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27,404 Article Results

Manuscript shapes generated by novel bi-axis control algorithm based on a mathematical handwriting model

10.11591/ijra.v4i3.pp230-242
Imene Mahmoud , Ines Chihi , Afef Abedlkrim , Mohamed Benrejeb
Handwriting movement is one of the most complex activities of human motions. It’s a blend of kinesthetic, cognitive, perceptual and motor components. The study of this biological process shows that bell-shaped velocity profiles are generally observed in the handwriting motion. In this paper, an identification technique, based on Recursive Least Square algorithm (RLS), is proposed to identify the pen-tip movement in human handwriting process, by using input and output data which present EMG signals and velocities according to x and y coordinates.  Using the estimated coordinates that have resulted from the velocity model; we propose a novel algorithm to generate handwritten graphic traces, which is inspired from the idea of tracing circles by Bresenham bi-axis control algorithm. The effectiveness of this approach should be observed on predicting cursive Arabic letters and Arabic word written on (x,y) plane, these shapes constituting a recorded experimental basis.
Volume: 4
Issue: 3
Page: 230-242
Publish at: 2015-09-01

Kinematic Modelling of Multi-Terrain Pine Needle Collecting Robot (PiNCoR) for the Hilly areas of Uttarakhand

10.11591/ijra.v4i3.pp196-201
Shival Dubey , Manish Prateek , Mukesh Saxena
Uttarakhand – a northern state of India in the foothills of Himalayas has approximately 64.8% of forest. Pine (Pinus roxburghii) is an important tree species which is because of its numerous uses becomes more prominent in this hilly state. Pine Needle Collecting Robot (PiNCoR) is a machine designed to collect pine needles from the high altitude pine forest regions. The robot is capable to maneuver over rough terrains, can navigate through craters and can stock the collected pine needles. After analyzing the design constraints for navigation on the hilly terrains, a small rover was designed and the kinematics portion is discussed in this paper. With the use of a versatile rocker bogie suspension mechanism, this paper also presents the kinematic modelling of a wheeled mobile robot being the best for hilly areas with super stability and traction control being its assets. It analyzes the different inputs from the information provided by the on-board sensor system for maneuvering. The robot has five degrees of freedom (DoF) providing it the flexibility to work in x and z axes as along with the standard pitch, roll and yaw directions.
Volume: 4
Issue: 3
Page: 196-201
Publish at: 2015-09-01

Validity and Reliability of the 3-E Tool for Evaluating the Curriculum Support Intervention in Uganda

10.11591/ijere.v4i3.4498
Milton Mutto , Mukasa Immaculate , Avasi Victor , Kalabi Charles , Kamwesigye Charles , Duku Tom
This study determined psychometric properties of 3-ET, an instrument specifically designed to track the effects of a curriculum support intervention created to enhance the delivery of the national curriculum in a war zone in Uganda. The instrument was developed through brain storm and expert review before being committed to structural and reliability testing using Exploratory Factor analysis (EFA). The 88 variables of 3-ET were reduced to 73; five distinct sub-scales emerged. Sub-scale 1, measured core education support functions and services. Sub-scale 2, assessed aesthetics/efficiency. Sub-scale 3, focused on barriers to stakeholder participation. Sub-scale 4 measured peacefulness and gender sensitivity of learning environments. Sub-scale 5 assessed pupil participation. 3-ET has acceptable structural validity and internal consistence reliability. It can be used to test effectiveness of the REPLICA intervention. Its applicability in other conflict and non-conflict contexts needs review.
Volume: 4
Issue: 3
Page: 94-100
Publish at: 2015-09-01

Obstacle Avoidace Robot Using LabView

10.11591/ijra.v4i3.pp164-167
Tasher Ali Sheikh , Swacheta Dutta , Smriti Baruah , Pooja Sharma , Sahadev Roy
The concept of path planning and collision avoidance are two of the most common theories applied for designing and developing in advanced autonomous robotics applications. NI LabView makes it possible to implement real-time processor for obstacle avoidance. The obstacle avoidance strategy ensures that the robot whenever senses the obstacle stops without being collided and moves freely when path is free, but sometimes there exists a probability that once the path is found free and the robot starts moving, then within a fraction of milliseconds, the robot again sense the obstacle and it stops. This continuous swing of stop and run within a very small period of time may cause heavy burden on the system leading to malfunctioning of the components of the system. This paper deals with overcoming this drawback in a way that even after the robot calculates the path is free then also it will wait for a specific amount of time before running it. So as to confirm that if again the sensor detects the obstacle within that specified period then robot don’t need to transit its state suddenly thus avoiding continuous transition of run and stop. Thus it reduces the heavy burden on the system.
Volume: 4
Issue: 3
Page: 164-167
Publish at: 2015-09-01

