Energy Consumption Minimization for Autonomous Mobile Robot: A Convex Approximation Approach

In this paper, we consider a trajectory design problem of an autonomous mobile robot working in industrial environments. In particular, we formulate an optimization problem that jointly determines the trajectory of the robot and the time step duration to minimize the energy consumption without obstacle collisions. We consider both static and moving obstacles scenarios. The optimization problems are nonconvex, and the main contribution of this work proposing successive convex approximation (SCA) algorithms to solve the nonconvex problems with the presence of both static and moving obstacles. In particular, we first consider the optimization problem in the scenario with static obstacles and then consider the optimization problem in the scenario with static and moving obstacles. Then, we propose two SCA algorithms to solve the nonconvex optimization problems in both the scenarios. Simulation results clearly show that the proposed algorithms outperform the A* algorithm, in terms of energy consumption. This shows the effectiveness of the proposed algorithms

MỘT SỐ NHẬN ĐỊNH BAN ĐẦU VỀ HIỆN TƯỢNG SÓNG NỘI XẢY RA Ở VÙNG BIỂN MIỀN TRUNG VIỆT NAM

Internal waves often occur in the East Vietnam Sea and have been determined mainly based on RADAR images. By means of dataset of VNREDSAT-1 satellite images and other imagery sources, for the first time, internal waves in the East Vietnam Sea have been identified by multispectral images; Also the formation mechanism of internal wave in the nearshore waters of Central Vietnam has been found. The analytical results show that the phenomenon of internal wave occurs in the nearshore waters of Central Vietnam mainly in the Southwest monsoon season (from June to September every year) and is located along the edge of the continental shelf. Internal waves formed along the waters of Central Vietnam mainly include the signals that have been generated at the shelf by large waves, through the basin from Luzon Strait. The study results have discovered a new applied aspect of VNREDSAT-1 satellite images in oceanographic research in general and detailed studies on internal waves in particular.Sóng nội thường xuyên xuất hiện ở Biển Đông và đã được các học giả nước ngoài xác định chủ yếu dựa trên tư liệu ảnh RADAR. Bằng sử dụng nguồn ảnh viễn thám đa phổ, đa nguồn, đa thời gian bao gồm cả các ảnh viễn thám đa phổ VNREDSAT-1 (do Việt Nam bay chụp) thu thập trong thời gian gần đây, lần đầu tiên đã nhận dạng hiện tượng sóng nội ở Biển Đông bằng tư liệu ảnh đa phổ cũng như phát hiện ra quy luật hình thành sóng nội ở vùng biển miền Trung Việt Nam. Kết quả phân tích cho thấy, hiện tượng sóng nội xuất hiện ở vùng biển miền Trung Việt Nam, chủ yếu xuất hiện vào mùa gió Tây Nam (từ tháng 6 đến tháng 9 hàng năm) và nằm ở ven rìa của thềm lục địa. Sóng nội hình thành dọc theo vùng biển miền Trung Việt Nam chủ yếu là các tín hiệu được sinh ra tại vùng thềm bởi các sóng lớn, xuyên qua lưu vực từ eo biển Luzon. Kết quả nghiên cứu đã phát hiện ra một khía cạnh ứng dụng khác của ảnh viễn thám VNREDSAT-1 trong lĩnh vực hải dương học nói chung và nghiên cứu chi tiết sóng nội nói riêng

TRACKING CONTROL FOR ELECTRO-OPTICAL SYSTEM IN VIBRATION ENVIROMENT BASED ON SELF-TUNING FUZZY SLIDING MODE CONTROL

The paper presents a new method for tracking control of EOTS (Electro-Optical Tracking System) operating in mobile environment such as ship, air plane, tank and so on. This makes the base body of the EOTS has angular motion. The control alogorithm used in this paper is adaptive fuzzy sliding mode. The overall control is built and simulated in Matlab and compared with a sliding mode controller and a conventional PID controller. The simulation result illustrated the effectiveness of the proposed controlle

Study on synthesis of carboxymethyl cellulose from pineapple leaf waste and its potential applications as a thickener

