High-pressure jet grouting pile is a kind of stratum reinforcement technology developed in recent years. Due to its characteristics of high solid strength, fast construction, low noise, safety and reliability, low cost, controllable reinforcement diameter, strong adaptability to stratum, and good reinforcement effect for soft soil, loose soil and water-rich stratum, high-pressure jet grouting pile technology has been more and more widely used in foundation treatment, water stop, and seepage prevention, tunnel lining and other fields in recent years. As a country with a relatively late development of underground construction engineering, Vietnam has little research on special geotechnical reinforcement technology, especially on special geotechnical reinforcement technology around urban underground construction engineering, especially on its theoretical analysis and practical application. Therefore, this thesis combines the Vietnam Trung Hoa tunnel project as an example, using the theoretical calculation formula and field monitoring measurement comparing the two methods, the high pressure jet grouting pile system research in Vietnam in the underground engineering reinforcement principle and application effect, get to the actual engineering design and construction has a guiding significance to the research, provides the reference for future similar projects. Finally, the application effect of high-pressure jet grouting pile in underground building reinforcement project is evaluated, which proves that high-pressure jet grouting pile has good applicability and economic benefit in underground building reinforcement project in Vietnam.

The issues of medical robots have been approached for 12 years in the Institute of Machine Tools and Production Engineering of the Technical University of Lodz. In the last two years, the scope of research related to the miniaturization of surgical tools, automated changing of these tools with the use of a tool depot designed for this purpose, equipping the robot in the sense of touch and developing the software which provides ergonomic and intuitive robot control with the use of all its functions. In the telemanipulator control, strong emphasis is placed on the intuitiveness of control, which is hard to be ensured due to the fact that the robot tool is observed by a laparoscopic camera, whose orientation and position may vary. That is the reason for developing a new algorithm. It copies the increments of the position and orientation measured in relation to the monitor coordinate system onto the robot tool movement and orientation, which are measured in relation to the camera coordinates system. In this algorithm it is necessary to solve inverse kinematics, which has a discontinuity. Avoiding the discontinuity is achieved by mapping the solution with the cosine function. It causes smooth pass through the area of discontinuity in this way avoiding the singularity.