Stable control of networked robot subject to communication delay, packet loss, and out-of-order delivery

Stabilization control of networked robot system faces uncertain factors caused by the network. Our approach for this problem consists of two steps. First, the Lyapunov stability theory is employed to derive control laws that stabilize the non-networked robot system. Those control laws are then extended to the networked robot system by implementing a predictive filter between the sensor and controller. The filter compensates influences of the network to acquire accurate estimate of the system state and consequently ensures the convergence of the control laws. The optimality of the filter in term of minimizing the mean square error is theoretically proven. Many simulations and experiments have been conducted. The result confirmed the validity of the proposed approach

Effect of Organic Loading Rates on Performance of Treating Dairy Wastewater in a Lab-Scale Sequencing Batch Reactor

This study aims to investigate, the effect of organic loading rates (OLRs), nutrient ratio addition, and sludge retention time (SRT) on treating dairy wastewater in a sequencing batch reactor (SBR) system. This investigation is verified by experiments conducted in 3 phases at 3 different OLRs (1.8, 1.2, and 0.9 kg/m3d, respectively).  Urea ((NH2)2CO) is added to make a suitable (COD:N:P) ratio of (100:5:1) in dairy wastewater. The SRT is adjusted from 50 days to an appropriate value of 18 days. The obtained results show that the COD, TN, and TP removal efficiencies are increased with decreasing OLRs. Sludge concentration in the SBR tank is stable at 1100 mg/L after adding (NH2)2CO. In addition, the SBR operated at a suitable SRT (i.e. 18 days) helps the biomass stably, resulting in enhancement of COD, TN, and TP removal. The results are helpful to the design of SBR for treating dairy wastewater

Active fault-tolerance of the unmanned aerial vehicle automatic control systems

This paper presents an introductory overview of principles of the three-layer hierarchy of active fault-tolerance, providing, determination of the fault type with as many details as enough to get recoverable fault reason and failure toleration by flexible redundancy using; the conception of active fault-tolerant control in abnormal modes is described. Developed models and methods of a systematic approach to fault tolerance in the direction of the effective use of the signal, parametric and structural redundancies and selection of parrying tools. Performed experimental researches of the unmanned aerial vehicle (UAV) automatic control systems (ACS)

Simultaneous Effect of Ownership and Economic Sector on the Performance of Enterprises in Vietnam

This paper examines the differences in the impact of ownership types and economic sectors on the business efficiency of 4,733 enterprises in Vietnam by the year of 2015. By the method of analysis of variance (ANOVA), it is shown that while types of ownership, foreign, state and private ownership, have a significant and different impact on the performance of businesses, the difference in economic sectors does not affect the enterprise efficiency. In addition, when testing simultaneous effect of these factors, some findings are as follows: private-owned enterprises’ efficiency in the manufacturing and service sectors is better than those in agriculture, forestry and fishing sector; conversely, foreign invested enterprises operating in agriculture, forestry and fishing sector own better performance than theirs in manufacturing and service sectors; state-owned enterprises in manufacturing and service sectors is very less efficient than theirs in agriculture, forestry and fishing sector

Effects of protein levels of commercial diets on the growth performance and survival rate of rabbitfish (Siganus guttatus) at the nursing stage

This study aimed to determine the effect of a commercial diet's protein level on the fry-to-fingerling stage. Thirty days-old fries having the initial length and weight of 18.25 ± 0.15 mm fish-1 and 0.036 ± 0.50 g fish-1 respectively have been used in this study. Diet having three protein levels i.e. 30% (trial 1 as control), 35% (trial 2), 40% (trial 3), and 45% (trial 4), respectively, have been used to evaluate the effect of protein, and each trial has been repeated three times. During the study, stocking density was allocated to 1000 fish per composite tank with a volume of 1 m3. After 30 days of rearing, the weight of fingerlings in trial 1 reached up to 1.50 ± 0.02 g fish-1 and it was recorded as 1.52 ± 0.01g for trial 2, these two were lower than that of trials 3 and 4, where fingerling weight was reported 1.69 ± 0.01 and 1.58g fish-1 respectively and obtained the best weight compared to others. The length of fingerlings at the end of the experimental period was also changed in different trials and it was recorded 47.12; 46.92; 50.97; and 48.89 mm fish-1 for trail 1, 2, 3, and 4 respectively, among the tested combinations lower fingerlings length was recorded for trial 2 (35% CP), but it is not significantly different for trial 1 and 2 and a significant difference (P < 0.05) was reported for trail 2, 3, and 4. The survival rate of fingerlings ranged from 67.27 to 72.33%. Meanwhile, the herd distribution coefficient variation (CVW) in the treatment using 40% protein (trial 3) was the highest at 72.33% (p < 0.05). The results of the study can be concluded that the level of protein has a significant effect on the various growth parameters of fingerlings

