Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect

We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect

Pengembangan Materi Self Control Siswa Kelas XI Akutansi 2 Smk Muhammadiyah 2 Pekanbaru T.p. 2015/2016

One of the efforts made in creating a better self control and positif. By increasing the self control to not be involved in matters bad affecting and self harm so as todevelop themselves optimally with positive things. The Refore, researchers found it necessary to develop amaterial about the motivation of the organization which is expected to be used bythe teacher's guidance and counselling to be given to their students. This material was compiled using the method of research and development (R&D). The purpose of thisresearch is 1) Compile the material to the appropriate self control for students of class XI Accounting 2 SMK Muhammadiyah 2 Pekanbaru. 2) To find out the quality of the self control material produced. This material is validated by the supervising lecturer I, supervising lecturer II, teacher of guidance and counseling in the school and 42 Students class XIAccounting 2 SMK Muhammadiyah 2 pekanbaru. This materials are gived to the students with the allocation 4 times (4 x 45 '). This material consists of the meaning of self control, the purpose of self control, types of self control, function of self control, factors that affect the self control, strategy of self control and the benefits of exercise self control for thestudents. Research results from the development of this material shows the quality of the material produced is in the category of "Very Good", with the acquisition of score foroverall assessment of aspects of 4,42

Micromachinable ultrasonic leaky wave air transducers

Cataloged from PDF version of article.Ultrasonic air transducers using leaky waves on thin membranes are analyzed using perturbation and normal mode approaches. The transducers utilize the efficient coupling of ultrasonic energy to air through radiation of these leaky wave modes when their phase velocity is close to the sound speed in air. Theoretical results on optimum transducer dimensions and bandwidth estimation show that a minimum conversion loss of 8.7 dB with a 78% fractional bandwidth is possible. Common micromachining materials are shown to be suitable transducer materials and result in feasible devices. This is demonstrated by fabricating a 580 kHz transducer using a silicon membrane bonded to a ring of PZT-5H. With this configuration the transducer is self line focusing. Results of through transmission experiments on silicon and transmission images on paper are reported. © 1998 American Institute of Physic

Stability in Time-Delay Systems: Quiet Standing Case Study

The analysis of linear time-delay systems has attracted much interest in the literature over last five decade. Two types of stability conditions, namely delay-independent which results guarantee stability for arbitrarily large delays and delay-dependent, results take into account the maximum delay that can be tolerated by the system and, thus, are more useful in applications. The stability in general for linear time-delay systems, can be checked exactly only by eigenvalue considerations. When reasonable chosen with intentional delays, case study effects on time-delay of ankle torque on the stability of quiet standing, it can be used to stabilize and improve the close-loop response of these systems

Peranan Direktorat Reserse Kriminal Khusus Kepolisian Daerah Riau dalam Penegakan Hukum terhadap Pasal 17 Ayat (2) Huruf B Undang-undang Nomor 18 Tahun 2013 Tentang Pencegahan dan Pemberantasan Perusakan Hutan

Indonesia is a rich country. Riau Province is one of the areas that have natural resources and non-biological abundant, and the forest is one of the riches contained in it. The extent of forest area in the province is directly proportional to the number of forestry crime happened. One of the criminal act occurred, ie forestry plantation activities without permission minister in forest areas under Article 17 Paragraph (2) Letter B Act No. 18 of 2013 concerning the Prevention and Combating Deforestation and criminal sanctions provided for in Article 92 Paragraph (1). Throughout 2014 there has been a 5 cases of this criminal act. Ditreskrimsus Police in Riau as one of the law enforcement agency should be able to run perananya properly and optimally so as to suppress and reduce the occurrence of such crime. The purpose of this thesis are: First, What is the role Ditreskrimsus Riau Regional Police in enforcement of Article 17 Paragraph (2) Letter b Law No. 18 Year 2013. Secondly, Is Ditreskrimsus barriers Riau Regional Police in enforcement of Article 17 Paragraph (2) Letter b Law No. 18 Year 2013. Third, How are Ditreskrimsus Police in Riau in overcoming barriers to enforcement of Article 17 Paragraph (2) Letter b Law No. 18 Year 2013 concerning the Prevention and Eradication of forest destruction.The research results can be concluded first, Role conducted by Ditreskrimsus Riau Regional Police in law enforcement against criminal acts plantation activities without permission minister in the forest in Riau Province is by taking action preemptive, preventive, and repressive. Second, obstacles encountered in implementing the law enforcement include: financial barriers (financial), lack of facilities and infrastructure barriers, lack of human resources law enforcement officials, community barriers and factors territory. Third, efforts made by Ditreskrimsus Police in Riau to overcome obstacles in law enforcement is to propose the addition of operating costs, cooperation and coordination with other relevant agencies, improve the delivery of public education about the forest and the applicable law and to reform internally

