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29,922 Article Results

Trajectory reconstruction for robot programming by demonstration

10.11591/ijece.v10i3.pp3066-3073
Reda Hanifi Elhachemi Amar , Laredj Benchikh , Hakima Dermeche , Ouamri Bachir , Zoubir Ahmed-Foitih
The reproduction of hand movements by a robot remains difficult and conventional learning methods do not allow us to faithfully recreate these movements because it is very difficult when the number of crossing points is very large. Programming by Demonstration gives a better opportunity for solving this problem by tracking the user’s movements with a motion capture system and creating a robotic program to reproduce the performed tasks. This paper presents a Programming by Demonstration system in a trajectory level for the reproduction of hand/tool movement by a manipulator robot; this was realized by tracking the user’s movement with the ArToolkit and reconstructing the trajectories by using the constrained cubic spline. The results obtained with the constrained cubic spline were compared with cubic spline interpolation. Finally the obtained trajectories have been simulated in a virtual environment on the Puma 600 robot.
Volume: 10
Issue: 3
Page: 3066-3073
Publish at: 2020-06-01

Design of fiber bragg grating (FBG) temperature sensor based on optical frequency domain reflectometer (OFDR)

10.11591/ijece.v10i3.pp3158-3165
Nani Fadzlina Naim , Siti Noor Maslizan Sudin , Suzi Seroja Sarnin , Norsuzila Ya'acob , Latifah Sarah Supian
In this paper, the simulation of Fiber Bragg Grating (FBG) as a temperature sensor is conducted. The FBG temperature sensor is designed based on Optical Frequency Domain Reflectometer (OFDR) concept. A continuous wave (CW) laser is used as the optical source and it is transmitted to two FBGs. The two FBGs reflection spectra will produce a beat frequency that can be detected using a Radio Frequency (RF) Spectrum Analyzer. Any temperature change will shift Bragg wavelength, thus produce a shift for the beat frequency. In this work, an FBG with temperature sensitivity 10 pm/˚C is employed. It is found that by using this technique, a high-resolution temperature sensor can be designed with temperature resolution of 0.1˚C.
Volume: 10
Issue: 3
Page: 3158-3165
Publish at: 2020-06-01

Design of optimal search engine using text summarization through artificial intelligence techniques

10.12928/telkomnika.v18i3.14028
Kaushik; Vignan Institute of Technology and Science Sekaran , P.; Vignan Institute of Technology and Science Chandana , J. Rethna Virgil; Vignan Institute of Technology and Science Jeny , Maytham N.; Al-Mustaqbal University College Meqdad , Seifedine; Beirut Arab Univeristy Kadry
Natural language processing is the trending topic in the latest research areas, which allows the developers to create the human-computer interactions to come into existence. The natural language processing is an integration of artificial intelligence, computer science and computer linguistics. The research towards natural Language Processing is focused on creating innovations towards creating the devices or machines which operates basing on the single command of a human. It allows various Bot creations to innovate the instructions from the mobile devices to control the physical devices by allowing the speech-tagging. In our paper, we design a search engine which not only displays the data according to user query but also performs the detailed display of the content or topic user is interested for using the summarization concept. We find the designed search engine is having optimal response time for the user queries by analyzing with number of transactions as inputs. Also, the result findings in the performance analysis show that the text summarization method has been an efficient way for improving the response time in the search engine optimizations.
Volume: 18
Issue: 3
Page: 1268-1274
Publish at: 2020-06-01

The physical and optical properties of AZO thin films on teflon substrate at low deposition temperature by spray pyrolysis

10.11591/ijeecs.v18.i3.pp1222-1228
Sofea Nabila Hazmin , F. S. S. Zahid , N. S. M. Sauki , M. H. Mamat , M. N. Amalina
This paper presents the physical and optical properties of AZO thin films on Teflon substrate at low deposition temperature by spray pyrolysis. In this study, the effect of different process parameters such as spray time and substrate to nozzle distance on the physical and optical characteristic of aluminium doped zinc oxide (AZO) deposited on Teflon substrates was investigated. The AZO thin films were successfully deposited onto Teflon substrate by spray pyrolysis technique at low deposition temperature. The physical analysis by X-ray diffraction (XRD) shows that the deposited Teflon substrate films have a preferred orientation along the direction (100) and (101). Optical measurements were conducted using Jasco/V-670 Ex Uv-Vis-NIR Spectrophotometer model to confirms that in visible ray it is possible to get good reflectance of AZO films with a reflection of 80%. The values of band gaps Eg were calculated from the spectra of UV-Visible reflectance that were vary between 3.06 and 3.14 eV. 
Volume: 18
Issue: 3
Page: 1222-1228
Publish at: 2020-06-01

