{"id":11197,"date":"2026-04-10T06:35:09","date_gmt":"2026-04-09T22:35:09","guid":{"rendered":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/"},"modified":"2026-04-10T06:35:09","modified_gmt":"2026-04-09T22:35:09","slug":"why-uml-state-machine-diagrams-fail-robotics","status":"publish","type":"post","link":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/","title":{"rendered":"B\u00f3c T\u00e1ch Suy Ngh\u0129 Sai L\u1ea7m: T\u1ea1i Sao S\u01a1 \u0110\u1ed3 M\u00e1y Tr\u1ea1ng Th\u00e1i C\u1ee7a B\u1ea1n Th\u1ea5t B\u1ea1i Trong \u1ee8ng D\u1ee5ng Robot"},"content":{"rendered":"

C\u00e1c k\u1ef9 s\u01b0 robot th\u01b0\u1eddng b\u1eaft \u0111\u1ea7u ki\u1ebfn tr\u00fac h\u1ec7 th\u1ed1ng t\u1ef1 \u0111\u1ed9ng v\u1edbi s\u1ef1 t\u1ef1 tin. M\u1ed9t M\u00e1y tr\u1ea1ng th\u00e1i h\u1eefu h\u1ea1n (FSM) ho\u1eb7c s\u01a1 \u0111\u1ed3 M\u00e1y tr\u1ea1ng th\u00e1i UML d\u01b0\u1eddng nh\u01b0 l\u00e0 b\u1ea3n v\u1ebd l\u00fd t\u01b0\u1edfng cho logic \u0111i\u1ec1u khi\u1ec3n. N\u00f3 s\u1ea1ch s\u1ebd, tr\u1ef1c quan v\u00e0 x\u00e1c \u0111\u1ecbnh r\u00f5 r\u00e0ng tr\u00ean gi\u1ea5y. Tuy nhi\u00ean, khi nh\u1eefng s\u01a1 \u0111\u1ed3 n\u00e0y \u0111\u01b0\u1ee3c chuy\u1ec3n \u0111\u1ed5i th\u00e0nh m\u00e3 th\u1ef1c t\u1ebf ch\u1ea1y tr\u00ean ph\u1ea7n c\u1ee9ng v\u1eadt l\u00fd, k\u1ebft qu\u1ea3 th\u01b0\u1eddng th\u1ea5t v\u1ecdng. H\u1ec7 th\u1ed1ng b\u1ecb treo, c\u00e1c chuy\u1ec3n tr\u1ea1ng th\u00e1i b\u1ea5t ng\u1edd x\u1ea3y ra, v\u00e0 vi\u1ec7c g\u1ee1 l\u1ed7i tr\u1edf th\u00e0nh \u00e1c m\u1ed9ng. Kho\u1ea3ng c\u00e1ch n\u00e0y kh\u00f4ng n\u1eb1m \u1edf tri\u1ebft l\u00fd thi\u1ebft k\u1ebf b\u1ea3n th\u00e2n, m\u00e0 n\u1eb1m \u1edf nh\u1eefng gi\u1ea3 \u0111\u1ecbnh \u0111\u01b0\u1ee3c \u0111\u01b0a ra v\u1ec1 m\u00f4i tr\u01b0\u1eddng v\u00e0 n\u1ec1n t\u1ea3ng th\u1ef1c thi. H\u01b0\u1edbng d\u1eabn n\u00e0y kh\u00e1m ph\u00e1 nh\u1eefng l\u00fd do k\u1ef9 thu\u1eadt c\u1ee5 th\u1ec3 t\u1ea1i sao s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i ti\u00eau chu\u1ea9n g\u1eb7p kh\u00f3 kh\u0103n trong th\u1ef1c t\u1ebf robot v\u00e0 c\u00e1ch \u0111i\u1ec1u ch\u1ec9nh c\u00e1ch ti\u1ebfp c\u1eadn \u0111\u1ec3 tri\u1ec3n khai b\u1ec1n v\u1eefng.<\/p>\n

\n
\"Chalkboard-style<\/figure>\n<\/div>\n

1\ufe0f\u20e3 \u1ea2o \u1ea3nh v\u1ec1 t\u00ednh x\u00e1c \u0111\u1ecbnh trong c\u00e1c h\u1ec7 th\u1ed1ng v\u1eadt l\u00fd<\/h2>\n

Trong khoa h\u1ecdc m\u00e1y t\u00ednh l\u00fd thuy\u1ebft, m\u1ed9t m\u00e1y tr\u1ea1ng th\u00e1i ho\u1ea1t \u0111\u1ed9ng trong ch\u00e2n kh\u00f4ng. C\u00e1c chuy\u1ec3n ti\u1ebfp x\u1ea3y ra t\u1ee9c th\u00ec, v\u00e0 \u0111\u1ea7u v\u00e0o \u0111\u01b0\u1ee3c \u0111\u1ed3ng b\u1ed9 ho\u00e0n h\u1ea3o. Tuy nhi\u00ean, trong robot, th\u1ebf gi\u1edbi v\u1eadt l\u00fd mang l\u1ea1i \u0111\u1ed9 tr\u1ec5, nhi\u1ec5u v\u00e0 s\u1ef1 bi\u1ebfn \u0111\u1ed9ng. M\u1ed9t s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i th\u01b0\u1eddng gi\u1ea3 \u0111\u1ecbnh r\u1eb1ng n\u1ebfu robot \u0111ang \u1edf tr\u1ea1ng th\u00e1iTr\u1ea1ng th\u00e1i A<\/em> v\u00e0 S\u1ef1 ki\u1ec7n X<\/em> x\u1ea3y ra, n\u00f3 s\u1ebd chuy\u1ec3n sang Tr\u1ea1ng th\u00e1i B<\/em>. Logic n\u00e0y \u0111\u00fang trong m\u00f4 ph\u1ecfng, nh\u01b0ng ph\u1ea7n c\u1ee9ng mang l\u1ea1i nh\u1eefng bi\u1ebfn s\u1ed1 m\u00e0 s\u01a1 \u0111\u1ed3 hi\u1ebfm khi ghi nh\u1eadn.<\/p>\n

    \n
  • \u0110\u1ed9 tr\u1ec5 t\u00edn hi\u1ec7u:<\/strong>C\u00e1c c\u1ea3m bi\u1ebfn kh\u00f4ng b\u00e1o d\u1eef li\u1ec7u ngay l\u1eadp t\u1ee9c. M\u1ed9t c\u1ea3m bi\u1ebfn kho\u1ea3ng c\u00e1ch c\u00f3 th\u1ec3 b\u00e1o v\u1eadt c\u1ea3n sau 20 mili gi\u00e2y k\u1ec3 t\u1eeb khi robot va ch\u1ea1m. M\u00e1y tr\u1ea1ng th\u00e1i nh\u1eadn s\u1ef1 ki\u1ec7n mu\u1ed9n, c\u00f3 th\u1ec3 d\u1eabn \u0111\u1ebfn va ch\u1ea1m tr\u01b0\u1edbc khi logic chuy\u1ec3n tr\u1ea1ng th\u00e1i \u0111\u01b0\u1ee3c th\u1ef1c thi.<\/li>\n
  • Th\u1ee9 t\u1ef1 s\u1ef1 ki\u1ec7n:<\/strong>Trong m\u00f4i tr\u01b0\u1eddng \u0111a lu\u1ed3ng, hai s\u1ef1 ki\u1ec7n c\u00f3 th\u1ec3 k\u00edch ho\u1ea1t \u0111\u1ed3ng th\u1eddi. S\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i th\u01b0\u1eddng th\u1ec3 hi\u1ec7n ch\u00fang theo th\u1ee9 t\u1ef1 tu\u1ea7n t\u1ef1, nh\u01b0ng b\u1ed9 x\u1eed l\u00fd c\u00f3 th\u1ec3 x\u1eed l\u00fd ch\u00fang theo th\u1ee9 t\u1ef1 kh\u00e1c, d\u1eabn \u0111\u1ebfn c\u00e1c tr\u1ea1ng th\u00e1i kh\u00f4ng mong mu\u1ed1n.<\/li>\n
  • Suy gi\u1ea3m ph\u1ea7n c\u1ee9ng:<\/strong>\u0110\u1ed9ng c\u01a1 c\u00f3 th\u1ec3 ti\u00eau th\u1ee5 d\u00f2ng \u0111i\u1ec7n nhi\u1ec1u h\u01a1n d\u1ef1 ki\u1ebfn, khi\u1ebfn tr\u1ea1ng th\u00e1i qu\u1ea3n l\u00fd ngu\u1ed3n \u0111i\u1ec7n k\u00edch ho\u1ea1t m\u1ed9t c\u00e1ch b\u1ea5t ng\u1edd. S\u01a1 \u0111\u1ed3 gi\u1ea3 \u0111\u1ecbnh \u0111i\u1ec1u ki\u1ec7n ho\u1ea1t \u0111\u1ed9ng ti\u00eau chu\u1ea9n.<\/li>\n<\/ul>\n

