Control of interconnected mechanical systems

In this paper control systems design approach, based on siding mode methods, that allows maintain some functional relation – like bilateral or multilateral systems, establishment of virtual relation among mobile robots or control of haptic systems - is presented. It is shown that all basic motion control problems - trajectory tracking, force control, hybrid position/force control scheme and the impedance control for the interacting systems- can be treated in the same way while avoiding the structural change of the controller and guarantying stable behavior of the system In order to show applicability of the proposed techniques simulation and experimental results for high precision systems in microsystems assembly tasks are presented.

Development of position tracking of BLDC motor using adaptive fuzzy logic controller

The brushless DC (BLDC) motor has many advantages including simple to construct, high torque capability, small inertia, low noise and long life operation. Unfortunately, it is a non-linear system whose internal parameter values will change slightly with different input commands and environments. In this proposed controller, Takagi-Sugeno-Kang method is developed. In this project, a FLC for position tracking and BLDC motor are modeled and simulated in MATLAB/SIMULINK. In order to verify the performance of the proposed controller, various position tracking reference are tested. The simulation results show that the proposed FLC has better performance compare the conventional PID controller

Weak solutions of backward stochastic differential equations with continuous generator

We prove the existence of a weak solution to a backward stochastic differential equation (BSDE) Y_t=\xi+\int_t^T f(s,X_s,Y_s,Z_s)\,ds-\int_t^T Z_s\,d\wien_s in a finite-dimensional space, where $f(t,x,y,z)$ is affine with respect to $z$, and satisfies a sublinear growth condition and a continuity condition This solution takes the form of a triplet $(Y,Z,L)$ of processes defined on an extended probability space and satisfying Y_t=\xi+\int_t^T f(s,X_s,Y_s,Z_s)\,ds-\int_t^T Z_s\,d\wien_s-(L_T-L_t) where $L$ is a continuous martingale which is orthogonal to any \wien. The solution is constructed on an extended probability space, using Young measures on the space of trajectories. One component of this space is the Skorokhod space D endowed with the topology S of Jakubowski

Control systems with network delay

In this paper motion control systems with delay in measurement and control channels are discussed and a new structure of the observer-predictor is proposed. The feature of the proposed system is enforcement of the convergence in both the estimation and the prediction of the plant output in the presence of the variable, unknown delay in both measurement and in the control channels. The estimation is based on the available data – undelayed control input, the delayed measurement of position or velocity and the nominal parameters of the plant and it does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters is discussed. Experimental results are shown to illustrate the theoretical prediction

PENGEMBANGAN FILM ANIMASI DENGAN MATERI PERKEMBANGAN KERAJAAN-KERAJAAN ISLAM DI INDONESIA SEBAGAI SUMBER BELAJAR IPS SMP KELAS VII

Penelitian ini bertujuan untuk mengetahui: 1) tahap pengembangan film animasi dengan materi perkembangan Kerajaan-kerajaan Islam di Indonesia sebagai sumber belajar IPS kelas VII; 2) kelayakan film animasi tersebut untuk digunakan sebagai sumber belajar dengan materi perkembangan Kerajaankerajaan Islam di Indonesia untuk siswa SMP/MTs kelas VII. Penelitian ini menggunakan metode penelitian dan pengembangan atau Research and Development (R&D) yang mengacu pada model pengembangan Borg and Gall. Subjek penelitian adalah 32 siswa kelas VII SMP N 3 Godean. Teknik pengumpulan data berupa angket. Validasi dilakukan oleh ahli materi dan ahli media dan guru IPS untuk mengetahui kelayakan produk film animasi. Uji coba kemenarikan produk dilakukan oleh siswa. Instrumen pengumpulan data berupa lembar validasi untuk ahli materi, ahli media, guru, dan lembar angket penelitian untuk siswa. Teknik analisis data dilakukan secara deskriptif kualitatif. Hasil penelitian menunjukan: 1) tahap pengembangan film animasi dengan materi perkembaangan Kerajaan-kerajaan Islam di Indonesia yaitu: penyusunan materi, pembuatan skenario, pembuatan karakter, penyususnan suara, pembuatan storyboard, pembuatan background, pengisi suara, dan penggabungan keseluruhannya; 2) kelayakan film animasi engan materi perkembangan Kerajaankerajaan Islam di Indonesia sebagai sumber belajar IPS SMP diperoleh berdasarkan: a) hasil validasi ahli materi dengan skor 3.72 atau kategori “Baik” , b) validasi ahli media dengan skor 3.89 atau kategori “Baik”, c) validasi guru IPS dengan skor 3.9 atau kategori “Baik”, d) tanggapan siswa pada uji coba peroraangan dengan skor 3.55 atau kategori “Baik” e) uji coba terbatas dengan skor 3,73 atau kategori “Baik”, f) uji coba lapangan utama dengan skor 3.87 atau kategori “Baik”, berdasarkan hasil tersebut, dapat disimpulkan bahwa pengembangan film animasi dengan materi perkembangan Kerajaan-kerajaan Islam di Indonesia sebagai sumber belajar IPS SMP kelas VII sudah dinyatakan layak dan menarik serta dapat digunakan sebagai sumber belajar. Kata kunci: film animasi, sumber belajar, IPS

