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29,922 Article Results

Recursive least square and control for PUMA robotics

10.11591/ijeecs.v21.i2.pp1238-1246
Lafta E. Jumaa Alkurawy
The solution of inverse kinematics system based on recursive least square (RLS) theorem is improved this paper. The task in joints of robotics is inverse kinematics for PUMA robotics. The design the manipulator of robotics is not simple if due to model of algebraic method. I suggested a method of RLS method to get predicts the positions of robot and it is comfortable the applications in real-time. The RLS is used to find the solution of the inverse kinematics for the joints 6-dof of the robotics. This technique is important to compute the joints of each arm space with Cartesian axes in the end-effector. The identification will be in each joint for PUMA by RLS and applied PI controller on each joint to get the response follows the reference input by tuning the values of coefficients of PI.
Volume: 21
Issue: 2
Page: 1238-1246
Publish at: 2021-02-01

Text documents clustering using data mining techniques

10.11591/ijece.v11i1.pp664-670
Ahmed Adeeb Jalal , Basheer Husham Ali
Increasing progress in numerous research fields and information technologies, led to an increase in the publication of research papers. Therefore, researchers take a lot of time to find interesting research papers that are close to their field of specialization. Consequently, in this paper we have proposed documents classification approach that can cluster the text documents of research papers into the meaningful categories in which contain a similar scientific field. Our presented approach based on essential focus and scopes of the target categories, where each of these categories includes many topics. Accordingly, we extract word tokens from these topics that relate to a specific category, separately. The frequency of word tokens in documents impacts on weight of document that calculated by using a numerical statistic of term frequency-inverse document frequency (TF-IDF). The proposed approach uses title, abstract, and keywords of the paper, in addition to the categories topics to perform the classification process. Subsequently, documents are classified and clustered into the primary categories based on the highest measure of cosine similarity between category weight and documents weights.
Volume: 11
Issue: 1
Page: 664-670
Publish at: 2021-02-01

Investigation of dualband fan-shaped microstrip bandpass filter

10.12928/telkomnika.v19i1.16507
Seevan F.; Al-Mansour University College Abdulkareem , Zainab; Al-Mansour University College Faydh , Dhamyaa H.; Al-Mansour University College Al-Nuaimi
In this study, design and simulation of microtrip bandpass filter is presented using RT/Duroid 6010.2 lm substrate. This filter has fan-shaped topology with small dimensions of 12x12 mm2, designed for dual band frequencies at 3.41 and 6.14 GHz. The insertion loss and return loss of initial band at 3.41 GHz are -0.7 and -38.224 dB respectively and its bandwidth ranged from 3.3561 to 3.48 GHz. On the other hand, for 2nd band at 6.14 GHz, the insertion loss and return loss have been -1.377 and -14 dB respectively with bandwidth ranged from 6.0951 to 6.1782 GHz.
Volume: 19
Issue: 1
Page: 229-234
Publish at: 2021-02-01

Experimental study for the effect of dust cleaning on the performance of grid-tied photovoltaic solar systems

10.11591/ijece.v11i1.pp74-83
Naseer K. Kasim , Nibras M. Obaid , Hatim G. Abood , Raed Abed Mahdi , Ali Mohmood Humada
One of the challenges facing investment in photovoltaic (PV) energy is the accumulation of dust on the surface of the PV panels due to frequent dust storms in many countries, including Iraq. Surface dust particles reduce solar irradiance which declining the electrical performance of the PV solar systems. Therefore, this paper proposes an experimental study to analyze and evaluate the power efficiency of a PV system installed in Baghdad city, Iraq. The performance of dusty solar PV array is compared with that of the clean array of the same PV system. The clean solar array is equipped with an automatic-sprayer cleaning system that is powered by the PV system. The automatic cleaning system utilized in the test system reduces human effort by cleaning the PV array using closed-cycle water with low energy consumption (less than 10 Wh). The PV array under test is part of a 15 kW grid-tied PV system. The experimental results show significant improvement in the performance parameters of efficiency, performance ratio, and the energy gain compared to the clean array. Furthermore, the experimental study contributes to a reduction in CO2 emission, which is substantial for the Iraqi environment that suffers from predominate fossil-fuel power plants.
Volume: 11
Issue: 1
Page: 74-83
Publish at: 2021-02-01

