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10 results on '"Nguyen-Duc, Phu"'

1. Socially Aware Motion Planning for Service Robots Using LiDAR and RGB-D Camera

Author

Nguyen, Duc Phu, Nguyen, Thanh Long, Tu, Minh Dang, Quach, Cong Hoang, Truong, Xuan Tung, and Phung, Manh Duong

Subjects
Computer Science - Robotics
Abstract

Service robots that work alongside humans in a shared environment need a navigation system that takes into account not only physical safety but also social norms for mutual cooperation. In this paper, we introduce a motion planning system that includes human states such as positions and velocities and their personal space for social-aware navigation. The system first extracts human positions from the LiDAR and the RGB-D camera. It then uses the Kalman filter to fuse that information for human state estimation. An asymmetric Gaussian function is then employed to model human personal space based on their states. This model is used as the input to the dynamic window approach algorithm to generate trajectories for the robot. Experiments show that the robot is able to navigate alongside humans in a dynamic environment while respecting their physical and psychological comfort., Comment: In Proceedings of 2024, the 7th International Conference on Control, Robotics and Informatics (ICCRI 2024)

Published
2024

3. Deep Hybrid Models for Forecasting Stock Midprices from the High-Frequency Limit Order Book

Author

Nguyen, Duc-Phu, Le, Nhat-Tan, Nguyen, Tien-Thinh, Nguyen, Thanh-Phuong, Van, Tien-Duc, Phan, Son-Tu, Nguyen-An, Khuong, Filipe, Joaquim, Editorial Board Member, Ghosh, Ashish, Editorial Board Member, Prates, Raquel Oliveira, Editorial Board Member, Zhou, Lizhu, Editorial Board Member, Dang, Tran Khanh, editor, Küng, Josef, editor, and Chung, Tai M., editor

Published
2022
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5. A case of Waardenburg syndrome type I with congenital sensorineural hearing loss.

Author

Le-Tran, Quang Minh, Nguyen, Duc Phu, and Huynh, Quang Huy

Subjects
SENSORINEURAL hearing loss, HEARING disorders, SYNDROMES, COCHLEAR implants, GENETIC disorders, CONDUCTIVE hearing loss, CONGENITAL disorders
Abstract

Waardenburg syndrome is a rare genetic disorder characterized by hearing loss in association with pigmentary defects of the skin, hair and eyes. It is caused by the gene mutation involved in the development of melanocyte. A five years old, female child attended our hospital because of bilateral profound sensorineural hearing loss detected at 4 months of age. She had blue eyes, dystopia canthorum, white forelock of hair, leukoderma on the forehead and nose, broad nasal root. She was diagnosed with Waardenburg syndrome type I. Congenital hearing loss was managed by cochlear implant surgery. The audiological result was normal with activation of implant post-operatively. Her CAP score was 7 at four years after surgery. Although Waardenburg syndrome is a rare disorder, it could affects significantly to patient's development, especially congenital sensorineural hearing loss. [ABSTRACT FROM AUTHOR]

Published
2023
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6. Simplified Function Approximation Technique in Synthesis of Adaptive Control System for A Flexible Joint 4-DOF Robotic Manipulator with Executive Electric Drives

Author

Nguyen Duc Phu, V. V. Putov, and Chu Trong Su

Subjects
Computer Science::Robotics, Function approximation, Adaptive control, Control theory, Computer science, Backstepping, Adaptive system, Robot manipulator, Joint (audio engineering)
Abstract

An adaptive control system for a flexible joint 4 DOF robotic manipulator with executive electric drives of a typical design is developed, synthesized based on step-by-step synthesis (backstepping) and the function approximation method. In this report, a simplified modification of the well-known (direct) function approximation technique was proposed, which allows reducing the order of the synthesized adaptive system and the computationally intensive. The results of a comparative computer study of the effectiveness of the initial modified function approximation method in control problem of the dynamic system of a flexible joint 4 DOF robotic manipulator with executive electric drives are presented.

