Vibration control of robotic modules using input shaping algorithm

In this thesis, vibration control using input shaping algorithm is studied. Vibration Control of flexible structures is an important problem and has been an active research area. Different approaches have been developed for vibration control which can be divided roughly into feedback and feedforward methods. Feedback methods need measurements and on-line calculation of the controller outputs. Although feedback methods are generally more robust and have a number of well known performance advantages, proper use of feedforward control can also significantly improve the speed of response of the system. Input shaping is one of these feedforward methods. It has been successfully applied to many control problems even in the presence of modeling uncertainties and structural nonlinearities. In many industrial problems, the objective is to position a load in minimum time without exciting the vibratory modes. hi input shaping, the aim is to give zero energy to these modes by performing input prefiltering or equivalently pole-zero cancellation in the command feedforward path. To carry out this prefiltering function, the natural frequency (ωn) and the damping ratio (ζ) of the plant are required for the shaper design [I]. This work is organized as follows; in the hardware part, basic information about a cartesian robotic module, an EXC controller, a VME controller, and a Dalanco Spry digital signal processing board is given. In Chapter 3 the input shaping technique is introduced. In Chapter 4 control system design and implementation of Zero Vibration (ZV). Zero Vibration & Derivative (ZVD), and Extra Insensitive (El) shapers are given. In Chapter 5 results of ZV, ZVD, and El shapers will he given. Comparison and suggestions for improvement are also given in this chapter. concluding remarks are given in Chapter 6

An author report: Elfreda Annmary Chatman

The main aim of this report is to become familiar with Elfreda A. Chatman and her major works and theories. She has contributed information science by producing several theories such as “the theory of information poverty,” “the normative behavior theory” and “the theory of life in the round” and implemented many studies about information seeking behavior of ordinary people. Although her major is library and information science, she focused on women in prison, the feminist movement, poor workers and janitors at large universities by using an ethnographic perception. She emphasized their information seeking behaviors in small communities and tried to describe their approach about information poverty. Also, she studied public libraries and the role of mentorship of the library leaders. The findings she found in her studies are useful not only for information science but also other disciplines such as sociology and psychology

Islamically informed Soviet patriotism in postwar Kyrgyzstan

AbstractFew analyses of the broader impact of World War II upon Soviet society have turned to Islam or Central Asia. Yet the conflict marked a critical turning point in the encounter between the region’s Muslims and the Soviet state. This paper examines attempts by Central Asian Muslims to position Islam at the center of their identification with the Soviet Union. It argues that the war created a new field of possibilities for the region’s population to place religion squarely within the broader Soviet narrative of sacrifice, with significant ramifications for political and social life.RésuméParmi toutes les analyses s’attachant aux répercussions, au sens le plus large, de la Seconde Guerre mondiale sur la société soviétique, très peu se sont intéressées à l’islam ou à l’Asie centrale. Cependant le conflit a marqué un tournant critique dans la rencontre entre les musulmans de cette région et l’État soviétique. Cet article examine les tentatives des musulmans d’Asie centrale de placer l’islam au centre de leur identification avec l’Union soviétique. Il démontre que la guerre a offert un nouveau champ de possibilités pour la population de la région d’insérer la religion complètement dans le récit soviétique plus large du sacrifice, avec des ramifications substantielles à la vie politique et sociale

Performance increasing of the Dusseldorf Turkish General Consulate

This study aims to reduce the citizens’ waiting time by increasing employees’ performance in the Turkish General Consulate (TGC). The current waiting time to complete processes for citizens is not satisfactory. Therefore, both the TGC administration and citizens complain about this issue. In this study, the client is the TGC administration. The first step is performance analysis. It includes organizational analysis, environmental analysis, and gap analysis. The first step also includes examining the TGC’s mission, vision, human resources policies, workflow and other aspects. The second step is investigating the gap between current waiting time and ideal waiting time. The third step is finding out the reasons that cause the gap between current and desired performance by implementing cause analysis. The interview questions are based on Gilbert’s Behavior Engineering Model (BEM). Telephone interviews are conducted with 16 employees to collect data. According to findings, the employees perceive the long waiting time as the most critical problem. The factors that cause the long waiting time can be stated as follows: inappropriate physical and psychological work environment, the lack of materials, tools, and time, inadequate financial and non-financial incentives. In this study, human performance technology model’s performance analysis and cause analysis stages are practiced

