Luận văn thạc sĩ Cơ kỹ thuật: Nghiên cứu thiết bị hỗ trợ phục hồi chức năng vận động cho người bị tai biến

/XұQYăQQj\Oҩ\êWѭӣQJWӯJKӃnâng WҥÿDQăQJ± VӱGөQJWURQJOX\ӋQWұSWKӇKuQKEjLWұSJұS-GXӛLӣEjQWD\YjFҷQJWD\FӫD FRQ QJѭӡLYjSKiFWKҧRPӝWWKLӃWNӃYӅWKLӃWEӏSKөF KӗL FKӭF QăQJ GҥQJ FKӫ ÿӝQJ 7KLӃW Eӏ FKR SKp

CHUYÊN NGÀNH&Ѫ.Ӻ7+8Ұ7

0­6Ӕ60520101

/8Ұ19Ă17+Ҥ&6Ƭ

73+Ӗ&+Ë0,1+WKiQJQăP1

7KjQKSKҫQ+ӝLÿӗQJÿiQKJLiOXұQYăQWKҥFVƭJӗP

1 Chӫ tӏch hӝLÿӗQJ3*6769NJ&{QJ+zD

2 7KѭNêKӝLÿӗng: TS TrѭѫQJ4XDQJ Tri

3 Phҧn biӋn 1: PGS TS Bùi Trӑng HiӃu

4 Phҧn biӋn 2: PGS TS NguyӉn Thanh PhѭѫQJ

5 Ӫy viên: PGS TS NguyӉn Tҩn TiӃn

;iFQKұQFӫD&KӫWӏFK+ӝLÿӗQJÿiQKJLi/XұQYăQYj7UѭӣQJ.KRDTXҧQOêFKX\rQQJjQKVDXNKLOXұQYăQÿmÿѭӧFVӱDFKӳDQӃXFy 

3*6769lj&Ð1*+Ñ$ PGS TS 75ѬѪ1*7Ë&+7+,ӊ1

III NG¬Y GIAO NHIӊM VӨ: 22/02/2021

IV NG¬Y HO¬N TH¬NH NHIӊM VӨ: 13/06/2021

V CÈN BӜ HѬӞNG DҮN: 3*6761*8<ӈ17Ҩ17,ӂ1

Tp HCM, ngjy thing năm 2021

TRѬӢNG KHOA KHOA HӐC ӬNG DӨNG

(Hӑ trn vj chӳ kê)

LӠI CҦ0Ѫ1

Ĉҫu tirn, t{i gӱi lӡi cҧm ѫQ ÿӃn Bӝ m{n Cѫ Kӻ Thuұt, Khoa Khoa hӑc Ӭng dөng, Trѭӡng Ĉҥi hӑc Bich Khoa Thjnh phӕ Hӗ Cht Minh Yj 3KzQJ WKt QJKLӋP WUӑQJ ÿLӇPĈLӅXNKLӇQYj.ӻWKXұW+ӋWKӕQJÿm tҥo mӑLÿLӅu kiӋn thuұn lӧi nhҩWÿӇ t{i cy thӇ hojn thjnh luұn văn njy

Thӭ hai, trkn trӑng cҧm ѫn Ngѭӡi Thҫy hѭӟng dүn cӫa t{i ± PGS TS 1JX\ӉQ7ҩQ7LӃQ cng vӟi %iF Vƭ &. 1JX\ӉQ ;XkQ 7KҳQJ ÿm cho t{i nhiӅu lӡi khuyrQ ÿӝng lӵc vj tài OLӋX SKөFYөFKR nghirn cӭu cNJng nhѭ thӵc QJKLӋP VҧQSKҭP

Cuӕi cng, t{i cҧm ѫn JLDÿunh, bҥn bq ÿm hӛ trӧ vj khuyӃn khtch tôi trong suӕt qui trunh nghirn cӭu

