Designing an Automated Composter for Food Waste Management with the Implementation of Internet of Things

The objective of his paper is build a fully automated composting machine that can help to reduce food waste using a more efficient and environmental friendly method. This machine has its special features of heating, cooling and grinding which is simple and easy to use for every consumer at just one touch of a button. In addition, it uses a special filter to eliminate unpleasant odor to ensure consumer’s space of mind. The process of composting uses node microcontroller (MCU) to run its operation and using Internet of Things (IoT) with a developed mobile application to measure the amount of food waste, current process and its moisture content before turning the waste into high nutrient flakes at around 10% of its original volume. It will also notify the consumer when the whole process is done and the final product is ready to use. The produced flakes are good for nurturing soils, use as fertilizer, and renewable source of energy or animal feed. The benefit is to help reduce handling cost at landfill. Excessive logistical energy is required to send food waste to landfill if applied conventional equipment. This product has a high potential to penetrate the end users who usually cooks at home and also the industrial food manufacturer, whether from medium to large which produces a lot of raw waste. Essentially, this machine can results less food waste been thrown through implementation of IoT and change it to usable fertilizer also helps in pest control

モデル予測制御による車両安定化と横転防止

Let start with a scenario where we are sitting behind the wheel of car, staring at mobile phone, reading a new e-mails message, texting a friend or others activities instead of looking at the road or the car in front. Suddenly, the driver in the car ahead slams on the brakes or we might crash with some avoidance. Rather than becoming a victim of distracted driving, we might feel a gentle deceleration as ours car comes to a stop on its own, easily avoiding a collision, the car starts itself up again as soon as the road is clear. While this is not a realistic portrayal yet, but this future is coming and some of the technology that will make it possible is already present in today‘s cars. The more advanced models and control technologies can warn of obstacles, adjust the distance to a car ahead, and activate the brakes when a distracted driver does not. However, while technology will ultimately protect us from accidents on the road, sometimes it does the opposite. That is because so many people make phone calls, text, manipulate global positioning system units, and fiddle with infotainment systems when they should be concentrating on their driving. Even the most diligent drivers can choose the wrong moment to glance at a navigation screen or distracted by a minor things during the journey. According to the national highway traffic safety administration, driver distraction contributed to almost 20 percent of crashes which injuries to vehicle passenger. As safety continues to take an increasingly important place in the automobile industry, there has been significant research and development in the area of closed loop control of vehicle dynamics. Avoidance control strategy first started with anti-lock braking system (ABS) that prevented loss of steering control due to wheels locking up with hard braking or low friction. Vehicle dynamics control further developed to include traction control: a system that optimally distributes tractive forces and prevents excessive wheel slip. The most recent developments have been in the area of electronic stability control (ESC). As vehicle technology has evolved over the years, ABS and ESC are now becoming standard on most vehicles, not only automobile manufacturers but even governments and regulation bodies have programs dedicated to ensure standards and understand limitations of these systems. For every driver, active-safety systems and automated-driving technologies will provide not only assistance and support but also the valuable gift of time to reach for something in the glove compartment, to turn around and fix a child‘s jacket. As a result, efforts have been made to develop intelligent control strategies and enhancing vehicle control dynamics with test maneuvers to quantify dynamic properties. The first stage of this thesis is focuses on studying standard with emergency maneuvers and developing new strategies to control, evaluate, and rate the performance of modern vehicles equipped with advanced vehicle dynamic control systems. Recent studies have focused on the lateral and yaw dynamics models, neglecting the roll dynamic model. By including the roll dynamics in the system, we can evaluate the effectiveness of controllers, especially under high-speed conditions. For this study, we limit the path-following control of an unmanned ground vehicle and emphasizes that we assume a known trajectory for the lateral position and yaw angle. During evasive maneuvers the tire forces are no longer a linear function of slip angles and the vehicle response is nonlinear and potentially unstable, a condition which the active stability systems are designed to mitigate. Thus, we have proposed model predictive control (MPC) with a feedforward (FF) or proportional integral (PI) controllers to minimize tracking errors in the lateral position and yaw angle. To evaluate the effectiveness of the proposed control method, we compare it with linear quadratic control with a FF/PI controller. The method can be used to benchmark a vehicle regardless of passive or active control. We utilize ABS which focuses on direct yaw control (DYC) which produces the corrective yaw moment by using the rear braking forces between the left and the right side of the rear tire vehicle in order to avoid the interferences between active front steering and DYC. On the other hand, heavy vehicle stability safety systems are currently available from a number of manufacturers of heavy road transport equipment. Advisory systems to warn the driver of impending rollover were developed over a decade ago and have been superseded by technology development. Stability safety technology is claimed to be highly effective in potentially dangerous situations like overestimating curve speed limit (e.g. narrowing curves, highway exits); obstacle avoidance maneuvers with sudden steering input (e.g. steering from the shoulder back onto the road and skidding); and laden semi-trailer in narrow curves on slippery surface (jackknifing on turns). However, when making an emergency or abrupt lane change, especially in the strong wind condition, drivers have not enough time to make the compensation for adjusting the handle and it will be initiate a vehicle to spin, instability, and rollover. Therefore, it is required and urgently to establish a rapid and safety with secure control techniques systems to discover and prevent the yaw motion instability, in doing so will enhance vehicle stability. Therefore, the second stage of this thesis is to take the advantages of the MPC control method that can be used effectively for the constraint and multivariable systems particularly focuses on the directional yaw stability control and rollover prevention of heavy vehicles under the inclement scenario on emergency threat avoidance maneuver. Generally, this thesis contains of two main parts which are: The first study is conducted in order to improve the ground vehicle performance of the autonomous sport utility vehicles with emphasis on path-following control and yaw stability control through proposed integrated control maneuver. The second study of this thesis is improvement of the ground heavy vehicle performance of the single lorry with emphasis on rollover prevention, yaw stability control, and fast safe lane change trajectory control through proposed integrated control maneuver. The enhancement of the MPC control is design through switching technique in order to stabilize the vehicle while preventing the rollover in the emergency threat avoidance scenario.首都大学東京, 2015-09-30, 博士（工学）首都大学東

