Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators

redundant manipulator

Democratic Development and the Role of Citizenship Education in Sub-Saharan African with a Case Focus on Zambia

In addressing issues related to problems of democratisation in Africa, this paper attempts to relate the issue to the need for citizenship education and the role that can play in social development. Citizenship should be central to the formation of viable civil societies that claim a tangible stake in national public spaces in post-Cold War Africa. These and related topics are discussed relative to new possibilities that could lead to the full realisation of the concept as well as the practice of enfranchised citizenship and inclusive social development in aspiring democracies in the Sub Saharan African context. The complexity of the development ‘problematique’ that Sub-Saharan Africa is facing is unique in that it is multi-dimensional, but above all else, politically located. It is, therefore, central to our discussions here that to correct the continent’s current schemes of underdevelopment, pragmatic schemes of governance must be achieved. To do that, we are suggesting, new possibilities of citizenship education should be formulated for the general African scene in general, and for democratising but still both institutionally and economically weakened Zambia

Kontribusi Usahatani Nilam terhadap Total Pendapatan Petani di Desa Sangia Tiworo Kecamatan Tiworo Selatan Kabupaten Muna Barat

The research aims at knowing: the total income of patchouli farming, and the contribution of patchouli farming towards the total income of patchouli farmers at Sangia Tiworo Subdistrict of South Tiworo, West Muna Regency. The population of the research is the entire farmers of patchouli and another kind of farming at Sangia Tiworo Subdistrict of South Tiworo, West Muna Regency which total 20 farmers. The technique of deciding sample is “Probability Random Sampling” in which the entire farmers have an equal chance to be a sample. The data were analyzed by using “income analysis”, and “contribution formula”. The result of the research shows total income of farmers per planting season is Rp. 435,620,298 on average Rp. 22,641,240. Patchouli farming gives a big contribution towards farmers\u27 household income, which is being approximated at 31% - 97% on average contribution 84%

Optimisation of Magnetic Circuit for Brushless Doubly Fed Machines

This paper presents an optimized design method for the magnetic circuit of brushless doubly fed machines (BDFMs). The BDFM is an attractive electrical machine, particularly for wind power applications, as a replacement for doubly fed slip-ring generators. This study shows that the conventional design methods for the BDFM stator and rotor back iron can be modified, leading to a lighter and smaller machine. The proposed design concepts are supported by analytical methods, and their practicality is verified using two-dimensional finite-element modeling and analysis. Two BDFMs with frame sizes D180 and D400 are considered in this study

Equivalent Circuit Parameters for Large Brushless Doubly Fed Machines (BDFM)

This paper presents analytical methods to calculate the equivalent circuit parameters for large-scale brushless doubly fed machines (BDFMs) with magnetic wedges utilized for closing stator open slots. The use of magnetic wedges reduces the magnetizing currents in the machine, reflected in the values of magnetizing inductances, but also increases leakage fluxes affecting the value of series inductances in the equivalent circuit. Though such effects can be modeled by numerical models, the proposed analytical methods are particularly helpful in optimizing machine design, inverter rating, reactive power management, and grid low-voltage ride-through performance. The conventional analytical methods cannot be readily applied to the BDFM due to its complex magnetic field distribution; this paper presents analytical methods to calculate the magnetizing and leakage inductances for the BDFM with magnetic wedges used in the stator slots. The proposed methods are assessed by experimentally verified finite-element models for a 250 kW BDFM