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

Pengembangan Instrumen Tingkat Keterlaksanaan Penilaian Otentik pada Pembelajaran Fisika Berbasis Kurikulum 2013 di Kelas X SMA Negeri Se-kota Pekanbaru

This study aims to determine the Vailidity of the Authentic Curriculum Based Curriculum 2013 in the eyes of the High School Physics subjects that are developed to support the level of implementation of Authentic School Assessment that includes attitude, knowledge, skills and authentic assessment. The type of research used is R & D (Research and Development). Development of Authentic assessment instruments includes preliminary studies, instrument planning, instrument development, instrument validation, and end products. The authentic assessment instrument developed in this research is a questionnaire that contains closed questions or open questions. From the results of the large index validation for attitude assessment 3.15, knowledge assessment 3.27, skill assessment 3.10, and authentic assessment step 3.4. Overall, the validation index of 3.21 categories is obtained. Thus it can be concluded that the authentic assessment instruments of high school students for physics subjects that have been developed are valid or fit to be used in analyzing the level of implementation of Authentic assessment of schools in applying attitude, knowledge, skills based on curriculum 2013

Design of planar dielectric resonator antenna array at 28 GHz

This article presents a planar array of rectangular Dielectric Resonator Antenna operating for 28 GHz applications. The proposed antenna is formed through two stages of designs which are a single element and planar array. It is made up from a ceramic material with a dielectric constant of 10 and mounted on RT/Duroid 5880 with a relative permittivity of 2.2 and a thickness of 0.254 mm. A prospective study using three different configurations of three by three planar array is done in order to obtain the best performance in terms of bandwidth, gain, and cost reduction. Besides that, this study is also conducted for a beam steering capability of each configuration. Finally, the best configuration is proposed for 5G application

Aerobic granulation for real domestic sewage treatment at hot and low humidity climate condition

With inoculum sludge from a conventional activated sludge wastewater treatment plant, a sequencing batch reactor fed with real domestic wastewater was operated at 50 ± 1 °C to study the formation of aerobic granular sludge (AGS) for simultaneous organics and nutrients removal with a complete cycle time of 3 h. The AGS were successfully cultivated with excellent settling ability and demonstrated exceptional performance in the organics and nutrients removal with influent loading rate of 1.2 kg COD m-3 d-1. Stable, regular, dense and fast settling granule (average diameter, 2.0 mm and sludge volume index, 73.501 mL g-1) were developed in a single reactor. In addition, 89 % COD removal efficiency was observed in the system at the maturation stage of the granulation, while its ammonia nitrogen removal efficiencies were up to 99 %. The study demonstrated the capabilities of AGS formation in a single, high and slender column type-bioreactor at high temperature which is suitable to be applied for hot climate and low humidity condition (e.g. Saudi Arabia)

Oscillatory Stability Prediction Using PSO Based Synchronizing and Damping Torque Coefficients

This paper presents the assessment of stability domains for the angle stability condition of the power system using Particle Swarm Optimization (PSO) technique. An efficient optimization method using PSO for synchronizing torque coefficients Ks and damping torque coefficients Kd to identify the angle stability condition on multi-machine system. In order to accelerate the determination of angle stability, PSO is proposed to be implemented in this study. The application of the proposed algorithm has been justified as the most accurate with lower computation time as compared to other optimization techniques such as Evolutionary Programming (EP) and Artificial Immune System (AIS). Validation with respect to eigenvalues determination, Least Square (LS) method and minimum damping ratio ξmin confirmed that the proposed technique is feasible to solve the angle stability problems

Agarwood Leaf Essential Oil Characterization and Effects on MCF-7 Breast Cancer Cells

Breast cancer continues to remain as the leading cause of cancer mortality among women worldwide. Agents for prevention and cure for breast cancer are contiuously being researched. İn particular, agarwood essential oil from resin infiltrated heartwood has been reported to have substantial evidences of medicinal benefits. Nevertheless, there is very limited report on agarwood leaf essential oil (ALEO). Hence, this present study was conducted to evaluate the physicochemical properties, chemical constituents and anticancer activity of ALEO. ALEO was observed to be of pale-yellow colour with sweet smell. Other physicochemical properties include refractive index of 1.44, specific gravity of 0.886, saponification value of 131.88 mg KOH/g, acid value of 2.80 mg KOH/g and iodine value of 105.07 gI2/100g. The profiling of chemical constituents using gas chromatography-mass spectrometry (GCMS) revealed 19 compounds. Hexadecanoic acid was the major compound (64.41%). The biomarkers of agarwood; azulene (0.619%) and guaiol (0.2997%) were also detected. ALEO was tested for anticancer activity against MCF-7 cancer cells using WST-8 assay. ALEO showed the IC50 value of 31% (v/v) against MCF-7 cells after 36 hours of treatment. In conclusion, this study provides information on ALEO physicochemical properties and chemical constituents that can be used as benchmark for quality assurance as well as proof that ALEO holds a potential as anticancer agent

