Robust Input Shaping for Sway Control of an Overhead 3D Crane

This paper presents a robust input shaping control of an overhead 3D crane. Control of a crane in the presence of wind disturbance during payload hoisting is extremely challenging, as hoisting with wind disturbance causes high unwanted payload sway, which makes payload positioning difficult to achieve. Two robust input shaping techniques are presented, the zero vibration derivative-derivative (ZVDD) and extra insensitive (EI) shapers. Simulations using a nonlinear 3D overhead crane model were performed and the performances of the two robust input shapers are compared. In these investigations a wind disturbance force of magnitude 0.3 N is considered for the robustness test, in addition different payload mass were tested. It is predicted that the method can be very useful in reducing the complexity of closed-loop controllers for both tracking and sway control

CLIL approach in encouraging self-efficacy amongst Malaysian gifted students for Arabic tasks accomplishment

CLIL approach refers to Content and Language Integrated Learning. This paper discusses the self-efficacy of Malaysian Gifted Students (MGS) at GENIUS@Pintar Negara in understanding Arabic tasks in the classroom, for example, understanding the Arabic terms in the lesson of Haji. These terms are; a) dam tertib and takdir, b) dam tertib and ta’dil, c) dam takhyir and takdir, d) dam takhyir and ta’dil. Besides, by employing the CLIL, the MGS can improve themselves because the CLIL approach encourages their self-efficacy to completely deal with the language task. The present study employs; qualitative study by using an interview, verbal report, and observation. This method is an instrument to answer two research questions. a) How the individual of MGS adapts his/ her situation to understand the four Arabic terms of the dam in Haji after undergo the three principles stages of classroom task in CLIL? b) What is the best method to memorize the four Arabic terms of the dam in Haji? In this study, three participants took part in the pilot study, and seven participants took part in the actual study. The present study revealed that the MGS in the Pusat GENIUS@Pintar Negara prefer to be independent learners by using the internet to understand the four Arabic terms and memorize by using keywords related to the four Arabic terms in performing Haji

Variation of Car Cabin Temperature Influenced by Ventilation under Direct Sun Exposure

In the past few years many fatalities have been reported as the result of internal car heat. Problems arise when the temperature in a car cabin is too hot when parked under direct sunlight. The trapped and accumulated heat causes the temperature inside a car to reach up to 36ºC and even up to 50ºC. The objectives of this paper are to study and analyze the behavior of car cabin temperature influenced by ventilation under direct sun exposure. The performance of the proposed mathematical modelling was compared to data collected in real time from the car cabin. The simulation model was used to study the behavior of cabin temperature by investigating the ventilation mass flow rate as its parameter. An experimental result was obtained from measurements on a salon car parked in the direct sun. It is hoped that this study will be able to provide beneficial information for car interior design and material selection in order to improve comfort levels in cars

Production of methyl esters from waste cooking oil and chicken fat oil via simultaneous esterification and transesterification using acid catalyst

Low cost and environment friendly sulfonated carbon catalyst was prepared from glycerol and concentrated sulfuric acid via in situ carbonization and sulfonation. The physico-chemical properties of catalyst were determined using various techniques. The textural properties of glycerol derived sulfonated carbon catalyst (SCG) revealed amorphous structure with low surface area and pore volume. The total acid density of catalyst is found to be 35117.14 μmol/g. SCG catalyst showed remarkable catalytic performances for simultaneous esterification and transesterification using waste cooking oil (WCO) and chicken fat oil (CFO). By using WCO, the highest FAME yield achieved was 92.3% at an optimum conditions of 5 wt% catalyst loading with 22:1 methanol to WCO molar ratio and 100 °C reaction temperature for 3 h. The SCG catalyst also maintained FAME yield >90% for two consecutive cycle for reusability. Meanwhile, using CFO, the highest FAME yield obtained was 90.8% at an optimised condition of 5 wt% catalyst loading with 18:1 methanol to CFO molar ratio and 70 °C reaction temperature for 1 h. The quality assessment of WCO methyl ester met both international standards (EN14214 and ASTM D675). The amount of sulfur in biodiesel is lower than the maximum limit of ASTM D6751

Rapid detection of Ganoderma-infected oil palms by microwave ergosterol extraction with HPLC and TLC

Detection of basal stem rot (BSR) by Ganoderma of oil palms was based on foliar symptoms and production of basidiomata. Enzyme-Linked Immunosorbent Assays-Polyclonal Antibody (ELISA-PAB) and PCR have been proposed as early detection methods for the disease. These techniques are complex, time consuming and have accuracy limitations. An ergosterol method was developed which correlated well with the degree of infection in oil palms, including samples growing in plantations. However, the method was capable of being optimised. This current study was designed to develop a simpler, more rapid and efficient ergosterol method with utility in the field that involved the use of microwave extraction. The optimised procedure involved extracting a small amount of Ganoderma, or Ganoderma-infected oil palm suspended in low volumes of solvent followed by irradiation in a conventional microwave oven at 70 °C and medium high power for 30 s, resulting in simultaneous extraction and saponification. Ergosterol was detected by thin layer chromatography (TLC) and quantified using high performance liquid chromatography with diode array detection. The TLC method was novel and provided a simple, inexpensive method with utility in the field. The new method was particularly effective at extracting high yields of ergosterol from infected oil palm and enables rapid analysis of field samples on site, allowing infected oil palms to be treated or culled very rapidly. Some limitations of the method are discussed herein. The procedures lend themselves to controlling the disease more effectively and allowing more effective use of land currently employed to grow oil palms, thereby reducing pressure to develop new plantations.This project was supported by the Fundamental Research Grant Scheme (FRGS), administered through the Ministry of Higher Education, Malaysia (Grant No: 5524175)