Convolutional neural network for maize leaf disease image classification

10.12928/telkomnika.v18i3.14840
Mohammad; University of Trunojoyo Madura Syarief , Wahyudi; University of Trunojoyo Madura Setiawan
This article discusses the maize leaf disease image classification. The experimental images consist of 200 images with 4 classes: healthy, cercospora, common rust and northern leaf blight. There are 2 steps: feature extraction and classification. Feature extraction obtains features automatically using convolutional neural network (CNN). Seven CNN models were tested i.e AlexNet, virtual geometry group (VGG) 16, VGG19, GoogleNet, Inception-V3, residual network 50 (ResNet50) and ResNet101. While the classification using machine learning methods include k-Nearest neighbor, decision tree and support vector machine. Based on the testing results, the best classification was AlexNet and support vector machine with accuracy, sensitivity, specificity of 93.5%, 95.08%, and 93%, respectively.
Volume: 18
Issue: 3
Page: 1376-1381
Publish at: 2020-06-01

Efficient and secure real-time mobile robots cooperation using visual servoing

10.11591/ijece.v10i3.pp3022-3034
Soumia Boudra , Nasr-Eddine Berrached , Amine Dahane
This paper deals with the challenging problem of navigation in formation of mobiles robots fleet. For that purpose, a secure approach is used based on visual servoing to control velocities (linear and angular) of the multiple robots. To construct our system, we develop the interaction matrix which combines the moments in the image with robots velocities and we estimate the depth between each robot and the targeted object. This is done without any communication between the robots which eliminate the problem of the influence of each robot errors on the whole. For a successful visual servoing, we propose a powerful mechanism to execute safely the robots navigation, exploiting a robot accident reporting system using raspberry Pi3. In addition, in case of problem, a robot accident detection reporting system testbed is used to send an accident notification, in the form of a specifical message. Experimental results are presented using nonholonomic mobiles robots with on-board real time cameras, to show the effectiveness of the proposed method.
Volume: 10
Issue: 3
Page: 3022-3034
Publish at: 2020-06-01

Problem based learning: Students’ mental models on water conductivity concept

10.11591/ijere.v9i2.20468
John Rafafy Batlolona , Haryo Franky Souisa
This paper tells about the mental model of prospective scholars on the topic of temperature and heat. The purpose of this research is to improve students’ mental model by using problem based learning (PBL) model. The number of samples in the study amounted to 72 students with two different classes. The results of the study showed that, (1) the improvement of mental model that studied with PBL was higher than that studied with conventional learning. (2) high-skilled student mental models that are learning with PBL are higher than those studied by conventional learning. (3) low-skilled student mental models that study with PBL are higher than students learning with conventional learning. The conclusion of this study is the improvement of students' mental models using PBL models on the topic of conductivity in water. Thus the PBL model can be recommended in improving students' mental models on temperature and heat topics. The implication in this research is to improve the students' mental model as the agent of science education change.
Volume: 9
Issue: 2
Page: 269-277
Publish at: 2020-06-01

A hybrid algorithm for wave-front corrections applied to satellite-to-ground laser communication

10.12928/telkomnika.v18i3.12960
Mohammed Senan Al; University of Batna 2 Gobi , Djamel; University of Batna 2 Benatia , Mouadh; Université d’El Oued Bali
Laser communications hold accurate data rate for ground satellite links. The laser beam is transmitted through the atmosphere. The clear-air turbulence induces a number of phase distortions that damage wave-front. Adaptive optics (AO) treats wave front correction. The nature of AO systems is iterative; it can be integrated in metaheuristic algorithms such as genetic algorithm (GA). This paper presents improved version of algorithm for wave-front corrections. The improved algorithm is based on genetic algorithm (GA) and adaptive optics approach (OA). It is implemented in a computer simulation model called object-oriented matlab adaptive optics (OOMAO). The optimisation process involves best possible GA parameters as a function of population size, iteration count, and the actuators’ voltage intervals. Results show that the application of GA improves the performance of AO in wave-front corrections and the communication between satellite-to-ground laser links as well.
Volume: 18
Issue: 3
Page: 1259-1267
Publish at: 2020-06-01

