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31,456 Article Results

Dynamic Analysis Of Two Link Robot Manipulator For Control Design Using PID Computed Torque Control.

10.11591/ijra.v5i4.pp277-283
Jolly Atit Shah , S S Rattan
Due to their advantage of high speed, accuracy and repeatability, robot manipulators have become major component of manufacturing industries and even now a days they become part of routine life.            Two link robot manipulator is a very basic classical and simple example of robot followed in understanding of basic fundamentals of robotic manipulator. The equation of motion for two link robot is a nonlinear differential equation. For higher degrees of freedom, as the closed form solutions are very difficult we have to use numerical solution. Here we focused mainly on control of robot manipulator to get the desired position using combination of two classical methods PID and computed torque control method after deriving the equation of motion. For the same simulation is represented using MATLAB and compared with computed torque control method.
Volume: 5
Issue: 4
Page: 277-283
Publish at: 2016-12-01

Measurement of Attitudes Regarding Foreign Language Skills and Its Relation with Success

10.11591/ijere.v5i4.5959
Tülin Acar
The aim of this research is to determine the attitudes of secondary level students regarding the skills in English as a Foreign Language and to compare the level of relationship between the academic success at English and the attitudes measured. Attitudes and success levels of the students of secondary education regarding their language skills were found to be high. A significant relationship at a linear low level was observed between the academic success of the students and their attitudes towards English language skills. In this study, the attitudes of high school students measured according to their gender concerning their reading, writing, speaking and listening skills, showed difference in favor of female students. Again, high school students’ attitudes towards writing, speaking and listening skills except for the attitudes towards reading skills do differentiate according to the type of school in which they receive education.
Volume: 5
Issue: 4
Page: 310~322
Publish at: 2016-12-01

Preference of Students on the Format of Options in a Multiple-Choice Test

10.11591/ijere.v5i4.5956
Voltaire Quiza Oyzon , Hermabeth O. Bendulo , Erlinda D. Tibus , Rhodora A. Bande , Myrna L. Macalinao
Schools in the Philippines, especially those that are offering teacher education programs, are advised to construct examinations that are Licensure Examination for Teachers (LET)-like test items. This is because “if any aspect of a test is unfamiliar to candidates, they are likely to perform less well than they would do otherwise on subsequently taking a parallel version, for example.” Using the education students of Leyte Normal University, Southern Leyte State University-Tomas Oppus Campus, and Visayas State University, this study determined the students’ preference on the arrangements/format of options in a multiple-choice test through a survey questionnaire. Moreover, it tried to find out the reasons behind the preferences. Mean, frequency and Chi-square tests were used in the analysis of data. Results revealed that the cascading arrangement is the most preferred arrangement of options and the one-line horizontal arrangement is the least preferred arrangement of options in a multiple-choice test. The reasons identified were organized and easy to read, less confusing and easier to distinguish and vertically arranged thus require less eye movement. Moreover, the reasons for the lower case preference were it is usual and commonly used in a multiple-choice test, clear and gives less eye and mental pressure and easier to read and write.And lastly, the relationship between the students’ preference of the arrangement of options in a multiplechoice test and the letter case options were tested using the Chi-square test. Hence, it is argued that in constructing a multiple-choice test, one has to consider using the cascading arrangement.
Volume: 5
Issue: 4
Page: 292~299
Publish at: 2016-12-01

Development of Teach Pendent based Robotic Arm for Drawing using Mechatronics Approach

10.11591/ijra.v5i4.pp230-236
Harikrishnan Madhusudanan
The main scope of this project is to use mechatronics approach to design and develop a complete humanoid robotic arm which can be used to draw different figures. A mechatronic approach is basically a synergistic combination of mechanical, electrical and control systems such that each and every stage of the product life cycle of the final product gets optimised. So, this approach which is used in this project would ensure that the robotic arm which would be the final product would have its design metrics optimised at each and every stage of its development cycle. The motive of developing this arm is to ensure that the final arm which is produced could be easily attached to the complete humanoid robot and would enable it to draw any kind of complex figures using highly accurate teach pendent mechanism.
Volume: 5
Issue: 4
Page: 230-236
Publish at: 2016-12-01

