Experimental investigation of feedforward control schemes of a flexible robot manipulator system

This paper presents experimental investigations into the applications of feedforward control schemes for vibration control of a flexible manipulator system. Feedforward control schemes based on input shaping and filtering techniques are to be examined. A constrained planar single-link flexible manipulator is considered in this experimental work. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers and filtering techniques are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction and time response specifications. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the control strategies is presented and discusse

Terms of Trade Shocks and Economic Performance Under Different Exchange Rate Regimes

The impact of terms of trade shocks on a country’s output and price level are, according to economic theory, expected to vary according to the de facto exchange rate regime. This paper tests this hypothesis how terms of trade shocks impact on 22 African countries, which operate different de facto exchange rate regimes, using a structural VAR with long-run restrictions, over the period from 1980 to 2007. The empirical findings support the view that the exchange rate regime matters as to how countries respond to exogenous external shocks like terms of trade shocks, in that output variation is greater for countries with fixed regimes, while for flexible regime countries real exchange rate variation reduces the need for output variability.Terms of Trade, Exchange Rate Regimes, Structural VARs

Robust vehicle suspension system by converting active and passive control of a vehicle to semi-active control ystem analytically

This research article deals with a simplified translational model of an automotive suspension system which is constructed by considering the translation motion of one wheel of a car. Passive Vehicle Suspension System is converted into Semi Active Vehicle System. Major advantage achieved by this system is that it adjusts the damping of the suspension system without the application of any actuator by using MATLAB® simulations. The semi-active control is found to control the vibration of suspension system very well

Hydrophobicity properties of graphite and reduced graphene oxide of the polysulfone (PSf) mixed matrix membrane

Hydrophobicity properties of graphite and reduced graphene oxide (rGO) (from exfoliated graphite/rGO) towards PSf polymer membrane characteristic and properties at different additives weight concentrations (1, 2, 3, 4 and 5 wt. %) were investigated. Both PSF/graphite and PSf/rGO membranes were characterized in term of hydrophobicity, surface bonding, surface roughness and porosity. FTIR peaks revealed that membrane with graphite and reduced graphene oxide nearly diminished their O-H bonding which was opposite to the graphene oxide peak that shows a strong O-H bonding as increased exfoliated times. These results were in line with the contact angle results that showed strong hydrophobicity of graphite and reduced graphene oxide membranes as increased these additives concentration. The effect of strong hydrophobicity in these membranes also has resulted in smoother surface roughness compared to pristine PSf membrane. Further investigation of the performance of water flux also proved that both above membranes have strong hydrophobic effect, with the lowest pure water flux rate (L/m2h) was given by PSf/rGO 3% membrane at 19.2437 L/m2h