For stabilization of a robot manipulator upon collision with a stiff environment, a nonlinear hang-hang impact controller is developed. Under this control, a robot can successfully achieve contact t a s b without changing control algorithm or controller gains throughout all three modes: free space, transition and constrained motion. It uses a robust hybrid impedanceltime-delay control algorithm...

Abstrak Hang Tuah (1956) merupakan salah satu filem adaptasi Melayu yang terkenal dalam sejarah perfileman tanah air. Filem ini dikatakan cuba mengangkat karya kesusasteraan klasik melalui Hikayat dan Sejarah Melayu. Memandangkan bersifat adaptasi, maka sering menjadi perhatian kalangan sarjana. Antara aspek daya tarikan mereka adalah soal kesetiaan naratif seperti plot, lakonan, gaya bahasa, l...

When you study logic you study something you’ve already been doing most of your life: reasoning, or making inferences. Making inferences is like connecting the dots that make up a picture, or recognizing how things hang together. It’s a way of making connections. For example, if you’re lactose intolerant, and you discover that the food on your plate contains ricotta cheese, you’ll probably infe...

Anycast-based services today are widely used commercially, with several major providers serving thousands of important websites. However, to our knowledge, there has been only limited study of how often anycast fails because routing changes interrupt connections between users and their current anycast site. While the commercial success of anycast CDNs means anycast usually work well, do some us...