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

AFTA and Its Implication to the Export Demand of Indonesian Palm Oil

IndonesianMakalah ini mengkaji dampak Perubahan kebijakan liberalisasi perdagangan (penurunan pajak ekspor dan tarif impor) terhadap permintaan ekspor minyak sawit Indonesia. Kajian ini menggunakan Error Correction Model. Pertama dilakukan simulasi model secara parsial dengan menurunkan pajak ekspor dan tarif impor berturut-turut 10, 30, 50 dan 100 persen. Simulasi berikutnya adalah menurunkan pajak ekspor dan tarif impor secara simultan berturut-turut 10, 30, 50 dan 100 persen. Hasil kajian menunjukkan liberalisasi perdagangan mengakibatkan harga minyak sawit dalam negeri meningkat dan harga pasar dunia menurun. Akibat penurunan pajak ekspor menyebabkan volume ekspor ke India, China, Eropa dan sisa negara dunia meningkat masing-masing 0,38; 3,77; 0,67; dan 4,63 persen. Pengurangan tarif impor menyebabkan volume ekspor ke negara tujuan yang sama meningkat masing-masing 0,25; 2,67; 0,49;, dan 2,96 persen. Sementara penurunan pajak ekspor dan tarif impor secara bersamaan mengakibatkan volume ekspor meningkat masing-masing 0,64; 6,23; 1,11; dan 7,35 persen.EnglishThis paper examines the impacts of trade liberalization policy changes (reduction in export duty and import tariff) on the export demand of the Indonesian palm oil. The study utilised an error correction model. The model is simulated by decreasing the export duty and import tariff individually by 10, 30, 50 and 100 percent. To see the combine effect both in export duty and import tariff were simultaneously reduced by 10, 30, 50, and 100 percent. The findings indicate that trade liberalization due to increase domestic price and reduce in world price. Due to the reduction in export duty, the quantity exported to India, China, Europe, and ROW increased by 0.38, 3.77, 0.67 and 4.63 percent respectively. Reduction on import tariff on the exported-quantity to India, China, Europe, and rest of the world increased by 0.25, 2.67, 0.49, and 2.96 percent respectively. And export duty and import tariff reduction by 10 percent increased export to India, China, Europe, and ROW by 0.64,6.23, 1.12, and 7.35 percent, respectively

Semi-automatic liquid filling system using NodeMCU as an integrated Iot Learning tool

Computer programming and IoT are the key skills required in Industrial Revolution 4.0 (IR4.0). The industry demand is very high and therefore related students in this field should grasp adequate knowledge and skill in college or university prior to employment. However, learning technology related subject without applying it to an actual hardware can pose difficulty to relate the theoretical knowledge to problems in real application. It is proven that learning through hands-on activities is more effective and promotes deeper understanding of the subject matter (He et al. in Integrating Internet of Things (IoT) into STEM undergraduate education: Case study of a modern technology infused courseware for embedded system course. Erie, PA, USA, pp 1–9 (2016)). Thus, to fulfill the learning requirement, an integrated learning tool that combines learning of computer programming and IoT control for an industrial liquid filling system model is developed and tested. The integrated learning tool uses NodeMCU, Blynk app and smartphone to enable the IoT application. The system set-up is pre-designed for semi-automation liquid filling process to enhance hands-on learning experience but can be easily programmed for full automation. Overall, it is a user and cost friendly learning tool that can be developed by academic staff to aid learning of IoT and computer programming in related education levels and field

Adaptive output-based command shaping for sway control of a 3D overhead crane with payload hoisting and wind disturbance

