Design of set-point weighting-based dynamic integral sliding mode control with nonlinear full-order state observers for quadcopter UAVs

Copyright © 2019 Inderscience Enterprises Ltd. This research is to develop set-point weighting-based dynamic integral sliding mode control with nonlinear full-order state observers to deal with nonlinear and underactuated coupled systems, and unforeseen circumstances of quadcopter UAVs systems. A comparative assessment through numerical simulations of sliding mode-based nonlinear observer approaches and Kalman filter is presented. These include quasi method, interval type-2 fuzzy logic system, super-twisting algorithm, higher order sliding mode observer, and extended Kalman filter. Chattering, noise rejection, estimation error and time required to track true states are evaluated to demonstrate the performance of each observer. In addition, to assess the proposed controller performance, maximum overshoot, rise time, chattering, and steady-state error are evaluated in relation to the use of each observer

Paleobathymetric Study using Foraminifera Microfossil Analysis in the Wonocolo Formation, Tinawun Village Area, Malo District, Bojonegoro Regency, East Java

Paleobathymetric study on the Wonocolo Formation in the Tinawun Village Area, Malo District, Bojonegoro Regency, East Java, using microfossil foraminifera analysis from rock samples in that area, aims to obtain information about the depositional environment of sedimentary rocks in the past. The Wonocolo Formation is a rock formation deposited during the Middle to Late Miocene, approximately 11 to 15 million years ago. The analysis of microfossil foraminifera involves the identification and counting of different foraminifera species from rock samples. The method used to determine paleobathymetry is the P/B ratio analysis with the maximum flooding surface (MFS) determined by the maximum abundance of planktonic foraminifera. For the P/B ratio analysis, the classification of planktonic and benthic foraminifera is determined based on their shell morphology. Based on the P/B ratio classification, the paleobathymetry of the Wonocolo Formation can be identified in two main bathymetric zones, namely the Neritic Bathymetric Zone (shallow marine environment) and the Oceanic Bathymetric Zone (deep-sea environment). The research indicates that paleobathymetry in the study area occurred during the Late Miocene (N16, N17, and N18) in an Outer Neritic environment with sea depths ranging from 100 to 200 meters

Tracking human upper-limb movements with sliding mode control type-II fuzzy logic

© 2016 IEEE. A knowledge of human upper-limb structure and its mechanical functions are important for developing an exoskeleton. The Sliding Mode Control with Fuzzy Type-II is proposed to control the movements of the human extremity joints. The Lagrange method is used to model the dynamics system of human upper-limb. The findings demonstrate the effectiveness of the proposed controller in tracking the desired motion and it is also able to eliminate the chattering problem as well as deal with uncertainties

Real-time embedded sliding mode observer for quadcopter UAVs

Sliding mode observer (SMO) as a nonlinear and robust observer, is believed to be able to provide all required states information for control process of quadcopter UAVs. In this paper, a comparative assessment through numerical simulation is conducted between SMO and Extended Kalman Filter (EKF) to demonstrate the performance of both estimators. The results obtained demonstrate good performance of SMO in dealing with noise and uncertainty. Furthermore, experiments are carried out to validate the performance of SMO in real-time. The results show that estimated states can track true states fast with small estimation steady state errors and the observer estimates the unmeasured states smoothly

PENGARUH PENERAPAN STANDAR AKUNTANSI PEMERINTAH DAN KUALITAS APARATUR PEMERINTAH DAERAH TERHADAP KUALITAS LAPORAN KEUANGAN PADA PEMERINTAH DAERAH KABUPATEN INDRAGIRI HILIR

Penelitian ini dilakukan pada Pemerintah Daerah Indragiri Hilir, dengan tujuan untuk menguji pengaruh Penerapan Standar Akuntansi Pemerintah  dan Kualitas Aparatur Pemerintah Daerah terhadap Kualitas Laporan Keuangan pada Pemerintah Daerah Indragiri Hilir. Pengambilan sampel dilakukan dengan menggunakan metode purposive sampling, dengan jumlah sampel sebanyak 33 SKPD. Teknik analisis yang digunakan adalah analisi regresi berganda. Hasil penelitian menunjukkan bahwa secara simultan dan parsial, Penerapan Standar Akuntansi Pemerintah  dan Kualitas Aparatur Pemerintah Daerah berpengaruh terhadap Kualitas Laporan Keuangan pada Pemerintah Daerah Indragiri Hilir

Factors Affecting The Value Of The Company And Hedging On Industry Companies Listed In Bei

One way to minimize foreign exchange risk is to hedging. Hedging is a strategy created to reduce the incidence of unexpected business risks, while maintaining the possibility to benefit from the investment. The principle of hedging is to cover loss of asset positions beginning with the advantages of the position of hedging instruments. In the current study found a determinant variable mainly hedging variable that affects the value of the company which is very limited which has been conducting research related to hedging. In addition the study makes hedging variable as the dependent variable which is also very rare that have completed the study. This research consist 18 populations in a sample can amount to 15 companies that meet the criteria, there are eight companies that perform hedging activities, which amounted to 50.3% of the total sample used. While the company Telecommunication, from 8 companies listed in the Stock Exchange there are six companies that meet all the criteria and hedging activities. The results showed that the company's profitability and debt influence on hedging. From the research of three variables: leverage (DER), profitability (ROA) has positive influence on Hedging. Meanwhile Hedging negatively affect the value of the company (Tobins Q). These results indicate that hedging of foreign exchange risk can be minimized. So, It affects an increase in the level of corporate profits because the company will increase debt

