A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm

Trajectory tracking with high accuracy is a very challenging topic in direct drive robot control. This is due to the nonlinearities and input couplings present in the dynamics of the arm. This paper deals with the tracking control of a class of direct-drive robot manipulators. A robust Proportional-Integral (PI) sliding mode control law is derived so that the robot trajectory tracks a desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The controller is designed using the decentralized approaches. Application to a two degree of freedom direct drive robot arm is considered

Natural radioactivity from non-nuclear power generation power industries: regulatory control of naturally occurring radioactive material (NORM) for environmental sustainability

Coal is a widely used mineral and contains almost all elements which include Naturally Occurring Radioactive Material (NORM) from natural origin such as from Uranium-238 (238U) and Thorium-232 (232Th) Series along with Potassium-40 (40K). It is the most important source of fossil fuel for non-nuclear power generation industries due to its accessibility and abundance in nature. The burning of coal generates bottom and fly ash which are released into the atmosphere. This process potentially tends to distribute the natural radionuclides originating from coal and enriched in the environment that could contribute to higher external radiation exposure to the population at large. This study aimed to presents an analysis of radioactivity concentration of feed coal burned and ashes from a typical coal fired power plants (CFPP) which is a non-nuclear power generation in Malaysia. The sample was analyzed for two most important natural radionuclides content namely 238U and 232Th by using Instrumental Neutron Activation Analysis (INAA). An extensive investigation of this nature is warranted for radiation protection towards legislative compliance in ensuring safety of the public and workers and the protection of the environment

Miniaturization of Resonator based on Moore Fractal

This paper presents the simulation and fabrication of miniaturized half wavelength resonator design using Moore fractal iteration technique. These resonators have been prepared for wireless application at a centre frequency of 2.45GHz using a substrate with dielectric constant of 2.2. The size and performance are compared with the conventional half wavelength open line resonator. It can be shown that the Moore fractal iteration technique able to reduce 46% of the size of conventional half wavelength resonator through first iteration, and 30% through second iteration while maintaining the resonance performance. The resonators have been fabricated using conventional printed circuit board facilities not specialized in microwave devices. However, the unloaded Q-value of the Moore structure generally much lower compared the open line type

User friendly system for the visually impaired in learning Al-Quran

This study presents a method to enable the visually impaired Muslim to learn and read the Al-Quran using Braille Display with software help. The system reads the database which contains all verses of Al-Quran and user will need to select the verse and ayah to read. Besides that, this system can be used in a class to teach visually impaired students to learn Al-Quran. Every word or character typed by the instructor in the main Braille Panel will be transmitted to the sub Braille Panel that is connected to the main Braille Panel. The selected verse of Al-Quran and ayah will also generate an index before being transmitted to the Braille Panel. The index will be transmitted to the Braille Display for people to touch and read the display. A user friendly Graphical User Interface (GUI) will be used to fulfill the ergonomics for the visually impaired user's physical capabilities. Several approaches are used to design and implement the interface for the visually impaired like speech or sound output and Braille display. The Braille codes can be displayed using the Braille panel. The design interface and structure of the system for the visually impaired users in learning Al-Quran is presented

Energy and rice quality aspects during drying of freshly harvested paddy with industrial inclined bed dryer

The performance evaluation of any industrial dryer regarding energy consumption and product quality should be assessed to check its present status and to suggest for further efficient operation. An investigation was carried out to evaluate the impact of drying temperature and air flow on energy consumption and quality of rice during paddy drying with industrial inclined bed dryer (IBD) with average holding capacity of 15 ton in the selected complexes of Padiberas Nasional Berhad (BERNAS)-the national paddy custodian of Malaysia. In reducing paddy moisture content (mc) from 22% to 23% wet basis (wb) down to around 12.5% wb, the final mc, the specific electrical (in terms of primary energy) and the specific thermal energy consumption were found to be varied between 1.44 to 1.95 MJ/kg water evaporated and 2.77 to 3.47 MJ/kg water evaporated, respectively. Analysis revealed that the specific electrical energy consumption was around 20% lesser and the specific thermal energy consumption of IBDs was around 10% higher during drying with air temperature of 41–42 °C than drying with 38–39 °C in reducing paddy mc from 22% to 23% (wb) down to around 12.5% (wb). However, paddy being with almost same initial mc dried using drying temperature of 38–39 °C, IBDs yielded 1–4% higher head rice yield while milling recovery and whiteness were comparable at acceptable milling degree and transparency. The bed air flows between 0.27 and 0.29 m3 m−2 s−1 resulted in higher head rice yield slightly while its effect on drying time was not prominent so much. For paddy with initial moisture content below 23% wb, it is recommended that drying air temperature should not be higher than 39 °C in order to maintain rice quality at reasonable energy consumption

Plant water relations, crop yield and quality of arabica coffee (Coffea arabica) as affected by supplemental deficit irrigation.