Thjnh phӕ Hӗ Cht Minh, thing 06 năm 2021

+ӑFYLrQTic giҧ

9}ĈһQJ3KѭѫQJ%uQK

TÓM TҲT LUҰ19Ă17+Ҥ&6Ƭ

%ӋQKWDLELӃQYjWәQWKѭѫQJWKҫQNLQKYұQÿӝQJQJj\QD\UҩWSKәELӃQNK{QJQKӳQJ[ҧ\UDӣQJѭӡLOӟQWXәLPjFzQ[ҧ\UDӣQJѭӡLWUҿ %ӋQKÿӇOҥLGLFKӭQJUҩWQһQJQӅOjPҧQKKѭӣQJÿӃQFXӝFVӕQJ FӫDEӋQKQKkQOjPFKRKӑNK{QJWKӇWUӣOҥLYӟLF{QJYLӋFWUѭӟFÿyFӫDPuQKKӑFyWKӇNK{QJQyLÿѭӧFNK{QJKLӇXÿѭӧFWD\NK{QJFӱÿӝQJFKkQNK{QJÿLÿѭӧF 1KұQELӃWVӟPYj[ӱOêNӏSWKӡLSKKӧSOjY{FQJTXDQWUӑQJ3KөFKӗLFKӭFQăQJVDXWDLELӃQOjPӝWSKҫQNK{QJWKӇWKLӃXJL~SFiFEӋQKQKkQFyWKӇFyPӝWFXӝFVӕQJNKӓHPҥQKYjFyWKӇWKDPJLDYjRQKӳQJVLQKKRҥWKҵQJQJj\WӕWQKҩW

3KҫQOӟQFiFEӋQKQKkQVDXWDLELӃQÿӅXFҫQSKҧLFyVӵKӛWUӧFӫDFKX\rQYLrQ\ WӃ và các WKLӃWEӏKӛWUӧÿӇSKөFKӗLFKӭFQăQJYұQÿӝQJ7X\QKLrQTXiWUuQKQj\FKӍÿѭӧFWKӵFKLӋQWҥLEӋQKYLӋQYj FiFWUXQJWkP\WӃ

%rQFҥQKÿyFiFSKѭѫQJSKiSSKөFKӗLFKӭFQăQJKLӋQÿDQJFKӫ\ӃXOjFiFWKLӃWEӏFѫKRһFEiQWӵÿӝQJOӋWKXӝFQKLӅXYjRÿӝLQJNJ\EiFVƭÿDQJWKLӃXKөWWUҫPWUӑQJ'RÿyQKXFҫXYӅWKLӃWEӏSKөFKӗLFKӭFQăQJOjY{FQJFҩSWKLӃWӢFiFQѭӟFSKiWWULӇQYLӋFiSGөQJFiQKWD\URERWWURQJTXiWUuQKSKөFKӗLFKӭFQăQJYұQÿӝQJӣKDLFKLWUrQFӫDEӋQKQKkQWKXÿѭӧFQKLӅXNӃWTXҧWtFKFӵFQKѭURERW7%,URERW2PQLD«1KѭQJFiFWKLӃWEӏQj\WKұWVӵNK{QJWKӇVӱGөQJÿѭӧFӣ9LӋW1DP vì chúng có giá thành khá cao và không SKKӧSYӟLFѫÿӏDQJѭӡL 9LӋW1DP

1JKLrQFӭXQj\QKҵPÿӅ[XҩWPӝWWKLӃWEӏSKөFKӗLFKӭFQăQJFKLWUrQ± ÿӅFDRWtQKFѫÿӝQJYjJӑQQKҽYӯDWLӃWNLӋPFKLSKtYӯD JL~SEӋQKQKkQGӉWLӃSFұQKѫQWҥLQKj7KLӃWEӏFKRSKpSWұSӣKDLNKӟSOjNKӟSNKXӹXWD\YjNKӟSFәWD\YӟL KDLSKDSKDGXӛLYjSKDJұS7KLӃWEӏVӱGөQJÿӝQJFѫVHUYRFyPRPHQt [RҳQOӟQ ÿӇWUX\ӅQÿӝQJYjÿѭӧFÿLӅXNKLӇQEҵQJPi\WtQKQK~QJWK{QJTXDFKѭѫQJWUuQKWtFKKӧSJLDRGLӋQQJѭӡLGQJ

7ӯNKRi: WKL͇WE͓SKͭFK͛LFKͱFQăQJFKLWUrQSKͭFK͛LVDXWDLEL͇Q

ABSTRACT

In the modern world, stroke is one of the most leading causes of adult disability stroke patients are needed to perform the exercise to recover the upper lLPE¶V IXQFWLRQthrough treatment with clinician support