    \u0110\u1ec3 gi\u1ea3m thi\u1ec3u \u0111i\u1ec1u n\u00e0y, b\u1ea1n ph\u1ea3i coi m\u00e1y tr\u1ea1ng th\u00e1i kh\u00f4ng ph\u1ea3i l\u00e0 s\u1ef1 th\u1eadt tuy\u1ec7t \u0111\u1ed1i, m\u00e0 l\u00e0 m\u1ed9t tr\u1eebu t\u01b0\u1ee3ng c\u1ea5p cao. L\u1edbp tri\u1ec3n khai ph\u1ea3i bao g\u1ed3m c\u00e1c ch\u1ee9c n\u0103ng nh\u01b0 \u0111\u1ec7m, lo\u1ea1i b\u1ecf nhi\u1ec5u v\u00e0 ki\u1ec3m tra th\u1eddi gian, nh\u1eefng th\u1ee9 m\u00e0 s\u01a1 \u0111\u1ed3 tr\u1ef1c quan kh\u00f4ng th\u1ec3 hi\u1ec7n r\u00f5 r\u00e0ng.<\/p>\n

    2\ufe0f\u20e3 T\u00ednh \u0111\u1ed3ng th\u1eddi v\u00e0 c\u00e1c tr\u1ea1ng th\u00e1i song song \ud83d\udd04<\/h2>\n

    M\u1ed9t trong nh\u1eefng h\u1ea1n ch\u1ebf l\u1edbn nh\u1ea5t c\u1ee7a s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i c\u01a1 b\u1ea3n l\u00e0 b\u1ea3n ch\u1ea5t tuy\u1ebfn t\u00ednh c\u1ee7a ch\u00fang. C\u00e1c \u1ee9ng d\u1ee5ng robot v\u1ed1n d\u0129 l\u00e0 \u0111\u1ed3ng th\u1eddi. M\u1ed9t robot ph\u1ea3i di chuy\u1ec3n trong khi l\u1eafng nghe l\u1ec7nh d\u1eebng kh\u1ea9n c\u1ea5p, theo d\u00f5i m\u1ee9c pin v\u00e0 giao ti\u1ebfp v\u1edbi tr\u1ea1m c\u01a1 s\u1edf \u0111\u1ed3ng th\u1eddi. M\u00e1y tr\u1ea1ng th\u00e1i tu\u1ea7n t\u1ef1 truy\u1ec1n th\u1ed1ng bu\u1ed9c b\u1ea1n ph\u1ea3i t\u1ea1o ra c\u00e1c tr\u1ea1ng th\u00e1i l\u1ed3ng gh\u00e9p ph\u1ee9c t\u1ea1p ho\u1eb7c s\u1ef1 b\u00f9ng n\u1ed5 t\u1ed5 h\u1ee3p tr\u1ea1ng th\u00e1i \u0111\u1ec3 bi\u1ec3u di\u1ec5n c\u00e1c h\u00e0nh vi song song.<\/p>\n

    V\u1ea5n \u0111\u1ec1 v\u1ec1 c\u1ea5u tr\u00fac ph\u00e2n c\u1ea5p<\/h3>\n

    Khi b\u1ea1n c\u1ed1 g\u1eafng m\u00f4 h\u00ecnh h\u00f3a c\u00e1c ho\u1ea1t \u0111\u1ed9ng song song b\u1eb1ng c\u1ea5u tr\u00fac ph\u00e2n c\u1ea5p UML ti\u00eau chu\u1ea9n, s\u01a1 \u0111\u1ed3 tr\u1edf n\u00ean kh\u00f3 \u0111\u1ecdc. B\u1ea1n k\u1ebft th\u00fac b\u1eb1ng m\u1ed9t s\u01a1 \u0111\u1ed3 ‘b\u00e1nh m\u00ec x\u00e0o’ n\u01a1i m\u1ed7i t\u1ed5 h\u1ee3p gi\u1eefa tr\u1ea1ng th\u00e1i \u0111i\u1ec1u h\u01b0\u1edbng v\u00e0 m\u1ee9c pin \u0111\u1ec1u y\u00eau c\u1ea7u m\u1ed9t tr\u1ea1ng th\u00e1i ri\u00eang bi\u1ec7t. C\u00e1ch ti\u1ebfp c\u1eadn n\u00e0y r\u1ea5t d\u1ec5 g\u00e3y. N\u1ebfu b\u1ea1n th\u00eam m\u1ed9t c\u1ea3m bi\u1ebfn m\u1edbi ho\u1eb7c m\u1ed9t quy tr\u00ecnh an to\u00e0n m\u1edbi, b\u1ea1n ph\u1ea3i vi\u1ebft l\u1ea1i h\u00e0ng ch\u1ee5c tr\u1ea1ng th\u00e1i.<\/p>\n

    Gi\u1ea3i ph\u00e1p: C\u00e1c v\u00f9ng vu\u00f4ng g\u00f3c<\/h3>\n

    C\u00e1c tri\u1ec3n khai m\u00e1y tr\u1ea1ng th\u00e1i ti\u00ean ti\u1ebfn h\u1ed7 tr\u1ee3 c\u00e1c v\u00f9ng vu\u00f4ng g\u00f3c. \u0110i\u1ec1u n\u00e0y cho ph\u00e9p h\u1ec7 th\u1ed1ng ch\u1ea1y nhi\u1ec1u m\u00e1y tr\u1ea1ng th\u00e1i \u0111\u1ed9c l\u1eadp song song. V\u00ed d\u1ee5:<\/p>\n

      \n
    • V\u00f9ng 1:<\/strong>\u0110i\u1ec1u h\u01b0\u1edbng (\u0110ang di chuy\u1ec3n, \u0110ang d\u1eebng, Tr\u00e1nh v\u1eadt c\u1ea3n)<\/li>\n
    • V\u00f9ng 2:<\/strong>Qu\u1ea3n l\u00fd ngu\u1ed3n (\u0110ang s\u1ea1c, Pin y\u1ebfu, B\u00ecnh th\u01b0\u1eddng)<\/li>\n
    • V\u00f9ng 3:<\/strong>Giao ti\u1ebfp (K\u1ebft n\u1ed1i, Ng\u1eaft k\u1ebft n\u1ed1i, \u0110\u1ed3ng b\u1ed9)<\/li>\n<\/ul>\n

      Kh\u00f4ng c\u00f3 kh\u1ea3 n\u0103ng n\u00e0y, s\u01a1 \u0111\u1ed3 c\u1ee7a b\u1ea1n \u0111ang th\u1ea5t b\u1ea1i v\u00ec n\u00f3 kh\u00f4ng th\u1ec3 bi\u1ec3u di\u1ec5n ki\u1ebfn tr\u00fac th\u1ef1c s\u1ef1 c\u1ee7a h\u1ec7 th\u1ed1ng. M\u00f4 h\u00ecnh tr\u1ef1c quan ph\u1ea3i ph\u00f9 h\u1ee3p v\u1edbi m\u00f4 h\u00ecnh th\u1ef1c thi logic. N\u1ebfu tri\u1ec3n khai s\u1eed d\u1ee5ng m\u1ed9t lu\u1ed3ng \u0111i\u1ec1u khi\u1ec3n duy nh\u1ea5t, th\u00ec s\u01a1 \u0111\u1ed3 \u0111\u00f3 l\u00e0 m\u1ed9t l\u1eddi d\u1ed1i tr\u00e1.<\/p>\n

      3\ufe0f\u20e3 Th\u1eddi gian v\u00e0 c\u00e1c r\u00e0ng bu\u1ed9c th\u1eddi gian th\u1ef1c \u23f1\ufe0f<\/h2>\n

      M\u00e1y tr\u1ea1ng th\u00e1i UML kh\u00f4ng m\u00e3 h\u00f3a c\u00e1c r\u00e0ng bu\u1ed9c th\u1eddi gian m\u1ed9t c\u00e1ch b\u1ea3n \u0111\u1ecba. Ch\u00fang m\u00f4 t\u1ea3 \u0111i\u1ec1u g\u00ec<\/em>x\u1ea3y ra, ch\u1ee9 kh\u00f4ng ph\u1ea3i khi n\u00e0o<\/em>n\u00f3 x\u1ea3y ra. Trong robot, th\u1eddi gian th\u01b0\u1eddng quan tr\u1ecdng h\u01a1n logic. M\u1ed9t m\u00e1y tr\u1ea1ng th\u00e1i \u0111i\u1ec1u h\u01b0\u1edbng c\u00f3 th\u1ec3 chuy\u1ec3n sang \u201cD\u1eebng kh\u1ea9n c\u1ea5p\u201d n\u1ebfu ph\u00e1t hi\u1ec7n v\u1eadt c\u1ea3n. N\u1ebfu logic ph\u00e1t hi\u1ec7n m\u1ea5t 100 mili gi\u00e2y, robot \u0111\u00e3 di chuy\u1ec3n \u0111\u00e1ng k\u1ec3.<\/p>\n