Low amount and erratic distribution of the seasonal precipitation and recurrent droughts are major threats to coffee production in Ethiopia. This necessitates application of supplemental deficit irrigation for coffee production. This study evaluated the impact of two supplemental irrigations, viz. supplemental full (SFI) and deficit irrigation (SDI) in comparison to rain-fed (RF) control on plant water relations, yield and quality of Coffea arabica L. during the dry season using three cultivars (cv. F-59, 74110 and 75227). Supplemental full irrigation consistently improved soil and plant water status and stomatal conductance (gs) during the dry season and resulted in significantly higher yield. However, the difference between SFI and SDI was not significant for crop yield, but had higher yield than RF control. Overall quality in terms of raw appearance and total quality of coffee beans was substantially improved and the amount of irrigation water applied was considerably reduced by SDI compared to SFI practice. Therefore, SDI appears to be more effective than SFI for coffee production in areas of frequent water scarcity and recurrent drought as for eastern and northern parts of Ethiopia

3D surface reconstruction from a single uncalibrated 2D image

This paper described a simple computation to reconstruct 3D surface using a single uncalibrated 2D image from a digital camera as an image acquisition device that also focused on fast processing. An object is placed on a table with black background for the digital camera to shoot an image of the object. Image segmentation methods are applied in order to obtain the shape of the object from silhouette. The concept Radon transform is adopted to generate sinograms of the object and it is then inverse Radon transform is used to construct 2D cross-section of the object layer by layer. Canny edge detection helps to get the outline of each cross-section and coordinate points are extracted forming 3D point cloud from the image slices. 3D surface of the object is then reconstructed using Delaunay triangulation to connect each point with another. The results obtained from this project are satisfying regarding the processing time with recognizable shape and also strengthened with considerably low percentage error in the calculation for all six objects used in the experiment

Irregular repetition code hybrid ARQ in wireless system

Error control consists of error detection and error correction in the communication system. The purpose of this research work is to reduce error in the wireless communication system by using the advantages of both error correction techniques which are forward error correction (FEC) and automatic repeat request (ARQ). Thus, error can be corrected without retransmission and also via retransmission(s) when needed. Combination of FEC and ARQ is known as Hybrid ARQ. In this paper, Hybrid ARQ system is designed using three components which are the irregular repetition code (IRC) as a simple code, bit-interleaved coded modulation with iterative decoding (BICM-ID) as a simple Turbo processing and ARQ. The HARQ system is enhanced by the extended mapping (EM) adopted in the mapping system. The performance of the systems is evaluated in the additive white Gaussian noise (AWGN). The results show the Hybrid ARQ with extended mapping (Hybrid ARQ-EM) outperforms Hybrid ARQ with standard mapping (Hybrid ARQ-SM). Hybrid ARQ-EM achieves low bit error rate BER (10-5) at low signal-to-noise ratio SNR which only 3.03dB close to the theoretical limit. The proposed system Hybrid ARQ-EM achieves 52 percent gain enhancement of SNR gap from the theoretical limit compared to Hybrid ARQ-SM. Hybrid ARQ-EM gives better performance although in worse channel condition

Large-scale structure of brown rat (Rattus norvegicus) populations in England: effects on rodenticide resistance

The brown rat (Rattus norvegicus) is a relatively recent (<300 years) addition to the British fauna, but by association with negative impacts on public health, animal health and agriculture, it is regarded as one of the most important vertebrate pest species. Anticoagulant rodenticides were introduced for brown rat control in the 1950s and are widely used for rat control in the UK, but long-standing resistance has been linked to control failures in some regions. One thus far ignored aspect of resistance biology is the population structure of the brown rat. This paper investigates the role population structure has on the development of anticoagulant resistance. Using mitochondrial and microsatellite DNA, we examined 186 individuals (from 15 counties in England and one location in Wales near the Wales–England border) to investigate the population structure of rural brown rat populations. We also examined individual rats for variations of the VKORC1 gene previously associated with resistance to anticoagulant rodenticides. We show that the populations were structured to some degree, but that this was only apparent in the microsatellite data and not the mtDNA data. We discuss various reasons why this is the case. We show that the population as a whole appears not to be at equilibrium. The relative lack of diversity in the mtDNA sequences examined can be explained by founder effects and a subsequent spatial expansion of a species introduced to the UK relatively recently. We found there was a geographical distribution of resistance mutations, and relatively low rate of gene flow between populations, which has implications for the development and management of anticoagulant resistance