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29,082 Article Results

The Influence of Non-planar (Spatial) Links in the Static Characteristics Behavior of Planar Parallel Manipulator

10.11591/ijra.v6i3.pp151-167
Ganesh Mangavu , Karthikeyan. R , Venkitachalam. P , Guruguhan . G , S. Shrinithi , Kannan. S , Anjan Kumar Dash
Conventional planar manipulators have all their links in a single plane. Increasing payload at the end-effecter/mobile platform can induce high stress in the links due to cantilever nature of links. Thus it limits the total vertical load that can be applied on the mobile platform. In contrast to the links in conventional planar parallel mechanisms, non-planar links are proposed in this paper, i.e., links are made inclined to the horizontal plane and non planar legs are constructed. Although the links are made non-planar, the rotary (or prismatic) joints axes remain perpendicular (or parallel) to the plane of the base platform, which retains the planar motion of the end-effecter. For studying the application of such non planar links in planar manipulators, new models of inertia, stiffness and leg dynamics have to be developed. In this article, these models are developed and with the developed models, the static analysis is done on the planar manipulators with non-planar links and the performance is compared with the corresponding conventional planar manipulators.
Volume: 6
Issue: 3
Page: 151-167
Publish at: 2017-09-01

Working Memory and Behavioural Problems in Relation to Malay Writing of Primary School Children

10.11591/ijere.v6i3.8136
Sieak Ling-Teo , Kee Jiar-Yeo
Deficit in working memory is common among young children across multiple abilities. Teachers have pointed to poor memory as one contributing factor to inattentiveness and short attention spans as well as some behavioural problems among students. This study aimed to explore the relationship among working memory, externalizing and internalizing behavioural problems and Malay language (writing). A total of 469 children (aged 8 and 11 year-old) and 17 school teachers were involved in the current study. It was found that working memory, externalizing behavioural problems and internalizing behavioural problems played critical roles in affecting the scores of Malay language (writing) at school. Specifically, there were five predictor variables being found in the regression model namely verbal short-term memory, inattention, somatic complaints, visuospatial working memory and aggression. As a whole, the correlation for the fivefactor model yielded a great result of 0.987.
Volume: 6
Issue: 3
Page: 189-197
Publish at: 2017-09-01

Factors Influencing Candidates’ Performance in English Language and Mathematics at West African Senior School Certificate Examination

10.11591/ijere.v6i3.9066
Oluwatomi Modupeola Alade , Olaotan Oladele Kuku , Adunola Osoba
The study investigated influence of some factors on the performance of selected West African Senior School Certificate Examination (WASSCE) candidates. It also examined the relationship between these factors and candidates’ performance. Factors investigated include socio-economic background of the candidates (SEB), study hours (SH), attitude towards English Language (ATTENG) and attitude towards Mathematics (ATTMAT). Secondary schools in Lagos State were divided into private and public secondary schools. Simple random sampling was used to select five out of the six educational districts in Lagos State. Then one public and one private secondary schools were selected in each of the five educational districts earlier selected in stage one. Thereafter, 30 senior secondary school III students were selected in each of the ten schools (5 public and 5 private schools). A total of 600 candidates (consisting of male and female participants) were expected, however, only 564 participants with complete data were found suitable for the study. An instrument tagged “Candidates Rating Scale (CRS)” was developed and used to measure their SEB, SH, ATTENG and ATTMA which were the independent variables while candidates’ scores at WASSCE was used as the dependent variable. Obtained data were analyzed by using multiple regressions. The results of the study indicate that there exists a positive correlation between WASSCE grades and all the variables in Mathematics but correlate with socio economic background only for English language.
Volume: 6
Issue: 3
Page: 243-251
Publish at: 2017-09-01

