Radial basis function neural network control for parallel spatial robot

The derivation of motion equations of constrained spatial multibody system is an important problem of dynamics and control of parallel robots. The paper firstly presents an overview of the calculating the torque of the driving stages of the parallel robots using Kronecker product. The main content of this paper is to derive the inverse dynamics controllers based on the radial basis function (RBF) neural network control law for parallel robot manipulators. Finally,  numerical simulation of the inverse dynamics controller for a 3-RRR delta robot manipulator is presented as an illustrative example

The need for values education programs for both pre-service teachers and in-service teachers in Vietnam

This paper investigates the perceptions of pre-service teachers and in-service teachers regarding the concept of 'values education' and the preparation of values education in professional programs in Vietnam. Furthermore, the pedagogical strategies employed by teachers in addressing values education situations in their classrooms are explored. A qualitative research design was employed, involving interviews with forty-three pre-service teachers from a university. Additionally, eighteen teachers from two different high schools were interviewed, and their teaching sessions, along with school assemblies, were observed. The findings reveal that values education is primarily understood as the instruction of living skills and moral education. There is a lack of conceptualization and knowledge regarding values education among the participants. Both pre-service teachers and in-service teachers did not receive formal values education programs during their university education, and the support provided by schools in this regard was limited. Teachers tended to integrate values education into subjects randomly and subjectively, without employing advanced strategies. Inconsistencies in implementation and challenges associated with teaching values were observed. Highlighting an urgent necessity, this article emphasizes the imperative need for values education programs tailored for both pre-service and in-service teachers in Vietnam. It underscores the significance of adequately equipping teachers to effectively address values education in their classroom

PROBLEMS IN VIETNAMESE-ENGLISH TRANSLATION OF RELATIVE CLAUSES FOR ENGLISH-MAJORED JUNIORS AT TAY DO UNIVERSITY, VIETNAM

Realistically, Vietnamese-English translation is not easy for Vietnamese students to master, and relative clauses are not typical in Vietnamese. Therefore, learners cannot avoid mistakes in their translation practice. Concerned researchers carried out a study to identify common Vietnamese-English translation errors in terms of English relative clauses. The participants were 60 juniors from the Bachelor of English course at Tay Do University. Test papers and interviews were employed as the instruments. The collected data from the two instruments mentioned above were all analyzed carefully afterward. The results of the study showed that the students suffered from a variety of grammar and vocabulary problems hindering them from translating Vietnamese into English correctly. Article visualizations

Researching migration methods, entropy and energy diagram to process ground penetrating radar data

Electromagnetic wave velocity is the most important parameter in processing ground penetrating radar data. Migration algorithm which heavily depends on wave velocity is used to concentrate scattered signals back to their correct locations. Depending wave velocity in urban area is not easy task by using traditional methods (i.e., common midpoint). We suggest using entropy and energy diagram as standard for achieving suitable velocity estimation. The results of one numerical model and areal data indicate that migrated section using accurate velocity has minimum entropy or maximum energy. From the interpretation, size and depth of anomalies are reliably identified

STUDY ON MULTI-OBJECTIVE OPTIMIZATION OF THE TURNING PROCESS OF EN 10503 STEEL BY COMBINATION OF TAGUCHI METHOD AND MOORA TECHNIQUE

In this study, the multi-objective optimization problem of turning process was successfully solved by a Taguchi combination method and MOORA techniques. In external turning process of EN 10503 steel, surface grinding process, the orthogonal Taguchi L9 matrix was selected to design the experimental matrix with four input parameters namely insert nose radius, cutting velocity, feed rate, and depth of cut. The parameters that were chosen as the evaluation criteria of the machining process were the surface roughness (Ra), the cutting force amplitudes in X, Y, Z directions, and the material removal rate (MRR). Using Taguchi method and MOORA technique, the optimized results of the cutting parameters were determined to obtain the minimum values of surface roughness and cutting force amplitudes in X, Y, Z directions, and maximum value of MRR. These optimal values of insert nose radius, cutting velocity, feed rate, and cutting depth were 1.2 mm, 76.82 m/min, 0.194 mm/rev, and 0.15 mm, respectively. Corresponding to these optimal values of the input parameters, the surface roughness, cutting force amplitudes in X, Y, Z directions, and material removal rate were 0.675 µm, 124.969 N, 40.545 N, 164.206 N, and 38.130 mm3/s, respectively. The proposed method in this study can be applied to improve the quality and effectiveness of turning processes by improving the surface quality, reducing the cutting force amplitudes, and increasing the material removal rate. Finally, the research direction was also proposed in this stud

