Performance Regulation and Tracking via Lookahead Simulation: Preliminary Results and Validation

This paper presents an approach to target tracking that is based on a variable-gain integrator and the Newton-Raphson method for finding zeros of a function. Its underscoring idea is the determination of the feedback law by measurements of the system's output and estimation of its future state via lookahead simulation. The resulting feedback law is generally nonlinear. We first apply the proposed approach to tracking a constant reference by the output of nonlinear memoryless plants. Then we extend it in a number of directions, including the tracking of time-varying reference signals by dynamic, possibly unstable systems. The approach is new hence its analysis is preliminary, and theoretical results are derived for nonlinear memoryless plants and linear dynamic plants. However, the setting for the controller does not require the plant-system to be either linear or stable, and this is verified by simulation of an inverted pendulum tracking a time-varying signal. We also demonstrate results of laboratory experiments of controlling a platoon of mobile robots.Comment: A modified version will appear in Proc. 56th IEEE Conf. on Decision and Control, 201

Perbandingan Efektifitas Relaksasi Autogenic dan Music Therapy terhadap Tingkat Nyeri Setelah Insersi Vaskuler Pasien yang Menjalani Hemodialisa

The aim of this study was to compare the effectiveness of autogenic relaxation and music therapy to the level of pain in HD patients when insertion of vascular access. This study used Quasy experiment study with Post Control Only Control Group Design, which was conducted on 99 HD patients with total sampling. The results, using  independent t test analysis, showed that there were similar pain levels in each group. There was no difference in the effectiveness of pain levels between HD patients who were given autogenic relaxation with HD patients who were given music therapy when access insertion (p value = 0.896, alpha = 0.05). The average level of pain in the music therapy group is (5.00), autogenic relaxation with an average level of pain (5.27) and the average level of pain in the group combined between autogenic relaxation and music therapy namely (5.06) . Music therapy has a low level of pain compared to autogenic relaxation because during music therapy does not require a large mental effort for the patient to remain in focus. Keywords: Hemodialysis, Pain Level, Autogenic Relaxation, Music therapy

Analysis Financial Kud Sentosa Village Air Terbit District of East Tapung Sub-Province of Kampar

This reseacrh is aimed to analyze the financial KUD Sentosa during last three years that evaluated from monetery ratio of KUD. This research was happened at KUD Sentosa village Air Terbit District Of East Tapung Sub- Province Of Kampar. The method that used was case study in order to see the monetary ratio of KUD Sentosa, The research result shown from monetery ratio by calculating the ratio of liquidity KUD reside in liquid position, ratio indicate that KUD Sentosa is in solvable reside. Active ratio shown that KUD Sentosa still depend from the using of foreign capital, if shown from rentability ratio advantage obtained by KUD is still lower compared with the using of total grand capital

Analisis Investasi dan Pendapatan Daerah Sumatera Utara

This article focused on analyze (1) Effect of the income, interest rates, government expenditure, and inflation to investment in North Sumatera. (2) The influence of investment, government expenditure, inflation, money supply, and tax on the income in North Sumatera. Data used time series of 1982 - 2012. This article use analyzer model equation of simultaneous with method of Two Stage Least Squared (TSLS). The result of research concludes that (1) the income have a significant and positive impact on the investment, interest rates have significant and negatively impact on the investment, government expenditure significantly and positive on the investment, while inflation is not significant and negative effect on the investment in North Sumatera. If income increases, the investment will also increase. If interest rates increases, the investment will decreases, and If government expenditure increases, the investment will increases. (2) the investment have a significant and positive impact on the income, government expenditure is not significant and positive on the income, the money supply have significant and positive impact on the income, and tax have significant and negatively impact on the income in North Sumatera. If investment increases, the income will also increase, if the money supply increase, the income will increase, and then if the tax increase, the income will decreases