EFFECTS OF CREDIT DEFAULT SWAPS (CDS) ON BIST-100 INDEX

The aim of this study is to determine whether there is an impact of credit default swaps on BIST-100 Index by using monthly data of 2005:12-2014:03. BIST-100 Index was used as a dependent variable and credit default swaps (CDS) were used as an independent variable. Unit root test was applied on each variable and bound test approach was adopted for co-integration according to the result of the test. Short and long term relationships of variables were analyzed using ARDL approach. According to the results, it was found that credit default swaps affected negatively on stock prices in the short term, however, it has no effects on the stock prices in long term

Cognitive analysis of the (Bingol Anti Terror Police Department) BATPD Buddy Program

Buddy programs help newcomers to smooth transition. The programs also try to increase the performance of the new personnel, give them a moral support and provide a proper atmosphere. This study aims to figure out the deficiencies of the buddy program implemented in Bingol Anti-Terror Police Department (BATPD) and try to develop effective solutions for the program’s shortages. Thus, the newcomers are able to adapt to the organization in the fastest way without losing time and energy. In this study, the researcher applied observations and interviews to measure the effectiveness of the program. The participants were selected all of the newcomers who joined the organization in 2012. Data collection process took almost 12 months. According to results of the research, insufficient physical conditions of the unit, multitasking character of the personnel, and incompetent buddies are three reasons that hinder the program from being more successful. Training programs for buddies, focusing on one task at the one time, and more comfortable designed atmosphere in the organization are potential solutions for a better program

Eco-evolutionary significance of domesticated retroelements in microbial genomes

Since the first discovery of reverse transcriptase in bacteria, and later in archaea, bacterial and archaeal retroelements have been defined by their common enzyme that coordinates diverse functions. Yet, evolutionary refinement has produced distinct retroelements across the tree of microbial life that are perhaps best described in terms of their programmed RNA—a compact sequence that preserves core information for a sophisticated mechanism. From this perspective, reverse transcriptase has been selected as the modular tool for carrying out nature’s instructions in various RNA templates. Beneficial retroelements—those that can provide a fitness advantage to their host—evolved to their extant forms in a wide array of microorganisms and their viruses, spanning nearly all habitats. Within each specialized retroelement class, several universal features seem to be shared across diverse taxa, while specific functional and mechanistic insights are based on only a few model retroelement systems from clinical isolates. Currently, little is known about the diversity of cellular functions and ecological significance of retroelements across different biomes. With increasing availability of isolate, metagenome-assembled, and single-amplified genomes, the taxonomic and functional breadth of prokaryotic retroelements is coming into clearer view. This review explores the recently characterized classes of beneficial, yet accessory retroelements of bacteria and archaea. We describe how these specialized mechanisms exploit a form of fixed mobility, whereby the retroelements do not appear to proliferate selfishly throughout the genome. Moreover, we discuss computational approaches for systematic identification of retroelements from vast sequence repositories and highlight recent discoveries in terms of their apparent distribution and ecological significance in nature. Lastly, we present a new perspective on the eco-evolutionary significance of these genetic elements in marine bacteria and demonstrate approaches that enable the characterization of their environmental diversity through metagenomics

Demand and Capacity Modelling for Acute Services using Discrete Event Simulation

This is a pre-copyedited, author-produced PDF of an article accepted for publication in Health Systems following peer review. The final publication [Demir, E., Gunal, M & Southern, D., Health Syst (2016), first published online March 11, 2016, is available at Springer via http://dx.doi.org/doi:10.1057/hs.2016.1 © 2016 Operational Research Society Ltd 2016Increasing demand for services in England with limited healthcare budget has put hospitals under immense pressure. Given that almost all National Health Service (NHS) hospitals have severe capacity constraints (beds and staff shortages) a decision support tool (DST) is developed for the management of a major NHS Trust in England. Acute activities are forecasted over a 5 year period broken down by age groups for 10 specialty areas. Our statistical models have produced forecast accuracies in the region of 90%. We then developed a discrete event simulation model capturing individual patient pathways until discharge (in A&E, inpatient and outpatients), where arrivals are based on the forecasted activity outputting key performance metrics over a period of time, e.g., future activity, bed occupancy rates, required bed capacity, theatre utilisations for electives and non-electives, clinic utilisations, and diagnostic/treatment procedures. The DST allows Trusts to compare key performance metrics for 1,000’s of different scenarios against their existing service (baseline). The power of DST is that hospital decision makers can make better decisions using the simulation model with plausible assumptions which are supported by statistically validated data.Peer reviewedFinal Accepted Versio

Relationship between discordance of lipid parameters and mortality after acute coronary syndrome

European Atherosclerosis So