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31,456 Article Results

Concurrent asynchronous robotic subsumption using actors & promises

10.11591/ijra.v8i4.pp217-244
Ratnesh Srivastav , G. C. Nandi , Rohit Shukla , Harsh Verma
Fascinated with robotics open source integrated component MARIE [1], ROS [5] and open source component PLAYER/STAGE [2], CARMEN [3] available in the eld of robotics application. We aim at developing an asynchronous concurrent robotics application based on subsumption [6] architecture using PLAYER, STAGE and already available services freely available on the internet. We used wanderer and wall follower services embedded inside an actor [10][11] and integrated these services to two dierent robots of same congurations on our promise based frame-work that provides actor as service. The two robots switch their services based on color detected (red,green,blue) during their movement in an environment asynchronously. Using actor as a service lls the gap of SOA [4] & EDA [7] by providingsynchronous and asynchronous support for communication. We measured the performance of time taken in completion of services in promise [8] based implementation ,synchronous and asynchronous callback [9] based implementation. We developed a model to prove deadlock freeness in our integrated architecture using petrinet [15] interface composition. We have also been able to justify that component integrated on promise based framework takes less time in service completion than synchronous and asynchronous callback based services.
Volume: 8
Issue: 4
Page: 217-244
Publish at: 2019-12-01

Robust adaptive controller design for excavator arm

10.11591/ijra.v8i4.pp293-300
Nga Thi-Thuy Vu
This paper presents a robust adaptive controller that does not depend on the system parameters for an excavator arm. Firstly, the model of the excavator arm is demonstrated in the Euler-Lagrange form considering with overall excavator system. Next, a robust adaptive controller has been constructed from information of state error. In this paper, the stability of overall system is mathematically proven by using Lyapunov stability theory. Also, the proposed controller is model free then the closed loop system is not affected by disturbances and uncertainties. Finally, the simulation is executed in Matlab/Simulink for both presented scheme and the PD controller under some conditions to ensure that the proposed algorithm given the good performances for all cases.
Volume: 8
Issue: 4
Page: 293-300
Publish at: 2019-12-01

A review of cloud oriented mobile learning platform and frameworks

10.11591/ijece.v9i6.pp5529-5536
Ahmad Shukri Bin Moh Noor , Marwan Nasser Yousef Atoom , Rabiei Mamat
With the continued growth of mobile devices usage, wireless communications improvement, and cloud computing evolution, many educational institutions around the world, especially universities and colleges, began to provide their students with mobile learning systems based on cloud computing. The widespread, ubiquitous, and flexible natures of mobile devices make mobile learning an attractive alternative in education, particularly when integrating it with cloud computing which is the up-to-date technology that delivers computing hardware and software as services. However, the participatory between mobile learning and cloud computing as a cloud based mobile learning (CBML) becomes one of the important methods in the learning process. Many researches have attempted to combine the unique features of CBML in a form of frameworks. These frameworks have been designed to identify, categorize, or evaluate the major components of the CBML system. This paper is an attempt to identify the important role of cloud computing technology in mobile learning, investigate the main advantages and limitations of CBML systems, and explore the previously designed CBML frameworks.
Volume: 9
Issue: 6
Page: 5529-5536
Publish at: 2019-12-01

Design and testing of stability improvement of nine multi-level H-Inverter for distribution system

10.11591/ijra.v8i4.pp245-255
R. Arulmurugan
In this article, a solitary phase nine-level series connected H-Bridge powered by photovoltaic MPPT based SHAPF in view of basic controller is proposed. SRF is utilized for reference input current extraction and to create pulses for the SHAPF. The principle point of the cascaded bridge is to dispense harmonics, enhance power factor and reactive energy compensation of the single-phase distribution framework. The suggested control calculation has two parts, changing the load current into stationary reference outline directions and estimation of peak amplitude of load currents. Consequently, a basic and dependable controller effortlessly of execution was created. The calculation for single-phase SHAF is intending to perform with exact tracking performance under step changes in load currents and to give great dynamic compensation. In this article, synchronous reference theory PLL with Inverse-Park change is adopted for producing quadrature part of current. The execution of the control calculation is tried and assessed utilizing MATLAB/Simulink tool.
Volume: 8
Issue: 4
Page: 245-255
Publish at: 2019-12-01

