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28,188 Article Results

Health Seeking Behaviour among Undergraduates in the Faculty of Health Sciences and Technology, University of Nigeria Enugu Campus

10.11591/ijere.v5i3.4537
Okechukwu Odinaka Ajaegbu , Ijendu Ihuarulam Ubochi
Health is essential for social and economic development of any country. Nearly 10 million children in developing countries die each year before reaching the age of five from ailments, mostly pneumonia, diarrhoea, and malaria.The socio-cultural belief about the causation of disease and its curability has direct correlation with the treatment seeking behaviour of an individual.It is in the light of the foregoing that this research was necessitated to investigate various health seeking behavours exhibited by undergraduates in the Faculty of Health Science and Technology. Health Belief Model was used to examine ways people react to health issues. A descriptive survey research design was employed while questionnaire was data collection tool for the study. The study revealed that common illnesses among students are headache and fever. Students generally go to buy drugs from the patent medicine stores when sick. Students will not go to the hospital until they experience pains that they cannot accommodate again. Factors affecting the choice of health care adopted when ill is mostly related to its accessibility, effectiveness and none delay. Finally, while government should be able to provide access to many health care facilities, health promotion and preventive strategies should be reinforced in universities.
Volume: 5
Issue: 3
Page: 181-188
Publish at: 2016-09-01

Self-Tuning Geometric Control for a Quadrotor UAV Based on Lyapunov Stability Analysis

10.11591/ijra.v5i3.pp136-150
Farhad Goodarzi
A Lyapunov-based self gain tuning geometric nonlinear controller for a quadrotor UAV has been developed on SE(3) in this paper. By designing an adaptive law with Lyapunov stability analysis for the controller gains, the proposed control system can asymptotically follow an attitude and position command while tuning the PID gains online, and it is extended to guarantee boundedness of tracking errors in the presence of unstructured disturbances. This introduce an unprecedented algorithm to autonomously tune the controller gains without need of extra effort or introducing boundary conditions. Proposed controller considers all the coupling effects between rotational and translational dynamics, and it is developed in a coordinate-free fashion to avoid complexities and ambiguities associated with other attitude representations such as Euler angles or quaternions. The desirable features of the proposed controller are illustrated by numerical simulations and juxtaposed with a well-known offline gain tuning method. The proposed algorithm is ultimately validated with an experimental example.
Volume: 5
Issue: 3
Page: 136-150
Publish at: 2016-09-01

The Effects of Modified Games on the Development of Gross Motor Skill in Preschoolers

10.11591/ijere.v5i3.4542
Indah Lestari , Tri Ratnaningsih
Gross motor skills on children must be optimized much earlier since it plays important role not only on their interaction process but also in supporting other multiple developments. One of the means in developing child's motor skill is by providing innovative games i.e. modified games including game format, game timing, and game sequence. The objective of this research was to prove the effects of modified games to the development of gross motor skill of preschoolers. Research method was pre-experimental with One Group Pre-post test Design approach. Research samples were the students of Group B Kindergarten in the districts of Gedeg as many as 180 students which were conducted by using purposive sampling. Research instrument was observation during one month. The data was analyzed by Wilcoxon sign rank test. The results suggested that there was effect of modified games to the development of preschool gross motor skill with p-value = 0.000. Changes on motor skill development were obtained from those who were initially on the beginning stage, as many as 101 respondents, became 14 respondents after intervention. Development stage proceeded as expected, from initial 65 respondents the number increased to 130 respondents. At the end of the intervention, there were even 36 respondents whose development stage beyond where they were supposed to be. This proved that the provision of modified games had positive effects on physical, cognitive, and social development. Modified games triggered children's interest and made them be willing to train their activities as well as muscle development, decreased saturation, and improved their skills in a fun way.
Volume: 5
Issue: 3
Page: 216-220
Publish at: 2016-09-01

A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices

10.11591/ijra.v5i3.pp213-222
Mohammad Reza Elhami , Iman Dashti
In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, the authors proposed a new approach called ‘convenient approach’ that is developed based on “Relative Transformations Principle”. It provides a very simple and convenient way for the solution of robot kinematics compared to the conventional D-H representation. In order to clarify this point, the kinematics of the world known Stanford manipulator has been solved through D-H representation as well as convenient approach and the results are compared.
Volume: 5
Issue: 3
Page: 213-222
Publish at: 2016-09-01