Model Predictive Control of Wind-Photovoltaic Hybrid System Connected to Grid

10.11591/ijra.v6i3.pp216-226
Houda Abidi , Abdelkader Mami
This work focuses on Model based Predictive Control (MPC) for photovoltaic-wind hybrid energy system connected to electrical grid. Several benefits  are offered by this method  such as robustness against a  parameter variations, minimum output current distortion and excellent reference tracking. In order to minimize the cost function or the error between the  predicted values and their references, MPC-based algorithm permit to select and apply the  optimal voltage vector. Simulation results under Psim environment show a fast dynamic behavior of hybrid system with minimal errors, accuracy and usefulness of the considered control approach.
Volume: 6
Issue: 3
Page: 216-226
Publish at: 2017-09-01

A Meaningful Compact Key Frames Extraction in Complex Video Shots

10.11591/ijeecs.v7.i3.pp818-829
Manar Abduljabbar Mizher , Mei Choo Ang , Ahmad Abdel Jabbar Mazhar
Key frame extraction is an essential technique in the computer vision field. The extracted key frames should brief the salient events with an excellent feasibility, great efficiency, and with a high-level of robustness. Thus, it is not an easy problem to solve because it is attributed to many visual features. This paper intends to solve this problem by investigating the relationship between these features detection and the accuracy of key frames extraction techniques using TRIZ. An improved algorithm for key frame extraction was then proposed based on an accumulative optical flow with a self-adaptive threshold (AOF_ST) as recommended in TRIZ inventive principles. Several video shots including original and forgery videos with complex conditions are used to verify the experimental results. The comparison of our results with the-state-of-the-art algorithms results showed that the proposed extraction algorithm can accurately brief the videos and generated a meaningful compact count number of key frames. On top of that, our proposed algorithm achieves 124.4 and 31.4 for best and worst case in KTH dataset extracted key frames in terms of compression rate, while the the-state-of-the-art algorithms achieved 8.90 in the best case.
Volume: 7
Issue: 3
Page: 818-829
Publish at: 2017-09-01

Sensor Fusion of Leap Motion Controller and Flex Sensors using Kalman Filter for Human Finger Tracking

10.11591/ijra.v6i3.pp178-187
Godwin Ponraj Joseph Vedhagiri , Hongliang Ren
In our daily life, we, human beings use our hands in various ways for most of our day-to-day activities. Tracking the position, orientation and articulation of human hands has a variety of applications including gesture recognition, robotics, medicine and health care, design and manufacturing, art and entertainment across multiple domains. However, it is an equally complex and challenging task due to several factors like higher dimensional data from hand motion, higher speed of operation, self-occlusion, etc. This paper puts forth a novel method for tracking the finger tips of human hand using two distinct sensors and combining their data by sensor fusion technique.
Volume: 6
Issue: 3
Page: 178-187
Publish at: 2017-09-01

Selective MAC for Obstacle Aware CEV Environmental Model for V2V

10.11591/ijeecs.v7.i3.pp724-736
Usha Rani B , Suraiya Tarannum
Vehicular adhoc network (VANET) adopts or resembles a similar structure of Mobile adhoc network (MANET).  The communication in VANET are generally classified into following three categories such as Vehicle to Infrastructure (V2I), Vehicle to Vehicle (V2V) and Hybrid network which is a combination of V2V and V2I network. VANET using the IEEE 802.11p standard has great potential of achieving objectives of Smart intelligent transport system (SITS) for improving transport and road safety efficiency. As more and more services is been provided for V2V based VANET network. It is a challenging task to provide QoS to end user, due to wireless medium that has limited channel availability for transmission. To guarantee QoS and provide efficient network performance, a prioritized MAC need to be designed. Many priority based MAC has been designed in recent times to improve the quality of data delivery to end user. However these do not consider the impact of environment and presence of obstacle which affects the signal attenuation at the receiver end and affecting the QoS of channel availability. To address, this work present an obstacle based radio propagation model, obstacle based CEV (City, Expressway and Village) environmental model and a selective MAC to provide QoS for different services. The proposed model efficiency is evaluated in term of throughput achieved per channel, Collison and success packet transmission. To evaluate the adaptive performance of proposed AMACexperiment are conducted under CEV environment and are compared with existing MAC NCCMA. The outcome achieved shows that the proposed model is efficient in term of reducing Collison, improving packet transmission and throughput performance considering two types of services.
Volume: 7
Issue: 3
Page: 724-736
Publish at: 2017-09-01