      H\u00e3y xem x\u00e9t c\u00e1c t\u00ecnh hu\u1ed1ng sau \u0111\u00e2y m\u00e0 th\u1eddi gian l\u00e0m h\u1ecfng s\u01a1 \u0111\u1ed3:<\/p>\n

        \n
      • H\u1ea1n ch\u00f3t:<\/strong> M\u1ed9t m\u00e1y tr\u1ea1ng th\u00e1i c\u00f3 th\u1ec3 ch\u1edd v\u00f4 h\u1ea1n cho m\u1ed9t t\u00edn hi\u1ec7u. Tr\u00ean th\u1ef1c t\u1ebf, vi\u1ec7c ch\u1edd \u0111\u1ee3i v\u00f4 h\u1ea1n l\u00e0 s\u1ef1 c\u1ed1 h\u1ec7 th\u1ed1ng. B\u1ed9 \u0111\u1ebfm th\u1eddi gian ph\u1ea3i \u0111\u01b0\u1ee3c x\u00e1c \u0111\u1ecbnh r\u00f5 r\u00e0ng.<\/li>\n
      • T\u1ed1c \u0111\u1ed9 qu\u00e9t:<\/strong> C\u00e1c c\u1ea3m bi\u1ebfn qu\u00e9t theo c\u00e1c kho\u1ea3ng th\u1eddi gian c\u1ee5 th\u1ec3. M\u1ed9t chuy\u1ec3n tr\u1ea1ng th\u00e1i c\u00f3 th\u1ec3 \u0111\u01b0\u1ee3c k\u00edch ho\u1ea1t gi\u1eefa c\u00e1c chu k\u1ef3 qu\u00e9t, khi\u1ebfn logic b\u1ecf l\u1ee1 s\u1ef1 ki\u1ec7n ho\u00e0n to\u00e0n.<\/li>\n
      • S\u1ef1 dao \u0111\u1ed9ng:<\/strong> L\u1eadp l\u1ecbch h\u1ec7 \u0111i\u1ec1u h\u00e0nh c\u00f3 th\u1ec3 g\u00e2y ra \u0111\u1ed9 tr\u1ec5. M\u1ed9t m\u00e1y tr\u1ea1ng th\u00e1i \u0111\u01b0\u1ee3c thi\u1ebft k\u1ebf cho \u0111\u1ed9 ch\u00ednh x\u00e1c 1ms s\u1ebd th\u1ea5t b\u1ea1i n\u1ebfu h\u1ec7 \u0111i\u1ec1u h\u00e0nh n\u1ec1n g\u00e2y ra \u0111\u1ed9 dao \u0111\u1ed9ng 50ms.<\/li>\n<\/ul>\n

        C\u00e1c s\u01a1 \u0111\u1ed3 hi\u1ec7u qu\u1ea3 cho robot ph\u1ea3i ghi ch\u00fa c\u00e1c tr\u1ea1ng th\u00e1i v\u1edbi y\u00eau c\u1ea7u v\u1ec1 th\u1eddi gian. N\u1ebfu m\u1ed9t tr\u1ea1ng th\u00e1i y\u00eau c\u1ea7u khung th\u1eddi gian ph\u1ea3n h\u1ed3i 50ms, s\u01a1 \u0111\u1ed3 ph\u1ea3i ph\u1ea3n \u00e1nh r\u00e0ng bu\u1ed9c \u0111\u00f3, ngay c\u1ea3 khi tri\u1ec3n khai ph\u1ea7n m\u1ec1m x\u1eed l\u00fd n\u00f3 ri\u00eang bi\u1ec7t.<\/p>\n

        4\ufe0f\u20e3 X\u1eed l\u00fd l\u1ed7i v\u00e0 kh\u1ea3 n\u0103ng ch\u1ecbu l\u1ed7i \ud83d\uded1<\/h2>\n

        H\u1ea7u h\u1ebft c\u00e1c s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i t\u1eadp trung v\u00e0o con \u0111\u01b0\u1eddng thu\u1eadn l\u1ee3i. Ch\u00fang cho th\u1ea5y robot di chuy\u1ec3n t\u1eeb B\u1eaft \u0111\u1ea7u \u0111\u1ebfn M\u1ee5c ti\u00eau nh\u01b0 th\u1ebf n\u00e0o. Ch\u00fang hi\u1ebfm khi m\u00f4 t\u1ea3 \u0111i\u1ec1u g\u00ec x\u1ea3y ra khi \u0111\u1ed9ng c\u01a1 tay b\u1ecb ch\u00e1y, Wi-Fi ng\u1eaft k\u1ebft n\u1ed1i, ho\u1eb7c \u0111i\u1ec7n \u00e1p pin gi\u1ea3m xu\u1ed1ng d\u01b0\u1edbi m\u1ee9c an to\u00e0n. Trong ph\u1ea7n m\u1ec1m, l\u1ed7i l\u00e0 ngo\u1ea1i l\u1ec7. Trong robot, l\u1ed7i l\u00e0 tr\u1ea1ng th\u00e1i m\u1eb7c \u0111\u1ecbnh c\u1ee7a v\u0169 tr\u1ee5.<\/p>\n

        Thi\u1ebfu c\u00e1c tr\u1ea1ng th\u00e1i l\u1ed7i<\/h3>\n

        N\u1ebfu s\u01a1 \u0111\u1ed3 c\u1ee7a b\u1ea1n kh\u00f4ng m\u00f4 h\u00ecnh h\u00f3a r\u00f5 r\u00e0ng c\u00e1c ch\u1ebf \u0111\u1ed9 l\u1ed7i, h\u1ec7 th\u1ed1ng c\u1ee7a b\u1ea1n s\u1ebd d\u1ec5 b\u1ecb t\u1ed5n th\u01b0\u01a1ng. B\u1ea1n c\u1ea7n c\u00e1c tr\u1ea1ng th\u00e1i cho:<\/p>\n

          \n
        • L\u1ed7i c\u1ea3m bi\u1ebfn:<\/strong> \u0110i\u1ec1u g\u00ec s\u1ebd x\u1ea3y ra n\u1ebfu lidar ng\u1eebng tr\u1ea3 v\u1ec1 d\u1eef li\u1ec7u?<\/li>\n
        • Kh\u00f3a b\u1ed9 ch\u1ea5p h\u00e0nh:<\/strong> \u0110i\u1ec1u g\u00ec s\u1ebd x\u1ea3y ra n\u1ebfu m\u1ed9t b\u00e1nh xe b\u1ecb k\u1eb9t v\u1eadt l\u00fd?<\/li>\n
        • H\u1ea1n ch\u00f3t logic:<\/strong> \u0110i\u1ec1u g\u00ec s\u1ebd x\u1ea3y ra n\u1ebfu robot b\u1ecb k\u1eb9t trong m\u1ed9t v\u00f2ng l\u1eb7p?<\/li>\n<\/ul>\n