Published
2019
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7. Mathematical Models and Adaptive Control System of Rigid and Flexible 4-DOF Joint Robotic Manipulator with Executive Electric Drives

Author

V. V. Putov, Chu Trong Su, and Nguyen Duc Phu

Subjects
Adaptive control, Mathematical model, Computer science, MathematicsofComputing_NUMERICALANALYSIS, Degrees of freedom (mechanics), Computer Science::Robotics, Mechanism (engineering), Sylvester's law of inertia, symbols.namesake, Control theory, Backstepping, Adaptive system, Euler's formula, symbols
Abstract

Mathematical model of a rigid and flexible 4 degrees of freedom (DOF) joint robotic manipulator with executive electric drives has been developed. The mathematical model of the robotic manipulator is designed based on the Lagrange - Euler formula, and the result of calculating the nonlinear inertia matrix, the matrix of Centrifugal and Coriolis forces, and the Gravitational force vector are presented. The mathematical model of the electromechanical drive is developed based on the two-mass model “executive electric drive - mechanism”. Adaptive systems for rigid and flexible robotic manipulators are designed by syntheses on using computed torque (Li-Stoline) method and backstepping (step-by-step synthesis). The calculation and synthesis algorithm was implemented using the Mathcad and Matlab-Simulink software packages.

Published
2019
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8. Study of the Thermal Treatment in Growth and Annealing Processes of Nano-thin Films

Author

Viktor A. Tupik, Nguyen Duc Phu, Chu Trong Su, and Vladimir I. Margolin

Subjects
Condensed Matter::Quantum Gases, Condensed Matter::Materials Science, Materials science, Annealing (metallurgy), Nano, Rectangular potential barrier, Process control, Thermal treatment, Thin film, Composite material
Abstract

The thermal treatment plays a key role in the growth and annealing process of nano-thin films. In this article, computer simulation is used to study this process at atomic-level. It has been shown that the relationship of the potential barrier of moving condense atom and thermal noise will determine the moving direction of this atom and structure of thin films at the end. The thermal treatment methods to get high quality of thin films have been recommended by the results of this study.

Published
2019
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9. An adaptive control of electromechanical plant with limited uncertainty

Author

Nguyen Duc Phu, Anastasiia D. Stotckaia, and N. D. Polyakhov

Subjects
0209 industrial biotechnology, Work (thermodynamics), Adaptive control, Adaptive algorithm, Computer science, 02 engineering and technology, Computer Science::Other, 020901 industrial engineering & automation, Exponential stability, Control theory, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Transient (oscillation), Parametric statistics
Abstract

The adaptive algorithm is to control the elastic electromechanical object with limited parametric uncertainty. The algorithm ensures the asymptotic stability and relative roughness unaccounted disturbances, and has practically instantaneous convergence. A study modeling in MatLab / Simulink modes of electromechanical system shows the stabilization of form transient electromechanical system with significant variations of parameters (3 to 5 times). Implementation of algorithms is quite simple and does not require a large amount of work to enact.

Published
2016
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10. Conversion de l'énergie éolienne en énergie calorifique stabilité d'une turbine éolienne

Author

Ashikian, Baruir, Nguyen, Duc Phu, Ashikian, Baruir, and Nguyen, Duc Phu

Abstract

Le contenu de ce mémoire se compose de deux parties: l'une consiste à concevoir un système de chauffage à air chaud pour une cabane, l'autre est consacrée à l'étude de la stabilité d'une turbine éolienne utilisée pour fin de convertir l'énergie éolienne en chaleur. Le chauffage de la cabane est réalisée par le phénomène de convection naturelle. L'expérience sur le volet montre un bon fonctionnement. une analyse des moments des forces exercées sur la turbine éolienne par rapport à l'articulation a permis de déterminer les points d'opération, la constante de rappel du ressort et de l'amortisseur. Les résultats théoriques calculés sur l'ordinateur IBM 360 ont montré que la turbine est stable pour une vitesse maximum du vent de 60 mph.

Published
1974

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