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25,002 Article Results

Reading Strategies among ESL Malaysian Secondary School Students

10.11591/ijere.v4i2.4492
Semry Anak Semtin , Mahendran Maniam
This study aims to investigate the types of cognitive and metacognitive reading strategies employed by secondary school students in Malaysia to improve their comprehension. It uses a mixed-method approach which involves the instruments of a questionnaire and an interview. This study was conducted at SMK Kapit, involving ninety Form 4 students. Based on the findings, the students had used various reading strategies. The use of particular reading strategies is implied as their autonomous learning efforts to become more proficient readers. However, according to the frequency scales of strategy use (Oxford, 1990), the findings from the questionnaire indicate that most of the reported reading strategies have a mean between 2.5 and 3.49 as the students sometimes use these reading strategies. This revealed their lack of awareness of practising these reading strategies. Thus, teachers play a vital role in training students on the reading strategy use in order to enhance the effectiveness of their reading.
Volume: 4
Issue: 2
Page: 54-61
Publish at: 2015-06-01

Wavelet Transform Based Fault Diagnosis of BLDC Motor Drive

https://ijeecs.iaescore.com/index.php/IJEECS/article/view/1495
Ramesh Balaji S.M. , C. Muniraj , Mekala N
Due to the development in science and technology tremendous improvement in solid state devices and circuits, so we need to reduce the complexity of control circuits. The Brushless DC Motor (BLDCM) has simple construction, stator consists of winding and rotor consists of permanent magnet. It has higher efficiency and high speed range. In this paper presents the vibration analysis of single phase open circuit fault conditions and the signals are extracted from the Discrete Wavelet Transform (DWT). The Spartan-6 FPGA processor was implemented due to their high performance of the control applications in recent decades. In this process Sinusoidal Pulse Width Modulation (SPWM) techniques were used to control the speed of BLDC Motor. The experimental analysis is carried out in 3phase, BLDCM drive. The vibration signals are measured by using Accelerometer through Lab VIEW software. DOI: http://dx.doi.org/10.11591/telkomnika.v14i3.7967 
Volume: 14
Issue: 3
Page: 434-440
Publish at: 2015-06-01

Open-Delta VSC Based Voltage Controller in Isolated Power Systems

10.11591/ijpeds.v6.i2.pp376-386
Shilpi Bhattacharya , Prabal Deb , Sujit K Biswas , Ambarnath Banerjee
This paper proposes a reduced switch Open-Delta (OD-VSC) voltage controller for an standalone asynchronous generator (SAG), also known as the self-excited induction generator (SEIG),used in constant power applications such as pico hydro uncontrolled turbine driven isolated induction generator (IAG) for feeding three-phase loads. The proposed reduced switch voltage controller is used to regulate and control the generator terminal voltage as it is subjected to voltage drops, dips or flickers when the isolated power system is subjected to various critical loads. Generally this purpose is carried out by a STATCOM comprising of a three-leg six-switch inverter structure. Here, in this work the DSTATCOM is realized using a three-leg four-switch insulated gate bipolar transistor (IGBT)-based current controlled voltage-sourced converter (CC-VSC) and a self-supporting dc bus containing two split capacitors. The proposed generating system along with the controller is modeled and simulated in MATLAB along with Simulink and power system blockset (PSB) toolboxes. The system is simulated and the capability of the isolated generating system along with the reduced switch based voltage controller is presented here where the generator feeds linear and non-linear loads are investigated.
Volume: 6
Issue: 2
Page: 376-386
Publish at: 2015-06-01

Open-Switch Fault-Tolerant Control of a Grid-Side Converter in a Wind Power Generation System