          L\u01b0\u1edbi an to\u00e0n<\/h3>\n

          C\u00e1c h\u1ec7 th\u1ed1ng m\u1ea1nh m\u1ebd tri\u1ec3n khai m\u1ed9t tr\u1ea1ng th\u00e1i l\u1ed7i to\u00e0n c\u1ee5c c\u00f3 th\u1ec3 \u0111\u01b0\u1ee3c v\u00e0o t\u1eeb b\u1ea5t k\u1ef3 tr\u1ea1ng th\u00e1i n\u00e0o. \u0110i\u1ec1u n\u00e0y th\u01b0\u1eddng \u0111\u01b0\u1ee3c g\u1ecdi l\u00e0 tr\u1ea1ng th\u00e1i \u201cB\u1ea3o v\u1ec7 gi\u00e1m s\u00e1t\u201d ho\u1eb7c \u201cCh\u1ebf \u0111\u1ed9 an to\u00e0n\u201d. N\u1ebfu b\u1ea5t k\u1ef3 nh\u00e1nh logic n\u00e0o b\u1ecb treo ho\u1eb7c t\u1ea1o ra d\u1eef li\u1ec7u kh\u00f4ng h\u1ee3p l\u1ec7, h\u1ec7 th\u1ed1ng ph\u1ea3i bu\u1ed9c chuy\u1ec3n sang tr\u1ea1ng th\u00e1i an to\u00e0n n\u00e0y. M\u1ed9t s\u01a1 \u0111\u1ed3 ti\u00eau chu\u1ea9n th\u01b0\u1eddng che gi\u1ea5u \u0111i\u1ec1u n\u00e0y \u0111\u1eb1ng sau chi ti\u1ebft tri\u1ec3n khai, khi\u1ebfn n\u00f3 tr\u1edf n\u00ean v\u00f4 h\u00ecnh v\u1edbi c\u00e1c b\u00ean li\u00ean quan v\u00e0 nh\u1eefng ng\u01b0\u1eddi b\u1ea3o tr\u00ec trong t\u01b0\u01a1ng lai.<\/p>\n\n\n\n\n\n\n\n\n\n
          T\u00ednh n\u0103ng<\/th>\nS\u01a1 \u0111\u1ed3 l\u00fd thuy\u1ebft<\/th>\nTri\u1ec3n khai th\u1ef1c t\u1ebf<\/th>\n<\/tr>\n<\/thead>\n
          Chuy\u1ec3n tr\u1ea1ng th\u00e1i<\/strong><\/td>\nT\u1ee9c th\u00ec<\/td>\nB\u1ecb \u1ea3nh h\u01b0\u1edfng b\u1edfi \u0111\u1ed9 tr\u1ec5 v\u00e0 \u0111\u1ed9 dao \u0111\u1ed9ng<\/td>\n<\/tr>\n
          \u0110\u1ea7u v\u00e0o<\/strong><\/td>\nNh\u1ecb ph\u00e2n (\u0110\u00fang\/Sai)<\/td>\nD\u1eef li\u1ec7u nhi\u1ec5u, t\u01b0\u01a1ng t\u1ef1 ho\u1eb7c thi\u1ebfu v\u1eafng<\/td>\n<\/tr>\n
          \u0110\u1ed3ng th\u1eddi<\/strong><\/td>\nTuy\u1ebfn t\u00ednh ho\u1eb7c l\u1ed3ng gh\u00e9p<\/td>\nC\u00e1c lu\u1ed3ng v\u00e0 ti\u1ebfn tr\u00ecnh song song<\/td>\n<\/tr>\n
          L\u1ed7i<\/strong><\/td>\nTh\u01b0\u1eddng b\u1ecb b\u1ecf qua<\/td>\nPh\u1ea3i r\u00f5 r\u00e0ng v\u00e0 \u0111\u01b0\u1ee3c \u01b0u ti\u00ean<\/td>\n<\/tr>\n
          B\u1ed9 nh\u1edb<\/strong><\/td>\nKh\u00f4ng gi\u1edbi h\u1ea1n<\/td>\nB\u1ecb gi\u1edbi h\u1ea1n b\u1edfi ph\u1ea7n c\u1ee9ng nh\u00fang<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

          5\ufe0f\u20e3 Th\u00e1ch th\u1ee9c khi g\u1ee1 l\u1ed7i v\u00e0 tr\u1ef1c quan h\u00f3a \ud83d\udd0d<\/h2>\n

          Khi m\u1ed9t m\u00e1y tr\u1ea1ng th\u00e1i th\u1ea5t b\u1ea1i trong m\u00f4i tr\u01b0\u1eddng s\u1ea3n xu\u1ea5t, vi\u1ec7c g\u1ee1 l\u1ed7i tr\u1edf n\u00ean kh\u00f3 kh\u0103n. C\u00e1c s\u01a1 \u0111\u1ed3 ti\u00eau chu\u1ea9n l\u00e0 t\u00e0i li\u1ec7u t\u0129nh. Ch\u00fang kh\u00f4ng hi\u1ec3n th\u1ecb l\u1ecbch s\u1eed tr\u1ea1ng th\u00e1i. Ch\u00fang kh\u00f4ng hi\u1ec3n th\u1ecb th\u1eddi \u0111i\u1ec3m x\u1ea3y ra s\u1ef1 ki\u1ec7n. Ch\u00fang kh\u00f4ng hi\u1ec3n th\u1ecb c\u00e1c gi\u00e1 tr\u1ecb d\u1eef li\u1ec7u \u0111\u00e3 k\u00edch ho\u1ea1t m\u1ed9t chuy\u1ec3n ti\u1ebfp.<\/p>\n

          \u0110\u1ec3 m\u00e1y tr\u1ea1ng th\u00e1i c\u00f3 th\u1ec3 g\u1ee1 l\u1ed7i \u0111\u01b0\u1ee3c trong robot, b\u1ea1n c\u1ea7n:<\/p>\n

            \n
          • Ghi nh\u1eadt k\u00fd tr\u1ea1ng th\u00e1i:<\/strong>M\u1ecdi chuy\u1ec3n ti\u1ebfp \u0111\u1ec1u ph\u1ea3i \u0111\u01b0\u1ee3c ghi l\u1ea1i c\u00f9ng v\u1edbi th\u1eddi \u0111i\u1ec3m v\u00e0 gi\u00e1 tr\u1ecb c\u1ee7a c\u00e1c bi\u1ebfn li\u00ean quan.<\/li>\n
          • Tr\u1ea1ng th\u00e1i l\u1ecbch s\u1eed:<\/strong> S\u01a1 \u0111\u1ed3 ph\u1ea3i h\u1ed7 tr\u1ee3 c\u00e1c chuy\u1ec3n ti\u1ebfp \u201cL\u1ecbch s\u1eed\u201d. N\u1ebfu robot \u0111ang \u1edf Tr\u1ea1ng th\u00e1i A, chuy\u1ec3n sang Tr\u1ea1ng th\u00e1i B, r\u1ed3i Tr\u1ea1ng th\u00e1i B b\u1ecb s\u1eadp, n\u00f3 ph\u1ea3i bi\u1ebft quay l\u1ea1i Tr\u1ea1ng th\u00e1i A, ch\u1ee9 kh\u00f4ng ph\u1ea3i tr\u1ea1ng th\u00e1i m\u1eb7c \u0111\u1ecbnh.<\/li>\n
          • Kh\u1ea3 n\u0103ng truy xu\u1ea5t ngu\u1ed3n g\u1ed1c:<\/strong> M\u00e3 ngu\u1ed3n ph\u1ea3i c\u00f3 th\u1ec3 truy xu\u1ea5t ng\u01b0\u1ee3c l\u1ea1i s\u01a1 \u0111\u1ed3. N\u1ebfu logic chuy\u1ec3n ti\u1ebfp ph\u1ee9c t\u1ea1p, s\u01a1 \u0111\u1ed3 ph\u1ea3i gi\u1ea3i th\u00edch \u0111i\u1ec1u ki\u1ec7n, ch\u1ee9 kh\u00f4ng ch\u1ec9 l\u00e0 m\u0169i t\u00ean.<\/li>\n<\/ul>\n

            Kh\u00f4ng c\u00f3 nh\u1eefng c\u00f4ng c\u1ee5 n\u00e0y, s\u01a1 \u0111\u1ed3 ch\u1ec9 l\u00e0 m\u1ed9t b\u1ee9c tranh. N\u00f3 kh\u00f4ng ph\u1ea3i l\u00e0 m\u1ed9t t\u00e0i li\u1ec7u quy \u0111\u1ecbnh. C\u00e1c k\u1ef9 s\u01b0 s\u1ebd quay l\u1ea1i vi\u1ebft logic tr\u1ef1c ti\u1ebfp trong m\u00e3 ngu\u1ed3n m\u00e0 kh\u00f4ng tham kh\u1ea3o m\u00f4 h\u00ecnh tr\u1ef1c quan, khi\u1ebfn s\u01a1 \u0111\u1ed3 tr\u1edf n\u00ean l\u1ed7i th\u1eddi.<\/p>\n

            6\ufe0f\u20e3 Lu\u1ed3ng d\u1eef li\u1ec7u so v\u1edbi lu\u1ed3ng \u0111i\u1ec1u khi\u1ec3n \ud83d\udcca<\/h2>\n

            M\u1ed9t sai l\u1ea7m ph\u1ed5 bi\u1ebfn l\u00e0 nh\u1ea7m l\u1eabn lu\u1ed3ng \u0111i\u1ec1u khi\u1ec3n v\u1edbi lu\u1ed3ng d\u1eef li\u1ec7u. M\u00e1y tr\u1ea1ng th\u00e1i \u0111i\u1ec1u khi\u1ec3n ch\u1ebf \u0111\u1ed9<\/em> c\u1ee7a robot, nh\u01b0ng ch\u00fang kh\u00f4ng qu\u1ea3n l\u00fd d\u1eef li\u1ec7u<\/em>. H\u1ec7 th\u1ed1ng c\u1ea3m nh\u1eadn, thu\u1eadt to\u00e1n l\u1eadp k\u1ebf ho\u1ea1ch v\u00e0 h\u1ec7 th\u1ed1ng t\u00e1c \u0111\u1ed9ng c\u1ee7a robot \u0111\u1ec1u t\u1ea1o ra c\u00e1c lu\u1ed3ng d\u1eef li\u1ec7u. M\u00e1y tr\u1ea1ng th\u00e1i ph\u1ea3i ph\u1ed1i h\u1ee3p c\u00e1c lu\u1ed3ng n\u00e0y m\u00e0 kh\u00f4ng tr\u1edf th\u00e0nh \u0111i\u1ec3m ngh\u1ebdn.<\/p>\n