Solutions of reaction-diffusion equations using similarity reduction and HSSOR iteration

10.11591/ijeecs.v16.i3.pp1430-1438
Nur Afza Mat Ali , Rostang Rahman , Jumat Sulaiman , Khadizah Ghazali
Similarity method is used in finding the solutions of partial differential equation (PDE) in reduction to the corresponding ordinary differential equation (ODE) which are not easily integrable in terms of elementary or tabulated functions. Then, the Half-Sweep Successive Over-Relaxation (HSSOR) iterative method is applied in solving the sparse linear system which is generated from the discretization process of the corresponding second order ODEs with Dirichlet boundary conditions. Basically, this ODEs has been constructed from one-dimensional reaction-diffusion equations by using wave variable transformation. Having a large-scale and sparse linear system, we conduct the performances analysis of three iterative methods such as Full-sweep Gauss-Seidel (FSGS), Full-sweep Successive Over-Relaxation (FSSOR) and HSSOR iterative methods to examine the effectiveness of their computational cost. Therefore, four examples of these problems were tested to observe the performance of the proposed iterative methods.  Throughout implementation of numerical experiments, three parameters have been considered which are number of iterations, execution time and maximum absolute error. According to the numerical results, the HSSOR method is the most efficient iterative method in solving the proposed problem with the least number of iterations and execution time followed by FSSOR and FSGS iterative methods.
Volume: 16
Issue: 3
Page: 1430-1438
Publish at: 2019-12-01

Control shunt active filter based on dq frame using current model prediction

10.11591/ijra.v8i4.pp301-312
Chi Nguyen Van , Hoang Dang Danh
The nonlinear loads present more in the power systems in the practice today by developing of electronic technology and using the small distributed power sources (solar power, wind power etc.), this causes the increasing the high frequency switch devices etc. in the power network. Nonlinear loads cause non-sinusoidal currents and voltages with harmonic components, increasing the reactive power, overload of power lines and electrical devices, low power factor and affecting badly to the networks. Shunt active filters (SAF) with current controlled voltage source inverters (CCVSI) are used effectively to reduce the harmonics and to balance the phases sinusoidal source currents by generating the currents to compensate the harmonic currents caused by the nonlinear loads. In this paper we suppose a control strategy to generate the compensation currents of SAF by using the current model predictive engineering. This method is better than the control strategy using PI controller in term of transient time. The desired compensation currents can track exactly the reference compensation currents on the dq frame. The simulation results implemented on the nonlinear load, a full bridge rectifier and 3 phase unbalance load, show that the transient period decrease from 0.1s to 0.02s in comparing with PI controller. The experimental results proof that the THD of source currents decrease from 24.8% to 5.4% when using the proposed method.
Volume: 8
Issue: 4
Page: 301-312
Publish at: 2019-12-01

Optimization of PID controller parameters using PSO for two area load frequency control

10.11591/ijra.v8i4.pp256-268
Brijesh Kumar Dubey , N. K. Singh , Sameer Bhambri
In this paper, an evolutionary computing approach for determining the optimal values for the proportional-integral-derivative (PID) controller parameters of load frequency control (LFC) of two area power system is presented. The proposed approach employs a particle swarm optimization technique to find optimum parameters. The state space model of two area power system and an Eigen value based objective function is considered. The effectiveness of the proposed approach is compared with integral control. Simulation results justify the proposed approach in terms of damping the oscillations, improved settling time, less over/under shoots.
Volume: 8
Issue: 4
Page: 256-268
Publish at: 2019-12-01

Developed artificial neural network based human face recognition

10.11591/ijeecs.v16.i3.pp1279-1285
Maryam Mahmood Hussein , Ammar Hussein Mutlag , Hussain Shareef
Face recognition has become one of the most important challenging problems in personal computer-human interaction, video observation, and biometric. Many algorithms have been developed in the recent years. Theses algorithms are not sufficiently robust to address the complex images. Therefore, this paper proposes soft computing algorithm based face recognition. One of the most promising soft computing algorithms which is back-propagation artificial neural network (BP-ANN) has been proposed. The proposed BP-ANN has been developed to improve the performance of the face recognition. The implementation of the developed BP-ANN has been achieved using MATLAB environment. The developed BP-ANN requires supervised training to learn how to anticipate results from the desired data. The BP-ANN has been developed to recognition 10 persons. Ten images have been used for each person. Therefore, 100 images have been utilized to train the developed BP-ANN. In this research 50 images have been used for testing purpose. The results show that the developed BP-ANN has produced a success ratio of 82%.
Volume: 16
Issue: 3
Page: 1279-1285
Publish at: 2019-12-01