Fully symbolic-based technique for solving complex state-space control systems

10.11591/ijece.v11i1.pp272-283
Amera M. Abd-Alrahem , Hala M. Elhadidy , Kamel A. Elserafi , Hassen T. Dorrah
Despite the superiority of symbolic approaches over the purely numerical approaches in many aspects, it does not receive the proper attention due to its significant complexity, high resources requirement and long drawn time which even grows significantly with the increase of model dimensions. However, its merits deserve every attempt to overcome the difficulties being faced. In this paper, a fully generic symbolic-based technique is proposed to deal with complex state space control problems. In this technique, depending on the model dimension if exceeds a predefined limit, the state space is solved using the partitioned matrices theory and block wise inversion formula. Experimental results demonstrate that the proposed technique overcomes all the previously mentioned barriers and gives the same results when compared to numerical methods (Simulink). Moreover, it can be used to gain useful information about the system itself, provides an indication of which parameters are more important and reveals the sensitivity of system model to single parameter variations.
Volume: 11
Issue: 1
Page: 272-283
Publish at: 2021-02-01

Lower and upper bound form for outage probability analysis in two-way of half-duplex relaying network under impact of direct link

10.12928/telkomnika.v19i1.15265
Phu Tran; Industrial University of Ho Chi Minh City Tin , Van-Duc; Van Lang University Phan , Tan N.; Ton Duc Thang University Nguyen
In this paper, the system performance of the two-way of half-duplex (HD) relaying network under the impact of the direct link is studied. The model system has two sources (S) and one destination (D) communicate by direct link and via relay (R). For system performance analysis, we derived the lower and upper bound for outage probability (OP). Furthermore, the analytical expressions of the system performance are verified by using the Monte Carlo simulation in the effect of main parameters. As shown in the results, we can the simulation and analytical results have a good agreement.
Volume: 19
Issue: 1
Page: 206-212
Publish at: 2021-02-01

Cloud computing acceptance among public sector employees

10.12928/telkomnika.v19i1.17883
Mohd Talmizie; Universiti Teknologi MARA Amron , Roslina; Universiti Teknologi Malaysia Ibrahim , Nur Azaliah Abu; Universiti Teknologi Malaysia Bakar
Cloud computing is one of the platforms that drive organisations and users to be better prepared for a simpler computing platform and offers significant benefits to the quality of work. The transition from conventional computing to the virtual world helps organisations to maximise their potential. However, not all users can accept cloud computing adoption. Failure to understand the factors of user's acceptance will negatively impact the organisation's mission of empowering the technology. Therefore, this study proposes to assess to what extent the users are accepting cloud computing. This study adopts the unified theory of acceptance and use of technology (UTAUT) and six technological and human factors assessed for the Malaysian public sectors. Survey data from several ministries were analysed using partial least squares-structural equation modelling (PLS-SEM). The study found out that performance expectancy, compatibility, security, mobility, information technology (IT) knowledge, and social influence had a significant impact on the user's intention to accept cloud computing. The results of this study contribute to a clear understanding of the factors affecting the Malaysian public sectors about cloud computing.
Volume: 19
Issue: 1
Page: 124-133
Publish at: 2021-02-01

Analysis of subthreshold swing in junctionless double gate MOSFET using stacked high-k gate oxide

10.11591/ijece.v11i1.pp240-248
Hakkee Jung
In this paper, the subthreshold swing was observed when the stacked high-k gate oxide was used for a junctionless double gate (JLDG) MOSFET. For this purpose, a subthreshold swing model was presented using the series-type potential model derived from the Poisson equation. The results of the model presented in this paper were in good agreement with the two-dimensional numerical values and those from other papers. Using this model, the variation of the subthreshold swing for the channel length, silicon thickness, gate oxide thickness, and dielectric constant of the stacked high-k material was observed using the dielectric constant as a parameter. As a result, the subthreshold swing was reduced when the high-k materials were used as the stacked gate oxide film. In the case of the asymmetric structure, the subthreshold swing can be reduced than that of the symmetric JLDG MOSFET when the dielectric constant of the bottom stacked oxide film was greater than that of the top stacked oxide film. In the case of the asymmetric structure, the subthreshold swing could be also reduced by applying the bottom gate voltage lower than the top gate voltage.
Volume: 11
Issue: 1
Page: 240-248
Publish at: 2021-02-01

Maximum likelihood estimation-assisted ASVSF through state covariance-based 2D SLAM algorithm