            N\u1ebfu m\u00e1y tr\u1ea1ng th\u00e1i c\u1ee7a b\u1ea1n c\u1ed1 g\u1eafng x\u1eed l\u00fd d\u1eef li\u1ec7u c\u1ea3m bi\u1ebfn tr\u1ef1c ti\u1ebfp, n\u00f3 s\u1ebd th\u1ea5t b\u1ea1i. N\u00f3 n\u00ean ph\u00e1t sinh c\u00e1c s\u1ef1 ki\u1ec7n khi\u1ebfn c\u00e1c quy tr\u00ecnh kh\u00e1c x\u1eed l\u00fd d\u1eef li\u1ec7u. V\u00ed d\u1ee5:<\/p>\n

              \n
            • M\u00e1y tr\u1ea1ng th\u00e1i:<\/strong> Chuy\u1ec3n t\u1eeb tr\u1ea1ng th\u00e1i \u201c\u0110ang di chuy\u1ec3n\u201d sang \u201c\u0110ang qu\u00e9t\u201d.<\/li>\n
            • Lu\u1ed3ng Nh\u1eadn th\u1ee9c:<\/strong> Nh\u1eadn s\u1ef1 ki\u1ec7n \u201c\u0110ang qu\u00e9t\u201d v\u00e0 t\u0103ng t\u1ed1c \u0111\u1ed9 khung h\u00ecnh camera.<\/li>\n
            • Lu\u1ed3ng L\u00ean k\u1ebf ho\u1ea1ch:<\/strong> Nh\u1eadn s\u1ef1 ki\u1ec7n \u201c\u0110ang qu\u00e9t\u201d v\u00e0 t\u1ea1m d\u1eebng c\u1eadp nh\u1eadt qu\u1ef9 \u0111\u1ea1o.<\/li>\n<\/ul>\n

              T\u00e1ch bi\u1ec7t logic \u0111i\u1ec1u khi\u1ec3n kh\u1ecfi logic x\u1eed l\u00fd d\u1eef li\u1ec7u l\u00e0 \u0111i\u1ec1u c\u1ea7n thi\u1ebft. S\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i c\u1ea7n th\u1ec3 hi\u1ec7n r\u00f5 c\u00e1c giao ti\u1ebfp n\u00e0y d\u01b0\u1edbi d\u1ea1ng s\u1ef1 ki\u1ec7n, ch\u1ee9 kh\u00f4ng ph\u1ea3i c\u00e1c b\u01b0\u1edbc x\u1eed l\u00fd d\u1eef li\u1ec7u.<\/p>\n

              7\ufe0f\u20e3 Qu\u1ea3n l\u00fd \u0111\u1ed9 ph\u1ee9c t\u1ea1p b\u1eb1ng t\u00ednh module \ud83e\udde9<\/h2>\n

              Khi robot tr\u1edf n\u00ean linh ho\u1ea1t h\u01a1n, m\u00e1y tr\u1ea1ng th\u00e1i s\u1ebd m\u1edf r\u1ed9ng. M\u1ed9t robot \u0111\u01a1n gi\u1ea3n \u0111\u1ec3 l\u1ea5y v\u00e0 \u0111\u1eb7t c\u00f3 th\u1ec3 c\u00f3 n\u0103m tr\u1ea1ng th\u00e1i. M\u1ed9t robot thao t\u00e1c di \u0111\u1ed9ng c\u00f3 th\u1ec3 c\u00f3 n\u0103m m\u01b0\u01a1i tr\u1ea1ng th\u00e1i. M\u1ed9t m\u00e1y tr\u1ea1ng th\u00e1i n\u0103m m\u01b0\u01a1i tr\u1ea1ng th\u00e1i l\u00e0 kh\u00f4ng th\u1ec3 duy tr\u00ec n\u1ebfu m\u1ecdi tr\u1ea1ng th\u00e1i \u0111\u1ec1u t\u01b0\u01a1ng t\u00e1c v\u1edbi nhau.<\/p>\n

              \u00c1p d\u1ee5ng ph\u01b0\u01a1ng ph\u00e1p module. Chia h\u1ec7 th\u1ed1ng th\u00e0nh c\u00e1c ti\u1ec3u h\u1ec7 th\u1ed1ng:<\/p>\n

                \n
              • M\u00e1y tr\u1ea1ng th\u00e1i Di chuy\u1ec3n:<\/strong> X\u1eed l\u00fd b\u00e1nh xe, ch\u00e2n ho\u1eb7c b\u00e1nh x\u00edch.<\/li>\n
              • M\u00e1y tr\u1ea1ng th\u00e1i Thao t\u00e1c:<\/strong> X\u1eed l\u00fd tay, k\u1eb9p ho\u1eb7c c\u00f4ng c\u1ee5.<\/li>\n
              • M\u00e1y tr\u1ea1ng th\u00e1i Giao ti\u1ebfp:<\/strong> X\u1eed l\u00fd c\u00e1c thao t\u00e1c b\u1eaft tay m\u1ea1ng v\u00e0 k\u1ebft n\u1ed1i d\u1eef li\u1ec7u.<\/li>\n<\/ul>\n

                C\u00e1c ti\u1ec3u h\u1ec7 th\u1ed1ng n\u00e0y giao ti\u1ebfp th\u00f4ng qua s\u1ef1 ki\u1ec7n. \u0110i\u1ec1u n\u00e0y gi\u1ea3m t\u1ea3i nh\u1eadn th\u1ee9c cho k\u1ef9 s\u01b0. B\u1ea1n c\u00f3 th\u1ec3 ki\u1ec3m tra m\u00e1y tr\u1ea1ng th\u00e1i Di chuy\u1ec3n \u0111\u1ed9c l\u1eadp v\u1edbi m\u00e1y tr\u1ea1ng th\u00e1i Thao t\u00e1c. T\u00ednh module n\u00e0y l\u00e0 c\u00e1ch duy nh\u1ea5t \u0111\u1ec3 m\u1edf r\u1ed9ng ki\u1ebfn tr\u00fac m\u00e1y tr\u1ea1ng th\u00e1i cho robot ph\u1ee9c t\u1ea1p.<\/p>\n

                8\ufe0f\u20e3 T\u00e0i li\u1ec7u v\u00e0 B\u1ea3o tr\u00ec \ud83d\udcdd<\/h2>\n

                S\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i l\u00e0 m\u1ed9t t\u00e0i li\u1ec7u s\u1ed1ng. M\u00e3 ngu\u1ed3n thay \u0111\u1ed5i, y\u00eau c\u1ea7u thay \u0111\u1ed5i v\u00e0 ph\u1ea7n c\u1ee9ng thay \u0111\u1ed5i. N\u1ebfu s\u01a1 \u0111\u1ed3 kh\u00f4ng \u0111\u01b0\u1ee3c c\u1eadp nh\u1eadt c\u00f9ng v\u1edbi m\u00e3 ngu\u1ed3n, n\u00f3 s\u1ebd tr\u1edf th\u00e0nh th\u00f4ng tin sai l\u1ec7ch. \u0110i\u1ec1u n\u00e0y d\u1eabn \u0111\u1ebfn v\u1ea5n \u0111\u1ec1 ‘s\u01a1 \u0111\u1ed3 m\u00ec \u0103n li\u1ec1n’ n\u01a1i m\u00f4 h\u00ecnh tr\u1ef1c quan kh\u00f4ng c\u00f2n t\u01b0\u01a1ng \u1ee9ng v\u1edbi logic th\u1ef1c thi.<\/p>\n

                C\u00e1c th\u1ef1c h\u00e0nh t\u1ed1t nh\u1ea5t cho b\u1ea3o tr\u00ec bao g\u1ed3m:<\/p>\n

