Flexible-Link Robot Control Using a Linear Parameter Varying Systems Methodology

This paper addresses the issues of the Linear Parameter Varying (LPV) modelling and control of flexible-link robot manipulators. The LPV formalism allows the synthesis of nonlinear control laws and the assessment of their closed-loop stability and performances in a simple and effective manner, based on the use of Linear Matrix Inequalities (LMI). Following the quasi-LPV modelling approach, an LPV model of a flexible manipulator is obtained, starting from the nonlinear dynamic model stemming from Euler-Lagrange equations. Based on this LPV model, which has a rational dependence in terms of the varying parameters, two different methods for the synthesis of LPV controllers are explored. They guarantee the asymptotic stability and some level of closed-loop ℒ 2 -gain performance on a bounded parametric set. The first method exploits a descriptor representation that simplifies the rational dependence of the LPV model, whereas the second one manages the troublesome rational dependence by using dilated LMI conditions and taking the particular structure of the model into account. The resulting controllers involve the measured state variables only, namely the joint positions and velocities. Simulation results are presented that illustrate the validity of the proposed control methodology. Comparisons with an inversion-based nonlinear control method are performed in the presence of velocity measurement noise, model uncertainties and high-frequency inputs

Studi Habitat Peneluran Penyu Hijau (Chelonia Mydas) Di Pantai Pangumbahan Sukabumi Jawa Barat

All sorts of turtle have registered in the list of Apendik I CITES (Convention on International Trade of Endangered Spesies). The convention forbid the International trade of all products/result of turtle: neither the egg, meat or caravas.The purpose of this research is to know the nesting of Green Turtle (Chelonia mydas) reviewed from the physical aspect and biology of Pangumbahan Beach, Sukabumi , West Java. The research was did on January 5th-7th 2011. The method that used is Descriptive Exploratory Method. The research material that used is Green Turtle (Chelonia mydas), the nesting of turtle that include the outside vegetation, predator, the long and wide of beach, the temperature, the slope of beach, the moisture of substrate, and the composition of sand. There is 6 station based on Association of The Green Turtle Cultivation. Data collection was did by direct observation in locates. Based on the research result, the Green turtle (Chelonia mydas) in Pangumbahan Beach achieve 19. The width of Pangumbahan Beach is about 72 - 92 m and the length is about 3000 m. The slope of the beach is about 2.4% - 2.8%. The measured result of the sand temperature is about 28 ˚C - 29.3 ˚C. The composition moisture of surface sediments is about 0.05% - 1.13%, and the moisture inside sediments (50cm) about 0.26% - 4.1%. The sand particle of Pangumbahan Beach is dominated by the medium sand with percentage in each more than 25%. The vegetation that dominate is Pandanus (Pandanus tectorius), meanwhile kind of predators that find in the locate are Wild Dogs (Canis lupus), Red Ants (Oechophylla smaragdina), Crab (Ocypoda sp)

Uji Efek Antibakteri Daun Mangrove Rhizophora Apiculata Terhadap Bakteri Pseudomonas Aeruginosa Dan Staphylococcus Aureus

: Endophytic Fungi are microorganisms that live in the plant tissue systems such as seeds, leaves, flowers, twigs, stems, and roots. Endophytic fungi used in this study was isolated from Mangrove Rhizophora apiculata leaves. R. apiculata is widely grown in coastal areas. This study aimed to determine whether there was an antibacterial effect of endophytic fungi that was isolated from leaves of Rhizophora apiculata against the sample bacteria Pseudomonas aeruginosa and Staphylococcus aureus. This study was conducted in the Pharmacology and Therapeutics Laboratory of Sam Ratulangi University by using experimental methods. The results showed two types of fungi, tusky white endophytic fungi and white filamentous endophytic fungi, isolated from Mangrove Rhizophora apiculata leaves. Both types of fungi showed the presence of bacterial growth inhibition, but the white filamentous endophytic fungi had greater antibacterial effect than the tusky white endophytic fungi

Glycoconjugate secretion in human airways in vitro: effects of epithelium removal.

The aim of this study was to examine glycoconjugate secretion in human airways with and without an epithelium. Glycoconjugate release in supernatants derived from human airways in vitro was determined using an ELISA assay with an anti-human mucin monoclonal antibody (MAb 3D3). This monoclonal antibody reacted strongly with Le(b) antigen but also recognized in vitro Le(a) and Le(y) determinants. In 11 of the 34 different lung samples (32%) studied the glycoconjugate levels were below the threshhold of detection for this assay. The mean basal secretion of glycoconjugates in human airways in vitro was 100+/-28 microg/g tissue (Period I; n = 23 different lung samples). The amount of glycoconjugate measured in the medium derived from human isolated bronchial ring preparations did not change under control conditions during the course of the experimental procedure (Period I; 128+/-46 microg/g tissue and Period II; 159 +/-48 microg/g tissue; n = 13 paired lung samples). In the supernatants of airway preparations with an intact epithelium the amount of glycoconjugates detected was 90+/-38 microg/g tissue (Period I; n = 12 different lung samples) and removal of the epithelium did not alter this basal glycoconjugate release (94+/-60 microg/g tissue: Period I, n = 8 different lung samples). The absence of the epithelial layer was confirmed by histological evaluation. Methacholine (100 microM) induced a 10- and four-fold increase in glycoconjugate release from airways with and without an epithelium, respectively. In contrast, in preparations with an epithelium, LTD4 (10 microM) and anti-IgE (dilution: 1/1000) did not cause an increase of glycoconjugate release. The methacholine difference between airways with and without an epithelium was not significantly different (P > 0.10). However, a treatment with atropine (100 microM) prevented the increase of glycoconjugate release in preparations with an epithelium. These data derived from a limited number of experiments suggest that the epithelium may not regulate the basal or stimulated release of glycoconjugates from isolated human airways