10.12928/telkomnika.v19i1.16223
Heru; Universitas Mercu Buana Suwoyo , Yingzhong; Shanghai University Tian , Wenbin; Shenzhen Polytechnic Wang , Long; Shanghai University Li , Andi; Universitas Mercu Buana Adriansyah , Fengfeng; Ryerson University Xi , Guangjie; Shanghai University Yuan
The smooth variable structure filter (ASVSF) has been relatively considered as a new robust predictor-corrector method for estimating the state. In order to effectively utilize it, an SVSF requires the accurate system model, and exact prior knowledge includes both the process and measurement noise statistic. Unfortunately, the system model is always inaccurate because of some considerations avoided at the beginning. Moreover, the small addictive noises are partially known or even unknown. Of course, this limitation can degrade the performance of SVSF or also lead to divergence condition. For this reason, it is proposed through this paper an adaptive smooth variable structure filter (ASVSF) by conditioning the probability density function of a measurementto the unknown parameters at one iteration. This proposed method is assumed to accomplish the localization and direct point-based observation task of a wheeled mobile robot, TurtleBot2. Finally, by realistically simulating it and comparing to a conventional method, the proposed method has been showing a better accuracy and stability in term of root mean square error (RMSE) of the estimated map coordinate (EMC) and estimated path coordinate (EPC).
Volume: 19
Issue: 1
Page: 327-338
Publish at: 2021-02-01

A novel collective health monitoring of a wind park

10.11591/ijeecs.v21.i2.pp625-634
Kritika Sodha , George Fernandez S. , Vijayakumar K. , Sattianadan D.
Compared to a time-based maintenance schedule, condition-based maintenance provides better diagnostic information on the health condition of the different wind turbine components and subsystems. Rather than using an offline condition monitoring technique, which require the WT to be taken out of service, online condition monitoring does not require any interruption on the WT operation. The online condition monitoring system uses different types of sensors such as vibration, acoustic, temperature, current/voltage etc. Using a machine learning approach, we aim to establish a data driven fault prognosis framework. Instead of traditional wired communications, wireless communication systems such as Wireless Sensor Network have the advantages of easier installation and lower capital cost. We propose the use of WSN for collecting and transmitting the condition monitoring data to enhance the reliability of Wind Parks. Using data driven approach the collective health of the WP can be represented based on the condition of the individual wind turbines, which can be used for predicting the Remaining Useful Life of the system.
Volume: 21
Issue: 2
Page: 625-634
Publish at: 2021-02-01

Predicting RNA-seq data using genetic algorithm and ensemble classification algorithms

10.11591/ijeecs.v21.i2.pp1073-1081
Micheal Olaolu Arowolo , Marion O. Adebiyi , Ayodele A. Adebiyi , Olatunji J. Okesola
Malaria parasites accept uncertain, inconsistent life span breeding through vectors of mosquitoes stratospheres. Thousands of different transcriptome parasites exist. A prevalent ribonucleic acid sequencing (RNA-seq) technique for gene expression has brought about enhanced identifications of genetical queries. Computation of RNA-seq gene expression data transcripts requires enhancements using analytical machine learning procedures. Numerous learning approaches have been adopted for analyzing and enhancing the performance of biological data and machines. In this study, a genetic algorithm dimensionality reduction technique is proposed to fetch relevant information from a huge dimensional RNA-seq dataset, and classification uses Ensemble classification algorithms. The experiment is performed using a mosquito Anopheles gambiae dataset with a classification accuracy of 81.7% and 88.3%.
Volume: 21
Issue: 2
Page: 1073-1081
Publish at: 2021-02-01

Half Gaussian-based wavelet transform for pooling layer for convolution neural network

10.12928/telkomnika.v19i1.16398
Aqeel M. Hamad; Al-Nahrain University Alhussainy , Ammar D.; Al-Nahrain University Jasim
Pooling methods are used to select most significant features to be aggregated to small region. In this paper, anew pooling method is proposed based on probability function. Depending on the fact that, most information is concentrated from mean of the signal to its maximum values, upper half of Gaussian function is used to determine weights of the basic signal statistics, which is used to determine the transform of the original signal into more concise formula, which can represent signal features, this method named half gaussian transform (HGT). Based on strategy of transform computation, Three methods are proposed, the first method (HGT1) is used basic statistics after normalized it as weights to be multiplied by original signal, second method (HGT2) is used determined statistics as features of the original signal and multiply it with constant weights based on half Gaussian, while the third method (HGT3) is worked in similar to (HGT1) except, it depend on entire signal. The proposed methods are applied on three databases, which are (MNIST, CIFAR10 and MIT-BIH ECG) database. The experimental results show that, our methods are achieved good improvement, which is outperformed standard pooling methods such as max pooling and average pooling.
Volume: 19
Issue: 1
Page: 163-172
Publish at: 2021-02-01

