Experimental investigation of feedforward control schemes of a flexible robot manipulator system

This paper presents experimental investigations into the applications of feedforward control schemes for vibration control of a flexible manipulator system. Feedforward control schemes based on input shaping and filtering techniques are to be examined. A constrained planar single-link flexible manipulator is considered in this experimental work. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers and filtering techniques are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction and time response specifications. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the control strategies is presented and discusse

Robust vehicle suspension system by converting active and passive control of a vehicle to semi-active control ystem analytically

This research article deals with a simplified translational model of an automotive suspension system which is constructed by considering the translation motion of one wheel of a car. Passive Vehicle Suspension System is converted into Semi Active Vehicle System. Major advantage achieved by this system is that it adjusts the damping of the suspension system without the application of any actuator by using MATLAB® simulations. The semi-active control is found to control the vibration of suspension system very well

Density Controlled Divide-and-Rule Scheme for Energy Efficient Routing in Wireless Sensor Networks

Cluster based routing technique is most popular routing technique in Wireless Sensor Networks (WSNs). Due to varying need of WSN applications efficient energy utilization in routing protocols is still a potential area of research. In this research work we introduced a new energy efficient cluster based routing technique. In this technique we tried to overcome the problem of coverage hole and energy hole. In our technique we controlled these problems by introducing density controlled uniform distribution of nodes and fixing optimum number of Cluster Heads (CHs) in each round. Finally we verified our technique by experimental results of MATLAB simulations.Comment: 26th IEEE Canadian Conference on Electrical and Computer Engineering (CCECE2013), Regina, Saskatchewan, Canada, 201

The Impact of Supervisory Inputs on Postgraduate Students

Pengawasan telah menjadi isu utama dalam studi di sekolah pascasarjana. Pengawasan dapat didefinisikan sebagai hubungan orang per orang secara intensif dan interpersonal. Pengawas dirancang untuk dapat memfasilitasi perkembangan akademik mahasiswa baik terkait dengan tugas maupun penelitian mereka. Paper ini menunjukkan betapa kompleksnya bidang pengawasan terhadap mahasiswa, yang dipengaruhi oleh banyak faktor, di antaranya latar belakang sosial, kepribadian pengawas dan mahasiswa, hubungan yang berkembang di antara mereka, keahlian pengawas, dan masalah-masalah yang dihadapi oleh para mahasiswa. Paper ini mendiskusikan pentingnya input-input kepengawasan dalam proses pengawasan, dan juga meneropong hakikat interaksi sosial antara pengawas dengan mahasiswa. Sasaran yang dituju dalam paper ini adalah untuk mengembangkan pengawasan yang efektif terhadap mahasiswa sekolah pascasarjana guna menghasilkan modal sumber daya manusia yang unggul. Kata kunci : pengawasan, mahasiswa pascasarjana, input kepengawasan, dan pengawasan efekti

Effect of equivalent salt deposit density on flashover voltage of contaminated insulator energized by HVDC

In Malaysia, the demand for electric power is increasing day by day due to more consumption of power in the industrial sector. Recently, the high voltage DC transmission lines are under construction near the coastal environments for transmitting the power to the all states of Malaysia. Therefore, there is a concern about the reliability of these systems especially under adverse environmental conditions due to sea salt spray contamination. This reliability of this contaminated insulator can be improved through its performance studies. For this performance study, an analytical expression between flashover voltage and ESDD of the contaminated insulator has been proposed using Dimensional Analysis technique. The results obtained from the analytical expression are compared with the experimental results and in close agreement are foun

Radicalizing Indonesian Moderate Islam From Within: the Nu-fpi Relationship in Bangkalan, Madura

This article tries to present the most current phenomenon of how moderate Islam can live side by side with radical Islam. By focusing its analysis on the dynamics of political life in Bangkalan, Madura, the paper argues that the encounter between these two different ideological streams is possible under particular circumstances. First, there is a specific political situation where the moderate Islam is able to control the political posts. Second, there is a forum where they can articulate Islamic ideas in terms of classical and modern political movements. This study has also found out that the binary perspective applied in the analysis of Islamic movement is not always relevant. The fact, as in the case of Bangkalan, is far more complex, in which NU and Islamic Defender Front (FPI) can merge. This is so because at the beginning, FPI's management in the city is led by kyais or/and prominent local NU leaders