Stationenlernen learning techniques and German language learning outcomes

10.11591/ijere.v9i2.20467
Samuel Jusuf Litualy , Henderika Serpara
This quasi-experimental study was conducted with the aim of obtaining a clear picture of the presence of influence of the application of Stationenlernen learning techniques to the learning outcomes of German students. The study population was all of these students, while the selected sample was 11th grade students. Data collection techniques used in this study are: (1) observation and interviews, (2) the implementation of pre-test (3) the implementation of experiments, and (4) the implementation of post-test, the data obtained are calculated and analyzed using SPSS -18 to obtain accurate and reliable calculation results. Learning outcomes with Stationenlernen learning techniques turn out to be higher than without it.
Volume: 9
Issue: 2
Page: 421-426
Publish at: 2020-06-01

Wireless communication system with frequency selective channel OFDM modulation technique

10.12928/telkomnika.v18i3.14683
Hayder; Islamic University Al Ibraheemi , Mazen M. A. Al; University of Al-Qadisiyah Ibraheemi
This paper introduces the design and implementation of a wireless communication system with MATLAB based on orthognal frequency division multiplexing technique (OFDM). The constructed system is consisting of transmitter, fading channel and receiver. At the transmitter, the transmitted signal first modulated with PSK modulation, and then multiplexed with OFDM technique to achieve a higher bit rates transmission. The signal was then transmitted through a frequency selective channel with 6 taps. In the receiver parity. The received faded signal processed to be de-multiplexed and de-modulated. Then, a frequency domain equalizer was adopted to remove the fading noise and the inter-symbol interference from the received signal that introduced due to the fading channel. In order to inspect the performance of the frequency equilizer, bit error rate for the overall system was calculated at the receiving point and to recover the original information signal. The simulation results of the designed system as well as the frequency equilizer showed a robustness against the frequency selective faded channel effects. The maximum obtained bit error rate was around 10-5, which means that original signal was effectively recovered.
Volume: 18
Issue: 3
Page: 1203-1208
Publish at: 2020-06-01

Performance assessment of antenna array for an unmanned air vehicle

10.11591/ijece.v10i3.pp2579-2588
Ameer H. Ali , Mohannad A. M. Al-Ja'afari , Saif H. Abdulwahed
In this paper, the performance of Linear Antenna Array Element (LAAE) has been evaluated at the Base Station (BS) with a different number of elements for Unmanned Air Vehicle UAV application. The Switched Beam (SB) and Phase Array (PA) have been used as a steering beam mechanism. The beam steering tracker is based on the GPS points of the UAV and the BS. In addition, the Misalignment angle has been analyzed for SB and PA corresponding to the maximum speed of the UAV. The compression between SB and PA in term of Bit Error Rate (BER) vs. Signal to Noise Ratio (SNR) and BER vs. Misalignment angle have been examined by using Matlab. The results show that the PA has better performance than SB in both terms under Additive White Gaussian Noise (AWGN) channel with an interference signal. When the number of the elements is eight provides longer distance than four by the factor (1.5 in SB case and 2 in PA case) and wider Misalignment angle range than twelve by factor (2 in SW case and 3 in PA case). Therefore, it is becoming a useful option for many applications.
Volume: 10
Issue: 3
Page: 2579-2588
Publish at: 2020-06-01

Insomnia analysis based on internet of things using electrocardiography and electromyography

10.12928/telkomnika.v18i3.14897
Novi; Universiti Teknikal Malaysia Melaka Azman , Mohd Khanapi Bin Abd; Universiti Teknikal Malaysia Melaka Ghani , S. R.; Universitas Nasional Wicaksono , Barru; Universitas Nasional Kurniawan , Viktor Vekky Ronald; Universitas Nasional Repi
Insomnia is a disorder to start, maintain, and wake up from sleep, has many sufferers in the world. For patients in remote locations who suffer from insomnia, which requires testing, the gold standard performed requires patients to take the time and travel to the health care center. By making alternatives to remote sleep insomnia testing using electrocardiography and electromyography connected to the internet of things can solve the problem of patients' access to treatment. Delivery of patient data to the server is done to make observations from the visualization of patient data in real-time. Furthermore, using artificial neural networks was used to classify EMG, ECG, and combine patient data to determine patients who have Insomnia get resulted in patient classification errors around 0.2% to 2.7%.
Volume: 18
Issue: 3
Page: 1406-1415
Publish at: 2020-06-01