In this study, cellulose and hemicellulose were successfully extracted from pineapple leaf waste at yields of 58.8 and 16.1% by dried weight, respectively. Carboxymethyl cellulose (CMC) was synthesised from pineapple leaf cellulose by an esterification process using sodium hydroxide (NaOH) and monochloroacetic acid (MCA) with isopropanol as the supporting medium. Preparation of CMC was investigated by varying three free factors, namely, NaOH concentration, MCA dose, and cellulose size. The carboxymethylation process was optimised to produce CMC with differing degrees of substitution (DS). The highest DS of CMC (0.86) was obtained with 15% (w/v) NaOH solution, 0.6 g of MCA/g cellulose, and 50 μm cellulose. The obtained CMC were characterised by FTIR spectroscopy, SEM images and XRD diffractions. Moreover, the thickening performance of obtained CMC was also determined. The influence of the CMC’s molecular weight and degree of substitution on the viscosity of 1% (w/v) aqueous solution was tested. The experimental results suggest that the viscosity of the solution increases with increasing molecular weight and degree of substitution of CMC

Abnormal features of oceanographic characteristics in upwelling Vietnam waters under impact of El Niño events

The summer upwelling that occurs in coastal waters of South Central Vietnam is one of the major hydrographic features in the South China Sea. A weakening of the upwelling after major El Niño events was observed in the literature for previous El Nino events and was verified here from the analysis of new satellite image data sets of sea surface temperature (SST) and surface wind. The analysis of empirical orthogonal function (EOF) from of monthly SST as well as of temporal and spatial variations of SST and wind force allow us to identify abnormal characteristics in ocean surface water that happened after El Niño episode, in agreement with previous studies. Those abnormal characteristics in Vietnam upwelling waters appeared mainly during the summers of 1998, 2003, 2010 and 2016 years for the El Niño decline phase. The upwelling weakening during El Niño decline episodes is associated with the following signals: (1) Wind force and Ekman pump are very weak; (2) the cold  and high chlorophyll-a  tongue is shifted northward but not extended eastward; (3) for years when El Nino occurs, SST strongly increases and reaches a peak in May or early June of next year, during the declining phase of El Niño episode; (4) upwelling phenomenon typically occurs during August and not July. Using a reanalysis dataset derived from the HYCOM/NCODA system coupled with a local Finite Element Model (FEM) allow us to complete our knowledge about the abnormal oceanographic characteristics of deeper water layers after El Niño episodes. The analysis of spatial variations of oceanography fields derived from HYCOM/NCODA/FEM system along zonal and meridional sections and vertical profiles as well as the results obtained from water mass analysis allow us to identify in details the abnormal oceanic characteristics of deeper water layers during the declining  El Niño phase. Those are; (5) Sea water in both surface and deeper water layers were transported dominantly northward  but not eastward; (6) The thermo-halocline layer in South Vietnam upwelling center was deeper (about 90 -100m), compared with previous El Nino and normal years (50-60 m and 35-40 m, respectively); (7) Extreme global warming in recent years (2012-2016) pressed the thermo-halocline layer in upwelling center deeper (90-100 m) during summer. Under the influence of the ocean global warming, this process should progress continuously, the depth of thermo-halocline layer should become therefore deeper and deeper in next years.References Barthel, K., R. Rosland, and N. C. Thai, 2009. Modelling the circulation on the continental shelf of the province Khanh Hoa in Vietnam, J. Mar. Syst., 77(1-2), 89-113. Bui Hong Long, Tran Van Chung, 2009. Calculations of currents in the upwelling region along south-central Vietnamese coast, using three dimensions (3-D) nonlinear model”, Journal of Marine Science and Technology - VAST, 9(2), 01-25 (in Vietnamese). Bui Hong Long, Tran Van Chung, 2017. Preliminary studies on the impact of climate change on the upwelling region south Central Vietnam in summer.  Journal of Marine Science and Technology - VAST , 17(1), 01-19 (in Vietnamese). Colling, A., 2001. Ocean Circulation, Open University Course Team. Second Edition. ISBN 978-0-7506-5278-0. Dippner, J. W., and N. Loick-Wilde, 2011. A redefinition of water masses in the Vietnamese upwelling area, J. Mar. Syst., 84(1-2), 42-47. Hale, W.G, Margham, J.P,  and Sauder, V.A, 2005. Collins Dictionary of  Biology 3rd . London: Collin. Huang, Q.