Self-Corrective Autonomous Systems using Optimization Processes for Detection and Correction of Unexpected Error Conditions

10.11591/ijra.v5i4.pp262-276
Nicoladie D. Tam
A theoretical framework for autonomous self-detection and self-correction of unexpected error conditions is derived by incorporating the principles of operation in autonomous control in biological evolution.  Using the biologically inspired principles, the time-dependent multi-dimensional disparity vector is used as a quantitative metric for detecting unexpected and unforeseeable error conditions without any external assistance.  The disparity vector is a measure of the discrepancy between the expected outcome predicted by the autonomous system and the actual outcome in the real world.  It is used as a measure to detect any unexpected or unforeseeable errors.  The process for autonomous self-correction of the self-discovered errors is an optimization process to minimize the errors represented by the disparity vectors.  The strategies for prioritizing the urgency of corrective actions are also provided in the theoretical derivations.  The criteria for any change in direction of the corrective actions are also provided quantitatively.  The criteria for the detection of the minimization and maximization of errors are also provided in the autonomous optimization process.  The biological correspondences of the emotional responses in relation to the autonomic self-corrective feedback systems are also provided.
Volume: 5
Issue: 4
Page: 262-276
Publish at: 2016-12-01

Preliminary Analysis of Assessment Instrument Design to Reveal Science Generic Skill and Chemistry Literacy

10.11591/ijere.v5i4.5961
Woro Sumarni , Sudarmin Sudarmin , Wiyanto Wiyanto , Supartono Supartono
The purpose of this research is to design assessment instrument to evaluate science generic skill (SGS) achievement and chemistry literacy in ethnoscience-integrated chemistry learning. The steps of tool designing refers to Plomp models including 1) Investigation Phase (Prelimenary Investigation); 2) Designing Phase (Design);  3) Construction/Realization Phase (Realization/Construction) ; 4) Test, Evaluation and Revision Phase. (Test, Evaluation and Revision).  To test the validity of assessment instrument, it was used content validity by three experts as validators, while to test the practical, it was used questionnaire which were given to 22 college students of food ingredients chemistry that is integrated of ethno-science and two supporting lecturers. The result of content validity showed that assessment tool which was developed was valid stated by experts with the reliability coefficient was 0,72. Every lecturers and 21 students gave positive response, so it can be concluded that developed assessment instrument was practice to use.
Volume: 5
Issue: 4
Page: 331~340
Publish at: 2016-12-01

Adjustment and Other Factors Related to High School Aged Students Identified as Hearing Impaired

10.11591/ijere.v5i4.5952
Charlene Milano , Tara Upshire , Sarah Scarazzo , Benjamin P. Schade , Karen H. Larwin
Healthy social, emotional and cognitive development of deaf children depends upon complex interactions between the many individual and environmental factors associated with deafness. Deaf children and adolescents have been reported to possess greater rates of mental health problems than hearing children and adolescents. Dysfunction in one or more systems impacts the other systems in the child’s life. Dysfunction increases the risk for maladjustment and poor mental and emotional health. Deaf youth are at greater risk for disruption in interactions between the child and their environment and therefore are also at greater risk for social and emotional problems. Data from the National Longitudinal Study of Adolescent to Adult was used to gain a better understanding of deaf student’s feelings of acceptance at school, reported positive feelings, academic grades and future plans. Twelve (12) deaf students were included in a total of 456 youth participants from across the county. No significant differences were found between the two groups. 
Volume: 5
Issue: 4
Page: 255~260
Publish at: 2016-12-01