PLC based Multi-Floor Elevator Control System

10.11591/ijra.v4i3.pp202-208
Shrey Gupta
This paper presents programmable logic controller based elevator control system. Primary focus is on using programmable logic controller to build the elevator model. To control the motion of the elevator through various levels DC geared motor is used. Push buttons are used to give signal to the elevator to come to the desired floor, traversing up and down. Moreover DC relays are used as switches, not protective devices, to drive the motor in clockwise and anticlockwise direction. Ladder logic is used for the model implementation.
Volume: 4
Issue: 3
Page: 202-208
Publish at: 2015-09-01

Design and Fabrication of Delta Robot with Voice control

10.11591/ijra.v4i3.pp168-175
Bala Maga Ganapathi G.S.
The objective of the project is to design and control the Delta robot with voice for pick and place operation using ARM7 processor. Till now there is no implementation of voice recognition and control in Delta robot. The maximum payload of the robot is 200grams-300grams. The robot has been made based on the SEQUENTIAL QUADRATIC PROGRAMMING. Various links of the robot are controlled using the servo motor and the gripper is separately controlled by a servo motor.
Volume: 4
Issue: 3
Page: 168-175
Publish at: 2015-09-01

Identification with School and Head Trauma: Parental Perceptions on Student’s Experiences

10.11591/ijere.v4i3.4501
BreAnna Jones , Lindsay Robinson , Karen H Larwin
In the United States 40% of all traumatic brain injuries (TBI) are in children under the age 14 (Broque  et. al 2012). This means a portion of the school age population is exposed to head injury every year. The effect this injury and experience can have on a child varies, but it is important for educators, counselors, and family to understand the psychosocial experiences that follow after TBI. Research has shown that head injury in childhood can have severe psychosocial effects if the injury is not treated, recognized, and planned for (Broque et. al 2012).This research is intended to shed light on what educators, counselors, and families can do to help children who have experienced a TBI. Previous research shows that a loss of sense of self after TBI in three categories; loss of self-knowledge, loss of self by comparison, and loss of self in the eyes of others (Nochi, 1998). This investigation suggests that identification as “disabled” can impact how students identify with their school.
Volume: 4
Issue: 3
Page: 112-117
Publish at: 2015-09-01

Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping

10.11591/ijra.v4i3.pp209-218
Chuan Lian Zhang , Kil To Chong
In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.
Volume: 4
Issue: 3
Page: 209-218
Publish at: 2015-09-01

The Impact of Visual Impairment on Perceived School Climate

10.11591/ijere.v4i3.4499
Benjamin P. Schade , Karen H Larwin
The current investigation examines whether visual impairment has an impact on a student’s perception of the school climate. Using a large national sample of high school students, perceptions were examined for students with vision impairment relative to students with no visual impairments. Three factors were examined: self-reported level of happiness, perception of a positive school climate, and negative school affect.  Results revealed no differences for the seeing and visually impaired students on self-reported happiness and perception of a positive school climate factors, however significant differences were found on the negative school affect factor. Additionally, gender was significantly related to the negative school affect factor.
Volume: 4
Issue: 3
Page: 101-105
Publish at: 2015-09-01

Factors Contributing on Malaysia Preschool Teachers’ Belief, Attitude, and Competence in Using Play Activities

10.11591/ijere.v4i3.4505
Hafsah Binti Jantan , Abdul Rahim Bin Hamdan , Fauziah Hj Yahya , Halimatussadiah Binti Saleh
This study focuses on preschool teachers’ belief, attitude, knowledge and competence in using play in Malaysia. Its purpose is to find out indicators significantly contribute to belief, attitude, knowledge and competence in play of preschool teachers in Malaysia. The method used is factor analysis in order to confirm indicators in each variable as significant indicators as factors with loading factor 0.40. Sample size in this study consists of 150 respondents. The result showed belief has 3-factor solution namely content belief, language and literacy belief, and teaching belief. Attitude has 2-factor solution, namely emotion and behavior. Competence has 3-factor solution, namely implementation, content and guiding. Indicators of each factors were also discussed.
Volume: 4
Issue: 3
Page: 146-154
Publish at: 2015-09-01

Resonance Characteristics and Effective Parameters of New Left Hand Metamaterial

10.11591/ijeecs.v15.i3.pp497-503
Rajni Rajni , Anupma Marwaha
It is essential to alter effective electromagnetic parameters of a material to enhance its response. In the present work, we propose a novel Left Hand Metamaterial (LHM) structure comprising dual turn spiral resonator (DTSR) and capacitance loaded strips (CLS). This structure is numerically explored to examine the resonance and effective material parameters i.e. permeability and permittivity. The negative refraction in the unit cell is confirmed with identification of double negative region (negative permittivity, ε and negative permeability, µ ) on placing the unit cell in a waveguide with well defined Perfect Electric Conduction/Perfect Magnetic Conduction boundary conditions.
Volume: 15
Issue: 3
Page: 497-503
Publish at: 2015-09-01

