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29,922 Article Results

Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting

10.11591/ijece.v10i1.pp828-839
Branesh M. Pillai , Chumpon Wilasrusmee , Jackrit Suthakorn
During laparoscopic surgeries, primary surgical tool insertion is the demanding and strenuous task. As the surgeon is unaware of the type of the tissue and associated parameters to conduct the insertion, therefore, to ease the procedure, the movement of the surgical tool needs to be controlled. It’s the operational capabilities that are to be manipulated to perform a smooth surgery even from a distant location. In this study, a robot system is being introduced for laparoscopic primary surgical tool insertion. It will incorporate a novel observer based dynamic control along with robot assisted bilateral control. Moreover, a virtual spring damper force lock system is introduced through which the slave system will notify the master regarding the target achieved and excessive force. The validation of the proposed control system is experimented with bilaterally controlled MU-LapaRobot. The experiment is comprising 3 cases of bilateral control criteria which are non-contact motion, contact motion, and limit force locking. The results defined the same value for contact and non-contact motion by 0.3N. The results depicted a force error of 3.6% and a position error of 5.8% which validated the proposed algorithm.
Volume: 10
Issue: 1
Page: 828-839
Publish at: 2020-02-01

On tracking control problem for polysolenoid motor model predictive approach

10.11591/ijece.v10i1.pp849-855
Nguyen Hong Quang , Nguyen Phung Quang , Do Trung Hai , Nguyen Nhu Hien
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects due to its functions, in which a straight motion is provided directly without mediate mechanical actuators. Recently, with several commons on mathematic model, some control methods for PLM based on Rotational Motor have been applied, but position, velocity and current constraints which are important in real systems have been ignored. In this paper, position tracking control problem for PLM was considered under state-independent disturbances via min-max model predictive control. The proposed controller forces tracking position errors converge to small region of origin and satisfies state including position, velocity and currents constraints. Further, a numerical simulation was implemented to validate the performance of the proposed controller.
Volume: 10
Issue: 1
Page: 849-855
Publish at: 2020-02-01

Direct-on-line-start permanent-magnet-assisted synchronous reluctance motors with ferrite magnets for driving constant loads

10.11591/ijece.v10i1.pp651-659
Percy R. Viego , Vladimir Sousa , Julio R. Gómez , Enrique C. Quispe
For driving constant loads in industry, the use of direct-on-line-start permanent-magnet-assisted synchronous reluctance motors with ferrite magnets (DOL-Start-PMa-SynRM) is proposed. The bibliographic search demonstrated that this new motor has greater efficiency than one similar induction motor (IM). It was evidenced that the main element that is required for direct starting is to insert a squirrel cage into the rotor of a PMa-SynRM, which does not produce negative operational effects in a steady state. An economic evaluation was carried out in a sugar mill company, applying the differential net present value (NPV) method, and a sensitivity analysis, considering the four factors that present the most variation. It was demonstrated, by means of a Pareto diagram standardized for the NPV that the most significant factors are fuel factor, lifespan and the multiplication of both. With response surfaces that are obtained with a multilevel factorial experiment, it was determined that, by varying the factors in the ranges considered, the NPV always remains positive and higher than 2200 USD. This is mainly due to the notable difference between the efficiency of the DOL-Start-PMa-SynRM and that of the IM. Consequently, is proved that an investment in the DOL-Start-PMa-SynRM may be feasible.
Volume: 10
Issue: 1
Page: 651-659
Publish at: 2020-02-01

Optimal sizing of distributed generation using firefly algorithm and loss sensitivity for voltage stability improvement

10.11591/ijeecs.v17.i2.pp720-727
Zulkiffli Bin Abdul Hamid , Sylvester Jipinus , Ismail Musirin , Muhammad Murtadha Othman , Rahmatul Hidayah Salimin
This paper proposes an optimization technique for distributed generation (DG) sizing in power system. The DG placement was done through Loss Sensitive (LS) technique to determine the suitable locations. The LS index is calculated such that the change in power losses is divided with generation increment and a rank of buses is obtained to identify the suitable locations for DG placement.  Subsequently, a meta-heuristic algorithm, known as Firefly Algorithm (FA) was run to obtain the optimal size or capacity of the DG. The installation takes into consideration the aspect of voltage stability in terms of total real power losses and voltage profiles to be improved in the distribution system. Based on the experiment, the real power losses and voltage profiles were improved significantly as a result of the DG placement. In addition, the installation could prevent the power system from collapse as the reactive loading was increased to maximum.
Volume: 17
Issue: 2
Page: 720-727
Publish at: 2020-02-01