Performance Evaluation of Heterogeneous Network Based on RED and WRED

10.11591/ijeecs.v3.i3.pp540-545
Wisam Mahmood Lafta , Saba Qasim Jabbar , Guangzhi Ma
The developing of wireless networks becomes a very important issue nowadays, since it is considered as an easy-using tool without building new infrastructure to cover a wide working area. Applying TCP protocols with the application demands are implemented this work by considering heterogeneous environment of wireless networks connecting with wired networks. The TCP congestion is critical problem is faced heterogeneous environments, this problem is appeared through sending and receiving huge data from wireless networks to wired networks and vice versa. This work is proposed a new approach of using active queue management (AQM) technique with random early detection (RED) and weight random early detection (WRED) strategies to avoid the expected congestion between the heterogeneous environments. Our simulation results show that the quality of service (QoS) is improved by reducing the queue delay and buffer usage, and by increasing the average throughput and utilizationof the system. The simulation is carried out by using OPNET software to test the proposed models for different scenarios.
Volume: 3
Issue: 3
Page: 540-545
Publish at: 2016-09-01

Local Path Planning of Mobile Robot Using Critical-PointBug Algorithm Avoiding Static Obstacles

10.11591/ijra.v5i3.pp182-189
SUBIR KUMAR DAS
Path planning is an essential task for the navigation of Autonomous Mobile Robot. This is one of the basic problems in robotics. Path planning algorithms are classified as global or local, depending on the knowledge of surrounding environment. In local path planning, the environment is unknown to the robot, and sensors are used to detect the obstacles and to avoid collision. Bug algorithms are one of the frequently used path planning algorithms where a mobile robot moves to the target by detecting the nearest obstacle and avoiding it with limited information about the environment. This proposed Critical-PointBug algorithm, is a new Bug algorithm for path planning of mobile robots. This algorithm tries to minimize traversal of obstacle border by searching few important points on the boundary of obstacle area as a rotation point to goal and end with a complete path from source to goal.
Volume: 5
Issue: 3
Page: 182-189
Publish at: 2016-09-01

Domain and Intelligence Based Multimedia Question Answering System

10.11591/ijere.v5i3.4544
Krishnamoorthi Magesh Kumar , P. Valarmathie
Multimedia question answering systems have become very popular over the past few years. It allows users to share their thoughts by answering given question or obtain information from a set of answered questions. However, existing QA systems support only textual answer which is not so instructive for many users. The user’s discussion can be enhanced by adding suitable multimedia data. Multimedia answers offer intuitive information with more suitable image, voice and video. This system includes a set of information as well as classification of question and answer, query generation, multimedia data selection and presentation. This system will take all kinds of media such as text, images, videos, and videos which will be combined with a textual answer. In a way, it automatically collects information from the user to improvising the answer. This method consists of ranking for answers to select the best answer. By dealing out a huge set of QA pairs and adding them to a database, multimedia question answering approach for users which finds multimedia answers by matching their questions with those in the database. The effectiveness of Multimedia system is determined by ranking of text, image, audio and video in users answer. The answer which is given by the user it’s processed by Semantic match algorithm and the best answers can be viewed by Naive Bayesian ranking system.
Volume: 5
Issue: 3
Page: 227-234
Publish at: 2016-09-01

Optimal Trajectory Planning of Industrial Robots using Geodesic

10.11591/ijra.v5i3.pp190-198
Pradip Kumar Sahu
This paper intends to propose an optimal trajectory planning technique using geodesic to achieve smooth and accurate trajectory for industrial robots. Geodesic is a distance minimizing curve between any two points on a Riemannian manifold. A Riemannian metric has been assigned to the workspace by combining its position and orientation space together in order to attain geodesic conditions for desired motion of the end-effector. Previously, trajectory has been planned by considering position and orientation separately. However, practically we cannot plan separately because the manipulator joints are interlinked. Here, trajectory is planned by combining position and orientation together. Cartesian trajectories are shown by joint trajectories in which joint variables are treated as local coordinates of position space and orientation space. Then, the obtained geodesic equations for the workspace are evaluated for initial conditions of trajectory and results are plotted. The effectiveness of the geodesic method validated through numerical computations considering a Kawasaki RS06L robot model. The simulation results confirm the accuracy, smoothness and the optimality of the end-effector motion. 
Volume: 5
Issue: 3
Page: 190-198
Publish at: 2016-09-01