10.11591/ijpeds.v6.i2.pp293-304
Partha Sarati Das , Kyeong-Hwa Kim
A fault-tolerant technique of a grid-side converter (GSC) is a very important task because the unbalanced grid power endangers the overall system. Since the GSC is very sensitive to grid disturbance, the complete system needs to be stopped suddenly once an open-switch fault occurs. To improve the reliability of system, the continuous operation should be guaranteed. In this paper, a redundant topology based fault-tolerant algorithm is proposed for a GSC in a wind power generation system. The proposed scheme consists of the fault detection and fault-tolerant algorithms. The fault detection algorithm employs the durations of positive and negaitive cycles of three-phase grid currents as well as normalized root mean square (RMS) currents. Once a fault is detected, the corresponding faulty phase is identified and isolated to enable the fault-tolerant operation. The faulty phase is replaced by redundant one rapidly to recover the original shape of the grid currents, which ensures the continuity in operation. In contrast with the conventional methods, the proposed fault detection and fault-tolerant algorithms work effectively even in the presence of the open faults in multiple switches in the GSC. Simulation results verify the effectiveness of the proposed fault diagnosis and fault-tolerant control algorithms.
Volume: 6
Issue: 2
Page: 293-304
Publish at: 2015-06-01

Teacher Performance of the State Vocational High School Teachers in Surabaya

10.11591/ijere.v4i2.4495
Amiartuti Kusumaningtyas , Endang Setyawati
Teacher Performance of the State Vocational High School Teachers in Surabaya   Dr. Amiartuti Kusumaningtyas, MM Faculty of Economics, 17 Agustus 1945 University, Surabaya, Indonesia Email: amiartuti.k@gmail.com Abstract State Vocational High School Teacher is a professional educator with major duties to educate, teach, build, direct, coach, assess and evaluate learners on the vocational high school education. Teacher as a professional educator should has the academic qualification. Academic qualification required for a teacher is he or she at least should be educated of bachelor degree or diploma four. Fundamentaly, teacher performance is determined by the expertise and ability of teacher concerned. These achievement factor is so thick and so critical in its relation to competence, compensation, and also job satisfaction that may become the obstacle in the enhancement of teacher performance. Population in this research was the teachers of the State Vocational High School Teachers in Surabaya, amounted to 317, educated in bachelor degree or diploma four, had have service of minimal 5 years. Data analysis used the simple random sampling, structural equation model (SEM) analysis, by the assistance of PLS 2 software, conducted on 92 respondents and able to explain the effect of competence and compensation on the job satisfaction and the performance of the State Vocational High School Teachers in Surabaya. The results of research indicated that: Competence and compensation significantly influential on teacher job satisfaction;  Competence and compensation significantly influential on teacher performance; Teacher Job satisfaction signifiacntly influential on the performance of the State Vocational High School Teachers in Surabaya. The largest effect of the three variables hipothesized on teacher performance in this research was the direct relatedness between compensation and teacher performance.   Key Words: competence, compensation, teacher job satisfaction, teacher performance
Volume: 4
Issue: 2
Page: 76-83
Publish at: 2015-06-01

A Safe Interaction of Robot Assisted Rehabilitation, Based on Model-Free Impedance Control with Singularity Avoidance

10.11591/ijra.v4i2.pp98-108
Iman Sharifi , Ali Doustmohammadi , Heidar Ali Talebi
In this paper, a singularity-free control methodology for the safe robot-human interaction is proposed using a hybrid control technique in robotic rehabilitation applications. With the use of max-plus algebra, a hybrid controller is designed to guarantee feasible robot motion in the vicinity of the kinematic singularities or going through and staying at the singular configuration. The approach taken in this paper is based on model-free impedance control and hence does not require any information about the model except the upper bounds on the system matrix. The stability of the approach is investigated using multiple Lyapunov function theory. The proposed control algorithm is applied to PUMA 560 robot arm, a six-axis industrial robot. The results demonstrate the validity of the proposed control scheme.
Volume: 4
Issue: 2
Page: 98-108
Publish at: 2015-06-01

