Real Time Optimal Implementation Of Stabilizing Controller For Inverted Pendulum

This paper present real time control of an inverted pendulum. The system is inherently unstable, nonlinear and under-actuated system. The dynamic model of the system was derived based on Lagrange approach and it was linearized about an appropriate operating point by the use of Taylor’s series approximation. Linear Quadratic Regulator (LQR) controller was designed to stabilize the system in an upright position. The robustness of the control algorithm was tested based on disturbance rejection. Simulation and Experimental results show a good performance was achieved and the controller is robust to external disturbances

Studies on the performance of organic and inorganic fertilizer on the growth and yield of cucumber (Cucumis sativus L.)

Experiments were conducted in the Botanical Garden of the Department of Biology of Kaduna State University to study the effects of Organic and Inorganic Fertilizer on the growth and yield of Cucumis sativus L. The seeds for the experiment were locally sourced. Four (4) days after transplanting, a rate of 2ton/ha, 4ton/ha, 6ton/ha poultry manure was applied. Similarly, a rate of 25g/ha, 50g/ha, 75g/ha of NPK was also applied and a control. Seeds of cucumber were planted by broadcasting on the seed bed the seedlings were transplanted after germination. The plants were subjected to irrigation by watering morning and evening. The results of Analysis of Variance (ANOVA) indicated significance difference among the treatments with respect to the parameters studied (p < 0.05). Highest plant height of 33cm was recorded with 6ton/ha compared to the control which had 11.5cm. However, highest number of leaves was recorded with 4ton/ha and was followed by the 6ton/ha. The best stem girth of 1.8cm, was observed with 4ton/ha while the control had 0.88cm stem girth. Excellent vigour was produced by the 6ton/ha, while the lowest vigour was observed with the 2ton/ha. The best plant yields of was observed with 6ton/ha compared with the control which had the least performance. On the other hand, 25kg/ha of NPK had the highest plant height of 20.5cm while the lowest plant height of 13cm was observed with 75kg/ha, compared to the control which had 11.5cm. The 25kg/ha gave the highest number of leaves followed by the 50kg/ha and 75kg/ha which both had the lowest number of five (5) leaves. Similarly, 50kg/ha had the highest stem girth of 1.2cm while the lowest stem girth was observed with the control which had 0.7cm stem girth. The best vigour was recorded with the 25kg/ha compared to the control which had the least vigour. Also, highest plant yields was recorded with 25kg/ha and the lowest plant yield was observed in the control. The application of poultry manure in the propagation of Cucumis sativus remarkably influenced the growth and yield of Cucumber

Soil Fertility Management, a Tool for Sustainable Disease and Weed Control in Sub-Saharan Africa: A Review

Agro-ecosystem health is built on habitat manipulation and fertility enhancement. Similarly, plant nutrient levels altered by fertilization practices can expose crop plants to pests. In addition, diseases, weeds and other pests are principal agricultural losses all over the world. This is particularly devastating particularly in the developing nations of Sub-Saharan Africa, especially Nigeria. Reduction in these losses will not only improve agricultural production but will enhance food security and economic well-being of society. Sole use of synthetic chemicals is economically not a viable option and does not encourage environmental sustainability while land expansion is equally elusive due to urbanization and different forms of development and not environmentally friendly. The most viable and practicable option is integration of different fertility management alternatives that could produce crops on a sustainable bases while ensuring the safety and sustainability of the environment. Integrated Soil fertility Management (ISFM) has proved to be a promising approach to fertility management and sustainable environment. It could be adopted as it provides the needed nutrients for plants, reduce weeds and disease incidences while safeguarding the environment

Synthesis of some novel α-cyanoketene-n, s-acetals derived from secondary aliphatic amines and their use in pyrazole synthesis

New α-cyanoketene-N,S-acetals 2(a–g) and β-dialkylamine-α-cyanoacrylates 3(g–i) were synthesized in good to excellent yields by the reaction of ethyl 2-cyano-3,3-bis(methylthio)acrylate 1 with secondary aliphatic amines (i.e., N-methylalkyl- and N-ethylalkylamines), and pyrrolidine, in the presence of triethylamine, under reflux in ethanol, for 1–16 h, depending on the amine used. Five N-methylalkyl amines and pyrrolidine yielded exclusively mono-substituted N,S-acetals 2(a–f) in good yields. On the other hand, N-ethylbenzylamine gave a mixture of monosubstituted products including N,S-acetal 2g in 35% yield and the unexpected product ethyl 3-[benzyl(ethyl)amino]-2-cyanoacrylate 3g in 50% yield. N-Ethylcyclohexylamine and N-ethylbutylamine did not produce N,S-acetals and gave only the unexpected products ethyl 2-cyano-3-[cyclohexyl(ethyl)amino]acrylate 3h and ethyl 3-[butyl(ethyl)amino]-2-cyanoacrylate 3i in good yields. The α-cyanoketene-N,S-acetals 2(a–f), 2j, and 2k underwent cyclization with the binucleophile hydrazine in ethanol under reflux to afford substituted pyrazoles 4(a–f), 4j, and 4k in good yields

Octa­methyldi-μ3-oxido-bis­(μ2-thio­phene-3-acetato-κ2 O:O′)(thio­phene-3-acetato-κO)tetra­tin(IV)

In the centrosymmetric title compound, [Sn4(CH3)8(C6H5O2S)4O2], the central four-membered planar ring (Sn2O2) makes dihedral angles of 66.28 (12) and 77.43 (11)° with the heterocyclic rings of the bridging and monodentate ligands, respectively. One SnIV atom adopts a distorted SnO3C2 trigonal-bipyramidal geometry, with both C atoms in equatorial sites and the other a grossly distorted SnO4C2 octa­hedral or irregular arrangement. In the crystal, the mol­ecules are connected into pillar-like polymeric units making R 2 2(12) ring motifs due to inter­molecular C—H⋯O inter­actions. C–H⋯π inter­actions are also present. The O atoms of the chelating ligands and the S atom of the monodentate ligand are disordered over two sets of sites in a 0.65 (6):0.35 (6) rati