Voltage variations identification using gabor transform and rule-based classification method

10.11591/ijece.v10i1.pp681-689
Weihown Tee , M. R. Yusoff , M. Faizal Yaakub , A. R. Abdullah
This paper presents a comparatively contemporary easy to use technique for the identification and classification of voltage variations. The technique was established based on the Gabor Transform and the rule-based classification method. The technique was tested by using mathematical model of Power Quality (PQ) disturbances based on the IEEE Std 519-2009. The PQ disturbances focused were the voltage variations, which included voltage sag, swell and interruption. A total of 80 signals were simulated from the mathematical model in MATLAB and used in this study. The signals were analyzed by using Gabor Transform and the signal pattern, time-frequency representation (TFR) and root-mean-square voltage graph were presented in this paper. The features of the analysis were extracted, and rules were implemented in rule-based classification to identify and classify the voltage variation accordingly. The results showed that this method is easy to be used and has good accuracy in classifying the voltage variation.
Volume: 10
Issue: 1
Page: 681-689
Publish at: 2020-02-01

An efficient and secure data storage in cloud computing using modified RSA public key cryptosystem

10.11591/ijece.v10i1.pp530-537
Y. Kiran Kumar , R. Mahammad Shafi
Cloud Computing is the ability to improve the utility or train new human resources without investing in new infrastructure, or add capabilities to existence without the latest software licensing. It expanded the capabilities of Information Technology (IT). From the past few years, cloud computing has developed from a good business concept in the best rising sectors of the IT industry. But more information on individuals and companies was put in the cloud, and concerns began to think about how secure the cloud environment was. Despite cloud surrounding structures, enterprise users still do not want to expand their business in the cloud. Security reduces the growth of cloud computing and continues to spread the market with complexity with data privacy and data protection. The security of cloud computing has constantly been an significant aspect of improved quality of service from cloud service providers.  Data storage in the cloud has a problem related to data security. However, cloud computing construct many new security challenges which have not been well examine. In order to ensure that the user's data in the cloud is secure, we have proposed an effective mechanism with a distinctive feature of data integrity and privacy. This paper focusing on problems relating to the cloud data storage techniques and security in virtual environment. We recommend a method for providing data storage and security in cloud using public key Cryptosystem, which uses the concept of the modified RSA algorithm to provide better security for the data stored in the cloud. 
Volume: 10
Issue: 1
Page: 530-537
Publish at: 2020-02-01

Energy efficient intelligent routing in WSN using dominant genetic algorithm

10.11591/ijece.v10i1.pp500-511
Shanthi D. L.
In the current era of wireless sensor network development, among the various challenging issues, the life enhancement has obtained the prime interest. Reason is clear and straight: the battery operated sensors do have limited period of life hence to keep the network active as much as possible, life of network should be larger. To enhance the life of the network, at different level different approaches has been applied, broadly defining the proper scheduling of sensors and defining the energy efficient communication. In this paper heuristic based energy efficient communication approch has applied. A new development in the Genetic algorithm has presented and called as Dominant Genetic algorithm to determine the optimum energy efficient routing path between sensor nodes and to define the optimal energy efficient trajectory for mobile data gathering node. Dominancy of high fitness solution has included in the Genetic algorithm because of its natural existence. The proposed solution has applied the connection oriented crossover and mutation operator to maintain the feasibility of generated solution. The proposed solution has applied with various simulation experiments under two different scenarios: in first case energy efficient routes among the sensors have explored to deliver the information from source sensor to the sink node and in second case, energy efficient route among all local data hubs for mobile data gathering node has obtained. The proposed solution performances have been analyzed quantitatively and analytically. It has observed with various experimental results that proposed method not only has delivered the better solution but also has faster convergence and high level of reliability in compared to conventional form of Genetic algorithm.
Volume: 10
Issue: 1
Page: 500-511
Publish at: 2020-02-01

Implicit force control approach for Safe physical Robot-to-Human object handover

10.11591/ijeecs.v17.i2.pp615-628
Paramin Neranon
This research focuses on the development of the conceptual frameworks of human-human interaction applied for a robotic behaviour-based approach for safe physical human-robot interaction. The control has been constructed based on understanding the dynamic and kinematic behavioural characteristics of how two humans pass an object to each other. This has enabled a KR-16-KUKA robot to naturally interact with a human so as to facilitate the dexterous transfer of an object in an effective manner. Implicit force control based on Proportional Integral and Fuzzy Logic Control which allows the robot end effector’s trajectory to be moderated based on the applied force in real-time was adopted. The experimental results have confirmed that the quantitative performance of the force-controlled robot is close to that of the human and can be considered acceptable for human-robot interaction. Furthermore, the control based Fuzzy Logic Control was shown to be slightly superior performance compared to Proportional Integral control.
Volume: 17
Issue: 2
Page: 615-628
Publish at: 2020-02-01