A Fast-Efficient parallel processing algorithm for straight line detection

10.11591/ijeecs.v16.i3.pp1320-1326
Rasiq S. M. , Jeevan K. M. , S. Krishnakumar
This work presents a novel method for detecting straight lines in an image at a very high speed with optimum number of processors and their functionalities. The method can be used to extract straight lines directly from an image without noise removal and pre-processing. First the square image is converted to a binary edge image using a parallel edge detection mechanism. The parallel edge detection mechanism used in this work is capable of producing edge image within a short time. Then the binary square image is transferred to a system having large number of Processing Elements (PEs). A PE has only limited jobs such as pixel scanning, compare line length with nearby PEs and transmit data to the Main Control Unit (MCU). The MCU collects data from all PEs and evaluates straight lines. Even if the number of PEs is high, it is comparatively very much less than the parallel Hough Transform method and practically implementable using recent ULSI technologies.
Volume: 16
Issue: 3
Page: 1320-1326
Publish at: 2019-12-01

Model of absorbed gamma radiation in the interaction with rock formation

10.11591/ijra.v8i4.pp269-276
A. A. Azaryan , A. N. Gritsenko , A. A. Trachuk , V. M. Serebrenikov , D. V. Shvets
The article discusses issues of improving the accuracy of operational quality control of iron ore in mountain ranges. There was proposed the use of the absorbed gamma radiation indicator as an improvement of the nuclear physics method for determining the iron content in ore mass are proposed. There were obtained the relationships of the sensitivity of the absorbed gamma radiation intensity on the distance between the detector and the irradiated surface, as well as on the distance between the source and the detector of gamma radiation.
Volume: 8
Issue: 4
Page: 269-276
Publish at: 2019-12-01

Environment mapping, map constructing, and path planning for underwater navigation of a low-cost µAUV in a cluttered nuclear storage pond

10.11591/ijra.v8i4.pp277-292
Yibin Peng , Peter N. Green
This paper presents a novel approach that enables a low-cost µAUV (micro autonomous underwater vehicle) navigate and work safely in an enclosed cluttered underwater environment. In order to achieve a autonomy collision-free navigation in underwater, it requires a reliable approach that would allow a µAUV which equipped with sparse and inaccurate sonar sensors to map the underwater environment, a map constructing algorithm that converts the obtained data to useful information to establish a map, and a path planning algorithm that plans a collision-free path from the start to the desired goal. The proposed approach will integrate environment survey, environment reconstruction, and path planning as a completed task, which involves map acquisition and path planning. A complete simulation of the environment topology acquisition and route planning process is documented in this paper.
Volume: 8
Issue: 4
Page: 277-292
Publish at: 2019-12-01

Land use land cover analysis with pixel-based classification approach

10.11591/ijeecs.v16.i3.pp1327-1333
Haslina Hashim , Zulkiflee Abd Latif , Nor Aizam Adnan
Rapid development in certain urban area will affect its natural features. Therefore, it is important to identify and determine the changes occur for further analysis and future development planning. This process will influence several factors such as area development, environmental issues and human social activities. The selection of remote sensing data and method will derive the accurate land use land cover maps. This research study accessed the classification accuracy of different classifier approach for land use land cover classification in urban area. The objective of this paper is to compare the accuracy of the classification for each technique used. The study was conducted in a highly urbanized area in Kuala Lumpur, Malaysia. The dataset used for this study is the multi temporal LANDSAT satellite imageries for the year of 2001,2006,2011 and 2016. The pre-processing and analysis of the dataset has been done using software ENVI 5.3. Five land use classes (Urban/built up area, Forest, Agriculture, Water Body and fallow land) were identify for classification process. The classification approach for this study is the supervised classification with two algorithms namely Maximum Likelihood (ML) and Support Vector Machine (SVM). The overall accuracy and kappa statistic of the classification indicate that support vector machine algorithm was more accurate than maximum likelihood algorithm for five different time intervals.Therefore, this classification approach is acceptable and highly recommended for mapping the changes of land cover.
Volume: 16
Issue: 3
Page: 1327-1333
Publish at: 2019-12-01

