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

Peran Hukum Pidana dalam Menanggulangi Tindak Pidana Perjudian Sabung Ayam pada Masa yang Akan Datang melalui Pendekatan Non Penal

Perjudian merupakan fenomena sosial yang dapat ditemukan di belahan dunia manapun. Khusus di Indonesia, salah satu bentuk perjudian yang ada di beberapa wilayah adalah sabung ayam. Banyak efek negatif perjudian khususnya perjudian sabung ayam, tetapi upaya penanggulangannya sering tidak mendapat dukungan dari sebagian anggota masyarakat. Banyak kalangan berdalih bahwa perjudian sabung ayam berkaitan dengan budaya setempat, adat kebiasaan, dan sebagainya. Artikel ini mencoba untuk menganalisis faktor-faktor yang menyebabkan tumbuh suburnya perjudian sabung ayam. Selain itu, tulisan ini bertujuan untuk menganalisis upaya yang dilakukan pemerintah dalam hal penanggulangan tindak pidana perjudian sabung ayam. Dari hasil penelitian dinyatakan bahwa perjudian sabung ayam seringkali disamarkan dengan pelaksanaan upacara adat tabuh rah dimana pelaku termotivasi untuk memperoleh keuntungan sebesar-besarnya bagi kesejahteraannya. Sebagai bentuk upaya penanggulangan tindak pidana perjudian sabung ayam, dapat dilakukan melalui 2 (dua) tahap, yaitu upaya penal maupun non penal. Upaya non penal dimaksud antara lain: peningkatan kesejahteraan masyarakat, penanaman nilai-nilai pendidikan dan pemahaman agama, peningkatan kesadaran akan kepatuhan hukum bagi masyarakat, serta peningkatan peran lembaga adat dan lembaga agama

A systematic literature review on safe health information technology use behaviour

The implementation of health information technology (IT) is one of the strategy to improve patient safety due to medical errors. Nevertheless, inappropriate use of health IT may have serious consequences to the quality of care and patient safety. Most of the previous studies have been focused on the sociotechnical factors contributed to health IT related errors. Little focus has been given on the use behavior that influence the safety of health IT adoption. In order to address this gap, this study investigates the use behavior that influence the safety of health IT adoption. Systematic literature review was conducted to identify articles pertinent to safety of health IT. Science Direct, Medline, EMBASE, and CINAHL database were searched for reviews relevance articles. A total of 23 full articles were reviewed to extract use behavior that influence the safety of health IT adoption. Workarounds, adhere to procedure, vigilant action, and copy and paste behavior were discerned as the significance use behavior that influence health IT safety adoption. This study may be of significance in providing useful information on how to safely practice health IT adoption

Focused Ion Beam Milling and Deposition of Tungsten Contacts on Exfoliated Graphene for Electronic Device Applications

We demonstrate a rapid-prototyping method for the fabrication of electrical structures from exfoliated graphene using focused ion beam (FIB) assisted deposition of tungsten and milling. Alignment accuracies of less than 250 nm are achieved without imaging of the graphene using the FIB beam. Parameters for the FIB assisted deposition on graphene have to be controlled exactly to avoid damage to the underlying graphene. Measured channel resistance of 58 k? shows a good electrical contact between deposited tungsten and graphene

Effects of Metolachlor, Oxyfluorfen and Picloram on Cellulose Decomposition in a Peat Soil under Laboratory Conditions

The effects of the three herbicides, metolachlor, picloram and oxyfluorfen on cellulose decomposition were studied in a peat soil in laboratory experiments. The herbicides were either sprayed on to cellulose substrate before burial or incorporated directly into the soil. The herbicides applied directly to the substrates before burial reduced the decomposition of the substrate more than those applied to the soil. Pre-incubation of the treated soil for 4 weeks before burial slightly increased the decomposition rate after 6 or 12 weeks of incubation

Sneutrino Dark Matter: Symmetry Protection and Cosmic Ray Anomalies

We present an R-parity conserving model of sneutrino dark matter within a Higgs-philic U(1)' extension of the minimal supersymmetric standard model. In this theory, the mu parameter and light Dirac neutrino masses are generated naturally upon the breaking of the U(1)' gauge symmetry. The leptonic and hadronic decays of sneutrinos in this model, taken to be the lightest and next-to-lightest superpartners, allow for a natural fit to the recent results reported by the PAMELA experiment.Comment: Revised to match the published version; 11 pages (2 column format), 1 table, 6 figures, to appear in PR

