, including lakes, rivers and streams have been severely polluted with pollutants from processing cassava, wood and also from animal husbandry and crop production. Degradation of water, farmland and forest resources are causing increasing challenges to agricultural production and also to other human activities. Results of farmer group discussions also demonstrate that there are 34 organizations operating in the village. Most of them are governmental. Very few are private or non-governmental organizations. The number of organizations involving in food security accounts for nearly 50%, the figure for those involving food crisis is 41.6% and in natural resources management is 25%. Those organizations working in food security and food crisis focus mainly on providing support (financial, seed and agricultural inputs) to local farmers to implement some production activities. Insufficient attention and input spent for sustainable development by these 34 organizations, especially those working in the area of natural resources management, could be one of the main reasons for the degradation and erosion of natural resources. There was no activity supporting Ma Village to develop production systems which can respond well to climate change. The study findings however show that local people are very flexible and creative, especially in exploitation of information. Among media channels, television is the most popular. Nevertheless, organizations, in particular, extension networks, Farmers’ Union, local authorities, etc., also have an important role in information dissemination. Exploitation of information from the internet and mobile phones has also been given attention, but mostly by young people only

Aromatic hydrocarbon degradation of biofilm formed by microorganisms on cellulose material at 50 litre modules

Biofilms are defined as community of microorganisms which are irreversibly or reversibly attached on solid surfaces. These microorganisms are embedded in a self-produced exopolysaccharide matrix, and exhibit different growth and bioactivity compared with planktonic cells. With their high biomass density, stability, and potential for biodegradation of recalcitrant compounds contained in oil contaminated wastewater such as aromatic hydrocarbons. Aromatic hydrocarbons are the main constituents of petroleum and its refined products. These compounds are also quantitatively the main environmental pollutants worldwide. In this report, cellulose material was used as a carrier for forming biofilm by microorganisms to remove of these components. Cellulose material is considered as inexpensive, available, sustainable, little waste production and can be recycled. As a result, the microorganisms were successful to adhere on cellulose material at 50 liter module with cell density of 4.3x108 CFU/ml after 7 day-incubation. Under the scanning electron microscope with the 1500 magnification, the microbial cells had a very high density, closely linked together and firm adhesion on the cellulose material. The mixture species biofilm attached on cellulose carrier at 50 liter module had the ability to degrade 80.1, 78.3, 60.0, 98.5 and 91.2% of anthracene, fluorene, naphthalene, phenol and pyrene after 7 days, respectively. The obtained results showed that biofilm formed by multiple bacterial strains attached on cellulose material may considerably increase the degrading efficiency of aromatic hydrocarbon compounds. The results also indicated that cellulose material is suitable carrier to choose in removal of aromatic hydrocarbon contaminated wastewater. These results are considered as new approach to apply microbial films on cellulose material to degrade oil polluted waste-water in the environment

Modeling quality of life of Ho Chi Minh City dwellers

Quality of life (QoL) has received more and more attention from scholars and researchers from various fields such as healthcare, philosophy, psychology, sociology, and especially economics after many decades of focusing on income. However, researchers have faced many challenges to gain the proper measurement of QoL due to the contextually based concept. This study employs the primary data conducted in Ho Chi Minh City including 500 observations in 2022, with the application of partial least squares structural equation modeling (PLS-SEM) to construct a hierarchical model to measure the QoL of the dwellers in Ho Chi Minh City. The empirical model supports the multi-level hierarchical structure of the QoL. The statistically significant contribution of economic, social, and environmental dimensions in the integrated index has been confirmed. The environmental component shares the highest weight, followed by the economic factor. The social aspect contributes the least share in the quality- of-life index. Further analysis of the sub-criteria in each dimension has been made. The findings implicitly suggest the policy concentration on sustainable factors enhancement to raise the QoL. It was a milestone for policy makers to switch the focus from material to non-material factors in the life quality model in Vietnam