Comparative study of logistic regression and artificial neural networks on predicting breast cancer cytology

10.11591/ijeecs.v21.i2.pp1113-1120
Yosra Abdulaziz Mohammed , Eman Gadban Saleh
Currently, breast cancer is one of the most common cancers and a main reason of women death worldwide particularly in developing countries such as Iraq. our work aims to predict the type of tumor whether benign or malignant through models that were built using logistic regression and neural networks and we hope it will help doctors in detecting the type of breast tumor. Four models were set using binary logistic regression and two different types of artificial neural networks namely multilayer perceptron MLP and radial basis function RBF. Evaluation of validated and trained models was done using several performance metrics like accuracy, sensitivity, specificity, and AUC (area under receiver operating characteristic ROC).   Dataset was downloaded from UCI ml repository; it is composed of 9 attributes and 699 samples. The findings are clearly showing that the RBF NN classifier is the best in prediction of the type of breast tumors since it had recorded the highest performance in terms of correct classification rate (accuracy), sensitivity, specificity, and AUC (area under Receiver Operating Characteristic ROC) among all other models.
Volume: 21
Issue: 2
Page: 1113-1120
Publish at: 2021-02-01

Cluster-based information retrieval by using (K-means)-hierarchical parallel genetic algorithms approach

10.12928/telkomnika.v19i1.16734
Sarah; University of Al-Qadisiyah Hussein Toman , Mohammed Hamzah; University of Al-Qadisiyah/Ad-Diwaniah Abed , Zinah Hussein; University of Al-Qadisiyah/Ad-Diwaniah Toman
Cluster-based information retrieval is one of the information retrieval (IR) tools that organize, extract features and categorize the web documents according to their similarity. Unlike traditional approaches, cluster-based IR is fast in processing large datasets of document. To improve the quality of retrieved documents, increase the efficiency of IR and reduce irrelevant documents from user search. In this paper, we proposed a (K-means)-hierarchical parallel genetic algorithms approach (HPGA) that combines the K-means clustering algorithm with hybrid PG of multi-deme and master/slave PG algorithms. K-means uses to cluster the population to k subpopulations then take most clusters relevant to the query to manipulate in a parallel way by the two levels of genetic parallelism, thus, irrelevant documents will not be included in subpopulations, as a way to improve the quality of results. Three common datasets (NLP, CISI, and CACM) are used to compute the recall, precision, and F-measure averages. Finally, we compared the precision values of three datasets with Genetic-IR and classic-IR. The proposed approach precision improvements with IR-GA were 45% in the CACM, 27% in the CISI, and 25% in the NLP. While, by comparing with Classic-IR, (K-means)-HPGA got 47% in CACM, 28% in CISI, and 34% in NLP.
Volume: 19
Issue: 1
Page: 349-356
Publish at: 2021-02-01

Network loss reduction and voltage improvement by optimal placement and sizing of distributed generators with active and reactive power injection using fine-tuned PSO

10.11591/ijeecs.v21.i2.pp647-656
Eshan Karunarathne , Jagadeesh Pasupuleti , Janaka Ekanayake , Dilini Almeida
Minimization of real power loss and improvement of voltage authenticity of the network are amongst the key issues confronting power systems owing to the heavy demand development problem, contingency of transmission and distribution lines and the financial costs. The distributed generators (DG) has become one of the strongest mitigating strategies for the network power loss and to optimize voltage reliability over integration of capacitor banks and network reconfiguration. This paper introduces an approach for the optimizing the  placement and sizes of different types of DGs in radial distribution systems using a fine-tuned particle swarm optimization (PSO). The suggested approach is evaluated on IEEE 33, IEEE 69 and a real network in Malaysian Context. Simulation results demonstrate the productiveness of active and reactive power injection into the electric power system and the comparison depicts that the suggested fine-tuned PSO methodology could accomplish a significant reduction in network power loss than the other research works.
Volume: 21
Issue: 2
Page: 647-656
Publish at: 2021-02-01
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