Orientation Singularity Analysis of Parallel Manipulators

10.11591/ijra.v5i4.pp295-304
Qimin Xu
In this paper, an approach for orientation singularity analysis of parallel manipulators (PMs) is proposed by introducing several performance indices referred to theunique form of screw based Jacobian in the velocity transmission as well as force transmission. Here, to prove the effectiveness of the approach, an example of 3 degrees of freedom (DOF) prismatic-revolute-spherical (PRS) parallel manipulator (PM) is first presented to illustrate the fact that the distributions of singularity boundary of the proposed approach is consistence with the result referred to nonredunant PMs by Liu et al. [22]. Further, the proposed approach is an appropriate one not only for nonredunant PMs, but also for a class of redunant PMs by providing another example of the redunant variable geometry truss (VGT) PM, since the performance index of orientation singularity for the manipulator can becreated only by determining the unique form of screw based Jacobian.
Volume: 5
Issue: 4
Page: 295-304
Publish at: 2016-12-01

Anchor Movement Strategy for Conjecture Geometry Based Localization Scheme in Wireless Sensor Network

10.11591/ijra.v5i4.pp255-261
Niraj Bhupal Kapase , Santosh P Salgar , Mahesh K Patil , Prashant P Zirmite
Abstract—Localization of sensor node with least error is one of the major concern in wireless sensor network as some of the application require sensor node to know their location with high degree of precision. For mobile anchor based localization many of the path planning schemes already developed which includes scan, double scan, Circles & S- Curves. These path planning schemes have some limitations like localization error, Number of sensor nodes covered in the network, Trajectory length of mobile anchor node.  This paper represents anchor movement strategy which is based on Scan path, with modifications are made in such a way that it satisfies the requirements of localization scheme.  This movement strategy ensures that trajectory of mobile anchor node will minimize localization error and also will cover majority of sensor node in the environment. The localization error yielded by Modified Scan algorithm is in the range of 0.2 to 0.4m which is quite lower than the other existing mentioned path planning strategies producing localization error in the range 0.6 to 1.8mKeywords—Localization; Mobile anchor node; Wireless sensor network; Modified Scan algorithm
Volume: 5
Issue: 4
Page: 255-261
Publish at: 2016-12-01

Midwives Performance in Early Detection of Growth and Development Irregularities of Children Based on Task Commitment

10.11591/ijere.v5i4.5957
Sri Utami , Nursalam Nursalam , Rachmat Hargono , Rekawati Susilaningrum
The purpose of this study was to analyze the performance of midwives based on the task commitment. This was an observational analytic with cross sectional approach. Multistage random sampling was used to determine the public health center, proportional random sampling to selected participants. The samples were 222 midwives in the public health center of Surabaya City. Data were collected by questionnaires on exogenous variables and sheet of data collectors for the performance of midwives. Data was analyzed by using Partial Least Square (PLS). This study found the results of the self leadership directly affects the performance with the value of T-statistic of 3.852> T-table (1.96) with the value of the path coefficient of 0.257, while the value of the indirect influence on the strategy of self leadership performance through mediator task commitment with path coefficient value of 0.053. These models can be used as a reference in improving the performance of midwives in other activities related to maternal and child health services.
Volume: 5
Issue: 4
Page: 300~305
Publish at: 2016-12-01

Performance Analysis of 5-Phase Multi-level Inverter Using Carrier Based PWM Technique

10.11591/ijape.v5.i3.pp151-158
M. Lavanya , B. Jyothi
The major analysis has been based on the induction machine drive system that is for the analysis of the carrier based PWM two level source inverter. The unbalanced conditions are mainly to handle the results of simulation for the analysis that results in the two fault conditions. The system setup has been involving the voltage source inverter as well as the five phase multi-level inverter. The effects are through performing the scenarios which consider the performance effects with the load on induction machine. The simulation is based on the imbalance conditions which results on the oscillations depending on the electromagnetic torque through the attendant reduction of the torque rating. The larger slipping has been in the rotor speed.
Volume: 5
Issue: 3
Page: 151-158
Publish at: 2016-12-01