-Z.,W.-Z. Wang, Y. S. Li, and C. W. Li, 1994. Current characteristics of the South China Sea, in Oceanology of China Sea, edited by D. Zhou, Y.-B. Liang, and C. K. Tsebgm, 39-47, Kluwer Acad., Norwell, Mass. H.E. Hurlburt, E.P. Chassignet, J.A. Cummings, A.B. Kara, E.J. Metzger, J.F. Shriver, O.M. Smedstad, A.J. Wallcraft, and C.N. Barron, 2008. Eddy-resolving Global Ocean Prediction, in M. Hecht and H. Hasumi, eds., Ocean Modeling in an Eddying Regime, Geophysical Monograph 177 (American Geophysical Union, Washington, DC ). Knauss, J.A., 2005. Introduction to Physical Oceanography, Waveland Press. Second Edition. ISBN 978-1-57766-429-1. Kuo. N. J, Zheng. Q, Ho C. R, 2004.  Response of Vietnam coastal upwelling to the 1997-1998 ENSO event observed by multisensor data, Remote sensing of Environment, 15 January, 89(1), 106-115. Le Phuoc Trinh, Nguyen Tien Dung, Nguyen Van Minh, Le Minh Tan, Nguyen Kim Vinh, 1981. A proposal of studies on the upwelling of Southeastern coast of Vietnam, Collection of Marine Research Works, 2(2), 13-31 (in Vietnamese). Nguyen Van Long and Vo. Si  Tuan, 2010. Status of coral reefs in Vietnam following the 2010 coral bleaching event. In: Kimura T, Tun K (eds) Status of Coral Reefs in East Asian Seas Region: Ministry of the Environment, Japan, 29-49. NOAA National Centers for Environmental Information, State of the Climate: Global Analysis for Annual 2010, published online January 2011, retrieved on March 25, 2017 from http://www.ncdc.noaa.gov/sotc/global/201013. Ose, T., Y. Song, and A. Kitoh, 1997. Sea surface temperature in the South China Sea: An index for the Asian monsoon and ENSO system, J. Meteorol. Soc. Japan., 75, 1091-1107. Pohlmann, T., 1987. A three dimensional circulation model of the South China Sea., 245-268. In Three-Dimensional Models of Marine and Estuarine Dynamics, ed. by J. J. Nihoul and B. M. Jamart, Elsevier, New York. Qu, T,  Kim, Y.Y, Yaremchuk, M., Tozuka. T, Ishida, A, Yamagata, T., 2004. Can Luzon strait transport play a role in conveying the impact of ENSO to the South China Sea J. Clim. 17, 3644-3657 Shaw, P. T., and S. Y. Chao, 1994.  Surface Circulation in the South China Sea, Deep-Sea Res., I(41), 1663-1683. Siswanto, E., H. Ye, D. Yamazaki, and D.L. Tang 2017. Detailed spatiotemporal impacts of El Niño on phytoplankton biomass in the South China Sea, J. Geophys. Res. Oceans, 122, doi:10.1002/2016JC012276. Sverdrup, H.U., M.W. Johnson and Fleming, R.H., 1942. The Oceans: their physics, chemistry and general biology. Prentice Hall, New York, 1087p. Tang D. L., H. Kawamura, H. Doan Nhu, and W. Takahashi, 2004. Remote sensing oceanography of a harmful algal bloom off the coast of southeastern Vietnam, J. Geophys. Res., 109, C03014, doi:10.1029/ 2003JC002045. Thai Minh Quang, 2016. Studies on influence of  2016.  El Niño event to coral bleaching phenomena in coastal waters in Ninh Hai - Ninh Thuan province. Technical report of  basic research pro­ject funded by Institute of Oceanography - the Vietnam Academy of Science and Technology (in Vietnamese). Tong Phuoc Hoang Son, Vo Van Lanh and Lau Va Khin, 2005. Application of empirical orthogonal function (EOF) for studying thermal structure in sea surface water in South China Sea. The 26th Asian Remote sensing Conference, 7-11 November 2005 in Hanoi. Tran Van Chung, Bui Hong Long, 2016. Effect of temperature field and anomalies of sea water level in East Vietnam Sea in relationship to global climate change - Journal of Marine Science and Technology - VAST, 16(3), 255-266 (in Vietnamese). Vo Van Lanh, 1995. The environmental characteristics of strongly upwelling waters in south of Vietnam and its ecological impacts. Technical report of National project KT03.05. Institute of Oceanography, 480p (in Vietnamese). Vo Si Tuan, 2000. The corals at Con Dao archipelago (South Vietnam): before, during and after the bleaching event in 1998. In: Proceeding of 9th International Coral Reef Symposium, Bali, Indonesia, 23rd-27th October, 895-899. Wang B., An S., 2005. A method for detecting season-dependent modes of climate variability: S-EOF analysis. Geophys. Res. Lett., 32, L15710. Wyrtki K., 1961. Physical oceanography of the Southeast Asian waters, Naga Rep. 2, 195p, Scripps Inst. of Oceanogr., La Jolla, Calif. Xie S.-P., Q. Xie, D. Wang and W. T. Liu, 2003. Summer upwelling in the South China Sea and its role in regional climate variations, J. Geophys. Res., 108(C8), 3261, doi:10.1029/2003JC001867. Xie S.-P., C.-H. Chang, Q. Xie and D. Wang, 2007. Intraseasonal variability in the summer South China Sea: Wind jet, cold filament, and recirculations, J. Geophys. Res., 112, C10008, doi:10.1029/2007JC004238

