A Low-Voltage Electronically Tunable MOSFET-C Voltage-Mode First-Order All-Pass Filter Design

This paper presents a simple electronically tunable voltage-mode first-order all-pass filter realization with MOSFET-C technique. In comparison to the classical MOSFET-C filter circuits that employ active elements including large number of transistors the proposed circuit is only composed of a single two n-channel MOSFET-based inverting voltage buffer, three passive components, and one NMOS-based voltage-controlled resistor, which is with advantage used to electronically control the pole frequency of the filter in range 103 kHz to 18.3 MHz. The proposed filter is also very suitable for low-voltage operation, since between its supply rails it uses only two MOSFETs. In the paper the effect of load is investigated. In addition, in order to suppress the effect of non-zero output resistance of the inverting voltage buffer, two compensation techniques are also introduced. The theoretical results are verified by SPICE simulations using PTM 90 nm level-7 CMOS process BSIM3v3 parameters, where +/- 0.45 V supply voltages are used. Moreover, the behavior of the proposed filter was also experimentally measured using readily available array transistors CD4007UB by Texas Instruments

Higher Dimensional Metrics of Colliding Gravitational Plane Waves

We give a higher even dimensional extension of vacuum colliding gravitational plane waves with the combinations of collinear and non-collinear polarized four-dimensional metric. The singularity structure of space-time depends on the parameters of the solution.Comment: 4 pages RevTex

Dynamics of Adsorbed PMA-d₃ - Effect of Substrate

In the last few years, our group has focused much of our attention on studying the dynamics of polymers adsorbed at interfaces. Much of our work, to date has been on labeled poly(vinyl acetate)-d3 (PVAc-d3)1 and poly(methyl acrylate)-d3 (PMA-d3)2 on silica. We have been able to probe the effects of adsorbed amount,3 molecular mass,4,5 and the effect of overlayer.6 These studies have provided a view of the adsorbed polymer consistent with a motional gradient in the layer with the more mobile segments being those at the air-polymer interface and the less-mobile segments at the substratepolymer interface. However, we have not probed the effect of the interaction with the substrate. In the present work, we describe the dynamics of PMA-d3 adsorbed on different substrates with a focus on how the substrate affects the dynamics of the polymer. In particular, we examine silica- and alumina-based substrates. For silica we explored the behavior of PMA-d3 on Cab-O-Sil silica, both in its native and hydrophobic form. For alumina we have probed the behavior on both alumina powder and also anopore membranes. We find that the dynamics of the adsorbed polymer depends on the nature of the substrate

Performance and health of dairy calves fed limited amounts of acidified milk replacer

To compare growth performance of Brown Swiss calves fed acidified milk replacer (AMR) at 8% of birth weight, 20 newborn calves were reared under a new calf-feeding programme. Body weights, total weight gains and gains in body measurements, feed intake and feed efficiency values determined at different stages of growth of AMR-fed calves were comparable to those of calves fed sweet milk replacer (SMR). Faecal consistency scores and percent days with diarrhoea of calves offered AMR from four to 35 days of age were respectively 0.4 and 19.1% lower than those fed SMR. Most of the behavioural parameters studied were not unfavourably influenced by acidification of the replacer. In conclusion, growth, feed intake and feed efficiency characteristics of Brown Swiss calves fed AMR or SMR were not different from each other. However, incidence of diarrhoea of the young calves was decreased and health status of the calves was improved with the feeding of acidified milk. South African Journal of Animal Science Vol. 36(3) 2006: 149-15

Accelerated Born-Infeld Metrics in Kerr-Schild Geometry

We consider Einstein Born-Infeld theory with a null fluid in Kerr-Schild Geometry. We find accelerated charge solutions of this theory. Our solutions reduce to the Plebanski solution when the acceleration vanishes and to the Bonnor-Vaidya solution as the Born-Infeld parameter b goes to infinity. We also give the explicit form of the energy flux formula due to the acceleration of the charged sources.Comment: Latex file (12 pp

