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Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance using Optimal Sliding Mode Controller

Mustefa Jibril¹, Messay Tadese², Reta Degefa³

¹ Msc, School of Electrical & Computer Engineering, Dire Dawa Institute of Technology, Dire Dawa, Ethiopia

² Msc, School of Electrical & Computer Engineering, Dire Dawa Institute of Technology, Dire Dawa, Ethiopia

³ Msc, School of Electrical & Computer Engineering, Dire Dawa Institute of Technology, Dire Dawa, Ethiopia

mustefa.jibril@ddu.edu.et

Abstract: In this paper, a two-link manipulator system stability performance is designed and analyzed using Optimal control technique. The manipulator system is highly nonlinear and unstable. The system is modelled using Lagrangian equation and linearized in upward unstable position. The closed loop system is designed using optimal sliding mode controller. The system is compared with a known PID controller with an impulse applied and disturbance torques and a promising results has been obtained.

[Mustefa Jibril, Messay Tadese, Reta Degefa. Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance using Optimal Sliding Mode Controller. Researcher 2021;13(2):1-6]. ISSN 1553-9865 (print); ISSN 2163-8950 (online). http://www.sciencepub.net/researcher. 1. doi:10.7537/marsrsj130221.01.

Keywords: Manipulator, Sliding mode controller, Proportional integral derivative (PID) controller

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Vaccine

Primarily from Wikipedia, the free encyclopedia

(https://en.wikipedia.org/wiki/Vaccine)

Mark Herbert, PhD

World Development Institute

39 Main Street, Flushing, Queens, New York 11354, USA, ma708090@gmail.com

Abstract: A vaccine is a biological preparation that provides active acquired immunity to a particular infectious disease. A vaccine typically contains an agent that resembles a disease-causing microorganism and is often made from weakened or killed forms of the microbe, its toxins, or one of its surface proteins. The agent stimulates the body's immune system to recognize the agent as a threat, destroy it, and to further recognize and destroy any of the microorganisms associated with that agent that it may encounter in the future. Vaccines can be prophylactic (to prevent or ameliorate the effects of a future infection by a natural or "wild" pathogen), or therapeutic.

[Mark Herbert. Vaccine. Researcher 2021;13(2):7-24]. ISSN 1553-9865 (print); ISSN 2163-8950 (online). http://www.sciencepub.net/researcher. 2. doi:10.7537/marsrsj130221.02.

Keywords: vaccine; biology; immunity; disease; microorganism; infection; pathogen; therapeutic

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A Critical Review Of The Death Penalty In India

Sewa Ram

LLB and LLM from Kurukshetra University, Kurukshetra, Haryana, India.

Email: s.r.galve@gmail.com

Abstract: There is several law and regulation in India which control crimes, even though crime rates increasing because the punishment is not sufficient for the crimes. There must be a severe punishment to reduce the crime rate. In all type of crimes, capital punishment is the most severe punishment in India. This paper defines capital punishment and critically study on it. This research is based on information already available and analyzed these facts to evolve this research. There are secondary data in that research. This research consisted mainly of books, articles and journals etc. Capital punishment is not the ultimate solution to crimes but education, awareness etc. will be controlled on these types of crimes.

[Ram, S. A Critical Review Of The Death Penalty In India. Researcher 2021;13(2):25-27]. ISSN 1553-9865 (print); ISSN 2163-8950 (online). http://www.sciencepub.net/researcher. 3. doi:10.7537/marsrsj130221.03.

Keywords: capital punishment, crimes, sentence, prisoner, execution and clemency.

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A cross-sectional study on the prevalence and associated risk factors of Bovine Trypanosomosis, in Bambasi Districts, BGRS, Western Ethiopia

Asmamaw Aki, Yeshiharg Abebe, Bossena Fentahun

*Asossa, Regional Veterinary Diagnostic, monitoring, surveillance and study laboratory, P.O. Box 326, Assosa, Ethiopia; asmamawaki@gmail.com, tel: 0902330029

Abstract: A cross-sectional study was carried out, from November.2018 to March, 2019 to determine the prevalence and associated risk factors of bovine trypanosomosis, in Bambasi districts. Blood samples were collected from (n= 333) randomly selected cattle (Bos indicus). Dark phase contrast buffy coat procedures were used to determine the prevalence of trypanosome infection, while haematocrit method was used to determine the packed cell volume (PCV) values of study animals. Out of total 333 cattle sampled, 14/333 (4.20 %) were found trypanosome positive. The disease was mainly caused by T. congolense 10/14(71.43%) followed by T. vivax 3/14 (21.43%) and mixed infection by T. congolense and T. vivax accounted for only 1/14(7.14%) with statistically significant differences (P< 0.05). Mean packed cell volume (PCV) values of the infected animals were lower (21.06 % + 0.09 SE) than non- infected animals (28.07% +0.37) and the variation was statistically significant (P<0.05). Sex groups, body condition, and study sites were not statistically significant risk factors for the occurrence of trypanosomosis in the present study (P> 0.05); however, age categories was found to be statistically significant (p< 0.05). In conclusion, the current study showed moderate prevalence of trypanosomosis in the study area reflecting the need for strategic control measures.

[Asmamaw Aki, Yeshiharg Abebe, Bossena Fentahun. A cross-sectional study on the prevalence and associated risk factors of Bovine Trypanosomosis, in Bambasi Districts, BGRS, Western Ethiopia. Researcher 2021;13(2):28-34]. ISSN 1553-9865 (print); ISSN 2163-8950 (online). http://www.sciencepub.net/researcher. 4. doi:10.7537/marsrsj130221.04.

Keywords: Bambasi, Prevalence, Risk factor, Trypanososma.

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Subatomic particle structures and unified filed theory based on bipolar particle

Ebrahim Kefayati

Chemical engineer from Tehran University, Iran

Email address: z.kefayati0@gmail.com

Abstract: In this theory, all subatomic particles are formed from a magnetic bipolar particle. In fact, this particle is the smallest magnet in the universe. In this article, we describe the structure of quarks, anti-quarks, leptons, photons… and dark matter. This small magnetic particle is called particle “KFA”. We even describe the place where antimatter exists and why matter and antimatter do not destroy each other.

[Ebrahim Kefayati. Subatomic particle structures and unified filed theory based on bipolar particle. Researcher 2021;13(2):35-40]. ISSN 1553-9865 (print); ISSN 2163-8950 (online). http://www.sciencepub.net/researcher. 5. doi:10.7537/marsrsj130221.05.

Key words: KFA particle, unified field theory, Big Bang

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