Post-This thesis presents the design of the upper limb rehabilitation device for post-stroke patients, which is receiving society's attention Research in this field partly improves the quality of life for patients, creates a downright domestic product, and somewhat helps hospitals no longer depend on purchasing ± importing medical equipment from abroad This design is the first step in designing home-based rehabilitation equipment The proposed device must be low-FRVW SRUWDEOH DQG VWUDLJKWIRUZDUG VXFK WKDW SDWLHQWV¶relatives can operate it The proposed device enables the recovery of the elbow and wrist

of post-stroke patients that use high torque servo motors

Keywords: post-stroke patient, rehabilitation, upper limb, artificial muscle

MӨC LӨC

1+,ӊ09Ө/8Ұ19Ă17+Ҥ&6Ƭ i

/Ӡ,&Ҧ0Ѫ1 iii

7Ï07Ҳ7/8Ұ19Ă17+Ҥ&6Ƭ iv

LӠ,&$0Ĉ2$1&ӪA TÈC GIҦ vi

0Ө&/Ө& vii

'$1+0Ө&+Î1+Ҧ1+ x

'$1+0Ө&%Ҧ1*%,ӆ8 xii

&+ѬѪ1*I 7Ә1*48$1 1

1.1 é Wѭӣng 1

0өFWLrXÿӕLWѭӧQJYjSKѭѫQJSKiSQJKLrQFӭX 2

1.3 Cic mүu sҧn phҭPÿm cy trên thӏ WUѭӡng 2

7KLӃWEӏGҥQJEӏÿӝQJ 3

1.3.2 7KLӃWEӏGҥQJFKӫÿӝQJ 4

7KLӃWEӏWѭѫQJWiF 6

7KLӃWEӏKXҩQOX\ӋQ 8

ĈӅ[XҩWFiFKWKӭFKRҥWÿӝQJ 9

&+ѬѪ1*II &Ѫ6Ӣ/é7+8<ӂ7 11

3KҫQFKLWUrQFӫDFRQQJѭӡL 11

&ҩXWU~FSKҫQFKLWUrQFӫDQJѭӡL 11

&iFWK{QJVӕYұWOê 12

&ѫVӣ\NKRD 13

&iFSKѭѫQJSKiSWұSSKөFKӗLFKӭFQăQJ 13

&iFYҩQÿӅÿһWUDWURQJSKөFKӗLYұQÿӝQJFKREӋQKQKkQ 13

&iFÿӝQJWiFWұS 14

&iFOӵDFKӑQ 16

&iFWKLӃWEӏVӱGөQJ 17

2.3.1 BӝWUX\ӅQÿӝQJEiQKUăQJF{Q 17

ĈӝQJFѫVHUYR 17

%RPҥFK$UGXLQR 18

0ҥFKÿLӅXNKLӇQMSD_AM 18

2.3.&ҧPELӃQJLDWӕF 19

9zQJELÿNJD 19

*LӟLWKLӋXVѫOѭӧFYӅFiFFKѭѫQJWUuQKVӱGөQJ 19

&KѭѫQJWUuQK$XWRGHVN,QYHQWRU 19

&KѭѫQJWUuQK0DWODE6LPXOLQN 20

&KѭѫQJWUuQK9LVXDO6WXGLR 20

&KѭѫQJWUuQK$UGXLQR,'( 20

&+ѬѪ1*III 7+,ӂ7.ӂ 22

0{KuQKKyDFKLWUrQӣQJѭӡL 22

/ӵDFKӑQFiFWKLӃWEӏSKKӧS 25

ĈӝQJFѫ 26

%ӝWUX\ӅQEiQKUăQJF{Q 27

ӘOăQ 28

7KLӃWNӃP{KuQK 29

