Impact analysis of actuator torque degradation on the IRB 120 robot performance using simscape-based model

Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving joints, and the loss of actuator torque are common faulty types of robot joints where the actuators fail. Locked and free-moving joint issues are addressed by many published articles, whereas the actuator torque loss still opens attractive investigation challenges. The objectives of this study are to classify the loss of robot actuator torque, named actuator torque degradation, into three different cases: Boundary degradation of torque, boundary degradation of torque rate, and proportional degradation of torque, and to analyze their impact on the performance of a typical 6-DOF robot (i.e., the IRB 120 robot). Typically, controllers of robots are not pre-designed specifically for anticipating these faults. To isolate and focus on the impact of only actuator torque degradation faults, all robot parameters are assumed to be known precisely, and a popular closed-loop controller is used to investigate the robot’s responses under these faults. By exploiting MATLAB-the reliable simulation environment, a simscape-based quasi-physical model of the robot is built and utilized instead of an actual expensive prototype. The simulation results indicate that the robot responses cannot follow the desired path properly in most fault cases

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

Organisational Baseline Study: Overview report for Tra Hat CSV, Vietnam (VN03)

This report covers the Organisational Baseline Study (OBS) for the CCAFS Climate-Smart Village Tra Hat in the South Viet Nam. During October 2014 interviews were conducted with local stakeholders at ten organisations who are working or collaborating with farmers and/or the community in Vinh Loi district, Bac Lieu province. The Tra Hat CSV is located near the coastal area, at tail end of a primary canal of Quan Lo Phung Hiep system (QLPH), the Mekong Delta of Vietnam, it usually causes lack of fresh water in from QLPH in dry season. There are two distinct dry season (December to April) and rainy season (May to November) which typhoon happens seldom in rainy season. Protected by dyke and sluice system of QLPH in Bac Lieu province, Tra Hat has not been affected by saline intrusion for last 15 years. The main farming systems in the village comprise two or three rice crops per year, small livestock as pig, chicken and ducks. Besides, mixed fruit garden and cash crop are often blended in residential area. Ground water and water in ponds is popular in household to provide domestic water, raising fish or garden irrigation and livestock, especially in dry season. The objectives of the OBS study are to: Provide indicators to monitor changes in behaviours and practices of locally relevant organisations that have climate change related activities in Bac Lieu over time Understand the provision of information/services at the local level that informs farmers’ decision making about their livelihood strategies in response to climate change This OBS report also supplements to the quantitative Household Baseline Survey (HBS) and the qualitative Village Baseline Studies (VBS) in Tra Hat CSV and surrounding villages

TÁC ĐỘNG CỦA GIÁO DỤC KHỞI NGHIỆP ĐẾN Ý ĐỊNH KHỞI NGHIỆP CỦA SINH VIÊN: TRƯỜNG HỢP NGHIÊN CỨU TẠI TRƯỜNG ĐẠI HỌC KINH TẾ, ĐẠI HỌC HUẾ

This research was conducted to investigate the impact of entrepreneurial education on the entrepreneurial intentions of university students. The research methodology incorporates Exploratory Factor Analysis (EFA), Confirmatory Factor Analysis (CFA), and Structural Equation Modeling (SEM). The survey results from 355 students at University of Economics, Hue University revealed that entrepreneurial education, which encompasses teaching methods, faculty support, and extracurricular programs, had a positive influence on students' entrepreneurial intentions and their entrepreneurial attitudes. Entrepreneurial attitudes also positively influenced entrepreneurial intentions. Based on these findings, several implications are proposed to enhance entrepreneurial education, including (i) Close integration into the local entrepreneurial ecosystem; (ii) Consideration of making entrepreneurial education programs mandatory; (iii) Teaching through case studies and fostering debates on business ideas or projects; (iv) Enhancing faculty support by incorporating business storytelling and encouraging students to engage in real business activities; (v) Ensuring that extracurricular activities are substantial and deeply connected to the business community; and (vi) Assisting students in better understanding themselves and developing an appropriate attitude towards a culture of embracing failure.Nghiên cứu được thực hiện nhằm tìm hiểu sự tác động của giáo dục khởi nghiệp đến ý định khởi nghiệp của sinh viên. Phương pháp tiến hành nghiên cứu gồm phân tích nhân tố khám phá, phân tích nhân tố khẳng định và mô hình cấu trúc tuyến tính. Kết quả khảo sát 355 sinh viên trường Đại học Kinh tế, Đại học Huế cho thấy: Giáo dục khởi nghiệp (gồm phương pháp dạy học, hỗ trợ của giảng viên và chương trình ngoại khoá) tác động cùng chiều đến ý định và thái độ khởi nghiệp của sinh viên. Thái độ khởi nghiệp tác động cùng chiều đến ý định khởi nghiệp. Dựa vào kết quả nghiên cứu, các hàm ý quản trị được đề xuất nhằm phát triển giáo dục khởi nghiệp: (i) Kết nối chặt chẽ vào hệ sinh thái khởi nghiệp địa phương; (ii) Cân nhắc đưa chương trình đào tạo giáo dục khởi nghiệp thành học phần bắt buộc; (iii) Dạy học theo hướng case study và tăng cường tranh luận về ý tưởng hoặc dự án kinh doanh; (iv) Giảng viên tăng cường hỗ trợ sinh viên thông qua câu chuyện kinh doanh và khuyến khích họ làm quen với hoạt động kinh doanh; (v) Hoạt động ngoại khóa phải thực chất và kết nối sâu với cộng đồng doanh nhân; và (vi) Giáo dục để sinh viên thấu hiểu bản thân và có thái độ phù hợp với văn hoá thất bại