Treatment of landfill leachate using ASBR combined with zeolite adsorption technology

Sanitary landfilling is the most common way to dispose solid urban waste; however, improper landfill management may pose serious environmental threats through discharge of high strength polluted wastewater also known as leachate. The treatment of landfill leachate to fully reduce the negative impact on the environment, is nowadays a challenge. In this study, an aerobic sequencing batch reactor (ASBR) was proposed for the treatment of locally obtained real landfill leachate with initial ammoniacal nitrogen and chemical oxygen demand (COD) concentration of 1800 and 3200 mg/L, respectively. ASBR could remove 65 % of ammoniacal nitrogen and 30 % of COD during seven days of treatment time. Thereafter, an effective adsorbent, i.e., zeolite was used as a secondary treatment step for polishing the ammoniacal nitrogen and COD content that is present in leachate. The results obtained are promising where the adsorption of leachate by zeolite further enhanced the removal of ammoniacal nitrogen and COD up to 96 and 43 %, respectively. Furthermore, this combined biological–physical treatment system was able to remove heavy metals, i.e. aluminium, vanadium, chromium, magnesium, cuprum and plumbum significantly. These results demonstrate that combined ASBR and zeolite adsorption is a feasible technique for the treatment of landfill leachate, even considering this effluent’s high resistance to treatment

Correlation Between Cutting Force and Residual Stress in Dry End-Milling of Inconel HX

Residual stress in the end-milled subsurface can significantly affect the fatigue performance of end-milled material. In the end-milling process, the generation of residual stress is extremely complex, which is closely related to the spindle speed, feed per tooth and cutting force. Thus, it is crucial to elucidate the influence of spindle speed and feed per tooth on cutting force and residual stress, also the correlation between cutting force and residual stress in terms of spindle speed and feed per tooth. According to this, dry end-milling of Inconel HX was performed by climb-milling using Kennametal KYS40 solid ceramic end-mill. From this experimental test, cutting force and residual stress showed a U-shaped relationship with the increase of spindle speed, while cutting force and residual stress showed a linear relationship with the increase of feed per tooth. Furthermore, for low cutting force and residual stress, the focus should be on choosing the optimum combination of spindle speed (21,400 to 24,100 rpm) and feed per tooth (0.014 to 0.016 mm/tooth)

Correlation Between Cutting Force and Residual Stress in Dry End-Milling of Inconel HX

Residual stress in the end-milled subsurface can significantly affect the fatigue performance of end-milled material. In the end-milling process, the generation of residual stress is extremely complex, which is closely related to the spindle speed, feed per tooth and cutting force. Thus, it is crucial to elucidate the influence of spindle speed and feed per tooth on cutting force and residual stress, also the correlation between cutting force and residual stress in terms of spindle speed and feed per tooth. According to this, dry end-milling of Inconel HX was performed by climb-milling using Kennametal KYS40 solid ceramic end-mill. From this experimental test, cutting force and residual stress showed a U-shaped relationship with the increase of spindle speed, while cutting force and residual stress showed a linear relationship with the increase of feed per tooth. Furthermore, for low cutting force and residual stress, the focus should be on choosing the optimum combination of spindle speed (21,400 to 24,100 rpm) and feed per tooth (0.014 to 0.016 mm/tooth)

Development of Environmental – Student Behaviour Production Rules Scheme for the Internet of Things (IoT) Indoor Air Quality (IAQ) Data Reasoning

The behaviour of students in a classroom is hardly being recognised by the instructor. A recent development, a researcher determines these traits by using a permissive approach. In this paper, a real-time classroom environment using a sensing device with detection of student behaviour is proposed. Recent studies as guidelines for this paper lead to three early hypotheses; development of the engine to detect student’s behaviour based on environmental sensing, faster production rules and reliability using economic sensors. The production rules are created step by step based on expert endorsements in three different areas; environmental, health, and education. The testbeds are three classrooms with separate periods had been deployed to proof the hypothesis. The result shows a promising output, which is all hypotheses are entirely accepted