The role of orographic effects on occurrence of the heavy rainfall event over Central Vietnam in November 1999

In this study, the WRF model is used to investigate the role of Central Vietnam terrain on occurrence of the heavy rainfall event in November 1999 over Central Vietnam. Two model experiments with and without terrain were performed to examine the orographic blocking effects during the event. In the terrain experiment, the results from a three-day simulation show that the model reasonably well captures northeast monsoon circulation, tropical cyclones and the occurrence of heavy rainfall in Central Vietnam. The topography causes a high pressure anomaly intensifying northeast monsoon. When the terrain is removed, the three-day accumulated rainfall decreases approximately 75% in comparison with that in the terrain experiment. The terrain blocking and lifting effects in strong wind and moisture laden conditions combined with convergence circulation over open ocean are the main factors for occurrence of the heavy rainfall event

A Method to Construct an Extension of Fuzzy Information Granularity Based on Fuzzy Distance

In fuzzy granular computing, a fuzzy granular structure is the collection of fuzzy information granules and fuzzy information granularity is used to measure the granulation degree of a fuzzy granular structure. In general, the fuzzy information granularity characterizes discernibility ability among fuzzy information granules in a fuzzy granular structure. In recent years, researchers have proposed some concepts of fuzzy information granularity based on partial order relations. However, the existing forms of fuzzy information granularity have some limitations when evaluating the fineness/coarseness between two fuzzy granular structures. In this paper, we propose an extension of fuzzy information granularity based on a fuzzy distance measure. We prove theoretically and experimentally that the proposed fuzzy information granularity is the best one to distinguish fuzzy granular structures. ACM Computing Classification System (1998): I.5.2, I.2.6

An effective RGB color selection for complex 3D object structure in scene graph systems

The goal of this project is to develop a complete, fully detailed 3D interactive model of the human body and systems in the human body, and allow the user to interacts in 3D with all the elements of that system, to teach students about human anatomy. Some organs, which contain a lot of details about a particular anatomy, need to be accurately and fully described in minute detail, such as the brain, lungs, liver and heart. These organs are need have all the detailed descriptions of the medical information needed to learn how to do surgery on them, and should allow the user to add careful and precise marking to indicate the operative landmarks on the surgery location. Adding so many different items of information is challenging when the area to which the information needs to be attached is very detailed and overlaps with all kinds of other medical information related to the area. Existing methods to tag areas was not allowing us sufficient locations to attach the information to. Our solution combines a variety of tagging methods, which use the marking method by selecting the RGB color area that is drawn in the texture, on the complex 3D object structure. Then, it relies on those RGB color codes to tag IDs and create relational tables that store the related information about the specific areas of the anatomy. With this method of marking, it is possible to use the entire set of color values (R, G, B) to identify a set of anatomic regions, and this also makes it possible to define multiple overlapping regions

Impact of Frequency Shift on Nonlinear Compensation Using Optical Phase Conjugation for M-QAM Signals

Nonlinear compensation using optical phase conjugation (OPC) have been considered a promising technique to increase the reach of high-speed fiber-optic transmission systems. OPC-based nonlinear compensation employs an optical phase conjugation located at a middle of the fiber link to generate a complexed conjugated signal with respect the signal in the first half of the link for propagation in the second half. OPC technique assumes a symmetry for signal propagating in the first and second half to obtain a perfect nonlinear and chromatic dispersion. However, as most of practical OPC schemes are realized by nonlinear effects such as four-wave mixing or a combination of second-harmonic generation and difference frequency generation, the frequency shift induced by OPC affects the signal symmetrical requirement for nonlinear compensation because the chromatic dispersion is different for the first and second half transmissions. In this paper, we investigate the impact of frequency shift on the nonlinear compensation using OPC for high symbol rate, high level modulation format signals. This will be important to understand the tolerance of the OPC techniques against such a practical condition for actual system implementations