Genetic variability and interrelationships of grain yield and its components of selected bread wheat genotypes

High temperature is one of major constraints of bread wheat production in the Sudan. Evaluation of different genotypes under heat stress conditions is one of the main tasks of breeders for exploiting genetic variations to improve cultivars under heat stress. Also, association of yield and yield contributing traits is important for selection. The objective of this study was to evaluate bread wheat genotypes under the irrigated hot environment of the Gezira, Sudan. Experiments were conducted at Gezira Research Farm, Wad Medani, Sudan for two consecutive seasons 2006/07 and 2007/08. The experiments were arranged in an augmented design with six checks, 4 and 12 blocks in the first and second seasons, respectively. Results showed wide ranges of variations in grain yield among these genotypes in both seasons. Grain yield ranged from 965 to 4019 kg/ha and from 133 to 6258 kg/ha in the first and second seasons, respectively. Similar wide ranges of variations were found in biomass, harvest index, number of spikes m-2, days to heading, days to maturity and plant height. Grain yield showed positive and significant correlation coefficients with biomass and harvest index, in both seasons. Path coefficient analysis indicated that biomass and harvest index were the most directly related parameters to grain yield, in both seasons

Intercalation of Anthraquinone-2-Sulphonate into Magnesium- Aluminum Layered Double Hydroxide and its Calcined Products by Ion Exchange and Memory Effect Properties

Layered double hydroxide of Mg-Al-nitrate system (LDH) was prepared and its heat-treated products (LDHTs) were obtained by calcining the LDH at 250-750 °C, for 5 hours at atmospheric condition. The LDH and the LDHTs were used as an inorganic host for the intercalation of AQ2 via ion exchange or memory effect property by exposing the LDH and LDHTs in aqueous solution containing an anion, anthraquinone-2-sulfonate (AQ2) for the formation of an organic-inorganic layered nanohybrid materials. X-ray diffractograms showed that the layered structure of LDH collapsed when it was heated at around 350 °C, and an oxide phase, MgAl2O4 appeared. Due to the memory effect property, the regeneration of LDH from LDHT was observed and at the same time the AQ2 was intercalated when LDHT was treated with the aqueous solution containing AQ2. As a result, formation of an organic-inorganic layered nanohybrid material was also observed. Similarly, the same material can be formed by ion exchange of LDH with AQ2. The basal spacing of LDH was found expanded from 8.1 Å to around 20 Å in the resulting nanohybrid. This is to accommodate a bigger size of the AQ2 moiety with specific orientation inside the interlamella of the inorganic layered structure that warrants the layer expansion. Incomplete intercalation and ion exchange process resulted in a mixed LDH and a nanohybrid phase as observed in the PXRD pattern of the resulting material

Synthesis, antibacterial activity and cytotoxicity of new fused pyrazolo[1,5-a]pyrimidine and pyrazolo[5,1-c][1,2,4]triazine derivatives from new 5-aminopyrazoles

New 5-aminopyrazoles 2a–c were prepared in high yields from the reaction of known α,α-dicyanoketene-N,S-acetals 1a–c with hydrazine hydrate under reflux in ethanol. These compounds were utilized as intermediates to synthesize pyrazolo[1,5-a]-pyrimidines 3a–c, 4a–d, 5a–c, and 6a–c, as well as pyrazolo[5,1-c][1,2,4]triazines 7a–c and 8a–c, by the reaction of 2-[bis(methylthio)methylene]malononitrile, α,α-dicyanoketene-N,S-acetals 1a–b, acetylacetone, acetoacetanilide as well as acetylacetone, and malononitrile, respectively. Furthermore, cyclization of 2a–c with pentan-2,5-dione yielded the corresponding 5-pyrrolylpyrazoles 9a–c. Moreover, fusion of 2a–c with acetic anhydride resulted in the corresponding 1-acetyl-1H-pyrazoles 10a–c. The antibacterial activity and cytotoxicity against Vero cells of several selected compounds are also reported

N-(4-Chloro­benzo­yl)-N′-(3-fluoro­phen­yl)thio­urea

In the title compound, C14H10ClFN2OS, the mol­ecule adopts a trans–cis geometry of the thio­urea unit. The dihedral angles between the benzene rings is 34.47 (7)°. The crystal packing features inter­molecular N—H⋯S and C—H⋯O hydrogen bonds, forming a chain along the b axis. A short C—H⋯S intramolecular contact is also observed

Factors Influencing Students' Decisions In Choosing Private Institutions Of Higher Education In Malaysia: A Structural Equation Modelling Approach

There are almost 500 institutions of private higher education currently in operation in Malaysia, these include colleges, university colleges and universities. These institutions are helpful because they fill the gap caused by limited seating for potential students in government institutions of higher learning. A total sample of 373 students comprising students from secondary schools was used in this study. These students were in the British equivalent O and A levels of education. A questionnaire containing 46 statements was distributed randomly to the respondents during a motivation seminar at their respective schools. The data analysis was conducted using SPSS and AMOS software programme packages for Windows. Factor analysis was performed to extract and decide on the number of factors underlying the measured variables of interest. Structural Equation Modelling (SEM) was then used to examine the variables and the fitness of the proposed model. The results indicate a substantial positive effect of perception and promotion on the students' choice of private institutions for higher education. The results also reveal a significant positive effect of perception on influence and promotion on influence. Therefore, the findings of this study have a substantial effect on private institutions of higher education