Fuzzy sliding control with non-linear observer for magnetic levitation systems

© 2016 IEEE. Magnetic levitation (Maglev) systems make significant contribution to industrial applications due their reduced power consumption, increased power efficiency and reduced cost of maintenance. Common applications include Maglev power generation (e.g. wind turbine), Maglev trains and medical devices (e.g. magnetically suspended artificial heart pump). This paper proposes fuzzy sliding-mode controller 'FSMC' with a nonlinear observer been used to estimate the unmeasured states. Simulations are performed with nonlinear mathematical model of the Maglev system, and the results show that the proposed observer and control strategy perform well

Tracking human upper-limb movements with sliding mode control type-II fuzzy logic

© 2016 IEEE. A knowledge of human upper-limb structure and its mechanical functions are important for developing an exoskeleton. The Sliding Mode Control with Fuzzy Type-II is proposed to control the movements of the human extremity joints. The Lagrange method is used to model the dynamics system of human upper-limb. The findings demonstrate the effectiveness of the proposed controller in tracking the desired motion and it is also able to eliminate the chattering problem as well as deal with uncertainties

Revenge Bedtime Procrastination: A Self-Love Phenomenon or Revenge Against Yourself?

Having a hectic daily routine often makes a person lose time to relax for himself, commonly called "me time". This turned out to be a factor in the emergence of the Revenge Bedtime Procrastination phenomenon, namely delaying sleep to take revenge for not having free time during the day. This study aimed to determine the effect of self-love therapy on reducing Revenge Bedtime Procrastination behavior. The subjects in this study were students of the Faculty of Nursing, S1 Islamic University, Sultan Agung Semarang, with a population of 236 students. In this study, purposive sampling obtained a sample of 14 students and then divided them into two groups, namely the experimental and control groups. Data were collected through the Bedtime Procrastination Scale, observation, and interviews. Data were analyzed using a quantitative approach. The results of the paired-sample t-test analysis obtained a p of 0.001 at the significance level (0.001 0.005). Then in the independent t-test, p was 0.001 at the significance level (0.001 0.05). It can be said that the experimental group and control group saw a significantly different score drop. These results indicate that after self-love therapy, the subject's level of revenge bedtime procrastination decreased significantly.   Memiliki kesibukan harian yang padat seringkali membuat seseorang kehilangan waktu bersantai untuk diri sendiri atau biasa disebut “me time”. Hal itu ternyata menjadi faktor penyebab munculnya fenomena Revenge Bedtime Procrastination, yaitu menunda waktu tidur dengan tujuan untuk balas dendam karena tidak memiliki waktu luang di siang hari. Tujuan dari penelitian ini adalah mengetahui pengaruh self-love therapy untuk menurunkan perilaku Revenge Bedtime Procrastination. Subjek pada penelitian ini yaitu mahasiswa Fakultas Ilmu Keperawatan S1 Universitas Islam Sultan Agung Semarang dengan populasi sebanyak 236 mahasiswa. Pengambilan sampel penelitian ini menggunakan purposive sampling yang diperoleh sampel sebanyak 14 mahasiswa kemudian dibagi menjadi dua kelompok, yaitu kelompok eksperimen dan kontrol. Data dikumpulkan melalui skala Bedtime Procrastination Scale, observasi, dan wawancara. Data dianalisis menggunakan pendekatan kuantitatif. Hasil analisis paired-sample t-test diperoleh p sebesar 0.001 pada taraf signifikansi (0.0010.005). Kemudian pada uji independent t-test diperoleh p sebesar 0.001 pada taraf signifikansi (0.0010.05). Hal ini dapat dikatakan bahwa terdapat perbedaan yang signifikan antara kelompok eksperimen dan kelompok kontrol. Hasil tersebut menunjukkan bahwa setelah melakukan self-love therapy tingkat revenge bedtime procrastination subjek mengalami penurunan yang signifikan

Traditional and Complementary Medicine (T&CM) use and its association with diabetic control among diabetic patients in a tertiary Centre, Kuantan Pahang

INTRODUCTION: Diabetes mellitus is a major global health concern worldwide. The fact that it is a lifelong chronic illness contributes to the increasing tendency of seeking traditional and complementary medicine (T&CM), yet study regarding this remains limited. This study aimed to measure the prevalence of T&CM use among diabetic patients and its association with diabetic control. MATERIALS AND METHODS: A cross sectional study was conducted at Hospital Tengku Ampuan Afzan (HTAA), Kuantan between July and August 2018. Following written consent, 136 type 2 adult diabetic patients in medical ward and those attending diabetic clinic were interviewed regarding the use of T & CM; and their blood investigation results were collected from patients' medical records. A data collection form was used as study instrument. Descriptive statistic was used to measure the prevalence while chi-square test and independent t-test were used to find associations between T&CM use and study background and diabetic control. RESULTS: Low prevalence of T&CM use (16.9%) was found, predominated by retiree group (p<0.05). Majority of patients used T&CM as additional treatment for diabetes (60.9%) and the usage was influenced by friends, family members and advertisement. There was a significant difference in Glycosylated haemoglobin A1c (HbA1c) and Estimated Glomerular Filtration Rate (eGFR) levels between inpatient and outpatient T&CM users (p<0.05). CONCLUSION: 1 in every 6 diabetic patients in HTAA, Kuantan were using T&CM along with conventional diabetic medications in which retirees are predominated. No associations were found between T&CM uses and diabetic control. Outpatient T&CM users had lower HbA1c level with higher eGFR compared to inpatient users