Payload hoisting and wind disturbance during crane operations are among the challenging factors that affect a payload sway and thus, affect the crane's performance. This paper proposes a new online adaptive output-based command shaping (AOCS) technique for an effective payload sway reduction of an overhead crane under the influence of those effects. This technique enhances the previously developed output-based command shaping (OCS) which was effective only for a fixed system and without external disturbances. Unlike the conventional input shaping design technique which requires the system's natural frequency and damping ratio, the proposed technique is designed by using the output signal and thus, an online adaptive algorithm can be formulated. To test the effectiveness of the AOCS, experiments are carried out using a laboratory overhead crane with a payload hoisting in the presence of wind, and with different payloads. The superiority of the method is confirmed by 82% and 29% reductions in the overall sway and the maximum transient sway respectively, when compared to the OCS, and two robust input shapers namely Zero Vibration Derivative-Derivative and Extra-Insensitive shapers. Furthermore, the method demonstrates a uniform crane's performance under all conditions. It is envisaged that the proposed method can be very useful in designing an effective controller for a crane system with an unknown payload and under the influence of external disturbances

Photophysical performance of radio frequency sputtered Pt/n-PSi/ZnO NCs/Pt photovoltaic photodetectors

The effect of the annealing temperature on the photoelectrical properties of the nanoporous silicon/zinc oxide nanocrystallites-based (Pt/n-PSi/ZnO NCs/Pt) photodetector was investigated. Different morphologies of 3D ZnO were synthesized onto the n-PSi substrates via radio frequency (RF) sputtering in the absence of a catalyst. The synthesis of ZnO NCs was controlled by varying the growth temperature between 600–700 °C and 800–900 °C. The effect of the synthesis temperature on the structural, morphological, and optical properties of the n-PSi/ZnO NCs was systematically studied using field emission scanning electron microscopy (FESEM), X-ray diffraction (XRD), atomic force microscopy (AFM), and photoluminescence spectroscopy (PL) techniques. The roughness was found to be dependent on the anodization current density. The optimal n-PSi/ZnO NCs-based metal-semiconductor-metal UV detector (MSM) was fabricated at 700 °C. The fabricated device showed a high sensitivity of 1007.14, an internal photoconductive gain of 11.07, and a responsivity of 5.99 A/W with a low dark current when illuminated with 380 nm light (1.55 mW/cm2) at +5 V bias voltage. In addition, the response and recovery times were determined to be 0.34 and 0.22 s, respectively. This approach offers a cost-effective substrate and simple synthesis method to improve the growth of the n-PSi/ZnO NCs and demonstrates the successful fabrication of nanoscale photodetectors with potential application in nano-optics devices

Patient-derived xenograft (PDX) models in basic and translational breast cancer research

Patient-derived xenograft (PDX) models of a growing spectrum of cancers are rapidly supplanting long-established traditional cell lines as preferred models for conducting basic and translational preclinical research. In breast cancer, to complement the now curated collection of approximately 45 long-established human breast cancer cell lines, a newly formed consortium of academic laboratories, currently from Europe, Australia, and North America, herein summarizes data on over 500 stably transplantable PDX models representing all three clinical subtypes of breast cancer (ER+, HER2+, and "Triple-negative" (TNBC)). Many of these models are well-characterized with respect to genomic, transcriptomic, and proteomic features, metastatic behavior, and treatment response to a variety of standard-of-care and experimental therapeutics. These stably transplantable PDX lines are generally available for dissemination to laboratories conducting translational research, and contact information for each collection is provided. This review summarizes current experiences related to PDX generation across participating groups, efforts to develop data standards for annotation and dissemination of patient clinical information that does not compromise patient privacy, efforts to develop complementary data standards for annotation of PDX characteristics and biology, and progress toward "credentialing" of PDX models as surrogates to represent individual patients for use in preclinical and co-clinical translational research. In addition, this review highlights important unresolved questions, as well as current limitations, that have hampered more efficient generation of PDX lines and more rapid adoption of PDX use in translational breast cancer research

Retrospective evaluation of whole exome and genome mutation calls in 746 cancer samples

