Clock synchronization represents an essential necessity for EtherCAT networks. This letter proposes a practical and efficient clock drift compensation scheme for the master-slave clock synchronization in EtherCAT networks, which decouples and then minimizes the adverse effect of master jitters for synchronization without degrading the clock synchronization performance between slave devices. Moreover, our method requires no modifications to the original EtherCAT protocol, nor does it introduce any additional bandwidth overhead. Comparative experimental results demonstrate the performance enhancement of the proposed approach over existing methods.

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Tajikistan is currently facing large waves of changes at all levels, since its independence and the fall of the Former Soviet Union (FSU). From Communist to a democratic country, the change has not always been a smooth one for the former republics, including Tajikistan. From civil war to economic bifurcation, the transitional period for Tajikistan has been a difficult one. Nonetheless, in the wake of instability, Tajikistan has chosen the path towards democratic capitalism. Today Tajikistan is still in the process of such a reform, struggling to achieve stability and progress deemed possible through a democratic reform. This paper focuses on the administrative decentralisation that has been attempted in the course of trying to achieve democracy and healthy capitalism since independence and to the extent that has been realised. As Tajikistan claims its commitment towards a more democratic governing system, this paper explores such effort, focusing particularly on the administrative decentralisation and its implications in Tajik society today.

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