Optimal Distributed Controller Design with Communication Delays: Application to Vehicle Formations

This paper develops a controller synthesis algorithm for distributed LQG control problems under output feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While the state-feedback case of this problem has previously been solved, the extension to output-feedback is nontrivial, as the classical separation principle fails. To find the optimal solution, the controller is decomposed into two independent components. One is delayed centralized LQR, and the other is the sum of correction terms based on additional local information. Explicit discrete-time equations are derived whose solutions are the gains of the optimal controller.Comment: Submitted to the 51nd IEEE Conference on Decision and Control, 201

KARAKTER WIRAUSAHA, NIAT BERWIRAUSAHA, DAN KINERJA USAHA MAHASISWA POLITEKNIK NEGERI UJUNG PANDANG

KARAKTER WIRAUSAHA, NIAT BERWIRAUSAHA, DAN KINERJA USAHA MAHASISWA POLITEKNIK NEGERI UJUNG PANDAN

SELF EFFICACY, KARAKTER WIRAUSAHA, DAN MINAT BERWIRAUSAHA MAHASISWA POLITEKNIK NEGERI UJUNG PANDANG

SELF EFFICACY, KARAKTER WIRAUSAHA, DAN MINAT BERWIRAUSAHA MAHASISWA POLITEKNIK NEGERI UJUNG PANDAN

KARAKTER WIRAUSAHA DAN KINERJA USAHA LULUSAN POLITEKNIK NEGERI UJUNG PANDANGDI MAKASSAR

KARAKTER WIRAUSAHA DAN KINERJA USAHA LULUSAN POLITEKNIK NEGERIUJUNG PANDANGDI MAKASSA

PERSEPSI ORANG TUA SISWA DAN GURU TENTANG PENDIDIKAN DASAR GRATIS

This study aimed to determine 1 ) whether they ( parents and teachers ) have a clear understanding of the free education policy 2 ). How their perceptions about the meaning of " free " in the administration of education services as well as the role and responsibility of government stork , parents and other stakeholders in the implementation of free primary education policy . 3 ) How do they think about the model of implementation of free primary education policy , including the role of society in overseeing the program. (FGD - Focus Group Discussion ) is used as the primary method to achieve the objectives of this research . Parents of students and teachers realize that education is the main factor and the needs of future asset depan.Biaya important as education becomes a major factor when parents want to send their anaknya.Terutama of families of middle economic strata , feel experiencing difficulties with respect to the cost of education is getting more expensive . This is due in addition to the rising prices of basic needs is also the need for additional school expenses necessary to improve the quality of education of children, also there is still performed peraktek school tuition fees . In addition BOS considered not effective in helping parents to overcome the limitations of school need

IBM PEMBERDAYAAN PEREMPUAN UNTUK MENINGKATKAN EKONOMI RUMAH TANGGA MASYARAKAT DESA TANETE KECAMA176TAN SIMBANG KABUPATEN MAROS SULAWESI SELATAN

IBM PEMBERDAYAAN PEREMPUAN UNTUK MENINGKATKAN EKONOMI RUMAH TANGGA MASYARAKAT DESA TANETE KECAMA176TAN SIMBANG KABUPATEN MAROS SULAWESI SELATA

FAKTOR-FAKTOR YANG BERPENGARUH TERHADAP TERJADINYA TANAH ABSENTEE DAN DAMPAKNYA BAGI MASYARAKAT DI KECAMATAN BINUANG KABUPATEN POLEWALI MANDAR

Relating absentee land ownership, the rule refers to the implementation of Law No. 5 of 1960 on the Basic Principles of Regulation Agraia (BAL) The government passed Law 56 Prp 1960 on Hold Size Determination Farms with implementation of PP No. 224 of 1961 on the Implementation of Land Distribution and Compensation Division, in article 3, paragraph (1) PP 224 of 1961 in conjunction with Article 1 PP 41 of 1964 stipulates the prohibition of land ownership In Absentee, which states that "ownership of agricultural land by people who live outside the districts where geography is prohibited, namely that farmers actively and effectively in work on his farm land so that productivity can be increased. This study used a sociological juridical approach through qualitative descriptive analysis is an approach that is conducted to analyze the extent to which a rule / law or the law being applied effectively. The results showed the ban on absentee land ownership in the District Binuang has yet to be implemented effectively