Pocket Book to Enhance Knowledge and Attitude Regarding Prevention of Soil-transmitted Helmint

10.11591/ijere.v6i3.9065
Liena Sofiana , Suci Musvita Ayu
Indonesia, being a tropical area with high humidity, is a source of proliferation of worms. Soil-Transmitted Helminths infection is widespread in all rural and urban areas. Children who are infected usually experience lethargy, pallor or anemia, weight loss and listlessness, as well as decreasing their learning concentration and productivity. Prevention effort to reduce the incidence of Soil-Transmitted Helminths infection is conducted by providing the information on Soil-Transmitted Helminths infection. Health promotion cannot be separated from media because messages delivered through media can be more interesting and easier to understand. The purpose of this study is to determine the effectiveness of a pocket book to increase preventive behavior for Soil-Transmitted Helminthes Infections. This type of research was a quasi-experimental study. The samples of this study were all elementary school infected students in grades 3, 4, and 5 with a package of interventions for the provision of a pocket book. The effectiveness of the pocket book is determined by using the t test. There are differences between the mean of knowledge and attitude, but the mean of behavior of Soil -Transmitted Helminths Infection before and after the pocket book is similar.
Volume: 6
Issue: 3
Page: 252-256
Publish at: 2017-09-01

Implementing 3D Printer to Produce Parts in Medical Applications

10.11591/ijra.v6i3.pp188-199
Roger Johnson , Charles Taylor , G. H. Massiha
The purpose of this project is to show the ability of a 3D printer to produce temporary parts, molds, and jigs for industrial applications. In the industry, it is common for any replacement parts to be milled by a CNC machine or a large inventory of replacement parts to be kept on standby.  This represents an underutilization of company capital.  This is because there should either be a CNC machine delegated to remake the part, while the other machine is down, or have capital dumped into parts that will not be utilized until a part breaks.  A 3D printer can create a temporary part that can take the place of the broken one until another, more permanent, one can be produced or ordered.  Although, if this was the only thing it would be used for it also would be underutilized and not bringing out its full potential.  It can also make jigs in a fraction of the time, and cost in materials, it would take for a CNC machine to mill it from metal.  This increases flexibility of the 3D printer and does not leave it underutilized, thus not being capital that is underutilized.
Volume: 6
Issue: 3
Page: 188-199
Publish at: 2017-09-01

High Quality Video Assessment Using Salient Features

10.11591/ijeecs.v7.i3.pp761-772
Bhanu Rekha , Ravi Kumar AV
An efficient modified video compression HEVC technique based on high quality assessment saliency features presented for the assessment of high quality videos. To create an efficient saliency map we extract global temporal alignment component and robust spatial components. To obtain high quality saliency here, we combine spatial saliency features and temporal saliency features together for different macroblocks in association with transformed residuals. In this way, our saliency model outperforms all the existing techniques. In this paper, we have generated high reconstruction quality video after compression considering SFU dataset. Our experimental results outperforms all the existing techniques in terms of saliency map detection, PSNR and high-resolution quality.
Volume: 7
Issue: 3
Page: 761-772
Publish at: 2017-09-01

Examining Pre-school Teachers’ and Parents’ Views on Counseling and Guidance Services in Pre-school Education

10.11591/ijere.v6i3.7639
Gulsen Buyuksahin Cevik
Current study aims to reveal the problems that pre-school teachers and parents face, in relation to guidance and counseling services, at schools without psychological counselors. The purpose of including pre-school teachers and parents in the current study was to find out both whether they considered the guidance and counseling services a need and whether their methods of intervention against the problems that they face were functional. The current research was designed with interview technique as a qualitative study method. Research data were collected through a semi-structured interview form developed by the researcher. The researcher met the participants individually and asked the questions on the interview form for the current research. The responses that the participants provided were recorded and later transferred onto computer environment. The study group, formed based on voluntary participation, included total 30 participants with 15 pre-school teachers and 15 parents of pre-school children. Pre-school teacher participants 10 females and 5 males, worked for five different preschools in Adiyaman. Total 15 parents in the study group included nine females and six males. An examination of pre-school teachers’ responses based on the current study findings indicated that majority of the teachers did not prepare an annual counseling and guidance plan. Another finding of the current study was that children of most parents and teachers experience adjustment problems in pre-school. Another finding of the current research is about children’s individual problems. Main individual problems that parents experienced with their children included self-care and social development.
Volume: 6
Issue: 3
Page: 207-215
Publish at: 2017-09-01