A time efficient and accurate retrieval of range aggregate queries using fuzzy clustering means (FCM) approach

10.11591/ijece.v10i1.pp415-420
A. Murugan , D. Gobinath , S. Ganesh Kumar , B. Muruganantham , Sarubala Velusamy
Massive growth in the big data makes difficult to analyse and retrieve the useful information from the set of available data’s. Statistical analysis: Existing approaches cannot guarantee an efficient retrieval of data from the database. In the existing work stratified sampling is used to partition the tables in terms of static variables. However k means clustering algorithm cannot guarantees an efficient retrieval where the choosing centroid in the large volume of data would be difficult. And less knowledge about the static variable might leads to the less efficient partitioning of tables. Findings: This problem is overcome in the proposed methodology by introducing the FCM clustering instead of k means clustering which can cluster the large volume of data which are similar in nature. Stratification problem is overcome by introducing the post stratification approach which will leads to efficient selection of static variable. Improvements: This methodology leads to an efficient retrieval process in terms of user query within less time and more accuracy.
Volume: 10
Issue: 1
Page: 415-420
Publish at: 2020-02-01

Sinc collocation linked with finite differences for Korteweg-de Vries Fractional Equation

10.11591/ijece.v10i1.pp512-520
Kamel Al-Khaled
A novel numerical method is proposed for Korteweg-de Vries Fractional Equation. The fractional derivatives are described based on the Caputo sense. We construct the solution using different approach, that is based on using collocation techniques. The method combining a finite difference approach in the time-fractional direction, and the Sinc-Collocation in the space direction, where the derivatives are replaced by the necessary matrices, and a system of algebraic equations is obtained to approximate solution of the problem. The numerical results are shown to demonstrate the efficiency of the newly proposed method. Easy and economical implementation is the strength of this method.
Volume: 10
Issue: 1
Page: 512-520
Publish at: 2020-02-01

Evaluation on effectiveness of learning linear algebra using gamification

10.11591/ijeecs.v17.i2.pp997-1004
Rini Hafzah Abdul Rahim , Aslina Baharum , Hanafi Hijazi
This study evaluate effectiveness of learning Linear Algebra using gamification strategy. In this study, gamification with storytelling strategy is used as teaching tools to attract student to learn Linear Algebra. This study using Polytechnic Malaysia syllabus with focus group of Diploma students for semester three (Mechanical Engineering) and semester four (Electrical Engineering) for two topics; Matrix and Numerical Method. They are five methods of calculation simultaneous linear equations which is ‘Inverse’, ‘Cramer's Rule’, ‘Gauss Elimination’, ‘Lower Upper Doolittle’ and ‘Lower Upper Crout’. They are three main phases to develop this gamification; Pedagogy Phase, Design Phase and Evaluation Phase. Mixed methods approach combining quantitative (survey) and qualitative (Electroencephalogram) is used to evaluate students learning process using Linear Algebra gamification application. The findings of the five items surveyed showed that the acceptance of the prototype of the Linear Algebra Gamification Application was very encouraging from a total of 104 students. This is because all 38 questions for the five items earn a median of four and this indicates the majority of students choose “Agree” and “Strongly Agree”. The findings also show the percent “Agree” and “Strongly Agree” for all questions having a high percentage of between 61.5 and 94.2. This shows more than half satisfied and likes to use the Linear Algebra Gamification Application prototype. With the development of the Linear Algebra Gamification Application prototype, it is hoped that the use of learning based can be extended to a variety of subjects as well as topics to make the learning process more interesting and fun as well as helping to motivate students to learn
Volume: 17
Issue: 2
Page: 997-1004
Publish at: 2020-02-01