3KҫQcánh tay 30

3KҫQFҷQJWD\ 31

3KҫQEjQWD\ 31

0{KuQKKRjQFKӍQK 33

3.4 Quy WUuQKÿLӅXNKLӇQ 34

/ұSWUuQKÿLӅXNKLӇQÿӝQJFѫ 35

3.5.1 Mô hình Simulink 35

3.5&kQFKӍQKFiFWK{QJVӕEӝÿLӅXNKLӇQÿӝQJFѫ 38

/ұSWUuQKQK~QJ 40

/ұSWUuQKJLDRGLӋQQJѭӡLGQJ 41

3.73KҫQJLDRGLӋQGjQKFKRQJѭӡLYұQKjQK 42

3.73KҫQJLDRGLӋQGjQKFKR\EiFVƭ 43

&+ѬѪ1*IV .ӂ748Ҧ7+Ӵ&1*+,ӊ09¬1+Ұ1;e7 45

&+ѬѪ1*V .ӂ7/8Ұ1 47

'$1+0Ө&&È&&Ð1*75Î1+.+2$+Ӑ& 49

7¬,/,ӊ87+$0.+Ҧ2 50

3+Ө/Ө&$ 53

3+Ө/Ө&% 63

3+Ҫ1/é/ӎ&+75Ë&+1*$1* 66

DANH MӨC HÌNH ҦNH

Hình 1.1 %LӇXÿӗWuQKWUҥQJEӋQK QKkQVDXNKLEӏWDLELӃQPҥFKPiXQmRӣ9LӋW1DP 1

Hình 1.2 0LQKKӑDFKRWKLӃWEӏWұSGҥQJEӏÿӝQJ 3

Hình 1.3 0ӝWVӕWKLӃWEӏWұSGҥQJEӏÿӝQJÿmÿѭӧFWKӱQJKLӋPWKӵFWӃ 4

Hình 1.4 0LQKKӑDFKRWKLӃWEӏWұSGҥQJFKӫÿӝQJ 4

Hình 1.5 .KXQJ[ѭѫQJQJRjL6($FӫDĈҥLKӑF&{QJQJKӋ9LUJLQLD 5

Hình 1.6 7KLӃWEӏWұSÿDFKL$(2 6

Hình 1.7 0LQKKӑDFKRWKLӃWEӏWұSWѭѫQJWiF 6

Hình 1.8 7KLӃWEӏWѭѫQJWiFH:ULVW 7

Hình 1.9 7KLӃWEӏFӫD6)$; 7

Hình 1.10 0LQKKӑDFKRWKLӃWEӏKXҩQOX\ӋQ 8

Hình 1.11 ³&iQK WD\Pi\´ ArmAssist 2.0 8

Hình 1.12 MIT-0$186FӫDÿҥLKӑF0,T 9

Hình 1.13 Minh hӑa hoҥWÿӝQJFӫDWKLӃWEӏ 10

Hình 2.1 &ҩXWҥRSKҫQFKLWUrQFӫDQJѭӡL 11

Hình 2.2 0{KuQKFKX\ӇQÿӝQJӣNKӟSEҧYDL 14

Hình 2.3 0{KuQKFKX\ӇQÿӝQJӣNKӟSNKXӹXWD\ 15

Hình 2.4 0{KuQKFKX\ӇQÿӝQJӣNKӟSFәWD\ 16

Hình 2.5 0LQKKӑDFiFSKҫQEjLWұSWURQJSKѭѫQJSKiS%REDWK 16

Hình 3.1 Mô hình hình hӑc hӋ [ѭѫQJNKӟp chi trên 22

Hình 3.2 &iFEӝSKҫQFKtQKFӫDP{KuQKFѫNKtKyDFӫDFKLWUrQ 24

Hình 3.3 0{KuQKFѫNKtKyDSKҫQFKLWUrQӣQJѭӡL 25

Hình 3.4 .tFKWKѭӟFÿӝQJFѫÿѭӧc chӑn 26

Hình 3.5 Mô tҧ NtFKWKѭӟc tiêu chuҭn cӫDEiQKUăQJF{Q 27

Hình 3.6 Phân tích lӵFWiFÿӝQJOrQEiQKUăQJWUөc và ә OăQ 28

Hình 3.7 Mô tҧ NtFKWKѭӟc tiêu chuҭn cӫa ә ÿNJDF{Q 28

Hình 3.8 6ѫÿӗQJX\rQOêFӫDWKLӃWEӏ 29

Hình 3.9 7KLӃWNӃFӫDSKҫQFiQKWD\WKLӃWEӏ 30

Hình 3.10 7KLӃWNӃFӫDSKҫQFҷQJWD\WKLӃWEӏ 31

Hình 3.11 7KLӃWNӃFӫDSKҫQEjQWD\WKLӃWEӏ 32

