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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

Validation Study of Waray Text Readability Instrument

10.11591/ijere.v4i2.4491
Voltaire Q. Oyzon , Juven B. Corrales , Jr., Wilfredo M. Estardo
In 2012 the Leyte Normal University developed a computer software—modelled after the Spache Readability Formula (1953) made for English—made to help rank texts that can is used by teachers or research groups on selecting appropriate reading materials to support the DepEd’s MTB-MLE program in Region VIII, in the Philippines. However, “several experiments have already established that existing readability measures in English cannot directly be used to compute readability of other languages.” To validate the Waray Text Readability Instrument (WTRI) formula, 15 stories were rated by 24 randomly selected teachers from two elementary schools in Tacloban City. The WTRI software uses two factors in determining readability, namely: (a) sentence length and (b) frequency of commonly occurring words. The teachers’ task is to read the given text and rate the grade level of each text by considering these three factors: (1) frequency of commonly used words; (2) sentence length; and, (3) total number of words. The data gathered was compared with the WTRI’s ratings of the same texts. Statistical testing was done to determine if there is a significant difference between the teachers’ rating of the texts and the WTRI’s ratings. As a result, there was no significant difference between the software’s grade level ratings and that of the teachers’. It implied that the WTRI’s calculation is valid.
Volume: 4
Issue: 2
Page: 45-53
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

The Relevant Factors in Promoting Reading Activities in Elementary Schools

10.11591/ijere.v4i2.4493
Han-Chen Huang , Yao-Hsu Tsai , Shih-Hsiang Huang
In order to help students absorb knowledge, schools often conduct readingactivities. Thorough planning and strategies, however, are needed to insurethe effect of reading promotions, and make them a deeply-rooted part of life.This study adopted the analytic hierarchy process (AHP) to discuss therelevant factors in promoting reading activities in elementary schools, as wellas how the reading activities should be pushed forward to increase students’interest in reading and help them form good reading habits. The resultsshowed that there are three key success factors in promoting readingactivities: (1) teachers’ emphasis on and implementation of reading activities;(2) the reading habits of parents and other family members; (3) teachers’professional knowledge and skills in guiding the students to read.
Volume: 4
Issue: 2
Page: 62-70
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

Nutritional Status and Age at Menarche on Female Students of Junior High School

10.11591/ijere.v4i2.4494
Rihul Husnul Juliyatmi , Lina Handayani
Menarche is the first menstrual period in the middle of puberty. There are many factors that affect the age of menarche include nutritional status, genetic, environmental conditions, socioeconomic status, and education. The purpose of this research is to determine the relationship between nutritional status and age of menarche on female student of junior high school Ali Maksum Krapyak, Bantul, Yogyakarta. The research employed a cross sectional research design. The number of this sample was 81 female students that determined by total sampling. The statistical test used was Chi Square. The results of this research showed that there was a relationship between nutritional status and the age of menarche on female student of junior high school Ali Maksum Krapyak, Bantul, Yogyakarta (p value = 0.002) and the ratio prevalence was 3.077 (95% CI = 1.675 – 5.650); it means that respondents who have abnormal nutritional status get 3.007 times greater chance of experiencing abnormal menarche than respondents who have normal nutritional status.
Volume: 4
Issue: 2
Page: 71-75
Publish at: 2015-06-01

Modeling and Simulation of Triple Coupled Cantilever Sensor for Mass Sensing Applications

10.11591/ijece.v5i3.pp403-408
Nalluri Siddaiah , D.V. Rama Koti Reddy , Y. Bhavani Sankar , R. Anil Kumar , Hossein Pakdast
Cantilever sensors have been the growing attention in last decades and their use as a mass detector. This work presents design, modeling and analysis of Triple coupled cantilever(TCC) sensor using MEMS simulation software Comsol Multiphysics with critical  dimensions of 100μm length,20μm width and 2μm thickness. Simulations were performed based on finite element modeling techniques, where different resonant frequencies were observed for different modes of operation. It is also observed that the resonant frequency of the sensor decreases as some mass is applied on one particular cantilever. The various parameters greatly affecting the performance of TCC such as resonant frequency, dimensions, material and pressure or force applied on it.we also observed that while adding some mass on any one lateral cantilever, the resonant frequency of that respective mode reduced.
Volume: 5
Issue: 3
Page: 403-408
Publish at: 2015-06-01

Blind Signal Processing Algorithmsbased based on Recursive Gradient Estimation

10.11591/ijece.v5i3.pp548-561
Namyong Kim , Mingoo Kang
Blind algorithms based on the Euclidean distance (ED) between the output distribution function and a set of Dirac delta functions have a heavy computational burden of  due to some double summation operations for the sample size and symbol points. In this paper, a recursive approach to the estimation of the ED and its gradient is proposed to reduce the computational complexity for efficient implementation of the algorithm. The ED of the algorithm is comprised of information potentials (IPs), and the IPs at the next iteration can be calculated recursively based on the currently obtained IPs. Utilizing the recursively estimated IPs, the next step gradient for the weight update of the algorithm can be estimated recursively with the present gradient. With this recursive approach, the computational complexity of gradient calculation has only . The simulation results show that the proposed gradient estimation method holds significantly reduced computational complexity keeping the same performance as the block processing method
Volume: 5
Issue: 3
Page: 548-561
Publish at: 2015-06-01
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