Mutational processes molding the genomes of 21 breast cancers

All cancers carry somatic mutations. The patterns of mutation in cancer genomes reflect the DNA damage and repair processes to which cancer cells and their precursors have been exposed. To explore these mechanisms further, we generated catalogs of somatic mutation from 21 breast cancers and applied mathematical methods to extract mutational signatures of the underlying processes. Multiple distinct single- and double-nucleotide substitution signatures were discernible. Cancers with BRCA1 or BRCA2 mutations exhibited a characteristic combination of substitution mutation signatures and a distinctive profile of deletions. Complex relationships between somatic mutation prevalence and transcription were detected. A remarkable phenomenon of localized hypermutation, termed "kataegis," was observed. Regions of kataegis differed between cancers but usually colocalized with somatic rearrangements. Base substitutions in these regions were almost exclusively of cytosine at TpC dinucleotides. The mechanisms underlying most of these mutational signatures are unknown. However, a role for the APOBEC family of cytidine deaminases is proposed

Analysis And Classification Of Heart Sounds And Murmurs Based On The Instantaneous Energy And Frequency Estimations

This paper proposes the use of the instantaneous energy and the frequency estimation in the classification of the heart sounds and murmurs for common heart diseases. It has been known that the present of the heart murmurs in one's heart sound indicates that there is a potential heart problem. Thus, the goal of this work is to develop a technique for detecting and classifying murmurs. Such a technique can be used as part of a heart diagnostic system. The analysis is performed based on a set of 102 data for various heart sounds. To discriminate the various heart sounds, the instantaneous energy and frequency estimation is used to estimate the features of heart sound. The techniques used to estimate the instantaneous frequency are the central finite difference frequency estimation (CFDFE) and zero crossing frequency estimation (ZCFE). From the instantaneous energy and frequency estimate, the energy and frequencies of the heart sounds are defined as the features of the heart sounds that can uniquely discriminate the various heart sound

RAWA BUATAN DALAM PELESTARIAN SUMBER DAYA AIR DITINJAU DARI ETIKA LINGKUNGAN EKOSENTRISME (Studi Kasus pada Perairan Bekas Galian Pertambangan Sambarata PT. Berau Coal, Kalimantan Timur)

Water pollution is a kind of environmental damage. Water pollution occurred in developing countries and developed countries. Efforts to the preservation of water resources conducted by the government but could not reach out to all levels of society, because there are still many facilities are more important as transportation, food security and the security system. This research see ecocentrism in view of the artificial marshes as the conservation of water resources as well as highlight equality the purpose of marsh artificially with the principle proposed eco-centrism about morality against the universe, so the proposed environmental ethics principles that have to be met in the implementation of the artificial marshes on sustainable preservation of water resources planning. This research is a library research. Research analysis is an analysis of the approach a concept, the first phase is the interpretation and categorization, the second phase is data classification, the third phase is the analysis of synthesis, and the fourth phase is a critical evaluation, by using element methodical as description, verstehen, interpretation, hermeneutics and heuristics. The result shown artificial marshes is an effort to the preservation of water resources that imitates the performance of natural marsh in cleaning water polluted. Artificial marshes serve as anchoring or supporting the polluted water before entering the waterways. The artificial marshes implemented to minimize the financial expenditures of the country with maximum results. Ecocentrism ethics is a teaching pay attention to the overall ecosystem of morality. Human beings have a duty to manage and preserve nature, and man is forbidden to do the exploitation of natural. Views eco-centrism seen in the preservation of water resources as an effort to protecting and preserving natural. Human being is a part of the universe and human beings are obliged to perform the management and the preservation of the guard, so, preservation artificial marshes can be used as planning for preserving the sustainable water resources

STEP-NC Controller ̶ Testing and Commissioning for Open Architecture Control System

The aim of this research paper is to present testing and commissioning work for STEP-NC controller as an open architecture control system. ISO 14649 (STEP-NC) and IEC 61499, as the key enabling data models and tools, are used to form an interoperable and adaptable platform consisting of various devices and resources. Tools such as ST-Developer, EXPRESS Java Compiler, Java and Function Block Development Kit were utilized. This study also covered the Data Input Model Module, STEP/FB Translator Module, Tool Path Generator Module and Adaptor FB Controller Module. The first two modules encompass STEP-NC data input and interpretation, considering information such as manufacturing strategies for milling features. The third and fourth modules are responsible for generating and executing tool-path