Experimental investigation of feedforward control schemes of a flexible robot manipulator system

This paper presents experimental investigations into the applications of feedforward control schemes for vibration control of a flexible manipulator system. Feedforward control schemes based on input shaping and filtering techniques are to be examined. A constrained planar single-link flexible manipulator is considered in this experimental work. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers and filtering techniques are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction and time response specifications. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the control strategies is presented and discusse

Properties of Natural Rubber/Recycled Chloroprene Rubber Blend: Effects of Blend Ratio and Matrix

AbstractThe present study investigated the effects of two types of natural rubber and different blend ratios on the cure, tensile properties and morphology of natural rubber/recycled chloroprene rubber blends. The blends of natural rubber/recycled chloroprene rubber were prepared by using laboratory two-roll mill. The result showed that the cure time prolonged with the addition of recycled chloroprene rubber (rCR). Comparability, natural rubber/recycled chloroprene rubber (SMR L/rCR) blendcured rapidly than epoxidized natural rubber/recycled chloroprene rubber (ENR 50/rCR) blend. The addition of rCRalso caused a decrement in the tensile strength and elongation at break for both rubber blends. The SMR L/rCR blendsshowed higher tensile strength and elongation at break compared to those of ENR 50/rCR blends at any blend ratios

Broadcast Control of Multi-Agent Systems for Assembling at Unspecified Point with Collision Avoidance

This paper presents a broadcast control problem for multi-agent systems to perform a motion-coordination i.e. assembling tasks without colliding into each other. In this paper, we use potential energy function for the collision avoidance where the agents will move away from the neighbor agents if they are reaching certain distance. In the simulation, the results show that the agents are successfully achieving the assembling task without colliding into each other

The concept of Itqan and its role in Muslim professional life

Professional Ethics which concern one's conduct of behavior and practice when carrying out professional work needs Itqan. The word itqan is an Arabic word which has a close meaning to the English word pelfection. Islam as a perfect and comprehensive religion set the bases for quality work. The order, discipline, accuracy, beautiful work, well thought out tasks and justice are all part of quality Islamic work and performance. Quran as the final divine revelation from Allah provides a code of conduct for every believer and is the commandment and warrant for him to be committed in hislher work and be sincere about it [5]. Adhering to the Quranic teachings on itqan equips the Muslim professional an effective approach to problem-solving preceded by steady and thorough examination before undertaking an activity and enables the Muslim to tackle problems in an orderly and disciplined manner. This prompts us to the institutionalization of Codes of Conduct and Codes of Practice which are common in many professional bodies for their members to observe. This paper attempts to investigate the importance of this concept and its role in the Muslim life

Evaluation of Varies Model Order in GA-Optimized Parameter Estimation of Toothbrush Rig System

Parameter estimation is a vital part in constructing the best model of a dynamic system. This paper analyzed the performance of toothbrush rig parameter estimation using different model orders. Parameter estimation process of the system is performed through system identification. The approximate mathematical model that resemble the real system is obtained when the output is measured after loading the input signal. The application of real-coded genetic algorithm (RCGA) is proposed as optimization method in estimating the parameters of dynamic system. The best model is obtained by optimizing the objective function of mean squared errors. The performance is analyzed to get the approximate model of the real system using three different model orders with 10 times analysis for each model. A few criteria have been considered which are the optimization result of objective function, time execution and validation process. Real- coded genetic algorithm indicates that parameter estimation with model order 3 is chosen as the best model or the dynamic system as it has the highest performance compared to others

Patterns of RAPD markers and heavy metal concentrations in Perna viridis (L.), collected from metal-contaminated and uncontaminated coastal waters: Are they correlated with each other?

Genetic variation due to heavy metal contamination has always been an interesting topic of study. Because of the numerous contaminants being found in coastal and intertidal waters, there is always much discussion and argument as to which contaminant(s) caused the variations in the genetic structures of biomonitors. This study used a Single Primer Amplification Reaction (SPAR) technique, namely Random Amplified Polymorphic DNA (RAPD), to determine the genetic diversity of the populations of the green-lipped mussel Perna viridis collected from a metal-contaminated site at Kg. Pasir Puteh and those from four relatively uncontaminated sites (reference sites). Heavy metal levels (Cd, Cu, Pb, and Zn) were also measured in the soft tissues and byssus of the mussels from all the sites. Cluster analyses employing UPGMA based on the RAPD markers grouped the populations into two major clusters; the Bagan Tiang, Pantai Lido, Pontian, and Kg. Pasir Puteh populations were in one cluster, while the Sg. Belungkor population clustered by itself. This indicated that the genetic diversity based on bands resulting from the use of all four RAPD primers on P. viridis did not indicate its potential use as a biomarker of heavy metal pollution in coastal waters. However, based on a correlation analysis between a particular metal and a band resulting from a specific RAPD primer revealed some significant (P < 0.01) correlations between the primers and the heavy metal concentrations in the byssus and soft tissues. Thus, the correlation between a particular metal and the bands resulting from the use of a specific RAPD primer on P. viridis could be used as biomonitoring tool of heavy metal pollution