                  \n
                • Ki\u1ec3m so\u00e1t phi\u00ean b\u1ea3n:<\/strong>Xem t\u1ec7p s\u01a1 \u0111\u1ed3 nh\u01b0 m\u00e3 ngu\u1ed3n. G\u1eedi thay \u0111\u1ed5i v\u1edbi c\u00f9ng m\u1ee9c \u0111\u1ed9 nghi\u00eam ng\u1eb7t.<\/li>\n
                • T\u1ea1o m\u00e3 ngu\u1ed3n:<\/strong>N\u1ebfu c\u00f3 th\u1ec3, t\u1ea1o m\u00e3 ngu\u1ed3n t\u1eeb s\u01a1 \u0111\u1ed3 ho\u1eb7c s\u1eed d\u1ee5ng m\u1ed9t khung c\u00f4ng t\u00e1c \u0111\u1ec3 gi\u1eef cho ch\u00fang \u0111\u1ed3ng b\u1ed9.<\/li>\n
                • Nh\u1eadt k\u00fd thay \u0111\u1ed5i:<\/strong> Khi m\u1ed9t chuy\u1ec3n ti\u1ebfp \u0111\u01b0\u1ee3c th\u00eam ho\u1eb7c x\u00f3a, h\u00e3y ghi l\u1ea1i l\u00fd do. C\u00f3 ph\u1ea3i l\u00e0 s\u1eeda l\u1ed7i an to\u00e0n? Hay t\u1ed1i \u01b0u hi\u1ec7u su\u1ea5t?<\/li>\n<\/ul>\n

                  T\u00e0i li\u1ec7u kh\u00f4ng ch\u1ec9 n\u00ean m\u00f4 t\u1ea3 c\u00e1c tr\u1ea1ng th\u00e1i. N\u00f3 n\u00ean m\u00f4 t\u1ea3 l\u00fd do t\u1ea1i sao<\/em>. T\u1ea1i sao chuy\u1ec3n ti\u1ebfp n\u00e0y \u0111\u01b0\u1ee3c b\u1ea3o v\u1ec7? T\u1ea1i sao tr\u1ea1ng th\u00e1i n\u00e0y \u0111\u01b0\u1ee3c \u01b0u ti\u00ean h\u01a1n tr\u1ea1ng th\u00e1i kia? Nh\u1eefng quy\u1ebft \u0111\u1ecbnh n\u00e0y r\u1ea5t quan tr\u1ecdng \u0111\u1ed1i v\u1edbi c\u00e1c k\u1ef9 s\u01b0 t\u01b0\u01a1ng lai kh\u00f4ng vi\u1ebft m\u00e3 ngu\u1ed3n ban \u0111\u1ea7u.<\/p>\n

                  9\ufe0f\u20e3 Y\u1ebfu t\u1ed1 con ng\u01b0\u1eddi trong thi\u1ebft k\u1ebf \ud83d\udc65<\/h2>\n

                  Cu\u1ed1i c\u00f9ng, h\u00e3y c\u00e2n nh\u1eafc ng\u01b0\u1eddi v\u1eadn h\u00e0nh. M\u00e1y tr\u1ea1ng th\u00e1i x\u00e1c \u0111\u1ecbnh c\u00e1ch robot ho\u1ea1t \u0111\u1ed9ng, \u0111i\u1ec1u n\u00e0y l\u1ea1i x\u00e1c \u0111\u1ecbnh c\u00e1ch con ng\u01b0\u1eddi t\u01b0\u01a1ng t\u00e1c v\u1edbi n\u00f3. N\u1ebfu robot v\u00e0o tr\u1ea1ng th\u00e1i \u201c\u0110ang b\u1eadn\u201d trong 10 ph\u00fat, ng\u01b0\u1eddi v\u1eadn h\u00e0nh c\u00f3 th\u1ec3 ngh\u0129 r\u1eb1ng n\u00f3 b\u1ecb h\u1ecfng v\u00e0 c\u1ed1 g\u1eafng can thi\u1ec7p. N\u1ebfu robot v\u00e0o tr\u1ea1ng th\u00e1i \u201cT\u1ea1m d\u1eebng\u201d m\u00e0 kh\u00f4ng c\u00f3 \u0111\u00e8n tr\u1ea1ng th\u00e1i r\u00f5 r\u00e0ng, ng\u01b0\u1eddi v\u1eadn h\u00e0nh c\u00f3 th\u1ec3 cho r\u1eb1ng n\u00f3 b\u1ecb k\u1eb9t.<\/p>\n

                  M\u00e1y tr\u1ea1ng th\u00e1i ph\u1ea3i ph\u00f9 h\u1ee3p v\u1edbi k\u1ef3 v\u1ecdng c\u1ee7a con ng\u01b0\u1eddi. C\u00e1c chuy\u1ec3n ti\u1ebfp ph\u1ea3i r\u00f5 r\u00e0ng, c\u00f3 th\u1ec3 nghe th\u1ea5y ho\u1eb7c \u0111\u01b0\u1ee3c b\u00e1o hi\u1ec7u theo c\u00e1ch m\u00e0 ng\u01b0\u1eddi v\u1eadn h\u00e0nh hi\u1ec3u \u0111\u01b0\u1ee3c. \u0110i\u1ec1u n\u00e0y th\u01b0\u1eddng b\u1ecb b\u1ecf qua trong c\u00e1c s\u01a1 \u0111\u1ed3 k\u1ef9 thu\u1eadt, v\u1ed1n t\u1eadp trung ho\u00e0n to\u00e0n v\u00e0o t\u00ednh ch\u00ednh x\u00e1c v\u1ec1 m\u1eb7t logic thay v\u00ec tr\u1ea3i nghi\u1ec7m ng\u01b0\u1eddi d\u00f9ng. M\u1ed9t robot c\u00f3 logic \u0111\u00fang nh\u01b0ng g\u00e2y nh\u1ea7m l\u1eabn khi v\u1eadn h\u00e0nh l\u00e0 m\u1ed9t s\u1ea3n ph\u1ea9m th\u1ea5t b\u1ea1i.<\/p>\n

                  \ud83d\udd1f B\u1ea3o v\u1ec7 ki\u1ebfn tr\u00fac c\u1ee7a b\u1ea1n tr\u01b0\u1edbc t\u01b0\u01a1ng lai \ud83d\ude80<\/h2>\n

                  C\u00f4ng ngh\u1ec7 robotics ph\u00e1t tri\u1ec3n nhanh ch\u00f3ng. C\u00e1c c\u1ea3m bi\u1ebfn m\u1edbi, b\u1ed9 ch\u1ea5p h\u00e0nh m\u1edbi v\u00e0 c\u00e1c m\u00f4 h\u00ecnh AI m\u1edbi li\u00ean t\u1ee5c \u0111\u01b0\u1ee3c gi\u1edbi thi\u1ec7u. Ki\u1ebfn tr\u00fac m\u00e1y tr\u1ea1ng th\u00e1i c\u1ee7a b\u1ea1n ph\u1ea3i linh ho\u1ea1t \u0111\u1ee7 \u0111\u1ec3 th\u00edch nghi v\u1edbi nh\u1eefng thay \u0111\u1ed5i n\u00e0y m\u00e0 kh\u00f4ng c\u1ea7n vi\u1ebft l\u1ea1i ho\u00e0n to\u00e0n.<\/p>\n

                  Tr\u00e1nh ghi c\u1ee9ng t\u00ean tr\u1ea1ng th\u00e1i. S\u1eed d\u1ee5ng enum ho\u1eb7c h\u1eb1ng s\u1ed1. Tr\u00e1nh ghi c\u1ee9ng \u0111i\u1ec1u ki\u1ec7n chuy\u1ec3n ti\u1ebfp. \u01afu ti\u00ean s\u1eed d\u1ee5ng t\u1ec7p c\u1ea5u h\u00ecnh ho\u1eb7c tham s\u1ed1 khi c\u00f3 th\u1ec3. \u0110i\u1ec1u n\u00e0y cho ph\u00e9p b\u1ea1n \u0111i\u1ec1u ch\u1ec9nh h\u00e0nh vi m\u00e0 kh\u00f4ng c\u1ea7n bi\u00ean d\u1ecbch l\u1ea1i to\u00e0n b\u1ed9 l\u00f5i logic. \u0110\u1ed3ng th\u1eddi, b\u1ea1n c\u0169ng c\u00f3 th\u1ec3 ki\u1ec3m th\u1eed c\u00e1c c\u1ea5u h\u00ecnh tr\u1ea1ng th\u00e1i kh\u00e1c nhau trong m\u00f4 ph\u1ecfng tr\u01b0\u1edbc khi tri\u1ec3n khai l\u00ean ph\u1ea7n c\u1ee9ng.<\/p>\n

                  B\u1eb1ng c\u00e1ch t\u1eadp trung v\u00e0o c\u00e1c nguy\u00ean t\u1eafc ki\u1ebfn tr\u00fac n\u00e0y, b\u1ea1n v\u01b0\u1ee3t qua gi\u1edbi h\u1ea1n c\u1ee7a s\u01a1 \u0111\u1ed3 UML ti\u00eau chu\u1ea9n. B\u1ea1n t\u1ea1o ra m\u1ed9t h\u1ec7 th\u1ed1ng b\u1ec1n b\u1ec9, d\u1ec5 b\u1ea3o tr\u00ec v\u00e0 \u0111\u1ee7 m\u1ea1nh m\u1ebd cho th\u1ebf gi\u1edbi th\u1ef1c.<\/p>\n","protected":false},"excerpt":{"rendered":"