Hình 3.12 0{KuQKWKLӃWEӏNKLOҳSÿһWYjREӋQKQKkQ 33

Hình 3.13 7KLӃWEӏNKLÿѭӧFOҳSÿһWWKӱQJKLӋP 33

Hình 3.14 0ӝWVӕKuQKҧQKNKiFFӫDWKLӃWEӏWURQJWKӵFWӃ 34

Hình 3.15 6ѫÿӗ khӕi quy trình tұp cӫa thiӃt bӏ 35

Hình 3.16 MҥFKÿLӋQWѭѫQJÿѭѫQJFӫDÿӝQJFѫ'& 36

Hình 3.17 6ѫÿӗ P{SKzQJÿLӅu khiӇn servo bҵng Simulink 37

Hình 3.18 Mô hình hóa bӝ ÿLӅu khiӇn tích hӧp vòng kính PI 38

Hình 3.19 MҥFKÿLӅu khiӇn MSD_AM vj P{KuQKÿҩu nӕi vjo miy tính nhúng 38

Hình 3.20 /ѭXÿӗ miêu tҧ quy trình cân chӍnh các thông sӕ ÿӝQJFѫ 39

Hình 3.21 Quá trình cân chӍnh thông sӕ ÿӝQJFѫWUrQSKҫn mӅm DC Tuner 39

Hình 3.22 /ѭXÿӗ giҧi thuұWÿLӅu khiӇn mӝt nhӏp tұp cӫa thiӃt bӏ 41

Hình 3.23 *LDRGLӋQWuPNLӃPEӋQKQKkQÿӇEҳWÿҫXTXiWUuQKWұS 42

Hình 3.24 Giao diӋn sӱ dөQJFKRQJѭӡi vұn hành thiӃt bӏ 43

Hình 3.25 Giao diӋn sӱ dөQJFKR\EiFVƭ 44

Hình 4.1 7KӕQJNrJyFWKӵFWӃJKLQKұQÿѭӧFWURQJTXiWUuQKWKӱQJKLӋP 45

Hình 4.2 7ѭѫQJTXDQJLӳDJyFÿRÿҥFÿѭӧFVRYӟLJyFOêWKX\ӃW 46

DANH MӨC BҦNG BIӆU

%ҧQJ .tFKWKѭӟFFiF NKkXFKLWUrQFӫDQJѭӡL 12

%ҧQJ &iFWK{QJVӕYұWOêFӫDQJѭӡLWURQJQKyPWXәLWӯÿӃQWXәL 12

%ҧQJ &iFWK{QJVӕWұSWKHRPӭFÿӝKӛWUӧYjPRPHQW[RҳQFҫQFҩSFKRFiFNKӟS 17 %ҧQJ 7K{QJVӕFKLWLӃWFӫDÿӝQJFѫVӱGөQJ 26

%ҧQJ 7K{QJVӕFKLWLӃWFӫDEiQKUăQJF{QVӱGөQJFKRWKLӃWEӏ 27

Bҧng 3.3 7K{QJVӕFKLWLӃWFӫDәÿNJDGQJFKRWKLӃWEӏ 28

%ҧQJ3.47K{QJVӕÿӝQJFѫVDXNKLFkQFKӍQK 40

Hình 1.1 %L͋Xÿ͛WuQKWU̩QJE͏QKQKkQVDXNKLE͓WDLEL͇QP̩FKPiXQmRͧ9L͏W1DP

7K͙QJNr81,&()QăP

/XұQYăQQj\Oҩ\êWѭӣQJWӯJKӃnâng WҥÿDQăQJ± VӱGөQJWURQJOX\ӋQWұSWKӇKuQKEjLWұSJұS-GXӛLӣEjQWD\YjFҷQJWD\FӫD FRQ QJѭӡLYjSKiFWKҧRPӝWWKLӃWNӃYӅWKLӃWEӏSKөF KӗL FKӭF QăQJ GҥQJ FKӫ ÿӝQJ 7KLӃW Eӏ FKR SKpS WұS JұS-GXӛL ӣ KDL NKӟS NKӟSNKXӹXWD\YjNKӟSFәWD\

1.2 MөFWLrXÿӕLWѭӧQJYjSKѭѫQJSKiSQJKLrQFӭu

0өFWLrXQJKLrQFӭXÿӅWjL WtQKWRiQWKLӃWNӃ YjFKӃWҥRP{KuQKWKLӃWEӏSKөFKӗLFKӭF

QăQJFKLWUrQÿѭӧFVӱGөQJFKRQJѭӡLFDRWXәLEӋQKQKkQÿDQJWURQJTXiWUuQKSKөFKӗLFKӭFQăQJYұQÿӝQJYLrQWKӇWKDR«