An Advanced Robust AVR-PSS Based H2 and H∞ Frequency Approachs Simulated Under a Realized GUI

10.11591/ijeecs.v15.i3.pp468-477
Kabi Wahiba , Ghouraf Djamel Eddine , Naceri Abdellatif
This article present a comparative study between two advanced robust frequency control strategies and their implementation using our realised Graphical User Interface ‘GUI’ under MATLAB software: the first method based on loop-shaping H∞ optimization technique and the second on robust H2 control method (LQG controller associated with KALMAN filter), and applied on automatic excitation control of synchronous generators, to improve transient stability and robustness of a single machine- infinite bus (SMIB) system operating in different several conditions. The computer simulation results (static and dynamic stability), with test of robustness against machine parameters uncertainty (electric and mechanic), have proved that good dynamic performances, showing a stable system responses almost insensitive to large parameters variations, and more robustness using robust H∞ controller in comparison with H2 approach by exploiting our developed GUI interface in this work.
Volume: 15
Issue: 3
Page: 468-477
Publish at: 2015-09-01

A Fractal Image Compression Method Based on Multi-Wavelet

10.12928/telkomnika.v13i3.1809
Yan; Hunan University of International Economics Feng , Hua; Hunan University of International Economics Lu , XiLiang; Hunan University of International Economics Zeng
How to effectively store and transmit such multi-media files as image and video has become a research hotspot. The traditional compression algorithms have a relatively low compression ratio and bad quality of decoded image, at present, the fractal image compression method with a higher compression ratio fails to meet the requirements of the practical applications in the quality of the compressed image as well as the coding and decoding time. This paper integrates fractal thought and multi-wavelet transform and proposes a fractal image compression algorithm based on multi-wavelet transform. To transform the image model into a combination of relevant elements in the frequency domain instead of merely building on the foundation of the neighborhood gray-scale correlation has the ability to code larger image blocks, eliminates the possibility of global correlation in the image and improves the coding speed of the existing fractal image compression algorithm. The experimental result shows that the algorithm proposed in this paper can accelerate the coding speed of the present fractal image compression and have certain self-adaptivity while slightly reducing the quality of decoding image.
Volume: 13
Issue: 3
Page: 996-1005
Publish at: 2015-09-01

Reconfiguration of Distribution Network with Distributed Energy Resources Integration Using PSO Algorithm

10.12928/telkomnika.v13i3.1790
Ramadoni; Universitas Muhammadiyah Yogyakarta Syahputra , Imam; Institut Teknologi Sepuluh Nopember Robandi , Mochamad; Institut Teknologi Sepuluh Nopember Ashari
This paper presents optimal reconfiguration of radial distribution network with integration of distributed energy resources (DER) using improved particle swarm optimization (PSO) algorithm. The benefits of DER integration in distribution system are reducing power losses, improving voltage profiles and load factors, eliminating system upgrades, and reducing environmental impacts. However, the presence of DER could also cause technical problems in voltage quality and system protection. Reconfiguration of distribution network is aimed to minimize power loss and to improve voltage quality in order to enhance the distribution system performance. In this study, reconfiguration method is based on an improved PSO. The method has been tested in a 60-bus Bantul distribution network of Yogyakarta Special Region province, Indonesia. The simulation results show the importance of reconfiguring the network for enhancing the distribution system performance in the presence of DER.
Volume: 13
Issue: 3
Page: 759-766
Publish at: 2015-09-01

SLRV: An RFID Mutual Authentication Protocol Conforming to EPC Generation-2 Standard

10.12928/telkomnika.v13i3.1440
Mu’awya; Higher College of Technology HCT Naser , Ismat; Albaha University Aldmour , Rahmat; Albaha University Budiarto , Pedro; Carlos III University of Madrid Peris-Lopez
Having done an analysis on the security vulnerabilities of Radio Frequency Identification (RFID) through a desynchronization and an impersonation attacks, it is revealed that the secret information (i.e.: secret key and static identifier) shared between the tag and the reader is unnecessary. To overcome the vulnerability, this paper introduces Shelled Lightweight Random Value (SLRV) protocol; a mutual authentication protocol with high-security potentials conforming to  electronic product code (EPC) Class-1 Generation-2 Tags, based on lightweight and standard cryptography on the tag’s and reader’s side, respectively. SLRV prunes de-synchronization attacks where the updating of internal values is only executed on the tag’s side and is a condition to a successful mutual authentication. Results of security analysis of SLRV, and comparison with existing protocols, are presented.
Volume: 13
Issue: 3
Page: 1054-1061
Publish at: 2015-09-01
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