Evaluation of a Problem Based Learning Curriculum Using Content Analysis

10.11591/ijere.v5i3.4540
Titi Savitri Prihatiningsih , Nurul Qomariyah
Faculty of Medicine UGM has implemented Problem Based Learning (PBL) since 1985. Seven jump tutorial discussions are applied. A scenario is used as a trigger to stimulate students to identify learning objectives (LOs) in step five which are used as the basis for self study in step six. For each scenario, the Block Team formulates the LOs which are informed to tutors. Tutors have to facilitate the discussion that the correct LOs are identified. This study checked the allignment of LOs formulated by the Faculty and LOs by the students. Cardiorespiratory system block is used. A content analysis is applied for this purpose. Sixteen discussion notes (DNs) written by 16 groups from one scenarios were analysed. The LOs from the tutor book and DNs were coded separately. There were eight Faculty LOs for scenario Blood Donation. None DNs were mentioned correctly. Many DNs mentioned LOs which are not in the prescribed LOs. It was clear that 16 groups of student failed to identify LOs correctly. This might affect their performance in their block exams, and also their preparedness for the subsequent blocks as they lack relevant prior knowledge.
Volume: 5
Issue: 3
Page: 205-210
Publish at: 2016-09-01

Load Carrying Assistance Device Pogo Suit

10.11591/ijra.v5i3.pp161-175
Sangram Redkar
Wearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. Adding energy while not being in sync with the user can dramatically hurt performance. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks and a robot can add energy in sync with the repeating pattern for assistance. A method has been developed to add energy at the appropriate time to the repeating limit cycle based on a phase oscillator. The phase oscillator eliminates time from the forcing function which is based purely on the motion of the user. This approach has been simulated, implemented and tested in a robotic backpack which facilitates carrying heavy loads. The device oscillates the load of the backpack, based on the motion of the user, in order to add energy at the correct time and thus reduce the amount of energy required for walking with a heavy load. Models were developed in Working Model 2-D, a dynamics simulation software, in conjunction with MATLAB to verify theory and test control methods. The control system developed is robust and has successfully operated on different users, each with their own different and distinct gait. The results of experimental testing validated the corresponding models.
Volume: 5
Issue: 3
Page: 161-175
Publish at: 2016-09-01

Analysis of M42SP-7P on the Balinese Papyrus Script Printing Control System

10.11591/ijra.v5i3.pp199-204
Made Sudarma
Script writing art in the lives of Balinese people has a very important function, particularly in terms of writing a sacred script such as writing an inscription on copper plate, bronze, silver, and gold, by using a penknife which required a persistence, patience, skill and experience by itself, since not all Balinese people is able to do this very complicated work.  Considering the difficulty in writing a script on papyrus and the rarity of script writer experts, therefore the researcher gives appreciation on papyrus preservation and conservation. In the present time, sophisticated technology has replaced manual equipments which required a lot of manpower to be operated. Maybe also the inscription writing model with ancient language and writing has been done so many times with computer technology by using the printer as the interface for printing.  In this research the Balinese script printing tools will be designed namely a penknife using robotic technology which mimicking human hand’s motion when writing a script on papyrus. Thought the script tool printer design through robotic technology in order to write a script on palm leaves is an important role of technology as an innovation strategy that is able to create new thinking, new ideas and inovation creative products. Eventually is also expected to satisfy the user as consumer and a new creative market.
Volume: 5
Issue: 3
Page: 199-204
Publish at: 2016-09-01

Design and Implementation of Performance Metrics for Evaluation of Assessments Data