Using Bioinformatics to predict potential targets of Microrna-144 in osteoarthritis

MicroRNAs are short endogenous non-coding RNA molecules, typically 19-25 nucleotides in length, which negatively regulate gene expression through binding to 3’UTR of target mRNAs, leading to repression of protein translation or target mRNA degradation. MicroRNA-144 (miR-144) was found as an abnormal expression in various diseases, including osteoarthritis (OA). We have identified increased microRNA-144 expression in early phase and end stage of OA. However, the molecular mechanism of this increase has not been yet to be determined yet. Using bioinformatics tools, we found more than 4,000 mRNAs that are predicted to be potential direct targets of miR-144, including mRNAs involved in the critical signaling pathways in OA e.g. TGFβ/Smad2/3 and WNT/β-catenin. Results from this research provide information for future ex periments to validate miR-144 potential targets

Village Baseline Study: Site Analysis Report for Tra Hat Village, Vinh Loi, Bac Lieu, Viet Nam (VNM 03)

This report presents data collected from the Village Baseline Study conducted on 2-4 October 2014 at the Tra Hat village, Vinh Loi district, Bac Lieu, Vietnam. Data were collected through focus group discussions and participatory resource mapping with community members in the village. The Village Baseline Study is part of the baseline activities conducted under the CGIAR Research Program on Climate Change, Agriculture, and Food Security (CCAFS) in South East Asia. The purpose is to collect data for indicators that will allow site comparability and monitoring to assess changes in terms of food security and natural resource management across time. Results show that the men and women in Tra Hat village consider farmland, rivers and canals as important natural resources. The quality, however, of land, water and wildlife habitats has declined in the last decade along with the improvement of farming techniques and intensive use of chemical fertilizers and pesticides. Infrastructures such as roads, internal canals, hospitals, schools, water supply station and electricity transformer station have improved. The future is envisioned to have improved internal canals in farmlands and a developed irrigation system, dykes and sluices to support high agriculture production. Home garden diversification was also believed to enhance food security and improve livelihood resilience. To turn the vision into reality, the community expects support from the different organizations working in the area considering current impacts of salinity intrusion and sea level rise, the need interventions of CCAFS and its partners. Strengthening the irrigation system, improving local rice variety, and introducing modern farming techniques taking into account negative impacts of climate change are major recommendation for future intervention

Synthesis of Flower-like Silver Nanostructures on Silicon and Their Application in Surface-enhanced Raman Scattering

To enhance the intensity of surface-enhanced Raman scattering (SERS), production of metal nanostructures with sharp points, lying side by side at the nanometer level plays an extremely important role. In this paper, we report on a manufacturing process in which the silver nanoparticles with the flower-like shape have been fabricated. Such silver nanoparticles have been fabricated by chemical deposition of silver particles on silicon wafers, using a solution of hydrofluoric acid (HF), silver nitrate (AgNO3) and ascorbic acid (AsA) in water, at room temperature. During the manufacturing we found that only when the concentrations of AgNO3 and AsA are appropriate, the flower-like silver nanoparticles will form. Note that while other authors mainly made flower-like silver nanoparticles in the form of suspensions, we have created flower-like silver nanoparticles with cabbage-shape on a silicon surface. The ensembles of flower-like silver nanoparticles above were used as SERS substrates to detect crystal violet (CV) in low concentrations and good results were obtained

Cross-cultural adaptation and psychometric validation of the Vietnamese version of the evidence-based practice competency questionnaire for registered nurses (EBP-COQ Prof©)

Background & Aim: Establishing strategies to enhance evidence-based practice (EBP) requires a reliable instrument for assessing EBP competency. This study focused on translating and validating the Evidence-Based Practice Competency Questionnaire for Registered Nurses (EBP-COQ Prof©) in the Vietnamese context. Methods & Materials: Through a methodological approach, this study performed cross-cultural adaptation and psychometric validation. The study involved 372 nurses selected through convenience sampling. Content validity was established using the Content Validity Index for Items (I-CVI) and the Content Validity Index for Scales (S-CVI). Construct validity was assessed via exploratory (EFA) and confirmatory factor analysis (CFA). Reliability was determined using Cronbach's alpha and the intra-class correlation coefficient (ICC). Criterion validity was examined by comparing EBP-COQ Prof© competency between nurses with and without prior EBP education. Results: The Vietnamese version of EBP-COQ Prof© maintained consistency with the original version following cross-cultural adaptation. Content validity was confirmed with I-CVI> 0.78 and S-CVI/AVE= 0.97. EFA and CFA revealed consistent components with the original version: attitude (8 items), knowledge (11 items), skills (6 items), and utilization (10 items). Cronbach's alpha values were high: attitudes (0.965), knowledge (0.962), skills (0.909), and utilization (0.926). ICC values were also significant: attitudes (0.754), knowledge (0.895), skills (0.823), and utilization (0.966). Nurses with prior EBP education demonstrated higher EBP-COQ Prof© competency. Conclusion: The translated and validated EBP-COQ Prof© provides a robust tool for assessing EBP competency among Vietnamese nurses. Its reliability, validity, and sensitivity to educational effects underscore its potential for promoting EBP in nursing