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

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)

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

Cloning and characterization of the 5S rRNA genes from Eimeria spp. (Pengklonan dan pencirian gen 5S rRNA daripada Eimeria spp.)

Abstract Poultry coccidiosis is an economically important disease worldwide. It is caused by intracellular protozoan parasites of the genus Eimeria (phylum Apicomplexa). Traditional methods of relying on disease pathology or oocyst morphology have limitations particularly in detecting minor contaminating populations of Eimeria in chicken. Therefore, a DNA-based test using ribosomal RNA (rRNA) was chosen to identify a molecular marker to enable faster and more sensitive identification of a particular species. The 5S rRNA gene was chosen because of its high degree of conservation, ubiquity and the relative ease with which it can be cloned. The 5S rRNA genes from Eimeria spp. were amplified by the polymerase chain reaction (PCR) using purified DNAs of the sporozoites. TA Cloning method was used to clone the PCR products (600-900 bp) into plasmid vector pCR 2.1 (3.9 kb) and transformed into Escherichia coli strain TOP10F'. Recombinant plasmids with size of 4.6 -4.8 kb were found. Clones containing the inserts of the appropriate size were sequenced by automated sequencing whereby M13 forward and reverse primers were used. The 5S rRNA genes from the seven Eimeria species were successfully sequenced. The sequences obtained were then sent to the Basic Local Alignment Search Tool (BLAST) program and results showed that all sequences were identical to the 5S rRNA gene from other organism. Sequences of 726, 738, 697, 673, 732 and 931 bp were each shown by E. tenella, E. acervulina, E. praecox, E. maxima, E. brunetti and E. necatrix whilst E. mitis has two sequences of 710 and 592 bp. For each species, at least 2 clones of PCR-generated fragments were sequenced. The results indicated that the presence of unique amplified DNA segments could be exploited as molecular markers to identify Eimeria species of the chicken

onospheric Effects on GPS Signal in Low-Latitude Region : A Case Study Review of South East Asia and Africa

The ionosphere is a significant source of errors affecting L- fecting L-Band (1 Band (1 Band (1-2 GHz) signal propagation using Global Position 2 GHz) signal propagation using Global Position System (GPS). The propagated GPS signals that passes through the Earth’s atmosphere where affected by ionosphere ionosphere and troposphere irregularities and caused the signal propagation delay. However, the velocity of signals that propagate within the atmosphere deviates from vacuum line of sight (LOS), while the refractivity of ionosphere and troposphere influence the signal propagation delay troposphere influence the signal propagation delay causing atmospheric effect causing atmospheric effects due to high electrons d s due to high electrons density. Both ensity. Both affect the signal in different ways due to their particular refractive properties. The review focuses of some of the previous research studies conducted on empirical mo previous research studies conducted on empirical modeling of the ionospheric effect in low latitude deling of the ionospheric effect in low latitude region. The gion. The tabulated findings of such models presented in this article. article

International Nosocomial Infection Control Consortium report, data summary of 50 countries for 2010-2015: Device-associated module

•We report INICC device-associated module data of 50 countries from 2010-2015.•We collected prospective data from 861,284 patients in 703 ICUs for 3,506,562 days.•DA-HAI rates and bacterial resistance were higher in the INICC ICUs than in CDC-NHSN's.•Device utilization ratio in the INICC ICUs was similar to CDC-NHSN's. Background: We report the results of International Nosocomial Infection Control Consortium (INICC) surveillance study from January 2010-December 2015 in 703 intensive care units (ICUs) in Latin America, Europe, Eastern Mediterranean, Southeast Asia, and Western Pacific. Methods: During the 6-year study period, using Centers for Disease Control and Prevention National Healthcare Safety Network (CDC-NHSN) definitions for device-associated health care-associated infection (DA-HAI), we collected prospective data from 861,284 patients hospitalized in INICC hospital ICUs for an aggregate of 3,506,562 days. Results: Although device use in INICC ICUs was similar to that reported from CDC-NHSN ICUs, DA-HAI rates were higher in the INICC ICUs: in the INICC medical-surgical ICUs, the pooled rate of central line-associated bloodstream infection, 4.1 per 1,000 central line-days, was nearly 5-fold higher than the 0.8 per 1,000 central line-days reported from comparable US ICUs, the overall rate of ventilator-associated pneumonia was also higher, 13.1 versus 0.9 per 1,000 ventilator-days, as was the rate of catheter-associated urinary tract infection, 5.07 versus 1.7 per 1,000 catheter-days. From blood cultures samples, frequencies of resistance of Pseudomonas isolates to amikacin (29.87% vs 10%) and to imipenem (44.3% vs 26.1%), and of Klebsiella pneumoniae isolates to ceftazidime (73.2% vs 28.8%) and to imipenem (43.27% vs 12.8%) were also higher in the INICC ICUs compared with CDC-NHSN ICUs. Conclusions: Although DA-HAIs in INICC ICU patients continue to be higher than the rates reported in CDC-NSHN ICUs representing the developed world, we have observed a significant trend toward the reduction of DA-HAI rates in INICC ICUs as shown in each international report. It is INICC's main goal to continue facilitating education, training, and basic and cost-effective tools and resources, such as standardized forms and an online platform, to tackle this problem effectively and systematically