                  C\u00e1c k\u1ef9 s\u01b0 robot th\u01b0\u1eddng b\u1eaft \u0111\u1ea7u ki\u1ebfn tr\u00fac h\u1ec7 th\u1ed1ng t\u1ef1 \u0111\u1ed9ng v\u1edbi s\u1ef1 t\u1ef1 tin. M\u1ed9t M\u00e1y tr\u1ea1ng<\/p>\n","protected":false},"author":3479,"featured_media":11198,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_yoast_wpseo_title":"T\u1ea1i sao m\u00e1y tr\u1ea1ng th\u00e1i UML th\u1ea5t b\u1ea1i trong robot (B\u00f3c t\u00e1ch nh\u1eefng hi\u1ec3u l\u1ea7m) \ud83e\udd16","_yoast_wpseo_metadesc":"Kh\u00e1m ph\u00e1 l\u00fd do t\u1ea1i sao s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i UML th\u01b0\u1eddng th\u1ea5t b\u1ea1i trong robot th\u1ef1c t\u1ebf. H\u1ecdc v\u1ec1 th\u1eddi gian, \u0111\u1ed3ng th\u1eddi v\u00e0 c\u00e1c ki\u1ebfn tr\u00fac \u0111i\u1ec1u khi\u1ec3n b\u1ec1n v\u1eefng.","fifu_image_url":"","fifu_image_alt":"","footnotes":""},"categories":[127],"tags":[162,101],"class_list":["post-11197","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-unified-modeling-language","tag-academic","tag-uml"],"yoast_head":"\nT\u1ea1i sao m\u00e1y tr\u1ea1ng th\u00e1i UML th\u1ea5t b\u1ea1i trong robot (B\u00f3c t\u00e1ch nh\u1eefng hi\u1ec3u l\u1ea7m) \ud83e\udd16<\/title>\n<meta name=\"description\" content=\"Kh\u00e1m ph\u00e1 l\u00fd do t\u1ea1i sao s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i UML th\u01b0\u1eddng th\u1ea5t b\u1ea1i trong robot th\u1ef1c t\u1ebf. H\u1ecdc v\u1ec1 th\u1eddi gian, \u0111\u1ed3ng th\u1eddi v\u00e0 c\u00e1c ki\u1ebfn tr\u00fac \u0111i\u1ec1u khi\u1ec3n b\u1ec1n v\u1eefng.\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/\" \/>\n<meta property=\"og:locale\" content=\"vi_VN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"T\u1ea1i sao m\u00e1y tr\u1ea1ng th\u00e1i UML th\u1ea5t b\u1ea1i trong robot (B\u00f3c t\u00e1ch nh\u1eefng hi\u1ec3u l\u1ea7m) \ud83e\udd16\" \/>\n<meta property=\"og:description\" content=\"Kh\u00e1m ph\u00e1 l\u00fd do t\u1ea1i sao s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i UML th\u01b0\u1eddng th\u1ea5t b\u1ea1i trong robot th\u1ef1c t\u1ebf. H\u1ecdc v\u1ec1 th\u1eddi gian, \u0111\u1ed3ng th\u1eddi v\u00e0 c\u00e1c ki\u1ebfn tr\u00fac \u0111i\u1ec1u khi\u1ec3n b\u1ec1n v\u1eefng.\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/\" \/>\n<meta property=\"og:site_name\" content=\"ArchiMetric Vietnamese\" \/>\n<meta property=\"article:published_time\" content=\"2026-04-09T22:35:09+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.archimetric.com\/vn\/wp-content\/uploads\/sites\/12\/2026\/04\/state-machine-robotics-mythbuster-chalkboard-infographic.jpg\" \/>\n\t<meta property=\"og:image:width\" content=\"1664\" \/>\n\t<meta property=\"og:image:height\" content=\"928\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/jpeg\" \/>\n<meta name=\"author\" content=\"archimetric@visual-paradigm.com\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u0110\u01b0\u1ee3c vi\u1ebft b\u1edfi\" \/>\n\t<meta name=\"twitter:data1\" content=\"archimetric@visual-paradigm.com\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u01af\u1edbc t\u00ednh th\u1eddi gian \u0111\u1ecdc\" \/>\n\t<meta name=\"twitter:data2\" content=\"20 ph\u00fat\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#article\",\"isPartOf\":{\"@id\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/\"},\"author\":{\"name\":\"archimetric@visual-paradigm.com\",\"@id\":\"https:\/\/www.archimetric.com\/vn\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28\"},\"headline\":\"B\u00f3c T\u00e1ch Suy Ngh\u0129 Sai L\u1ea7m: T\u1ea1i Sao S\u01a1 \u0110\u1ed3 M\u00e1y Tr\u1ea1ng Th\u00e1i C\u1ee7a B\u1ea1n Th\u1ea5t B\u1ea1i Trong \u1ee8ng D\u1ee5ng Robot\",\"datePublished\":\"2026-04-09T22:35:09+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/\"},\"wordCount\":4118,\"commentCount\":0,\"image\":{\"@id\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#primaryimage\"},\"thumbnailUrl\":\"https:\/\/www.archimetric.com\/vn\/wp-content\/uploads\/sites\/12\/2026\/04\/state-machine-robotics-mythbuster-chalkboard-infographic.jpg\",\"keywords\":[\"academic\",\"UML\"],\"articleSection\":[\"Unified Modeling Language\"],\"inLanguage\":\"vi\",\"potentialAction\":[{\"@type\":\"CommentAction\",\"name\":\"Comment\",\"target\":[\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#respond\"]}]},{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/\",\"url\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/\",\"name\":\"T\u1ea1i sao m\u00e1y tr\u1ea1ng th\u00e1i UML th\u1ea5t b\u1ea1i trong robot (B\u00f3c t\u00e1ch nh\u1eefng hi\u1ec3u l\u1ea7m) \ud83e\udd16\",\"isPartOf\":{\"@id\":\"https:\/\/www.archimetric.com\/vn\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#primaryimage\"},\"image\":{\"@id\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#primaryimage\"},\"thumbnailUrl\":\"https:\/\/www.archimetric.com\/vn\/wp-content\/uploads\/sites\/12\/2026\/04\/state-machine-robotics-mythbuster-chalkboard-infographic.jpg\",\"datePublished\":\"2026-04-09T22:35:09+00:00\",\"author\":{\"@id\":\"https:\/\/www.archimetric.com\/vn\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28\"},\"description\":\"Kh\u00e1m ph\u00e1 l\u00fd do t\u1ea1i sao s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i UML th\u01b0\u1eddng th\u1ea5t b\u1ea1i trong robot th\u1ef1c t\u1ebf. H\u1ecdc v\u1ec1 th\u1eddi gian, \u0111\u1ed3ng th\u1eddi v\u00e0 c\u00e1c ki\u1ebfn tr\u00fac \u0111i\u1ec1u khi\u1ec3n b\u1ec1n v\u1eefng.\",\"breadcrumb\":{\"@id\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#breadcrumb\"},\"inLanguage\":\"vi\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"vi\",\"@id\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#primaryimage\",\"url\":\"https:\/\/www.archimetric.com\/vn\/wp-content\/uploads\/sites\/12\/2026\/04\/state-machine-robotics-mythbuster-chalkboard-infographic.jpg\",\"contentUrl\":\"https:\/\/www.archimetric.com\/vn\/wp-content\/uploads\/sites\/12\/2026\/04\/state-machine-robotics-mythbuster-chalkboard-infographic.jpg\",\"width\":1664,\"height\":928},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\/\/www.archimetric.com\/vn\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"B\u00f3c T\u00e1ch Suy Ngh\u0129 Sai L\u1ea7m: T\u1ea1i Sao S\u01a1 \u0110\u1ed3 M\u00e1y Tr\u1ea1ng Th\u00e1i C\u1ee7a B\u1ea1n Th\u1ea5t B\u1ea1i Trong \u1ee8ng D\u1ee5ng Robot\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.archimetric.com\/vn\/#website\",\"url\":\"https:\/\/www.archimetric.com\/vn\/\",\"name\":\"ArchiMetric Vietnamese\",\"description\":\"EA, Dev Ops, Scrum, Agile and More\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.archimetric.com\/vn\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"vi\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.archimetric.com\/vn\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28\",\"name\":\"archimetric@visual-paradigm.com\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"vi\",\"@id\":\"https:\/\/www.archimetric.com\/vn\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/secure.gravatar.com\/avatar\/de58c1924d83d002dbce0b79f74ba4b70e2f85238332df6cabc0227effdf470d?s=96&d=mm&r=g\",\"contentUrl\":\"https:\/\/secure.gravatar.com\/avatar\/de58c1924d83d002dbce0b79f74ba4b70e2f85238332df6cabc0227effdf470d?s=96&d=mm&r=g\",\"caption\":\"archimetric@visual-paradigm.com\"},\"url\":\"https:\/\/www.archimetric.com\/vn\/author\/archimetricvisual-paradigm-com\/\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"T\u1ea1i