Speed sensorless direct vector control of the IM

Bu çalışmada, Sincap Kafesli Asenkron Motorların (SKASM’lerin) algılayıcısız kontrolünde başarımı olumsuz yönde etkileyen modele ait elektriksel ve mekanik yana ilişkin parametre belirsizliklerini çözmek üzere Genişletilmiş Kalman Filtresi (GKF) tabanlı gözlemleyici algoritmaları tasarlanarak gerçeklenmiştir. Doğrudan vektör kontrol sistemi ya da vektör kontrollü a.a sürücüsü ile başarımları test edilen bu algoritmalar ile herhangi yüksek frekanslı bir işaret eklemeksizin ve başlangıç değerleri bilinmediği varsayımıyla algılayıcısız kontrol için gerekli tüm durumlar, sabit sürtünme –viskoz– terimini de içeren yük momenti ve değeri bilinmeyen rotor direnci eş zamanlı olarak kestirilebilmiştir. Benzetim/deney sonuçları önerilen yöntemlerin oldukça etkin ve dayanıklı olduğunu göstermiştir. Bu yönleriyle, literatürde bilinen ilk çalışmadır.Anahtar Kelimeler: Genişletilmiş Kalman filtresi, gözlemleyici, kestirici, hız algılayıcısız vektör kontrol, asenkron motor.This paper offers a solution to the performance deteriorating effect of uncertainties in the sensorless control of induction motors (IMs). The major contribution of the study is the development and implementation of a Extended Kalman Filter (EKF) algorithms that take electrical and mechanical uncertainties into account. Also, unlike previous EKF based estimation studies taking the angular velocity, wm, into consideration as a constant parameter, in this study, wm, is estimated as a state with the utilization of the equation of motion. In this regard, this is the first known study to estimate the mechanical uncertainties together with the estimation of the rotor resistance, without injecting high frequency signals. The EKF algorithms also estimate the rotor flux, angular velocity and stator currents with no apriori knowledge on the states and initial values taken as zero. Experiments performed under unknown load torque and with rotor resistance variations up to twice the rated value, demonstrate the good performance and robustness of the estimation methods. The algorithms also estimate the mechanical uncertainties as a constant state to capture the unknown viscous and Coulomb friction in steady state, therefore, could be used to improve the performance of the velocity or position control of IM's, if utilized in combination with a compensation scheme.Keywords: Extended Kalman filter, observer, estimator, speed sensorless vector control, induction motor

Why do some followers remain silent in response to abusive supervision? A system justification perspective

Copyright © 2023 The Authors. This study investigates how the system justification motive manifests in employees’ voice/silence behavior at the workplace. It also explores the moderating effects of system justification on the linkage between abusive supervision and voice/silence behavior for blue- and white-collar employees. The field study generated responses from 905 employees in Turkey. Multi-group analysis reveals that the moderating effect of system justification motives varies by occupational class. In particular, the impact of abusive supervision on silence becomes more salient when white-collar employees endorse higher system justification motives. However, in the blue-collar sample, the absence of a moderating effect could be attributed to the strong main effect of system justification motives. The current study adds to the extant literature by applying a system justification perspective to voice and silence behavior by collar differences at work. It also provides important implications for managers in dealing with workplace mistreatment affecting all occupational groups, mainly when blue-collar employee silence is endemic and regulatory policies are inadequate