The Mobile Robot HILARE: Dynamic Modeling and Motion Simulation

10.11591/ijra.v4i2.pp150-155
M. Ghazal , A. Talezadeh , M. Taheri , M. Nazemi-Zade
To perform mission in variant environment, several types of mobile robot has been developed an implemented. The mobile robot HILARE is a known wheeled mobile robot which has two fixed wheels and an off-entered orientable wheel. Due to extended application of this robot, its dynamic analysis has attracted a great deal of interests. This article investigates dynamic modeling and motion analysis of the mobile robot HILARE. As the wheels of the robot have kinematic constraints, the constraints of wheels are taken into consideration and the matrix form of the kinematic model of the robot is derived. Furthermore, dynamic model of the robot is developed by consideration of kinematic constraints. To derive dynamic equations of the robot, the Lagrange multiplier method is employed and the governing equations of the robot in state-pace form are presented. Then, some simulations are presented to show applicability of the proposed formulation for dynamic analysis of the mobile robot HILARE.
Volume: 4
Issue: 2
Page: 150-155
Publish at: 2015-06-01

Investigating SATS-36 for a Matriculation Sample

10.11591/ijere.v4i2.4496
Saras Krishnan , Noraini Idris
Students’ attitudes towards statistics have been more often negative due to many factors such as initial perception of the subject, low ability in mathematics and lack of motivation to study statistics. Studies involving SATS-36 included investigation of the different factors in relation to students’ attitude towards statistics. Other studies have investigated the structure of SATS-36 and the relationship between the different components of SATS-36. The research investigated the reliability and validity of SATS-36 for a sample of matriculation students. Results showed that while reliability and validity is maintained for the instrument, it is not the case for the sample of respondents.
Volume: 4
Issue: 2
Page: 84-88
Publish at: 2015-06-01

Inverse Kinematic Solution of 5R Manipulator using ANN and ANFIS

10.11591/ijra.v4i2.pp109-123
Panchand Jha
Inverse kinematics of manipulator comprises the computation required to find the joint angles for a given Cartesian position and orientation of the end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network and adaptive neural fuzzy inference system techniques can be gainfully used to yield the desired results. This paper proposes structured artificial neural network (ANN) model and adaptive neural fuzzy inference system (ANFIS) to find the inverse kinematics solution of robot manipulator. The ANN model used is a multi-layered perceptron Neural Network (MLPNN). Wherein, gradient descent type of learning rules is applied. An attempt has been made to find the best ANN configuration for the problem. It is found that ANFIS gives better result and minimum error as compared to ANN.
Volume: 4
Issue: 2
Page: 109-123
Publish at: 2015-06-01

Backstepping Controller for Electrically Driven Flexible Joint Manipulator Under Uncertainties

10.11591/ijra.v4i2.pp156-163
Lilia Zouari , Hafedh Abid , Mohamed Abid
The grown complexity of the robot manipulators dynamics taking into account the jointflexibility, parameter uncertainties and unknown bounded disturbances makes conventionalcontrol strategies difficult and complex to synthesize. This paper focuses on the investiga-tion into backstepping control of flexible joint manipulator driving by Brushless DC Motor(BDCM) in the presence of parameter uncertainties and unknown bounded disturbances fortracking trajectory. The goal of this paper is to compensate all uncertainties and distur-bances for flexible joint manipulator. To study the effectiveness of the controllers, backstep-ping controller has been developed for position control and an hysteresis controller has beentreated for current control. Simulation results of the response of the flexible joint manipu-lators associated with their controllers have been presented. The high performances of thebackstepping control are examined in terms of tracking accuracy and error reduction.
Volume: 4
Issue: 2
Page: 156-163
Publish at: 2015-06-01

Sampled-Data Backstepping Control of a Quadrotor Unmanned Aerial Vehicle

10.11591/ijra.v4i2.pp124-134
Abdul Jabbar , Fahad Mumtaz Malik
Sampled-data backstepping control of a quadrotor UAV is presented in this paper. The discrete time controllers have been designed on the basis of a continuous time system model and an approximate discrete time equivalent system model (Euler Approximate model) obtained using the Euler method. The performance of the controllers obtained using the two sampled-data approaches has been compared in the presence of wing gusts and modeling uncertainties. Simulations have revealed that the backstepping controller designed on the basis of an approximate discrete time model has better performance in the presence of wind gusts and modeling uncertainties. In addition, the closed loop system has a larger region of attraction.
Volume: 4
Issue: 2
Page: 124-134
Publish at: 2015-06-01