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

Practical Control for Two-Mass Positioning Systems in Presence of Saturation

 The precision positioning systems generally need a good controller to achieve a fast response, high accuracy and robustness. In addition, ease, simplicity of controller design structure and high motion control performance are very important for practical applications. For satisfying these requirements, nominal characteristic trajectory (NCT) with proportional integral (PI) and notch filter (NF) as a compensator has been proposed as a practical control method for two-mass rotary PTP positioning systems. However, the effect of the actuator saturation cannot be completely compensated due to integrator windup when the object parameter varies. This paper presents a method to further improve nominal characteristic trajectory following (NCTF) controller to overcome the problem of integrator windup by adopting PI anti-windup schemes. The improved NCTF controller is evaluated experimentally using two-mass rotary positioning systems. The effect of the design parameters on the robustness of the improved NCTF with anti-windup integrator controller is evaluated and compared with NCTF without anti-windup integrator and the equivalent PID controller. The results show that the improved NCTF controller is effective to compensate the effect of integrator windup

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

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

Analysis of controllers in suppressing the structural building vibration

Two degree of freedom (2 DOF) mass spring damper system is used in representing as building structure that dealing with the earthquake vibration. The real analytical input is used to the system that taken at El Centro earthquake that occurred in May 1940 with magnitude of 7.1 Mw. Two types of controller are presented in controlling the vibration which are fuzzy logic (FL) and sliding mode controller (SMC). The paper was aimed to improve the performance of building structure towards vibration based on proposed controllers. Fuzzy logic and sliding mode controller are widely known with robustness character. The mathematical model of two degree of freedom mass spring damper wasis derived to obtain the relationship between mass, spring, damper, force and actuator. Fuzzy logic and sliding mode controllers were implemented to 2 DOF system to suppress the earthquake vibration of two storeys building. Matlab/Simulink was used in designing the system and controllers to present the result of two storeys displacement time response and input control voltage for uncontrolled and controlled system. Then the data of earthquake disturbance was taken based on real seismic occurred at El Centro to make it as the force disturbance input to the building structure system. The controllers proposed would minimize the vibration that used in sample earthquake disturbance data. The simulation result was carried out by using Matlab/Simulink. The simulation result showed sliding mode controller was better controller than fuzzy logic. In specific, by using the controller, earthquake vibration can be reduced

Penggunaan Bahasa Ambigu pada Teks Bacaan Lembar Kerja Siswa (LKS) Master Mata Pelajaran Bahasa Indonesia untuk SMP/MTS Kelas VIII

The purpose of this study is to classify the types of ambiguity, describing the causes of ambiguity, and analyze the meaning contained of words, phrases and sentences that are ambiguous. This type of research is descriptive qualitative, with the object of research is LKS Indonesian Master Lesson for SMP/MTs Class VIII. Data collection technique used see and record. Data analysis technique used is grouping data, analyze and conclude. While the validity of the data using a technique intrarater and interater The results obtained show that there are three forms of ambiguity/ambiguity of meaning, namely ambiguity phonetic, grammatical and lexical. Phonetic ambiguity due to the addition of phonemes and the lack of lag when a word is spoken. The intermingling of language sounds resulted obscurity of meaning so that it becomes ambiguous. Grammatical ambiguity at the level of words occur because of lack of accessory words, causing the sentence becomes ambiguous and illogical. While in the third ambiguity lexical ambiguity occurs because of lack context of the sentence. Keywords: ambiguity, text reading worksheets