High order sliding mode control of a flexible-link robot arm

Ucunda yük bulunan bir Esnek-Mafsallı Robot Kol (EMRK) hareket kontrolu için Kayma Kipli Kontrol (KKK) ve Yüksek Dereceli Kayma Kipli Kontrol (YDKKK) yöntemleri uygulanmıştır. Esnek kolun istenen bir noktada konumlandırma ve yörünge izleme kontrolu için KKK ve 2nci dereceden YDKKK (2-YDKKK) yöntemleri kullanılarak kontrol algoritmaları türetilmiştir. 1-SD (Serbestlik Dereceli) esnek mafsallı robot kolun hassas hareket kontrolu problemi, özellikle hafif ve esnek yapısı ile matematiksel modelinde yer alan şekil kipleri dikkate alındığında; aşırı doğrusal olmayan ve ayrışmayan dinamik denklemleri ile kontrol alanında oldukça zorlayıcı bir çalışma konusudur. Doğrudan Tahrikli (DT) eklem motoruna sahip EMRK çalışma esnasında oluşan esneme, titreşimler ve farklı kütlelere sahip uç yükü ile birlikte hareket kontrolunun sadece eklem motoruna uygula-nabilen kontrol işareti ile sağlandığı düşünülürse yüksek performanslı kontrolör gerektirdiği açıktır. Dayanıklı kontrol yöntemlerinden, sistem belirsizliklerine karşı etkili ve sistem parametre deği-şimlerinden bağımsız olan KKK yöntemi kullanılmıştır. Yöntemin olumsuzluğu olan çatırtı problemi ise 2-YDKKK yöntemi ile türetilen kontrolör ile giderilmeye çalışılmıştır. Her iki yöntemin deneysel olarak karşılaştırılması ve kontrolörlerin gerçeklenmesi bir Donanımlı Simülatör (Dsim) kullanılarak yapılmıştır. Donanımlı simülatör donanım ve yazılıma sahiptir. Dsim de bulunan donanımlar gerçek sistemin önemli bölümlerini içerir. Bu nedenle doğrudan tahrikli iki motor Dsim de yer almaktadır ve millerinden birbirine akuple bağlanmışlardır. Bu sistemle yapılan deneysel çalışmalara göre 2-YDKKK yönteminin KKK yöntemine göre EMRK hareket kontrolunda daha etkili olduğu gö-rülmüştür. Kontrolörlerin doğrudan tahrikli motor moment salınımlarını bastırmadaki etkinliği harmonik analizi ile karşılaştırılmıştır. Anahtar Kelimeler: Kayma Kipli Kontrol, Yüksek Dereceli Kayma Kipli Kontrol, Esnek-Mafsallı Robot kol, donanımlı simülatör, moment salınım analizi.In this study, Sliding Mode Control (SMC) and High Order Sliding Mode Control (HOSMC) me-thods are applied to a single Flexible Link Robot Arm (FLA) with payload. A sliding mode and high order sliding mode controllers are designed to achieve set point precision positioning control and trajectory tracking control for a FLA. Flexible robot arms have structural flexibilities and resulting high number of passive degrees-of-freedom. They cannot be decoupled due to the highly nonlinear structure. Since the flexible systems have highly nonlinear structure and coupled dynamics, the sliding mode based control approach is chosen a powerful me-thod to overcome the unmodeled and parametric uncertainties. One of the proposed controllers is 2nd order HOSMC method is compared with classical SMC method. Comparison of the methods is experimentally fulfilled using HIL simulator, and additionally torque ripple analysis is made to evaluate of the methods aspect from system harmonics. Direct drive motors are used as actuator in controlled systems. Of all system dynamics affect system harmonics via motor shaft due to the direct drive system that is no gear box. Therefore, harmonics analysis is crucial to in-vestigate of designed controllers effects on system harmonics. To precise set-point and trajectory tracking con-trol of 1-DOF DD FLA has been derived SMC and HOSMC. Sliding Mode Controllers (SMCs) have the robustness properties, while also increasing accuracy by reducing chattering effects. The performance of the designed control methods are tested for the precise position and targeting control of a 1-DOF-DD-FLA system under heavy uncertainties. Comparative results of both methods have been evaluated in real-time using a Hardware-in-the-Loop (HIL) simulator designed for robotics. Especially, HIL simulator for this system includes DD motors and obtained results can be evaluated more realistically according to pure computer simulations. Additionally, torque ripples of whole system with HIL simulator have been determined and their eliminations using for both methods are introduced. HIL simulator is used to implement designed con-troller for a flexible-link arm. Direct drive joint motors are important parts of the direct drive underactuated robot manipulators. Therefore two DD motors take part in HIL simulator and couple through their shaft. One of the motors represents joint actuator, while the other motor is used for generation of the dynamics of the controlled sys-tem via the torque applied to the shaft. The two motors acting as "actuator" and "load torque simulator" are driven separately by a high per-formance controller board. HIL Simulator is ex-pressed briefly as software that is modeled control algorithm and system dynamic model via controller board is integrated with hardware. HIL simulation differs from computer simulation as it involves actual hardware and is not limited with a software-based representation of the system. Main aim is to use HIL Simulator is able to make more realistic analysis about behaviors of the system dynamics in real-time. It is over computer simulation since the simulator incorporates some of the crucial hardware of the actual system that takes part in the loop. For this purpose defined HIL simulation environment is useful to test, analysis and performance evaluation of designed controllers for unde-ractuated robot manipulators. The major contribution of this study is experimen-tal evaluation of 2nd order HOSM controller and SMC for tracking accuracy and robustness against internal and external uncertainties of DD flexible-link arm with the consideration of the full system dynamics effects. The HIL experimental results confirm and depict that the 2-HOSMC me-thod has robust and accurate performance as expected from the HOSM controllers. Additionally, torque ripples of whole system with HIL simulator have been determined and their eliminations using for both methods are introduced. According to the HIL experimental results and torque ripple analysis, using 2-HOSMC has advantages an increased accuracy over the SMC. Keywords: Sliding Mode Control, High Order Sliding Mode Control, Flexible-Link Robot Arm, Hardware in the Loop simulator, torque ripple analysis