Conceptual model for the integration of personal attribute skills in electrical technology education curriculum

10.11591/ijere.v8i4.20301
Dahiru Sale Mohammed , Sarimah Ismail
The current curriculum of Electrical Technology Education (ETE) of Nigerian Universities has been criticized for not meeting the desired challenges. The personal attribute skills were found are not integrated in the curriculum. Hence, a study was conducted to determine the types of personal attribute skills, their respective indicators and to develop a conceptual model for the integration of personal attribute skills for ETE curriculum. Mixed methods exploratory research design was employed for the study. 10 industry technical managers were interviewed and the interview data were analyzed using coding process of open coding, axial coding and selective coding. The interview data were used to develop a structured questionnaire that validated by 4 experts. Alpha value for pilot test was 0.89. Sample of the survey were 646 including 528 ETE graduates, 22 ETE lecturers and 96 industry technical managers. Stepwise Linear Regression and Confirmatory Factor Analysis were used to analyze the survey. The study developed a conceptual model for the integration of personal attribute skills that consists of two major skills: attitude skills and trait skills. This study recommended the implementation of the conceptual model for the integration of employability skills in ETE curriculum.
Volume: 8
Issue: 4
Page: 705-712
Publish at: 2019-12-01

Management maintenance system for remote control based on microcontroller and virtual private server

10.11591/ijeecs.v16.i3.pp1349-1355
Idham Kamil , Julham Julham , Muharman Lubis , Arif Ridho Lubis
Open loop shaped control system is a form of system control without any feedback from the system. One example is the on-off condition which functions to connect and disconnect electricity. The condition to be studied is a dc motor that can be set to live and die via internet server-based client service. The server in this system is a virtual private server (VPS) device that will provide a source of service to the client in the form of a collection of information on dc motor conditions. In addition, its function is also to record the working time of the dc motor. So that a schedule can be determined when the dc motor is maintained. While the client is a control unit consisting of a microcontroller device, an ethernet module enc28j60 and a dc motor. In general the working principle of the system is beginning with the user accessing the desired VPS IP address through a web browser application. From the web browser the user chooses a dc motor to be activated. But before the client has been connected to the VPS regularly (every second), the point is to always get the latest dc motor condition information. Then the microcontroller will set the dc motor in active or off condition. The research method used is research and development. The results obtained from this study are that the amount of bandwidth needed for communication between VPS and microcontrollers via the internet network, when the control unit works is 6.02 kbps, while the response time for dc motor is 3.16 seconds and the response time for dc motor 2 is 3.46 seconds.
Volume: 16
Issue: 3
Page: 1349-1355
Publish at: 2019-12-01

Statistical analysis of night radiance RH using VIIRS day/night band satellite time series data

10.11591/ijape.v8.i3.pp249-256
Jyoti U. Devkota
Amount of night lights in an area is a proxy indicator of electricity consumption. This is interlinked to indicators of economic growth such as socio-economic activities, urban population size, physical capital, incidence of poverty. These night lights are generated by renewable and non renewable energy source. In this paper the behavior of night radiance RH data was minutely analyzed over a period of 28 hour; Visible Infrared Imaging Radiometer Suite Day/Night Band (VIIRS DNB) satellite earth observation data were used. These 28 hours and 8936 observations time series data is from 2 September 2018 to 4 September 2018. The behavior of night radiance RH data over 122 time intervals was analyzed using box plots. It was seen that the arithmetic mean of RH data is more sensitive than the arithmetic mean of first order difference of RH data. The first order difference of night radiance RH was regressed on night radiance over 110 intervals of time. The box plot of slope and intercept of this linear regression showed the behavior of these regression parameters over 110 intervals of time. It is seen that the data are more scattered with respect to slope than with respect to intercept. This implies that the rate of change in RH with respect to change in time has more variability that the intrinsic value of RH data at the sampled point of time.
Volume: 8
Issue: 3
Page: 249-256
Publish at: 2019-12-01
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