ĈӕLWѭӧQJQJKLrQFӭX P{KuQKKRiKӋFKLWUrQFӫDQJѭӡLOrQPүXWKLӃWNӃJLDF{QJ

WKLӃWEӏ[k\GѭQJP{KuQKÿLӅXNKLӇQWKӱQJKLӋPOkPVjQJ

3KѭѫQJ SKiS QJKLrQ FӭX WtQK WRiQ ÿѭӡQJ NtQK WUөF WUX\ӅQ ÿӝQJ OӵD FKӑQ FiF WUDQJ

WKLӃWEӏFҫQWKLӃWVӱGөQJFiFSKҫQPӅP&$'$XWR&$',QYHQWRU ÿӇWҥRP{KuQK'Yj[XҩWFiFEҧQYӁ JLDF{QJVӱGөQJFiFSKҫQPӅPFKX\rQGөQJÿӇ[k\GӵQJP{KuQKÿLӅXNKLӇQ0DWODE6LPXOLQN$UGXLQR,'( VӱGөQJFiFQJ{QQJӳOұSWUuQKFKRYLÿLӅXNKLӇQYjFKѭѫQJWUuQKJLDRGLӋQQJѭӡLGQJ&& 

1.3 Cic mүu sҧn phҭPÿm cy trên thӏ WUѭӡng

3KҫQ OӟQ FiF WKLӃW Eӏ Fy WUrQ WKӏ WUѭӡQJ WұS WUXQJ SKөF KӗL FKӭF QăQJ FKR  QKyP ÿӕLWѭӧQJ

&K˱˯QJ7͝ng quan

1.3.1 ThiӃt bӏ dҥng bӏ ÿӝng

7KLӃWEӏNK{QJWKӇKRjQWRjQGLFKX\ӇQFiFFKLQKѭQJFyWKӇQJăQOҥLFKX\ӇQÿӝQJNKLWiFÿӝQJVDLKѭӟQJ/RҥLWKLӃWEӏQj\FKӍFyWKӇVӱGөQJÿӇSKөFKӗLFKӭFQăQJFKREӋQKQKkQFzQFyWKӇFӱÿӝQJPӝWSKҫQFKkQWD\

Hình 1.2 0LQKK͕DFKRWKL͇WE͓W̵SG̩QJE͓ÿ͡QJ

9jRQăPJLiRVѭ/HQ]LYjFӝQJVӵ7UXQJWkP1JKLrQFӭXURERW6DQW$QQDé ÿӅ[XҩWWKLӃWEӏWұSGLÿӝQJFKRNKӟSNKXӹXWD\FyWrQ1(852([RV [19]7KLӃWEӏÿѭӧFWKLӃWNӃÿӇSKөFKӗLPӝWORҥLUӕLORҥQYұQÿӝQJÿLӇQKuQKOjFKӭQJFRFӭQJFѫ7KLӃWNӃEDQÿҫXFӫD1(852([RVÿѭӧFSKiWWULӇQYӟLPөFÿtFKJLҧLTX\ӃWKDLYҩQÿӅTXDQWUӑQJ[iFÿӏQKYӏWUtYjSKkQSKӕLFiFÿLӇPWѭѫQJWiFJLӳDWKLӃWEӏJҳQYӟLFiQKWD\FӫDFRQQJѭӡLYjFѫFKӃWKtFKӭQJFKRNKӟSNKXӹXWD\ 0ӝWFѫFKӃÿLӅXFKӍQKEұFWӵGRÿѭӧFJLiRVѭ/HQ]LVӱGөQJÿӇGX\WUuVӵOLrQNӃWJLӳDNKӟSNKXӹXWD\QJѭӡLYjWKLӃWEӏ7KLӃWEӏÿѭӧFÿLӅXNKLӇQEҵQJFiFVHQVRUKӗQJQJRҥLÿӇNLӇPVRiWNKRҧQJFiFKFiFNKkXWKD\YuFiFKWUX\ӅQÿӝQJchp WӯQJJyFWұSWUX\ӅQWKӕQJ