Peranan Indonesia dalam Penanganan Irregular Migration dalam Kerangka Bali Process

Penelitian ini bertujuan untuk mengetahui dan menjelaskan peran Indonesia dalam penanganan irregular migration sebagai bentuk implementasi Bali Process dan untuk mengetahui tantangan Indonesia dalam pengimplementasian Kerangka Bali Process dalam menangani irregular migration. Untuk mencapai tujuan tersebut, maka metode penelitian yang penulis gunakan adalah tipedeskriptif-analitik. Teknik pengumpulan data yang penulis gunakan adalah studi pustaka. Penulis menganalisis data menggunakan teknik analisis kualitatif yang didukung oleh data kuantitatif dan untuk pembahasan masalah, penulis menggunakan teknik penulisan deduktif. Hasil penelitian ini menunjukkan bahwa Indonesia berperan sangat aktif dalam upaya mengimplementasikan Kerangka Kerjasama Bali Process(RCF). Hal ini dapat dilihat dari konsistensi Indonesia sebagai co-chairsBali Process dan dalam menjalankan rencana kerjadari RCF. Adapun tantangan yang dihadapi Indonesia dalammengimplementasikan RCF untuk menangani irregular migration. Pertama, prinsip burden-sharing dan tanggungjawab bersama masih belum sepenuhnya dijalankan oleh negara-negara lain, kedua, proses penentuan status pengungsi dan penempatan ke negara ketiga di Indonesia memakan waktu yang sangat lama. Ketiga, minimnya koordinasi antar negara dalam tindak darurat untuk para imigran

Weed Populations and their buried seeds in rice fields of the Muda Area, Kedah, Malaysia

Twenty weed species belonging to 15 families were found in rice fields near Kampung Tandop, in the Muda Irrigation Scheme, Kedah, Malaysia. The dominant weeds in dry-seeded rice were Utriculatia aurea Lour., Fimbristylis miliacea (L.) Vahl., Echinochloa cruss-galli (L.) Beauv., Monochoria vaginalis (Burm. f) Presl and Najas graminea (Del.) Ridl.. In the wet-seedled rice, the dominant species were N. graminea, Lemna minor L, Sphenoclea zeylanica Gaertn., U. aurea, and Sagiuaria guayanensis H.B.K. while in volunteer seedling rice fields, the dominant species were Echinochloa colollllm (L.) Link., Fimbristylis alboviridis C.B. Clarke, F. miliacca, Cyperus babakan Steud. and Fuirena umbellata Rottb.. Dry-seeded rice fields contained the highest number of weed seeds (930,910/m2. in the top 15 inch of soil); volunteer seedling rice fields contained 793, 162/m2 and wet-seeded rice fields 712,228/m2. In general, seed number declined with increasing soil depth. At 10-15 cm depth, seed of U. aurea and S. zeylanica were tile most abundant in dry- and wet-seeded rice fields, whilst seeds of Scirpus juncoides Roxb. and F. miliacea were most abundant in volunteer seedling fields

Development of sustainable biodegradable lignocellulosic hemp fiber/polycaprolactone biocomposites for light weight applications

Biocomposites with poly(ε-caprolactone) (PCL) as matrix and lignocellulosic hemp fiber with varying average aspect ratios (19, 26, 30 and 38) as reinforcement were prepared using twin extrusion process. The influence of fiber aspect ratio on the water absorption behavior and mechanical properties are investigated. The percentage of moisture uptake increased with the aspect ratio, following Fickian behavior. The hemp fiber/PCL biocomposites showed enhanced properties (tensile, flexural and low-velocity impact). The biocomposite with 26 aspect ratio showed the optimal properties, with flexural strength and modulus of 169% and 285% respectively, higher than those of neat PCL. However, a clear reduction on the mechanical properties was observed for water-immersed samples, with reduction in tensile and flexural moduli for the aspect ratio of 26 by 90% and 62%, respectively than those of dry samples. Summarily, the optimal sample provides an eco-friendly alternative to conventional, petroleum-based and non-renewable composites for various applications.Peer reviewedFinal Accepted Versio