Analysis and simulations of optimal geometry shapes of the 4 and 9 nano hole arrays (NHAs) with surface plasmonics and optical properties of biosensors systems

10.11591/ijece.v10i3.pp2625-2632
Ahmed hussein Duhis , Mohanad Aljanabi
The possibility to limit and manipulate photons at nanometer scales attracted a lot of interest for exciting applications from subwavelength in laser, biosensors, biomedical and optoelectronics devices, the sensor optical properties, however; are complex due to two resonances through propagating and localized surface plasmons. The optical properties of surface plasmons (SPs) at the resonant wavelength is depending on the geometrical nanostructure of materials. In this article, we used different geometry of nanoholes array, 4 and 9 nanoholes array in a metallic film gold nanoparticle with different thickness (20,50,100) nm on SiO2 substrate with refractive index 1.46, we designed two different geometries; 4- holes: hole radius r1=200 nm, period p1=600 nm; and 9- holes: r2=100 nm, period p2=300 nm. Transmission and reflection spectrum have been calculated and simulated by FDTD Lumerical program. From results are observed the effect of thickness is interesting, transmission is increased at (t=20nm) for two arrays. Furthermore, the number of hole and its area has an influence on optical transmission and other parameters (E, H, Ref) which are characteristics of design of metallic nanostructure. We can see that there is a peak value of the wavelength at 519 nm approximately to 73% strong light transmission with 4-NHA in the other hand wavelength of 519 nm transmission is 45% with 9-NHA. strong light transmission is hopeful for many applications (biomedical devices, nanoantennas and laser optical fiber).
Volume: 10
Issue: 3
Page: 2625-2632
Publish at: 2020-06-01

Multilayer phosphor-in-glass packaging for the development in WLED color uniformity

10.12928/telkomnika.v19i3.17786
Huu Phuc; Industrial University of Ho Chi Minh City Dang , Phung Ton; Industrial University of Ho Chi Minh City That , Tri-Vien; Thu Dau Mot University Vu
When mentioning the remote phosphor structure, the most noticeable advantage is its higher luminous flux than any other structure’s. However, there are existing flaws in their color uniformity and color rendering index (CRI). Thus, the improvements in these two optic factors must be improved for the better usage of remote phosphor geometry in modern WLED devices. Many researchers have drawn their attention to this idea, and then it has become the primary objective for their studies. In this paper, we also try to accomplish the same result by adjusting the distances between the phosphor layers and through that enhance the optical properties of WLEDs. The mie-scattering theory is applied in our calculations to ensure the reliability and accuracy of experimental results. In our research, with distance d = 0.64 mm, the luminous flux grew 9.7% in comparison to the original value. At 0.84 mm, the distance d enhanced the color uniformity by two times. In the meantime, the CRI remained static during the course of experiment. With suitable application, these results can bring valuable contributions to the development of next WELDs generation.
Volume: 19
Issue: 3
Page: 977-982
Publish at: 2020-06-01

Performance evaluation of high mobility OFDM channel estimation techniques

10.11591/ijece.v10i3.pp2562-2568
Maryam K. Abboud , Bayan M. Sabbar
In wireless communication, Orthogonal Frequency Division Multiplexing (OFDM) has been adopted due to its robustness to multipath fading and high data rate transmissions. At the other hand, the performance of OFDM systems severely degraded due to multi-path fading and Doppler frequency shifts in mobile systems, which causes inter-carrier-interference (ICI). Thus, Estimation of channel parameters is required at the receiver using a pre designed estimator where pilot tones are inserted in each OFDM symbol. In this paper, a random pilot data are generated and inserted in each OFDM symbol at equally spaced locations. The performance test of Least Square (LS) and Linear Minimum Mean Square (LMMSE) estimation methods are proposed with Discrete Fourier Transform (DFT) based on both LS and LMMSE, where different ITU channel models are considered in order to compare their performance for data transmission in high mobile systems with different Doppler frequencies exceeds 200 Hz and minimal number of pilots.
Volume: 10
Issue: 3
Page: 2562-2568
Publish at: 2020-06-01
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