/XұQYăQQj\Oҩ\êWѭӣQJWӯJKӃnâng WҥÿDQăQJ± VӱGөQJWURQJOX\ӋQWұSWKӇKuQKEjLWұSJұS-GXӛLӣEjQWD\YjFҷQJWD\FӫD FRQ QJѭӡLYjSKiFWKҧRPӝWWKLӃWNӃYӅWKLӃWEӏSKөF KӗL FKӭF QăQJ GҥQJ FKӫ ÿӝQJ 7KLӃW Eӏ FKR SKp
Trang 1CHUYÊN NGÀNH&Ѫ.Ӻ7+8Ұ7
06Ӕ60520101
/8Ұ19Ă17+Ҥ&6Ƭ
73+Ӗ&+Ë0,1+WKiQJQăP1
Trang 27KjQKSKҫQ+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
Trang 3III 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
Trang 4Tp HCM, ngjy thing năm 2021
TRѬӢNG KHOA KHOA HӐC ӬNG DӨNG
(Hӑ trn vj chӳ kê)
Trang 5LӠI 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
Trang 6TÓM 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
Trang 7ABSTRACT
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
Trang 9MӨC 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$1 1
1.1 é Wѭӣng 1
0өFWLrXÿӕLWѭӧQJYjSKѭѫQJSKiSQJKLrQFӭX 2
1.3 Cic mүu sҧn phҭPÿm cy trên thӏ WUѭӡng 2
7KLӃWEӏGҥQJEӏÿӝQJ 3
1.3.2 7KLӃWEӏGҥQJFKӫÿӝQJ 4
7KLӃWEӏWѭѫQJWiF 6
7KLӃWEӏKXҩQOX\ӋQ 8
ĈӅ[XҩWFiFKWKӭFKRҥWÿӝQJ 9
&+ѬѪ1*II &Ѫ6Ӣ/é7+8<ӂ7 11
3KҫQFKLWUrQFӫDFRQQJѭӡL 11
&ҩXWU~FSKҫQFKLWUrQFӫDQJѭӡL 11
&iFWK{QJVӕYұWOê 12
&ѫVӣ\NKRD 13
&iFSKѭѫQJSKiSWұSSKөFKӗLFKӭFQăQJ 13
Trang 10&iFYҩQÿӅÿһWUDWURQJSKөFKӗLYұQÿӝQJFKREӋQKQKkQ 13
&iFÿӝQJWiFWұS 14
&iFOӵDFKӑQ 16
&iFWKLӃWEӏVӱGөQJ 17
2.3.1 BӝWUX\ӅQÿӝQJEiQKUăQJF{Q 17
ĈӝQJFѫVHUYR 17
%RPҥFK$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
Trang 113KҫQEjQWD\ 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*$1* 66
Trang 12DANH MӨC HÌNH ҦNH
Hình 1.1 %LӇXÿӗWuQKWUҥQJEӋQK QKkQVDXNKLEӏWDLELӃQPҥFKPiXQmRӣ9LӋW1DP 1
Hình 1.2 0LQKKӑDFKRWKLӃWEӏWұSGҥQJEӏÿӝQJ 3
Hình 1.3 0ӝWVӕWKLӃWEӏWұSGҥQJEӏÿӝQJÿmÿѭӧFWKӱQJKLӋPWKӵFWӃ 4
Hình 1.4 0LQKKӑDFKRWKLӃWEӏWұSGҥQJFKӫÿӝQJ 4
Hình 1.5 .KXQJ[ѭѫQJQJRjL6($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
Trang 13Hình 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
Trang 14DANH 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
Trang 15Hình 1.1 %L͋Xÿ͛WuQKWU̩QJE͏QKQKkQVDXNKLE͓WDLEL͇QP̩FKPiXQmRͧ9L͏W1DP
7K͙QJNr81,&()QăP
Trang 16/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$UGXLQR,'( VӱGөQJFiFQJ{QQJӳOұSWUuQKFKRYLÿLӅXNKLӇQYjFKѭѫQJWUuQKJLDRGLӋQQJѭӡLGQJ&&
1.3 Cic mүu sҧn phҭPÿm cy trên thӏ WUѭӡng
3KҫQ OӟQ FiF WKLӃW Eӏ Fy WUrQ WKӏ WUѭӡQJ WұS WUXQJ SKөF KӗL FKӭF QăQJ FKR QKyP ÿӕLWѭӧQJ
Trang 17&K˱˯QJ7͝ng quan
1.3.1 ThiӃt bӏ dҥng bӏ ÿӝng
7KLӃWEӏNK{QJWKӇKRjQWRjQGLFKX\ӇQFiFFKLQKѭQJFyWKӇQJăQOҥLFKX\ӇQÿӝQJNKLWiFÿӝQJVDLKѭӟQJ/RҥLWKLӃWEӏQj\FKӍFyWKӇVӱGөQJÿӇSKөFKӗLFKӭFQăQJFKREӋQKQKkQFzQFyWKӇFӱÿӝQJPӝWSKҫQFKkQWD\
Hình 1.2 0LQKK͕DFKRWKL͇WE͓W̵SG̩QJE͓ÿ͡QJ
9jRQăPJLiRVѭ/HQ]LYjFӝQJVӵ7UXQJWkP1JKLrQFӭXURERW6DQW$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
Trang 18KӑFSKӭFWҥSFӫDFRQQJѭӡLYjFiFW\FKӑQWKLӃWNӃEӏKҥQFKӃQKyPFӫDJLiRVѭ6KDRFKӍFyWKӇiSGөQJFiFEjLWұSJұS-GXӛLÿѫQJLҧQӣSKҫQEjQWD\FӫDEӋQKQKkQ9LӋFOҳSÿһWWKLӃWEӏYjRFiQKWD\YүQFzQWѭѫQJÿӕLSKӭFWҥS
D7KLӃWEӏ1(852([RV E7KLӃWEӏWұSFәWD\FӫDJLiRVѭ6KDR
Hình 1.3 0͡WV͙WKL͇WE͓W̵SG̩QJE͓ÿ͡QJÿmÿ˱ͫFWK͵QJKL͏PWKFW͇
1.3.2 ThiӃt bӏ dҥng chӫ ÿӝng
7KLӃWEӏFyNKҧQăQJWUX\ӅQÿӝQJFiFFKL7KLӃWEӏWKѭӡQJOjWәKӧSFiFEӝWUX\ӅQÿӝQJYjÿLӅXNKLӇQQrQNtFKFӥOӟQ&yWKӇiSGөQJFKREӋQK QKkQEӏOLӋWQһQJ
Hình 1.4 0LQKK͕DFKRWKL͇WE͓W̵SG̩QJFKͯÿ͡QJ
Trang 19&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