Overview on recent photovoltaic module cooling methods: advances PVT systems

10.11591/ijece.v10i1.pp15-21
Nurul Shahirah Binti Rukman , Ahmad Fudholi , Ivan Taslim , Merita Ayu Indrianti , Intan Noviantari Manyoe
Renewable energy had been monopolized the research area in these past decade up till nowadays, due to its reliability and future in global production of electrical and thermal energy. Narrowing down the scope to the photovoltaic thermal (PVT) system, lots of improvements had been implied both theoretically and experimentally. One of the most attractive applications of PVT water or air-based collectors is building integrated photovoltaic thermal (BIPVT) system, which has undergone rapid developments in recent years. This review paper comprises the research findings on the improvements that had been integrated by PVT systems as well as well as personal and cited remarks on advancements on cooling techniques on PVT system.
Volume: 10
Issue: 1
Page: 15-21
Publish at: 2020-02-01

Comparison of one and two time constant models for lithium ion battery

10.11591/ijece.v10i1.pp670-680
B. V. Rajanna , Malligunta Kiran Kumar
The fast and accurate modeling topologies are very much essential for power train electrification. The importance of thermal effect is very important in any electrochemical systems and must be considered in battery models because temperature factor has highest importance in transport phenomena and chemical kinetics. The dynamic performance of the lithium ion battery is discussed here and a suitable electrical equivalent circuit is developed to study its response for sudden changes in the output. An effective lithium cell simulation model with thermal dependence is presented in this paper. One series resistor, one voltage source and a single RC block form the proposed equivalent circuit model. The 1 RC and 2 RC Lithium ion battery models are commonly used in the literature are studied and compared. The simulation of Lithium-ion battery 1RC and 2 RC Models are performed by using Matlab/Simulink Software. The simulation results in his paper shows that Lithium-ion battery 1 RC model has more maximum output error of 0.42% than 2 RC Lithium-ion battery model in constant current condition and the maximum output error of 1 RC Lithium-ion battery model is 0.18% more than 2 RC Lithium-ion battery model in UDDS Cycle condition. The simulation results also show that in both simple and complex discharging modes, the error in output is much improved in 2 RC lithium ion battery model when compared to 1 RC Lithium-ion battery model. Thus the paper shows for general applications like in portable electronic design like laptops, Lithium-ion battery 1 RC model is the preferred choice and for automotive and space design applications, Lithium-ion 2 RC model is the preferred choice. In this paper, these simulation results for 1 RC and 2 RC Lithium-ion battery models will be very much useful in the application of practical Lithium-ion battery management systems for electric vehicle applications.
Volume: 10
Issue: 1
Page: 670-680
Publish at: 2020-02-01

Cooperative-hierarchical based edge-computing approach for resources allocation of distributed mobile and IoT applications

10.11591/ijece.v10i1.pp296-307
Maha Aljarah , Mohammad Shurman , Sharhabeel Alnabelsi
Using mobile and Internet of Things (IoT) applications is becoming very popular and obtained researchers’ interest and commercial investment, in order to fulfill future vision and the requirements for smart cities. These applications have common demands such as fast response, distributed nature, and awareness of service location. However, these requirements’ nature cannot be satisfied by central systems services that reside in the clouds. Therefore, edge computing paradigm has emerged to satisfy such demands, by providing an extension for cloud resources at the network edge, and consequently, they become closer to end-user devices. In this paper, exploiting edge resources is studied; therefore, a cooperative-hierarchical approach for executing the pre-partitioned applications’ modules between edges resources is proposed, in order to reduce traffic between the network core and the cloud, where this proposed approach has a polynomial-time complexity. Furthermore, edge computing increases the efficiency of providing services, and improves end-user experience. To validate our proposed cooperative-hierarchical approach for modules placement between edge nodes’ resources, iFogSim toolkit is used. The obtained simulation results show that the proposed approach reduces network’s load and the total delay compared to a baseline approach for modules’ placement, moreover, it increases the network’s overall throughput.
Volume: 10
Issue: 1
Page: 296-307
Publish at: 2020-02-01

Parallel Control Structure Scheme for Load Frequency Controller Design using Direct Synthesis Approach

10.11591/ijece.v10i1.pp47-60
Anand Kumar , Md Nishat Anwar
This paper presents load frequency controller design for a single area as well as the multi-area thermal power system using direct synthesis approach with parallel control structure (PCS) scheme. The set-point and load frequency controller has been designed for frequency regulation and maintains tie-line power within a pre-specified limit for LFC power system.  The proposed controller has been implemented for single-area, two-area, and four-area thermal power system for frequency regulation. The proposed method shows impressive simulation results compared with existed control method. The robustness of the proposed method has been examined with the help maximum sensitivity and parametric variation in the nominal power system.
Volume: 10
Issue: 1
Page: 47-60
Publish at: 2020-02-01
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