Withering timings affect the total free amino acids and mineral contents of tea leaves during black tea manufacturing

AbstractThe aim of the present study was to investigate the effect of withering timings (i.e. 0, 21, 22, 23 and 24h) on the moisture, total free amino acids, ash, essential and toxic mineral element contents of tea (Camellia sinensis L.) leaves during black tea manufacturing. Moisture, ash, Na, P, Mg, Cu, Zn, Mn, Al, Ni and Pb contents were significantly (P<0.05) affected by withering, whereas non-significant (P>0.05) results were noted for total free amino acids, K, Fe and Cd contents. The highest moisture content (76.4%) was examined in fresh leaves that progressively decreased to 63.8% in 24h withering. Total free amino acid contents gradually increased up to 23h and then decreased. Ash, P, Cu, Zn and Mn contents showed an increasing trend with withering time. Conversely, significantly lowered amounts of Na (162.5mg/kg) and Mg (803mg/kg) were recorded in tea leaves after 24h withering. Among the toxic elements, Al, Ni and Pb contents were progressively increased over withering time. It was concluded that tea is a potential source of essential chemical constituents and during processing proper care should be taken to produce high quality black tea

The role of rhizospheric Aspergillus flavus in standing maize crop contamination in different ecological zones of Khyber Pakhtunkhwa, Pakistan

Soil and un-husked maize samples were collected from 29 different locations belonging to three distinct ecological zones (Swat, Hazara and Peshawar) of Khyber Pakhtunkhwa, Pakistan. The samples were evaluated for the incidence of aflatoxigenic strains of Aspergillus flavus. The soil samples collected from Peshawar (100%) and Hazara (66%), and grain samples collected from Swat (64%) and Peshawar (55%) were severely infected with aflatoxigenic strains of A. flavus. The strains isolated from maize kernels of Manyar, Jalala (Swat zone), Palosi and Takkar (Peshawar zone) produced the highest amount of aflatoxin B1 (324 to 514 μg g-1) and B2 (23 to 486 μg g-1). Similarly, the strains isolated from soils of Bannu (Peshawar) and Huripur (Hazara) were prominent in B1 (662 to 1323 μg g-1) and B2 (145 to 826 μg g-1). Microbial analysis of the surface sterilized grains showed that the strains isolated from Jalala (Swat) and Palosi (Peshawar) samples were high in B1 (62 to 79 μg g-1) and B2 (21 to 36 μg g-1). It was concluded, therefore, that A. flavus from soil might contaminate maize crop, but not directly from the same field. The most probable contamination occurred through air borne spores. It is thus recommended that protection from air borne spore should be devised.Keywords: Aspergillus flavus, aflatoxin, ecology, maize crop, field, soil toxicolog

Secondary Fahr’s Disease: A Consequence of Post-Thyroidectomy Hypoparathyroidism

Objective: The objective of this case report is to emphasize the importance of considering uncommon conditions like Fahr’s disease in the differential diagnosis of seizures and cognitive impairment, especially in patients with a history of thyroidectomy. Material and Methods: A 56-year-old woman who had undergone subtotal thyroidectomy 25 years previously presented with movement disorder and cognitive impairment secondary to hypoparathyroidism. A CT scan of the brain showed pathognomonic bilateral calcification in the basal ganglia, thalamus and cerebellar nuclei. Result: The patient was diagnosed with Fahr’s disease caused by post-thyroidectomy hypoparathyroidism and successfully managed with oral calcium, carbidopa/levodopa and haloperidol. Conclusion: We recommend the routine use of CT scanning in the long-term follow-up of post-thyroidectomy patients