A novel aerial manipulator system compensation control based on ADRC and backstepping

This paper proposes a fully-actuated control method for a novel aerial manipulation system (AMS). A customized carbon frame structure supports the servo actuators, on which eight propellers group into pairs located. We present kinematics and dynamics modeling of the AMS based on Craig parameter method and recursive Newton–Euler equation, respectively. Then, an Active disturbance rejection control (ADRC)—Backstepping—Compensation controller is designed to control the exact position and orientation of the manipulator in the Cartesian space. Finally, the performance of the system is demonstrated through simulations and virtual experiments.

A Fast Lithium-Ion Battery Impedance and SOC Estimation Method Based on Two-Stage PI Observer

Due to the complex changes in battery state, the accurate and fast estimation of battery state of charge (SOC) is still a great challenge. Here, a fast estimation method of battery impedance and SOC based on a multi-level PI observer is proposed. The observer model reflects the change of the battery state characteristics through the dynamic impedance, and then the system compensation factor is added to the observer to dynamically adjust the parameters of the battery model. The effectiveness of the algorithm is verified by the compound dynamic stress test (DST) experiment. The results show that the introduction of the compensation factor enables the system to tolerate a certain degree of impedance fluctuation and capacity attenuation and the maximum SOC estimation error can be kept within 2%.

Dampak Pemberian Tunjangan terhadap Kinerja Karyawan pada PT. Mitra Agung Swadaya PKS Kelayang Kabupaten Indragiri Hulu

This research was conducted on PT. Mitra Agung Swadaya Pks Kelayang Kabupaten Indragiri Hulu. The purpose of this study was to determine the impact of the provision of allowances on employee performance in PT. Mitra Agung Swadaya Pks Kelayang, Kabupaten Indragiri Hulu. And allowances are part of compensation and compensation is payment in the form of money and / or goods given for achievements and / or awards in a work relationship or after the end of a working relationship based on a structured, open, fair and proper system. Compensation can be in the form of salary or wages, honoraria, allowances, insurance, bonuses, incentives, severance pay, and other forms of compensation. Compensation can. Compensation can be used for 2 (two) basic objectives, namely 1) to attract and retain quality Human Resources and 2) to motivate employees to achieve higher performance levels. The research was conducted using qualitative methods, namely existing data in an organization and quantitative, namely research that describes the impact of providing allowances on employee performance in PT. Mitra Agung Swadaya Pks Kelayang, Kabupaten Indragiri Hulu. By analyzing the data using Instrument Test, Multiple Regression, Correlation Coefficient, Classical Assumption Test and Hypothesis Test which will be assisted by using SPSS version 24. Outputs that are targeted are accredited National Journal Scientific Publications and as teaching materials in Human Resource Management and Management courses Remuneration.

Tap changer optimisation using embedded differential evolutionary programming technique for loss control in power system

Over-compensation and under-compensation phenomena are two undesirable results in power system compensation. This will be not a good option in power system planning and operation. The non-optimal values of the compensating parameters subjected to a power system have contributed to these phenomena. Thus, a reliable optimization technique is mandatory to alleviate this issue. This paper presents a stochastic optimization technique used to fix the power loss control in a high demand power system due to the load increase, which causes the voltage decay problems leading to current increase and system loss increment. A new optimization technique termed as embedded differential evolutionary programming (EDEP) is proposed, which integrates the traditional differential evolution (DE) and evolutionary programming (EP). Consequently, EDEP was for solving optimizations problem in power system through the tap changer optimizations scheme. Results obtained from this study are significantly superior compared to the traditional EP with implementation on the IEEE 30-bus reliability test system (RTS) for the loss minimization scheme.