Autonomous Vehicle Control System as a Mobile Robot by Artificial Neural Network

10.11591/ijra.v6i3.pp200-206
Nazmul Haque , Md Hasnat Riaz
In this paper we have presented the artificial neural network controlled car in mobile robotics and intelligent car systems. The motion control architecture of the robot is presented with an importance on the support and directing units. This uses neural network methods and the values fundamental its design is drawn. A robust neural control system using a model of the process is also developed.
Volume: 6
Issue: 3
Page: 200-206
Publish at: 2017-09-01

Discrete-time Inversion Model Control of a Double-damper System with Uncertain Parameters

10.11591/ijra.v6i3.pp168-177
Marwa Hannachi , Ikbel Bencheikh Ahmed , Dhaou Soudani
This paper addresses the control at discrete time of physical complex systems multi-inputs multi-outputs with variables parameters. Classified among the robust control laws the Internal Model Control (IMC) is adopted in this work to ensure the desired performances adjacent to the complexities of the system. However, the application of this control strategy requires that these different building blocks be open loop stable, which invites us, on the one hand, to apply the algebraic approach of Kharitinov for delimiting the summits stability domain’s system. On the other case, the Linear Matrix Inequalities (LMI) approach is applied to determine the corrector’s stability conditions obtained by a specific inversion of the chosen model. It is in this sense that we contribute by this work to execute the command by inversion the discrete-time model in order to ensure the stability and to maintain the performances the stability conditions of required for the double damper system with variable parameters.
Volume: 6
Issue: 3
Page: 168-177
Publish at: 2017-09-01

Controlling of Mobile Robot by Using of Predictive Controller

10.11591/ijra.v6i3.pp207-215
Alireza Rezaee
In this paper implementation of Model PredictiveController on mobile robot was explained. The conductedexperiments show effectiveness of the proposed method oncontrol of the mobile robot. Furthermore the effects of the modelparameters such as control horizon, prediction horizon,weighting factor and signal filter band on the controllerperformance were studied. Finally, a comparison between thedesigned MPC controller and PID and adaptive controllers waspresented demonstrating superior performance of the ModelPredictive Controllers.
Volume: 6
Issue: 3
Page: 207-215
Publish at: 2017-09-01

Zoo Simulator to Increase Children Learning Phase

10.11591/ijere.v6i3.8082
Rendy Rendy , Marcel Bonar Kristanda , Seng Hansun
The growth of kids' brain could be optimized by recognizing something. Learning to recognize animals is one of the methods to stimulate the children's brain growth to imagine. Nevertheless, kids tend to spend all their time by playing and could not focus to recognize the animals due to the way of learning which is usually not interactive and not interesting. Therefore, a game application was designed and developed to be used as a way to help children in recognizing the animals. This program was developed as a mobile game application with the animation and attractive display to increase the kids' interest to learn the animals. Beside that, Fisher-Yates shuffle algorithm has been successfully implemented on the game to randomize the images which can be found on puzzles, randomize the answers in image guessing puzzles, randomize animals to choose which can be sold, randomize the foods which will be given to the pets, and randomize the initial position to create patterns on rescue rare animal puzzles. After the implementation and testing on the game application, it proves that it could increase the kids’ interest in learning new animals to 4.18 in ARCS interest measuring index compare with textbook method which only 2.74.
Volume: 6
Issue: 3
Page: 198-206
Publish at: 2017-09-01
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