UJI AKTIVITAS ANTIJAMUR MINYAK ATSIRI JAHE MERAH (ZINGIBER OFFICINALE ROSCOE VAR. RUBRUM) TERHADAP ISOLAT KLINIS CANDIDA ALBICANS DENGAN METODE DILUSI

Kandidiasis merupakan infeksi oportunistik yang sering disebabkan oleh Candida albicans. Candida albicans telah mengalami resistensi terhadap beberapa obat antijamur sehingga diperlukan pencarian dan penemuan obat antijamur yang efektif. Minyak atsiri jahe merah diketahui memiliki aktivitas antijamur terhadap Candida albicans. Penelitian ini bertujuan untuk mengetahui Konsentrasi Hambat Minimum (KHM) dan Konsentrasi Bunuh Minimum (KBM) minyak atsiri jahe merah terhadap isolat klinis Candida albicans. Penelitian ini merupakan penelitian eksperimental menggunakan Rancangan Acak Lengkap (RAL) yang terdiri dari 6 kelompok perlakuan, yaitu kontrol negatif, kontrol positif, konsentrasi 0,25%, 0,5%, 1% dan 2% dengan 4 kali pengulangan. Konsentrasi hambat minimum ditentukan menggunakan spektrofotometer. Konsentrasi bunuh minimum ditentukan dengan menghitung jumlah koloni pada media SDA. Data hasil penelitian dianalisis menggunakan uji Kruskall-Wallis dan uji post hoc Mann-Whitney dengan CI 95% (? = 0,05). Konsentrasi hambat minimum ditunjukkan pada konsentrasi 1% dengan nilai absorbansi yang menurun. Hasil analisis data KBM menggunakan uji Kruskall-Wallis menunjukkan minyak atsiri jahe merah memiliki pengaruh yang nyata terhadap pertumbuhan Candida albicans. Analisis data KBM menggunakan uji post hoc Mann-Whitney menunjukkan nilai KBM tidak dapat ditentukan.Kata Kunci: Zingiber officinale Roscoe var. rubrum, Minyak atsiri, KHM, KBM, Candida albican

Biological Interventions for Crime Prevention

This chapter sets the scene for the subsequent philosophical discussions by surveying a number of biological interventions that have been used, or might in the future be used, for the purposes of crime prevention. These interventions are pharmaceutical interventions intended to suppress libido, treat substance abuse or attention deficit-hyperactivity disorder (ADHD), or modulate serotonin activity; nutritional interventions; and electrical and magnetic brain stimulation. Where applicable, we briefly comment on the historical use of these interventions, and in each case we discuss the evidence that they are effective, or might become so with further refinement. The chapter concludes with a comment on some potentially significant differences between the varieties of intervention that we canvass

Teachers’ work in a context of adversity.

Masters Degree. University of KwaZulu-Natal, Durban.This study investigated the nature of teachers’ work in a context of adversity at Shivta Primary School. The school is situated in an underprivileged rural township in KwaZulu-Natal known as Kalika. Social constructionism was adopted as the theoretical framework for the study and the open systems theory and Morrow’s formal and material elements of teachers’ work were employed to examine the nature of such work in a context where students hail from low socioeconomic backgrounds. A qualitative ethnographic approach was used to collect data. Interviews, focus groups and observation were used to examine the nature, complexity and demands of teachers’ work in a context of adversity. While teachers are expected to comply with national norms as well as those formulated by school management, teaching in a context of adversity generates additional challenges. The study’s results revealed that teachers’ work at Shivta Primary School is concentrated, complicated, emotionally challenging and demanding. Apart from their daily classroom activities, they are called on to provide social and emotional support to students due to the latter’s socioeconomic circumstances. The findings also indicate that the rhythm of teachers’ work is constantly interrupted by counselling and social work; administrative duties and other incidental activities. This calls for the ability to constantly respond to new situations that are outside their normal duties. The multiple interactions that constitute teaching reveal teachers’ work as complex, demanding, emerging and intensified rather than permanent and coherent. Teachers at Shivta Primary School operate within a structure that requires that they attend to matters after the school day has ended. While this may be typical of many schools, the degree of adversity confronted by students at this school makes this study atypical. It is thus recommended that policies provide for support for teachers that work in a context of adversity

Consumption Experience of Impulse Buying in Algeria

This article focuses on impulsive buying experience. It aims at exploring whether the explanatory variables of this type of purchase, which are used in the marketing literature in the West, may account for the impulsive buying behavior in the Algerian cultural context. An extensive literature review allowed clarifying the basic concepts of this research; it led, firstly, to determine the variables that stimulate the consumer emotions and arouse pure impulse purchase and its consequences, and secondly, to show its importance to producers and distributors. The empirical study was conducted on 590 buyers from the Wilaya (Province) of Tlemcen (Algeria). The results of the data analysis, using the software R, indicate that the variables used in this study have a better predictive power of achieving the favorable experience of impulse buying