sao m\u00e1y tr\u1ea1ng th\u00e1i UML th\u1ea5t b\u1ea1i trong robot (B\u00f3c t\u00e1ch nh\u1eefng hi\u1ec3u l\u1ea7m) \ud83e\udd16","description":"Kh\u00e1m ph\u00e1 l\u00fd do t\u1ea1i sao s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i UML th\u01b0\u1eddng th\u1ea5t b\u1ea1i trong robot th\u1ef1c t\u1ebf. H\u1ecdc v\u1ec1 th\u1eddi gian, \u0111\u1ed3ng th\u1eddi v\u00e0 c\u00e1c ki\u1ebfn tr\u00fac \u0111i\u1ec1u khi\u1ec3n b\u1ec1n v\u1eefng.","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/","og_locale":"vi_VN","og_type":"article","og_title":"T\u1ea1i sao m\u00e1y tr\u1ea1ng th\u00e1i UML th\u1ea5t b\u1ea1i trong robot (B\u00f3c t\u00e1ch nh\u1eefng hi\u1ec3u l\u1ea7m) \ud83e\udd16","og_description":"Kh\u00e1m ph\u00e1 l\u00fd do t\u1ea1i sao s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i UML th\u01b0\u1eddng th\u1ea5t b\u1ea1i trong robot th\u1ef1c t\u1ebf. H\u1ecdc v\u1ec1 th\u1eddi gian, \u0111\u1ed3ng th\u1eddi v\u00e0 c\u00e1c ki\u1ebfn tr\u00fac \u0111i\u1ec1u khi\u1ec3n b\u1ec1n v\u1eefng.","og_url":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/","og_site_name":"ArchiMetric Vietnamese","article_published_time":"2026-04-09T22:35:09+00:00","og_image":[{"width":1664,"height":928,"url":"https:\/\/www.archimetric.com\/vn\/wp-content\/uploads\/sites\/12\/2026\/04\/state-machine-robotics-mythbuster-chalkboard-infographic.jpg","type":"image\/jpeg"}],"author":"archimetric@visual-paradigm.com","twitter_card":"summary_large_image","twitter_misc":{"\u0110\u01b0\u1ee3c vi\u1ebft b\u1edfi":"archimetric@visual-paradigm.com","\u01af\u1edbc t\u00ednh th\u1eddi gian \u0111\u1ecdc":"20 ph\u00fat"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"Article","@id":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#article","isPartOf":{"@id":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/"},"author":{"name":"archimetric@visual-paradigm.com","@id":"https:\/\/www.archimetric.com\/vn\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28"},"headline":"B\u00f3c T\u00e1ch Suy Ngh\u0129 Sai L\u1ea7m: T\u1ea1i Sao S\u01a1 \u0110\u1ed3 M\u00e1y Tr\u1ea1ng Th\u00e1i C\u1ee7a B\u1ea1n Th\u1ea5t B\u1ea1i Trong \u1ee8ng D\u1ee5ng Robot","datePublished":"2026-04-09T22:35:09+00:00","mainEntityOfPage":{"@id":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/"},"wordCount":4118,"commentCount":0,"image":{"@id":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#primaryimage"},"thumbnailUrl":"https:\/\/www.archimetric.com\/vn\/wp-content\/uploads\/sites\/12\/2026\/04\/state-machine-robotics-mythbuster-chalkboard-infographic.jpg","keywords":["academic","UML"],"articleSection":["Unified Modeling Language"],"inLanguage":"vi","potentialAction":[{"@type":"CommentAction","name":"Comment","target":["https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#respond"]}]},{"@type":"WebPage","@id":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/","url":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/","name":"T\u1ea1i sao m\u00e1y tr\u1ea1ng th\u00e1i UML th\u1ea5t b\u1ea1i trong robot (B\u00f3c t\u00e1ch nh\u1eefng hi\u1ec3u l\u1ea7m) \ud83e\udd16","isPartOf":{"@id":"https:\/\/www.archimetric.com\/vn\/#website"},"primaryImageOfPage":{"@id":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#primaryimage"},"image":{"@id":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#primaryimage"},"thumbnailUrl":"https:\/\/www.archimetric.com\/vn\/wp-content\/uploads\/sites\/12\/2026\/04\/state-machine-robotics-mythbuster-chalkboard-infographic.jpg","datePublished":"2026-04-09T22:35:09+00:00","author":{"@id":"https:\/\/www.archimetric.com\/vn\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28"},"description":"Kh\u00e1m ph\u00e1 l\u00fd do t\u1ea1i sao s\u01a1 \u0111\u1ed3 m\u00e1y tr\u1ea1ng th\u00e1i UML th\u01b0\u1eddng th\u1ea5t b\u1ea1i trong robot th\u1ef1c t\u1ebf. H\u1ecdc v\u1ec1 th\u1eddi gian, \u0111\u1ed3ng th\u1eddi v\u00e0 c\u00e1c ki\u1ebfn tr\u00fac \u0111i\u1ec1u khi\u1ec3n b\u1ec1n v\u1eefng.","breadcrumb":{"@id":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#breadcrumb"},"inLanguage":"vi","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/"]}]},{"@type":"ImageObject","inLanguage":"vi","@id":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#primaryimage","url":"https:\/\/www.archimetric.com\/vn\/wp-content\/uploads\/sites\/12\/2026\/04\/state-machine-robotics-mythbuster-chalkboard-infographic.jpg","contentUrl":"https:\/\/www.archimetric.com\/vn\/wp-content\/uploads\/sites\/12\/2026\/04\/state-machine-robotics-mythbuster-chalkboard-infographic.jpg","width":1664,"height":928},{"@type":"BreadcrumbList","@id":"https:\/\/www.archimetric.com\/vn\/why-uml-state-machine-diagrams-fail-robotics\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"Home","item":"https:\/\/www.archimetric.com\/vn\/"},{"@type":"ListItem","position":2,"name":"B\u00f3c T\u00e1ch Suy Ngh\u0129 Sai L\u1ea7m: T\u1ea1i Sao S\u01a1 \u0110\u1ed3 M\u00e1y Tr\u1ea1ng Th\u00e1i C\u1ee7a B\u1ea1n Th\u1ea5t B\u1ea1i Trong \u1ee8ng D\u1ee5ng Robot"}]},{"@type":"WebSite","@id":"https:\/\/www.archimetric.com\/vn\/#website","url":"https:\/\/www.archimetric.com\/vn\/","name":"ArchiMetric Vietnamese","description":"EA, Dev Ops, Scrum, Agile and More","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.archimetric.com\/vn\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"vi"},{"@type":"Person","@id":"https:\/\/www.archimetric.com\/vn\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28","name":"archimetric@visual-paradigm.com","image":{"@type":"ImageObject","inLanguage":"vi","@id":"https:\/\/www.archimetric.com\/vn\/#\/schema\/person\/image\/","url":"https:\/\/secure.gravatar.com\/avatar\/de58c1924d83d002dbce0b79f74ba4b70e2f85238332df6cabc0227effdf470d?s=96&d=mm&r=g","contentUrl":"https:\/\/secure.gravatar.com\/avatar\/de58c1924d83d002dbce0b79f74ba4b70e2f85238332df6cabc0227effdf470d?s=96&d=mm&r=g","caption":"archimetric@visual-paradigm.com"},"url":"https:\/\/www.archimetric.com\/vn\/author\/archimetricvisual-paradigm-com\/"}]}},"_links":{"self":[{"href":"https:\/\/www.archimetric.com\/vn\/wp-json\/wp\/v2\/posts\/11197","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.archimetric.com\/vn\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.archimetric.com\/vn\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.archimetric.com\/vn\/wp-json\/wp\/v2\/users\/3479"}],"replies":[{"embeddable":true,"href":"https:\/\/www.archimetric.com\/vn\/wp-json\/wp\/v2\/comments?post=11197"}],"version-history":[{"count":0,"href":"https:\/\/www.archimetric.com\/vn\/wp-json\/wp\/v2\/posts\/11197\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.archimetric.com\/vn\/wp-json\/wp\/v2\/media\/11198"}],"wp:attachment":[{"href":"https:\/\/www.archimetric.com\/vn\/wp-json\/wp\/v2\/media?parent=11197"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.archimetric.com\/vn\/wp-json\/wp\/v2\/categories?post=11197"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.archimetric.com\/vn\/wp-json\/wp\/v2\/tags?post=11197"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}