Copyright Law Protection Competence in Paying Royalty as Exclusive Rights Substance

Copyright is considered as a moving and intangible object; therefore, a copyright devolution cannot be done verbally but must be with an authentic deed or Underhand deed. Problem Identification: 1. How does the song copyright devolution mechanism make economic interest for a composer or Copyright Holder? 2. What is the system of song copyright royalty payment in Indonesia? and 3. What should be done by the parties to resolve the royalty payment execution dispute? It is a normative juridical method that must be used. Research Result: It is true that copyright license mechanism, fee retaining or royalty payment is considered as logic consequences that must be done by a licensee over a licenser (Copyright holder). It is because the licensee gets material profits due to the economic rights exploitation over the copyright itself. There are many varieties or different ways of compensation payment system or indemnification from the licensee to the licenser over one copyright object to another, for instance in song/music is known two different ways such as royalty and flat systems, while in music or song is known several ways, namely by percentage system, period system, profit sharing system, compensation or copyright selling system. Royalty payment dispute resolving may come in many ways, and, generally, the dispute resolving forums are available into two forms, such as litigation forum through courts and non-litigation forum out of court.

THE INFLUENCE OF INTERNAL CONTROL SYSTEM EFFECTIVENESS, COMPENSATION COMPLIANCE, AND INFORMATION ASYMMETRY ON THE TENDENCY OF ACCOUNTING FRAUD (A CASE STUDY ON SEHATI CREDIT UNION)

A cooperative is a governmental organization established to enhance economic growth and national unity. As the development of the law on cooperatives, the present and developing institutions similar to Savings and Loan Union is called Credit Union. A cooperative is very vulnerable to the risk of loss. Insecurity is possible because of the tendency of accounting fraud. Some things that can affect the tendency of accounting fraud are internal control, compliance compensation, and information asymmetry. This research aims to determine whether there is any influence of internal control system effectiveness, compensation compliance, and information asymmetry on the tendency of accounting fraud. The research uses the quantitative method, and the research subject is Sehati Credit Union. The research data consist of primary and secondary data, especially the purposive sampling data which are collected from 36 respondents. Whereas, the data analysis technique uses multiple regression analysis using SPSS 21 software for Windows. The research concludes that the effectiveness of internal control system has a partially positive significant influence on the tendency of accounting fraud, compensation compliance has a partially negative significant influence on the tendency of accounting fraud, and information asymmetry has a partially positive significant influence on the tendency of accounting fraud. It means that the effectiveness of the internal control system, compensation compliance, and the information asymmetry have significant influences on the tendency of accounting fraud. Keywords: Internal Control System, Compensation Compliance, Information Asymmetry, Accounting Fraud.

PENGARUH KOMPENSASI FINANSIAL DAN NON FINANSIAL TERHADAP PRODUKTIVITAS KERJA PADA BANK SUMUT CABANG SYARIAH MEDAN

This study was conducted to determine how much influence the compensation financial and non financial to increase employee productivity Bank Sumut Cabang Syariah Medan. The research method used in this study is the interview and questionnare. Type a descriptive quantitative research, and the nature of the research is the explanation. The analytical method used is multiple linear regression. The conclusion that can be drawn from the test results indicate that the compensation financialand non financial simultaneously significant effect on the increase in employee productivity Bank Sumut Cabang Syariah Medan. Based on this, the company should be able to further improve system compensation to increase employee productivity

A System Compensation Based Model Predictive AGC Method for Multiarea Interconnected Power Systems with High Penetration of PV System and Random Time Delay between Different Areas

In order to mitigate the negative influence of geographical dispersity of modern power system and the penetration of renewable energy, a system compensation based model predictive AGC method is proposed in this paper. A compensation unit is introduced in AGC system to reduce the influence of PV power output fluctuation. Furthermore, because the distributed power system is geographically dispersed, which leads to some defects such as time delay and packet dropouts, a selection and optimization algorithm is presented to obtain the appropriate variable when delays exist. Finally, a two-area interconnected power grid with PV systems is shown as an example to testify the feasibility and effectiveness of the proposed method. The simulation results indicate that the system controlled by the proposed method has the expected dynamic performance.