Trajectory Planning and Walking Pattern Generation of Humanoid Robot Motion

10.11591/ijra.v4i2.pp135-142
Saeed Abdolshah , Majid Abdolshah , Sai Hong Tang
Walking trajectory generation for a humanoid robot is a challenging control  issue. In this paper, a walking cycle has been recognized considering human motion, and nine simple steps were distinguished in a full step of walking which form motion trajectory, and generates a simplified ZMP motion formulation. This system was used in humanoid robot simulation motion and is achievable easily in walking steps of robot. A minimum DOFs humanoid robot has been considered and geometrical relationships between the robot links were presented by the Denavit-Hartenberg method. The inverse kinematics equations have been solved regarding to extracted ZMP trajectory formula, and constraints in different steps. As a result; angular velocity, acceleration and power of motors were obtained using the relationships and Jacobin. At each step, extracted data were applied on simulated robot in Matlab, and Visual Nastran software. Zero moment point trajectory was evaluated in simulation environment.
Volume: 4
Issue: 2
Page: 135-142
Publish at: 2015-06-01

Modification and Actuator Minimization of the Hip Leg Joint in a Bipedal Robot: A Proposed Design

10.11591/ijra.v4i2.pp93-97
Nirmalya Tripathi
In recent times, there have been numeric applications of Biped Robots. In this paper, a proposed upper leg hip design of a biped was developed taking cost reduction and optimization as factors for consideration. The proposed system introduces a novel method which consists of a vibration reduction (VR) DC stepper motor, microcontroller, microprocessor and gearing arrangement. The program in the microprocessor is so designed that it gives a fixed number of cycles/steps to the VR DC stepper motor in clockwise and thereafter in anti-clockwise direction. This turning movement can then be transmitted to the gearing system which precisely moves one upper leg when the VR DC stepper motor moves in clockwise direction, while the other upper leg remains static, and vice-versa. It has been observed that this new proposed system may reduce the cost overhead, weight and the energy consumption incurred by working on a single VR DC stepper motor while conventionally two stepper motors are used to give the motion of the two upper legs in a biped.
Volume: 4
Issue: 2
Page: 93-97
Publish at: 2015-06-01

Wall-E Surveyor Robot using Wireless Networks

10.11591/ijra.v4i2.pp143-149
Aatish Chandak , Arjun Aravind , Nithin Kamath
The methods for autonomous navigation of a robot in a real world environment is an area of interest for current researchers. Although there have been a variety of models developed, there are problems with regards to the integration of sensors for navigation in an outdoor environment like moving obstacles, sensor and component accuracy. This paper details an attempt to develop an autonomous robot prototype using only ultrasonic sensors for sensing the environment and GPS/ GSM and a digital compass for position and localization. An algorithm for the navigation based on reactive behaviour is presented. Once the robot has navigated to its final location based on remote access by the owner, it surveys the geographical region and uploads the real time images to the owner using an API that is developed for the Raspberry PI’s kernel.
Volume: 4
Issue: 2
Page: 143-149
Publish at: 2015-06-01

Bidirectional Battery Charger for PV Using Interleaved Fourport DC-DC Converter

https://ijeecs.iaescore.com/index.php/IJEECS/article/view/1494
A. Elamathy , G. Vijayagowri , V. Nivetha
In this paper, a four-port bidirectional dc-dc converter is proposed for grid-interactive photovoltaic (PV) system application. The four-phase topology is suitable for residential pumping, aerospace power requirements. The control of battery and different capacities of PV modules are naturally decoupled. In addition, the port interface with PV is current type which can implement maximum power point tracking (MPPT) and soft switching under wide variation of PV terminal voltage. Finally, simulation results are proposed to verify the power control in different operation modes. DOI: http://dx.doi.org/10.11591/telkomnika.v14i3.7894 
Volume: 14
Issue: 3
Page: 428-433
Publish at: 2015-06-01
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