1JRjLUDJLiRVѭ6KDRYjFӝQJVӵĈҥLKӑF7KDQK+RD7UXQJ4XӕF ÿmWUuQKEj\WKLӃWNӃWӕLѭXWKLӃWEӏWұSFәWD\ÿѭӧFÿLӅXNKLӇQ EҵQJGk\FiSYӟLEұFWӵGR [20]7KLӃWEӏEѭӟFÿҫXÿӅ[XҩWSKiFÿӗWұSYӟLWӯQJWKӇWUҥQJEӋQKQKkQNKiFQKDXEҵQJFiFKOҳSÿһWYjRSKҫQFiQKWD\KRҥWÿӝQJEuQKWKѭӡQJFӫDEӋQKQKkQ YjWLӃQKjQKÿRÿҥF'RFѫFKӃVLQK

KӑFSKӭFWҥSFӫDFRQQJѭӡLYjFiFW\FKӑQWKLӃWNӃEӏKҥQFKӃQKyPFӫDJLiRVѭ6KDRFKӍFyWKӇiSGөQJFiFEjLWұSJұS-GXӛLÿѫQJLҧQӣSKҫQEjQWD\FӫDEӋQKQKkQ9LӋFOҳSÿһWWKLӃWEӏYjRFiQKWD\YүQFzQWѭѫQJÿӕLSKӭFWҥS

D7KLӃWEӏ1(852([RV E7KLӃWEӏWұSFәWD\FӫDJLiRVѭ6KDR

Hình 1.3 0͡WV͙WKL͇WE͓W̵SG̩QJE͓ÿ͡QJÿmÿ˱ͫFWK͵QJKL͏PWK͹FW͇

1.3.2 ThiӃt bӏ dҥng chӫ ÿӝng

7KLӃWEӏFyNKҧQăQJWUX\ӅQÿӝQJFiFFKL7KLӃWEӏWKѭӡQJOjWәKӧSFiFEӝWUX\ӅQÿӝQJYjÿLӅXNKLӇQQrQNtFKFӥOӟQ&yWKӇiSGөQJFKREӋQK QKkQEӏOLӋWQһQJ

Hình 1.4 0LQKK͕DFKRWKL͇WE͓W̵SG̩QJFKͯÿ͡QJ

&K˱˯QJ7͝ng quan

7ҥL ĈҥL KӑF &{QJ QJKӋ 9LUJLQLD 0ӻ  7LӃQ Vƭ LP Yj FӝQJ Vӵ ÿm SKiW WULӇQ PӝW Eӝ[ѭѫQJQJRjLiSGөQJÿѭӧFFiFÿһFWtQKÿӝQJKӑFYjF{QJWKiLKӑF(UJRQRPLF WLrQWLӃQÿӇSKөFKӗLFKӭFQăQJFKLWUrQFKREӋQKQKkQ%ӝ[ѭѫQJQJRjLURERWOjPӝWFѫKӋEұFWӵGRKRҥWÿӝQJGӵDWUrQPӝWFKXӛLFiFFKX\ӇQ ÿӝQJÿjQKӗL6HULHV(ODVWLF$FWXDWRUV- SEA) [18] %ҵQJ FiFK WKHR G}L FiF FKX\ӇQ ÿӝQJ SKӭF WҥS FӫD YDL PӝW Fѫ FKӃ PӟL ÿmÿѭӧFSKiWPLQKEҵQJFiFKELӃQFKX\ӇQÿӝQJ[RD\FӫDÿӝQJFѫWKjQKFKX\ӇQÿӝQJÿӕLQJүXWURQJYұQÿӝQJNKӟSYDL

0ӝWWtQKQăQJÿӝFÿiRNKiFFӫDWKLӃWEӏQj\FKtQKOjYLӋFWKD\YuFKӍWKӵFKLӋQFiFEjLWұSJұS-GXӛLWK{QJWKѭӡQJQyFzQ FyWKӇKӛWUӧFiFEjLWұS[RD\-YһQFiQKWay ± GҥQJEjLWұSKLӋXTXҧQKҩWYӟLFiFEӋQKQKkQEӏPҳFFKӭQJ[ѫFӭQJFѫ&ѫFKӃQj\FyÿѭӧFOjQKӡNKҧQăQJÿLӅXNKLӇQÿӝELӃQGҥQJFӫDWӯQJEӝWUX\ӅQÿӝQJÿjQKӗLULrQJELӋWWUrQWKLӃWEӏ

Hình 1.5 .KXQJ[˱˯QJQJRjL6($FͯDĈ̩LK͕F&{QJQJK͏Virginia

0ӝWVҧQSKҭPNKiFWҥLĈҥLKӑF%iFKNKRD%UQR&ӝQJKzD&]HFK