Associations of Underlying Health Conditions With Anxiety and Depression Among Outpatients: Modification Effects of Suspected COVID-19 Symptoms, Health-Related and Preventive Behaviors

Objectives: We explored the association of underlying health conditions (UHC) with depression and anxiety, and examined the modification effects of suspected COVID-19 symptoms (S-COVID-19-S), health-related behaviors (HB), and preventive behaviors (PB).Methods: A cross-sectional study was conducted on 8,291 outpatients aged 18–85 years, in 18 hospitals and health centers across Vietnam from 14th February to May 31, 2020. We collected the data regarding participant's characteristics, UHC, HB, PB, depression, and anxiety.Results: People with UHC had higher odds of depression (OR = 2.11; p < 0.001) and anxiety (OR = 2.86; p < 0.001) than those without UHC. The odds of depression and anxiety were significantly higher for those with UHC and S-COVID-19-S (p < 0.001); and were significantly lower for those had UHC and interacted with “unchanged/more” physical activity (p < 0.001), or “unchanged/more” drinking (p < 0.001 for only anxiety), or “unchanged/healthier” eating (p < 0.001), and high PB score (p < 0.001), as compared to those without UHC and without S-COVID-19-S, “never/stopped/less” physical activity, drinking, “less healthy” eating, and low PB score, respectively.Conclusion: S-COVID-19-S worsen psychological health in patients with UHC. Physical activity, drinking, healthier eating, and high PB score were protective factors

Water quality assessment in the Nha Trang Bay (Vietnam) by using in-situ and remotely sensed data

The Nha Trang Bay (Vietnam) is an international marine protected area with significant economic, natural and recreational values. Considerable economic development is expected in particularly for tourism, navigation and aquaculture. However, in recent years the environmental quality of the Bay has been degraded by human activities and impacts. Even though the conditions of the Bay are monitored with in-situ measurements in a marine station, the environmental data, measured only in half-yearly intervals, are not sufficient for comprehensively assessing environmental quality at various temporal and spatial scales. Therefore, it is necessary to seek for complementary data sources to assess, control and manage the marine environment of Nha Trang Bay. We conducted three field trips in Nha Trang Bay at 23 stations, including 6 off-shore stations that are not influenced by freshwater from land, and measured the distribution of marine optical properties. These properties include the light extinction coefficient (K) of photosynthetically active radiation (PAR) in the surface layer (i.e. 1m depth) and in water columns. K ranged from 0.099 m-1 off-shore to 0.409 m-1 in coastal waters. In addition, light absorption at various wavelengths were used to assess the concentration of chlorophyll-a, total suspended sediments and primary production. Further, we collected and used spatially explicit data using the OC4 method and the method of band 1, 2 and 3 ratios of the Landsat TM satellite. A data comparison confirms a significant correlation between the different sources of in-situ and remotely sensed data of light absorption. However, the predicted values at stations with a water depth of less than 5 m are significantly affected by sea bottom reflection of, for example, mud, sand, coral reefs and algae. The results indicate that it is appropriate to use remote sensing methods to derive spatially explicit distributed variables of optical properties and derived products for an environmental assessment of coastal waters

Adsorptive Removal of Copper by Using Surfactant Modified Laterite Soil

Removal of copper ion (Cu2+) by using surfactant modified laterite (SML) was investigated in the present study. Characterizations of laterite were examined by X-ray diffraction (XRD), Fourier transform infrared spectroscopy (FT-IR), inductively coupled plasma mass spectrometry (ICP-MS), and total carbon analysis. The optimum conditions for removal of Cu2+ by adsorption using SML were systematically studied and found as pH 6, contact time 90 min, adsorbent dosage 5 mg/mL, and ionic strength 10 mM NaCl. The equilibrium concentration of copper ions was measured by flame atomic absorption spectrometry (F-AAS). Surface modification of laterite by anionic surfactant sodium dodecyl sulfate (SDS) induced a significant increase of the removal efficiency of Cu2+. The surface modifications of laterite by preadsorption of SDS and sequential adsorption of Cu2+ were also evaluated by XRD and FT-IR. The adsorption of Cu2+ onto SML increases with increasing NaCl concentration from 1 to 10 mM, but at high salt concentration this trend is reversed because desorption of SDS from laterite surface was enhanced by increasing salt concentration. Experimental results of Cu2+/SML adsorption isotherms at different ionic strengths can be represented well by a two-step adsorption model. Based on adsorption isotherms, surface charge effects, and surface modification, we suggest that the adsorption mechanism of Cu2+ onto SML was induced by electrostatic attraction between Cu2+ and the negatively charged SML surface and nonelectrostatic interactions between Cu2+ and organic substances in the laterite

