A robust control scheme for flexible arms with friction in the joints

A general control scheme to control flexible arms with friction in the joints is proposed in this paper. This scheme presents the advantage of being robust in the sense that it minimizes the effects of the Coulomb friction existing in the motor and the effects of changes in the dynamic friction coefficient. A justification of the robustness properties of the scheme is given in terms of the sensitivity analysis

Parallel structurally-symmetric sparse matrix-vector products on multi-core processors

We consider the problem of developing an efficient multi-threaded implementation of the matrix-vector multiplication algorithm for sparse matrices with structural symmetry. Matrices are stored using the compressed sparse row-column format (CSRC), designed for profiting from the symmetric non-zero pattern observed in global finite element matrices. Unlike classical compressed storage formats, performing the sparse matrix-vector product using the CSRC requires thread-safe access to the destination vector. To avoid race conditions, we have implemented two partitioning strategies. In the first one, each thread allocates an array for storing its contributions, which are later combined in an accumulation step. We analyze how to perform this accumulation in four different ways. The second strategy employs a coloring algorithm for grouping rows that can be concurrently processed by threads. Our results indicate that, although incurring an increase in the working set size, the former approach leads to the best performance improvements for most matrices.Comment: 17 pages, 17 figures, reviewed related work section, fixed typo

Students’ Awareness on Educational Tour Policies Issued by the Commission on Higher Education, Philippines

oai:ojs2.riiopenjournals.com:article/77Purpose: This study explored the level of awareness of students on the educational tour policies based on the CHED memorandum order number 17 (CMO#17) of the Commission on Higher Education (CHED) in selected state universities in Region 8 in the Philippines. This study also assessed the constraints encountered by the students before, during, and after the educational tour. Method: Four hundred (400) students are respondents in Higher Educational Institutions in S.Y. 2016 - 2017 with the study students’ level of awareness on the Educational Tour. The study used Descriptive – correlational design utilizing Pearson r, Point Bi-serial, and Eta Correlation as Statistical tools. Results: The findings state that most respondents answered a much aware level of awareness on the Educational Tour before, during, and after the conduct of the study. Lack of money, time, safety, and management deficiencies were moderately felt problems. It concluded that the level of awareness in Educational Tour before, during then after the educational tour is much aware. Implications: The Study recommends, sustainable awareness programs, the inclusion of the discussion of educational tour in student, parent's orientation, and discussed in the student handbook. Constraints with the educational tour are addressed before the activity, and the conduct of relevant studies regarding educational tour be further addressed

Corruption, Automation Reforms, Patron-Client Networks and New Media: Electoral Engineering and the May 2010 Philippine Elections

This exploratory inquiry interrogates the impact of electoral engineering reforms through synchronized automated elections in a Philippine context suffering from systemic corruption. The May 2010 elections heralded a watershed in electoral processes and practices. Results of local (congressional) and national (senatorial, vice-president and presidential) elections were obtained nearly overnight. The elections dramatically altered the mode of Philippine elections: typified by arduous and onerous delays in announcing results stretching all the way to several months after elections. Although violence still marred the elections, it was relatively one of the more peaceful elections ever experienced. This inquiry attempts to explore the impact of this unprecedented electoral reform to political competition, allegations of corruption, the prevalence of patron-client networks, the influence of media and the political fortunes of candidates who supported electoral automation. Using data obtained from the elections, this inquiry proposes analytical models in understanding changes and continuities in election reforms and corruption in determining outcomes – individual votes garnered during the elections

UNHEARD SENTIMENTS OF MAMANWA (INDIGENOUS) LEARNERS IN THE MAINSTREAM EDUCATION: A BASIS FOR EDUCATIONAL POLICY

This article aimed to investigate the unheard sentiments among Mamanwa learners in mainstream education to create a suitable educational policy for indigenous learners in the Philippines. The study utilized purposive (non-probability) sampling comprising fifteen participants residing in Panaon Area, Southern Leyte, Philippines. Since the study involved the indigenous people community, free prior informed consent (FPIC) was secured from authorities. This study focused on the lived experiences of Mamanwa learners, particularly the barriers, challenges, and coping mechanisms for handling the struggles they faced in mainstream education. A face-to-face semi-structured interview was employed to gather meaningful responses analyzed through Colaizzi's strategy. The findings revealed that the Mamanwa learners' social isolation, the inadequacy of learning materials, lack of access to educational services, and limited support resources and educational funds from the government have contributed to their ongoing challenge to completion in mainstream education. These factors have all affected their personal and social well-being. Conclusively, despite the barriers and challenges, however, the Mamanwa learners are becoming resilient and diversely unique individuals who need to be understood, accepted, and embraced just like any other member of society. Furthermore, the fueling mechanisms of every indigenous group to cross mainstream education are in the hopes of building growth, promoting connections through intense exposure in the community, and as individuals of disadvantaged groups with a social change mindset aimed to improve their social status

School Stakeholders' Experience with Navigating ICT Policy Reforms in Singapore

Using qualitative research inquiry methods, this inquiry attempts to explore how school stakeholders cope with incessant and seemingly endless transformations in schools. The central phenomenon to be studied focuses on how school stakeholders “make sense” of educational reform. In order to do this, an exploratory case study of two target schools taking part in policy reform initiatives directed at ubiquitous use of Information Communication and Technology (ICT) in a Singapore context would be the locus of this inquiry. Using Focus Group Discussions (FGDs), interviews, and observations this inquiry investigates and builds emerging explanations to sense-making experiences of stakeholders. Policy learning narratives of actors involved in the ICT-education reforms would be analysed using the lens of Actor-Network Theory (ANT). Findings from this exploratory inquiry provide insights to ongoing debates on policy learning experiences of school stakeholders in periods of uncertainty

International aid and education reform and the paradox of implementation: a case study of the Philippines

From 2005 to 2011, AusAID and the Philippine government launched Strengthening the Implementation of Visayas Education (Project STRIVE) to improve access and quality of education in rural Philippines. Using data from all participating schools (N=308) one question is raised: How successful was the international partnership in implementing education reform? This three-part inquiry critiques STRIVE from policy implementation and international partnerships perspectives generating mixed results. First, STRIVE goals and accomplishments are expounded. Second, using non-parametric analyses, hypothesised relationships between reform inputs and project outcomes are tested. Finally, STRIVE 'successes' related to project relevance, effectiveness and sustainability are critiqued revealing implementation paradoxes