The taxi function

<p>This paper investigates the lane keeping control and the lateral control of autonomous ground vehicles, robots or the like considering the road agency formation unit (RAFU) functions. A strategy based knowing the real position of several points of the trajectory is proposed to achieve the lateral control purpose and maintain the lane keeping errors within the prescribed performance boundaries. The RAFU functions are applied to achieve these goals. The stability of these functions, their applicability to approach any arbitrary trajectory and the easy control of the possible error made on the approximation are useful advantages in practice.</p>

Applied Studies on Application of Capric/Caprylic MCT Oils in Food Industries

Non healthy oils & fats consumption in foods is the major reason of obesity in human beings. Common cooking oils & fats are composed of medium and long chain triglycerides. Each triglyceride consist of fatty acids called medium and long chain fatty acids abbreviated as (MCFAs & LCFAs). The ratio of LCFAs is mostly higher than the MCFAs in common cooking oils to be to be suitable for heat stress applications like cooking and frying. On the other side there is natural dietary fats are rich in Medium-chain fatty acids (MCFAs) like coconut oil and dairy fats. Also there are synthetic medium-chain triglyceride (MCT) oils which are synthetized by a processes called fractionation that extracts the MCFAs as caprylic and capric acid from the other fatty acids in the coconut or palm kernel oil. The MCFAs, shows substantial metabolic advantage compared to LCFAs. MCFAs are a preferred source of energy (b-oxidation). The last 20 years studies confirmed the potential of MCFAs to reduce body weight and may reduce fasting lipid levels more than oils rich in LCFAs. The same is true for glucose levels. In this study, the authors did chemical and instrumental studies on dietary structured MLCT and non-structured MCT/LCT cooking oils which were used for producing for weight reduction and obesity control purpose Capric /caprylic MCT oil was used as a source of MCFAs for producing of novel. Different sources of long-chain triglycerides (LCFAs) have been used including sunflower oil (SFO), Canola oil(CNO), high oleic sunflower oil (HOSFO), palm oil (PO) and double fractionated palm olein (DFOlein). The following techniques have been used for preparation of structured and non structured cooking oils in this study : 1-Physical blending. 2 - Chemical interesterification in a multipurpose batch reactor. 2- Enzymatic interesterification using immobilized Lipase enzyme in pilot scale packed bed reactor (PBR). Different analytical and instrumental techniques were used in this study including Gas chromatography (GC), high-performance liquid chromatography (HPLC), Differential scanning calorimeter (DSC), Rancimate, and smoke point tester. The study shown that the non-structured MCT/LCT oils gave reasonable heat stability, higher smoke points compared the structured MLCT oil which make it more suitable for cooking and frying applications. The chemical and enzymatic interesterification (CIE & EIE) technique yield a real structured MLCT oil which is more effective in caloric reduction and obesity control purpose during long term consumption in dietary foods, however, due to its much lower smoke point compared to its relative LCFAs oil so it will be suitable only for cold applications like salad dressing and other culinary applications. But not suitable for heat stress applications like deep or shallow frying.

Effectiveness of the Use of Manual and Electric Toothbrushes and the Effect of Educational Brushing Teeth with Video Animation on OHI-S Children with Down syndrome

Background: Down Syndrome children have better ability in capturing instructions visually. The audio-visual learning method can be applied to Down Syndrome children. Electric toothbrushes were made to make it easier for them to brush their teeth, besides those electric toothbrushes have a handle that is comfortable to hold and control. Purpose: The purpose of this study is to determine the effectiveness of electric and manual toothbrushes on Down Syndrome children OHI-S scores and determine the effect of education on tooth brushing with animated videos on Down Syndrome children OHI-S scores. Methods: Subjects of the study were 34 Down Syndrome children aged 6-19 years in Surabaya, East Java, Indonesia. OHI-S scores were recorded before and after the subjects were educated to brush their teeth with animated videos or dental phantoms. OHI-S scores were also recorded before and after the subjects brushed their teeth using manual toothbrushes or electric toothbrushes. Results: The test results Independent T-test (p> 0.05) showed there was no significant difference between tooth brushing using a manual toothbrush and an electric toothbrush to the decline of OHI-S score of Down Syndrome children. The results of the Mann-Whitney statistical test were p> 0.05, that there was no significant difference in the reduction in OHI-S scores between Down Syndrome children who were educated with animated videos and dental phantoms. Conclusion: There was no significant difference between manual toothbrushes and electric toothbrushes and there was no significant influence of Down Syndrome OHI-S children who were educated with animated videos or dental phantoms.

A Glint of Lights in the Fog: Invisible Cities and the Riddles of Planning Practice

This paper examines Italo Calvino’s Invisible Cities as a unique literary canvas to reformulate the relationship between narratives and planning practices. It does so from the vantage point of the Frame, namely, the dialogues between the Khan (the planner) and Marco Polo (the resident/traveler) punctuating the imaginary cities described in the book. Read through with the aid of narratological concepts, the Frame functions a mini-treatise on urban complexity, structured along nine dyads of oppositional concepts (e.g., chaos vs. meaning; reality vs. possibility), which call into question as many planning milestones (e.g., control, purpose, model, balance), fostering an original reflection on the limitations and potentials of planning practices.

A robust adaptive control design for active tuned mass damper systems of multistory buildings

In this study, a robust adaptive controller is designed to be used in an active tuned mass damper system that can be used to damp undesired vibrations that occurred on the multistory buildings during the earthquake. To realize the controller design, all of the system parameters are assumed to be unknown, and the adaptive structure of the designed controller is obtained by designing adaptive compensation rules for system parameters. A backstepping control design approach is utilized for the control design by considering the appropriateness of the system’s structure of multistory buildings having an active tuned mass damper system at the top of the structure. The proposed control design is supported with a Lyapunov-based stability analysis where it is proven that the designed controller is able to protect the overall system’s stability while reaching the main control purpose. In addition to these, in the simulation studies realized for a nine-story building under the effect of a major earthquake, it is shown that the designed controller can be used to reach the main control purpose efficiently.

Better Performance of a Smart Irrigation System using the Best Combination of Sensors and Digital Communication Devices

Once upon a time, India is rich in vegetation and agriculture. Now, the current scenario is totally different. Every Indian has been trained to work in different fields. In our day to day life, water has increased its demands in overall world which results in water scarcity. This kind of factors affects the regular plantation fields and home gardening. In this connection, we have proposed a methodology to overcome this problem. In the proposed research, a kit with probes and sensors is developed to measure the moisture and humidity level of plants in order to ensure the required water quantity. A solenoid valve is controlled through automation by pre-setting the values of moisture. If the moisture level goes down below certain value, then the solenoid valve is set to open and the water flows. On keeping the sensors on the top of the soil would not sense the parameters effectively which leads to unreliable results. So, in our suggested 0technique, the sensors are placed just below the soil surface, which is nearby closer to the roots of the plant, for getting the significant outcomes. The humidity sensor measures the humidity present in the air and indicates the probability of rain. This feature helps the farmers and the other gardeners in their routine work. This leads to make our country as green and rich in agriculture. There are two more sensors used viz., the flow sensor for measuring the flow rate as well as the volume of water used and the ultrasonic sensor for measuring the water level in the tank for control purpose. The sensors’ data can be communicated to the remotely located user through digital communication devices such as NodeMCU (Arduino) and Internet of Things - Blynk platform.