Pengaruh Layanan Bimbingan Kelompok Terhadap Peningkatan Emotional Spiritual Quotient Siswa Kelas XI Akuntansi Smk Muhammadiyah 2 Pekanbaru T.a 2014/2015

This study aims to determine the effect of guidance group to increase emotional spiritual quotient students of class XI SMK Muhammadiyah 2Pekanbaru TP 2014/2015. This research was conducted in SMK Muhammadiyah 2Pekanbaru from March 2015 until June 2015. The method used was experimental method to pattern one-group pretest-posttest. Population is student of class XI accounting 1 and XI accounting 2 having problems about emotional and spiritual quotient, 59 of the population taken 30 students used as research subjects (random sampling) data collection instrument used was a questionnaire using Likert scale. Data analysis technique used is the statistical correlation techniques. Based on the hypothesis test results turned out a significant influence on the improvement of guidance group to increase emotional spiritual quotient by 35%

High speed numerical integration algorithm using FPGA

Conventionally, numerical integration  algorithm is executed in software and time consuming to accomplish. Field Programmable Gate Arrays (FPGAs) can be used as a much faster, very efficient and reliable alternative to implement the numerical integration algorithm. This paper proposed a hardware implementation of four numerical integration algorithms using FPGA. The computation is based on Left Riemann Sum (LRS), Right Riemann Sum (RRS), Middle Riemann Sum (MRS) and Trapezoidal Sum (TS) algorithms. The system performance is evaluated based on target chip Altera Cyclone IV FPGA in the metrics of resources utilization, clock latency, execution time, power consumption and computational error compared to the other algorithms. The result also shows execution time of the FPGA are much faster compared to the software implementation.Keywords: numerical integration algorithm; FPGA; Riemann sum; trapezoidal su

Reconfigurable multi-legs robot for pipe inspection: Design and gait movement

1132-1144This paper focuses on studies on reconfigurable multi-legs robotic system. The aim of this paper is to identify and acquire findings on how multi-legs robot can walk, climb vertical pipe and walk along the horizontal pipe after climbing. Three degrees of freedom (3DOF) multi-legs robot is designed and built to replace human involvement either at hazardous pipeline or to check on vertical and horizontal pipes. The robot system is tested to climb the vertical pipe and then move along horizontal pipe for inspection or other purposes. This can reduce the cost and percentage of human risk exposure during inspection on outer pipe. This multi-legs robot has more movement gaits compared to wheeled robot, but in terms of speed, wheeled robot possesses greater advantages. Therefore, this system design has combination of both wheel and multiple legs ensure that the to system has higher stability, more gait movement, and higher speed manoeuvrability. The gaits analysis for the system movement includes angle of the legs to move and selection of certain legs to perform a given operation, either walking, climbing or hanging. The target result is the system able to climb 500 mm height with 85 mm radius pipe. The potential applications for the system are: (i) to move along either on surface or underwater pipe and (ii) to be equipped with ultrasonic sensor to inspect the pipe.</em

Comprehensive review on controller for leader-follower robotic system

985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies

Learning to trust: trust and attachment in early psychosis

Background Distrust and social dysfunction are characteristic in psychosis and may arise from attachment insecurity, which is elevated in the disorder. The relationship between trust and attachment in the early stages of psychosis is unknown, yet could help to understand interpersonal difficulties and disease progression. This study aimed to investigate whether trust is reduced in patients with early psychosis and whether this is accounted for by attachment avoidance and attachment anxiety. Method We used two trust games with a cooperative and unfair partner in a sample of 39 adolescents with early psychosis and 100 healthy controls. Results Patients had higher levels of attachment anxiety, but the groups did not differ in attachment avoidance. Basic trust was lower in patients than controls, as indicated by lower initial investments. During cooperation patients increased their trust towards levels of controls, i.e. they were able to learn and to override initial suspiciousness. Patients decreased their trust less than controls during unfair interactions. Anxious attachment was associated with higher basic trust and higher trust during unfair interactions and predicted trust independent of group status. Discussion Patients showed decreased basic trust but were able to learn from the trustworthy behaviour of their counterpart. Worries about the acceptance by others and low self-esteem are associated with psychosis and attachment anxiety and may explain behaviour that is focused on conciliation, rather than self-protection