PRESENT DAY DEFORMATION IN THE EAST VIETNAM SEA AND SURROUNDING REGIONS

This paper presents velocities of present-day tectonic movement and strain rate in the East Vietnam Sea (South China Sea) and surroundings determined from GPS campaigns between 2007 and 2010. We determine absolute velocities of GPS stations in the ITRF05 frame. The result indicates that GPS stations in the North of East Vietnam Sea move eastwards with the slip rate of 30 - 39 mm/yr, southwards at the velocities of 8 - 11 mm/yr. Song Tu Tay offshore moves eastwards at the rate of ~24 mm/yr and southwards at ~9 mm/yr. GPS stations in the South of East Vietnam Sea move to the east at the rate of ~22 mm/yr and to the south at the velocities of 7 - 11 mm/yr. The effect of relative movement shows that the Western Margin Fault Zone activates as left lateral fault zone at the slip rate less than 4 mm/year.In Western plateau, the first result from 2012 - 2013 GPS measurement shows that the velocities to the east vary from 21.5 mm/yr to 24.7 mm/year. The velocities to the south vary from 10.5 mm/yr to 14.6 mm/year. GPS solutions determined from our campaigns are combined with data from various authors and international projects to determine the strain rate in the East Vietnam Sea. Principal strain rate changes from 15 nanostrain/yr to 9 nanostrain/yr in the East Vietnam Sea. Principal strain rate and maximum shear strain rate along the Red River Fault Zone are in order of 10 nanostrain/year. East Vietnam Sea is considered to belong to the Sunda block

Effect of Silver Nanowire Dimension to Ammonia Adsorption of Graphene-silver Nanowires Hybrid

In this report, we study the effect of silver nanowires (AgNws) dimension to electrical properties of rGO/AgNws hybrid. The alteration of these electrical properties leads the difference of ammonia sensibility of the rGO/AgNws hybrid based sensing devices. When the rGO is accompanied by AgNws of different sizes from \sim 500$~\text{nm to } 10\;\mum, the ammonia sensitivity of these hybrids change from 60% to 340% alteration compared with the bare rGO material

Nanomaterial for Adjuvants Vaccine: Practical Applications and Prospects

Vaccines contain adjuvants to strengthen the immune responses of the receiver against pathogen infection or malignancy. A new generation of adjuvants is being developed to give more robust antigen-specific responses, specific types of immune responses, and a high margin of safety. By changing the physical and chemical properties of nanomaterials, it is possible to make antigen-delivery systems with high bioavailability, controlled and sustained release patterns, and the ability to target and image. Nanomaterials can modulate the immune system so that cellular and humoral immune responses more closely resemble those desired. The use of nanoparticles as adjuvants is believed to significantly improve the immunological outcomes of vaccination because of the combination of their immunomodulatory and delivery effects. In this review, we discuss the recent developments in new adjuvants using nanomaterials. Based on three main vaccines, the subunit, DNA, and RNA vaccines, the possible ways that nanomaterials change the immune responses caused by vaccines, such as a charge on the surface or a change to the surface, and how they affect the immunological results have been studied. This study aims to provide succinct information on the use of nanomaterials for COVID-19 vaccines and possible new applications

Applied bioinformatics tools for analysis of Microrna-214 expression and prediction of its potential targets genes in Nasopharyngeal carcinoma

miRNA (microRNA) are short RNA molecules in length from 20 to 24 nucleotides that have been shown to play an important role in regulating gene expression in many different types of human cancer. Meanwhile, miRNA-214 is one of the known miRNAs involved in the formation of nasopharyngeal carcinoma (NPC) through overexpression that promotes proliferation and development of cancer cells. However, in Vietnam, the study of miR-214 related to NPC has not been conducted yet. With the aims to develop the further studies of miR-214 on NPC in Vietnamese patients, in this initial study, we conducted the analysis of miR-214 expression in previous publications, as well as the prediction of miR-214 potential target genes, which involved in many cellular pathways. Here we applied bioinformatics tools to predict miRNAs and their targets, and discuss the role of miR-214 in the context of human cancers. As the results, miR-214 acted as the oncogenic roles in NPC, relevanted to many pathways, such as cell proliferation, apoptosis, metastasis and invasion through the its target genes LTF, Bim, Bax, LINC0086, etc. In conclusion, the use of computional approaches facilitate the further experimental validation of miRNAs in general, particularly miR-214, in Vietnamese NPC patients