Novel Eco-Friendly Synthesis of Biosilver Nanoparticles as a Colorimetric Probe for Highly Selective Detection of Fe (III) Ions in Aqueous Solution

In this work, an eco-friendly approach for the synthesis of biogenic silver nanoparticles (bio-AgNPs) using botanical extracts in combination with an electrochemical process was carried out. We employed three types of plant extracts, including green tea leaf (GTE), grapefruit peel (GP), and mangosteen peel (MP) extracts to successfully synthesize the bio-AgNPs and optimized the experimental conditions aiming to get the highest synthetic yield. The formation of bio-AgNPs was monitored by UV-Vis spectroscopy via a surface plasmon resonance (SPR) band at about 420–430 nm. Transmission electron microscope (TEM) showed their spherical shape with the size range within 23–55 nm. While X-ray diffraction (XRD) analysis described in detail the crystalline structure of the bio-AgNPs with a face-centered cubic crystal lattice of metallic silver. The chemical bonding and elemental compositions of the bio-AgNPs were determined by Fourier Transform Infrared (FTIR) spectroscopy, in which organic compounds in the natural extracts not only acted as effective reductants but also capping agents for the fabricated bio-AgNPs. The prepared bio-AgNPs exhibited high stability and excellent dispersion for about four months. Based on the linear relationship between obtained SPR band intensity of bio-AgNP GTE in the presence of Fe (III) and concentration of Fe (III) ions, our bio-AgNP GTE can be used to develop a highly selective colorimetric sensor for the determination of Fe (III) ions within a linear range from 1 to 25 μM. According to that, the limit of detection (LOD) was recorded at approximately 0.532 μM, and the quantitative limit (LOQ) was calculated to be 1.77 μM. A detection mechanism was proposed through redox reactions between bio-AgNP GTE and Fe (III) ions. More interestingly, this method was successfully applied for the determination of Fe (III) ions in a lake water sample with percentage recovery of 107-150% and high reproducibility (RSD=1.49%)

Efficacy and safety of zero‐fluoroscopy ablation of ventricular arrhythmias originating from the right ventricular outflow tract: Comparison with fluoroscopy‐guided ablation without a three‐dimensional electroanatomic mapping system

Abstract Background Radiofrequency catheter ablation is the preferred treatment choice for ventricular arrhythmias (VAs) originating from right ventricular outflow tract (RVOT) in symptomatic patients and is usually performed under fluoroscopy guidance. Zero‐fluoroscopy (ZF) ablations using 3D mapping system applied for treatment of various types of arrhythmias are trending and practiced in many centers around the world, but rarely done in Vietnam. The objective of this study was to evaluate the efficacy and safety of zero‐fluoroscopy ablation of RVOT VAs, compared with fluoroscopy‐guided ablation without a 3D electroanatomic mapping (EAM) system. Methods and Results We conducted a nonrandomized, prospective single‐center study including 114 patients with RVOT VAs that had electrocardiographic features of typical left bundle branch block, inferior axis QRS morphology, and a precordial transition ≥ V3, from May 2020 to July 2022. The patients were assigned (without randomization) to two different approaches of either zero‐fluoroscopy ablation under the guidance of the Ensite system (ZF group) or fluoroscopy‐guided ablation without a 3D EAM (fluoroscopy group) in a 1:1 ratio. After a follow‐up time of 5.0 ± 4.9 months and 6.9 ± 9.3 months in the ZF and fluoroscopy groups, respectively, the results showed a higher success rate in the fluoroscopy group than in the complete ZF group (87.3% vs 86.8%), although the difference was not statistically significant. No major complication was noted in both the groups. Conclusion ZF ablation for RVOT VAs can be done safely and effectively using the 3D electroanatomic mapping system. The results of ZF approach are comparable to that of the fluoroscopy‐guided approach without a 3D EAM system