10.11591/ijere.v5i3.4545
Irfan Ahmed , Arif Bhatti
Evocative evaluation of assessment data is essential to quantify the achievements at course and program levels. The objective of this paper is to design performance metrics and respective formulas to quantitatively evaluate the achievement of set objectives and expected outcomes at the course levels for program accreditation. Even though assessment processes for accreditation are well documented but existence of an evaluation process is assumed. This work provides performance metrics such as attainment, student achievement, and x-th percentile for the evaluation of assessment data at course and program level. Then, a sample course data and uniformly distributed synthetic data are used to analyze the results from designed metrics. The primary findings of this work are twofold: (i) analysis with sample course assessment data reveals that qualitative mapping between marks obtained in assessments to the defined outcomes is essential for meaningful results, (ii) analysis with synthetic data shows that higher values of one metric does not imply higher values of the other metrics and they depend upon the obtained marks distribution. In particular, for uniformly distributed marks, achievement < attainment for meanOfUniformDistr. < averageMarks < passingT hreshold(α). Authors hope that the articulated description of evaluation formulas will help convergence to high quality standard in evaluation process.
Volume: 5
Issue: 3
Page: 235-245
Publish at: 2016-09-01

Performance Evaluation of 3Φ Asymmetrical MLI with Reduced Switch Count

10.11591/ijeecs.v3.i3.pp671-680
Chinnapettai Ramalingam Balamurugan , S.P. Natarajan , T.S. Anandhi
The multi level inverter system is habitually exploited in AC drives, when both reduced harmonic contents and high power are required. In this paper, a new topology for three phase asymmetrical multilevel inverter employing reduced number of switches is introduced. With less number of switches, the cost, space and weight of the circuit are automatically reduced. This paper discusses the new topology, the switching strategies and the operational principles of the chosen inverter. Simulation is carried out using MATLAB-SIMULINK. Various conventional PWM techniques that are appropriate to the chosen circuit such as PDPWM, PODPWM, APODPWM, VFPWM and COPWM are employed in this work. COPWM technique affords the less THD value and also affords a higher fundamental RMS output voltage.
Volume: 3
Issue: 3
Page: 671-680
Publish at: 2016-09-01

Arduino Based Paperless Queue Management System

10.12928/telkomnika.v14i3.3114
Aiman Zakwan; Universiti Teknikal Malaysia Melaka Jidin , Norfadzlia; Universiti Teknikal Malaysia Melaka Mohd Yusof , Tole; Universiti Ahmad Dahlan Sutikno
Queue management system is designed in organizing queues at service sectors like banks and post offices, which expected to have a large number of customers daily. Conventional ways of managing queues like issuing paper tickets printed with queue number, leads to several problems such as paper tickets littering and also long queueing or waiting time. Therefore, this paper presents the development of a system to manage queues more efficiently and eco-friendly. The proposed system consists of a Graphical User Interface (GUI), which is used to obtain customers’ mobile phone numbers and the processing unit, which generates the queue number and initiate the ticket to be sent to customers’ mobile phones via SMS, thus replacing the utilization of papers. Moreover, this system additional features allow customers to remotely obtain their queue number just by sending request to the system through SMS, and also reminding the upcoming customers that their turns are nearly arriving, a feature which is very useful especially for those who are waiting outside the premise. Simulations and experimental tests were conducted to ensure the reliability and the efficiency of the proposed system. The proposed system is supporting the development of sustainable green technology, and the expected increase of system efficiency may contribute in improving customers’ satisfaction.
Volume: 14
Issue: 3
Page: 839-845
Publish at: 2016-09-01

Brightness and Contrast Modification in Ultrasonography Images Using Edge Detection Results

10.12928/telkomnika.v14i3.3440
Retno; Jenderal Soedirman University Supriyanti , Suwitno; Jenderal Soedirman University Suwitno , Yogi; Jenderal Soedirman University Ramadhani , Haris Budi; Jenderal Soedirman University Widodo , Tutik Ida; Jenderal Soedirman University Rosanti
Currently, ultrasonography device become an important equipment for supporting diagnosis in diesases. Unfortunetaly, a lot of ultrasonography images do not provide enough information for supporting diagnosis especially images produced by low-resolution ultrasonography. It is caused by image quality that has been produced is inadequate because of noise. This research aims to improve image quality by modifying brightness and contrast to the edge detection algorithms. By modifying the brightness and contrast will cause the value of standard deviation of the ultrasonography image is lowered. Raising setting values will cause deviation standard value becomes smaller, and also the result of standard deviation is inversely proportional to the value of RMSE.  The results show that this modification can improve image quality by reducing noise significantly.
Volume: 14
Issue: 3
Page: 1090-1098
Publish at: 2016-09-01
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