Funder: NCI U24CA211006Abstract: The Cancer Genome Atlas (TCGA) and International Cancer Genome Consortium (ICGC) curated consensus somatic mutation calls using whole exome sequencing (WES) and whole genome sequencing (WGS), respectively. Here, as part of the ICGC/TCGA Pan-Cancer Analysis of Whole Genomes (PCAWG) Consortium, which aggregated whole genome sequencing data from 2,658 cancers across 38 tumour types, we compare WES and WGS side-by-side from 746 TCGA samples, finding that ~80% of mutations overlap in covered exonic regions. We estimate that low variant allele fraction (VAF < 15%) and clonal heterogeneity contribute up to 68% of private WGS mutations and 71% of private WES mutations. We observe that ~30% of private WGS mutations trace to mutations identified by a single variant caller in WES consensus efforts. WGS captures both ~50% more variation in exonic regions and un-observed mutations in loci with variable GC-content. Together, our analysis highlights technological divergences between two reproducible somatic variant detection efforts

Stability analysis and vibration control of a class of negative imaginary systems

This paper presents stability analysis and vibration control of a class of negative imaginary systems. A flexible manipulator that moves in a horizontal plane is considered and is modelled using the finite element method. The system with two poles at the origin is shown to possess negative imaginary properties. Subsequently, an integral resonant controller (IRC) which is a strictly negative imaginary controller is designed for the position and vibration control of the system. Using the IRC, the closed-loop system is observed to be internally stable and simuation results show that satisfactory hub angle response is achieved. Furthermore, vibration magnitudes at the resonance modes are suppressed by 48 dB

Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting

This paper presents an output-based command shaping (OCS) technique for an effective payload sway control of a 3D crane with hoisting. A crane is a challenging and time-varying system, as the cable length changes during the operation. The OCS technique is designed based on output signals of an actual system and reference model, does not require the natural frequency and damping ratio of the system, and thus can be utilized to minimize the hoisting effects on the payload sway. The shaper was designed by using the derived non-linear model of a 3D crane. To test the effectiveness of the controller, simulations using a non-linear 3D crane model and experiments on a lab-scale 3D crane were performed and compared with a zero vibration derivative (ZVD) shaper and a ZVD shaper designed using an average travel length (ATL) technique. In both the simulations and the experiments, the OCS technique was shown to be superior in reducing the payload sway with reductions of more than 56% and 33% in both of the transient and residual sways that were achieved when compared with both the ZVD and the ATL shapers, respectively. In addition, the OCS technique provided the fastest time response during the hoisting. It is envisaged that the method can be very useful in reducing the complexity of closed-loop controllers for both tracking and sway control

Association of ADRA2A and MTHFR gene polymorphisms with weight loss following antipsychotic switching to aripiprazole or ziprasidone

ObjectivesVarious genetic polymorphisms have been reported to be associated with antipsychotic-induced weight gain. In this study, we aimed to determine whether risk polymorphisms in 12 candidate genes are associated with reduction in body mass index (BMI) of patients following switching of antipsychotics to aripiprazole or ziprasidone. MethodsWe recruited 115 schizophrenia patients with metabolic abnormalities and who have been on at least 1year treatment with other antipsychotics; they were then switched to either aripiprazole or ziprasidone. They were genotyped, and their BMI monitored for 6months. ResultsSignificant associations with reduction in BMI at 6months following switching were found in two of these genes: with rs1800544 of the ADRA2A gene (CC+CG -0.321.41kg/m(2) vs GG -1.04 +/- 1.63kg/m(2), p=0.013) and with rs1801131 of the MTHFR gene (AA -0.36 +/- 1.53 vs AC+CC -1.07 +/- 1.53, p=0.015). ConclusionThe study data indicated that carriage of the ADRA2A rs1800544 GG genotype and the MTHFR rs1801131 C allele are associated with BMI reduction in this population following switching of antipsychotics to aripiprazole and ziprasidone. Copyright (c) 2013 John Wiley & Sons, Ltd