Analisis Pertumbuhan Ekonomi, Investasi, dan Inflasi di Indonesia

This article focused on analyze and determine the effect of (1) consumption, investment, government spending, net exports, and inflation to the economic growth in Indonesia. (2) government spending, money supply, interest rates, inflation and economic growth to investment in Indonesia. (3) government spending, money supply, and interest rates on inflation in Indonesia. The form of time series data from the first quarter of years 2000-the fourth quarter of years 2011. This study uses simultaneous equation model analysis tools with Two Stages Least Squared method (TSLS). The result of research concludes that (1) consumption, investment and net exports significantly affect economic growth in Indonesia. With the meaning of the word, when consumption, investment, and net exports increased then it will have an impact on economic growth in Indonesia. However, government spending and inflation does not significantly influence economic growth in Indonesia. (2) Government spending, interest rates, inflation and economic growth a significant effect on investment in Indonesia. This means that the increase in government spending, economic growth, lower interest rates and inflation will cause an increase to investment in Indonesia. However, the money supply has no significant effect on investment. (3) government spending, money supply, and interest rates significantly effect inflation in Indonesia

Analisis Pertumbuhan Ekonomi, dan Indeks Harga Saham Gabungan di Indonesia

This study aims to analyze (1) Influence of investment, inflation and the exchange rate of the economic growth in Indonesia. (2) Effect of exchange rate, money supply, interest rates and economic growth SBI on stock prices in Indonesia. This study uses a simultaneous equation model analysis tools using Indirect Least Squares (ILS). The study concluded that (1) investment and exchange rate jointly significant effect on economic growth in Indonesia, while inflation is not significant and negative effect on economic growth in Indonesia. (2) the exchange rate, money supply, interest rate SBI and economic pertunbuhan significant effect on stock price index in Indonesia. This study only uses five macroeconomic variables, so that further research needs to find other macroeconomic variables that presumably affect the economic growth and stock prices

Comparative analysis of anxiety assessment methods in athletes

Objective: to identify the most effective method for anxiety assessment in athletes. Materials and methods: the selective criteria were formulated and comparative analysis of 9 most commonly used methods of assessing the level of anxiety was made. 79 athletes of combat sports were tested (34 men, 45 women) in the preparative period of training with Lusher's color test and the integrative anxiety test by A.P. Bizyuk, L.I. Wasserman, B.V. Iovlev. Results: among nine methods most frequently mentioned in the literature, Lusher's color test with the calculation of diagnostic coefficients and the integrative anxiety test by A.P. Bizyuk, L.I. Wasserman, B.V. Iovlev were most consistent with the stated criteria. There were significant correlations between the calculated indices of Luscher's color test, which have physiological explanation: the correlation between the vegetative coefficient and the total deviation from the autogenic norm, mental working capacity, situational anxiety, and between total deviation from the autogenic norm and mental performance, sex (increase in the deviation from the autologous norm corresponds to a decrease in mental performance, an increase in the level of anxiety, parasympathetic tone, and need for rest and energy accumulation). The athletes have the low level of situational anxiety and an average level of personal anxiety if compared with average population values. Conclusions: the findings complement the results of other researchers who also confirmed the validity of use of color test and integrative anxiety test in professional sports to identify the threatening breakdown of mental adaptation and psycho-correction work among athletes

The study of the structure of anxiety in athletes

Objective: to study the structure of disorders caused by anxiety in athletes. Materials and methods: the objects of the first task of the research were different terminological definitions and classifications of anxiety disorders. Comparative analysis of the definitions and concepts used in psychology, physiology, sports medicine, theory and methodology of physical education has been carried out. The second task was to determine the leading factors characterizing the psychological status of athletes, and to give them the descriptive characteristics. A factor analysis was conducted on the results of testing 79 athletes of combat sports (34 men, 45 women) using the M Luscher color test and the integrative anxiety test by AP Bizyuk, LI Wasserman, BV Iovlev. Results: Luscher's test scores (total deviation from the autogenous rate, mental performance, vegetative coefficient) explained only 14.5% of the total variance. Simultaneously, the indicator of situational anxiety from Luscher's test was not included in any factor. The informativeness of more detailed integrative anxiety test was significantly higher: its indicators were included in 3 factors, explaining totally 49.5% of the total variance, as well as in the general factor, which explains 33% of the total variance. Conclusions: the emotional component (emotions which cause situational anxiety) contributes largely to the total anxiety level, some smaller contribution accounts for the social components (fear of condemnation, dependence on the opinions of others), finally, the personal anxiety contributes to it even less