Artificial Bee Colony Algorithm for An Optimal Solution for Combined Economic and Emission Dispatch Problem

10.11591/ijape.v5.i3.pp111-119
Sandeep Bhongade , Sourabh Agarwal
In India Electrical Energy is generated mainly Coal based Thermal Power stations and hydro Electric Power Stations. The main aim of power generating company is to provide good quality and reliable power to consumers at minimum cost. The problem of Combined Economic and Emission Dispatch  deals with the minimization of both fuel cost and emission of pollutants such as oxides of Nitrogen and Oxides of Sulphur. In our power system the emission is major problem created that’s why in now a days we move from green energy source or renewable energy such as Sunlight, Wind, Tides, Wave, and Geothermal Heat Energy. The Emission constrained Economic Dispatch problem treats the emission limit as an additional constraint and optimizes the fuel cost. In this paper we optimizes the Combined Economic and Emission Dispatch problem by using two different optimization method such as Artificial Bee Colony (ABC) and Genetic Algorithm (GA).The proposed ABC Algorithm has been successfully implemented is to IEEE 30 bus and Indian Utility sixty two Bus System The simulation result are compare and found the effective algorithm for Combined Economic and Emission Dispatch problem.
Volume: 5
Issue: 3
Page: 111-119
Publish at: 2016-12-01

Optical Interconnect Waveguide in Electronic Circuit

10.11591/ijece.v6i6.pp2708-2715
Siti Sarah Binti Md Sallah , Sawal Hamid Md Ali , Nurjuliana Binti Juhari , P. Sushitha Menon , Md Shabiul Islam
The increasing demand in silicon nano-photonics has encouraged many researchers to put more efforts to explore the feasibility of using optics in the communication medium in order to replace the conventional electrical interconnects (EIs). In this paper, we proposed a SOI- based waveguide in the optical interconnect (OI) link at an operating frequency of 1550nm to work as an interconnection path in a circuit. The performance capability of the OI link was tested using a two-stage CE amplifier to work as the interconnection path from the 1st stage to the 2nd stage amplifier. In term of optical performances, the optical waveguide interconnect managed to achieve a single mode condition for a TE mode and fulfill the receiver sensitivity of a photodiode. While, in term of electrical performance, a two-stage CE amplifier is able to produce a high gain, a wide bandwidth and high slew rate. The proposed implementation of the OIs waveguide is succesfully enhance the performance of the two-stage CE amplifier as well as the analog electronic circuit applications.
Volume: 6
Issue: 6
Page: 2708-2715
Publish at: 2016-12-01

Evaluation of Various Digital Controllers for Forward Converter with Active Clamp

10.11591/ijece.v6i6.pp2846-2854
Ravindra Janga , Sushama Malaji
This research paper presents the design issues of digital Controllers for Forward Converter with Active Clamp circuit (ACFC). Brief review of Working Principle and mathematical modelling of the converter is first given. The importance of Digital Controllers for forward converter and design procedure is described in detail. And the validity of designed controllers and achievement of desired compensation is verified by the results of implemented digital controllers to Active clamp forward Converter (ACFC). Finallly results are analyzed by applying disturbances at both supply end and Load ends of the converter. And the conclusions are made based on obtained results of Voltage Mode Controller (VMC) by comparing with the results of the Current Mode Controller (CMC).
Volume: 6
Issue: 6
Page: 2846-2854
Publish at: 2016-12-01

Finding the Optimal Value for Threshold Cryptography on Cloud Computing

10.11591/ijece.v6i6.pp2979-2988
Weena Janratchakool , Sirapat Boonkrong , Sucha Smanchat
The objective of using threshold cryptography on cloud environment is to protect the keys, which are the most important elements in cryptographic systems. Threshold cryptography works by dividing the private key to a number of shares, according to the number of virtual machines, then distributing them each share to each virtual machine. In order to generate the key back, not all the shares are needed. Howerver, the problem is that there has been no research attemping to find a suitable threshold value for key reconstruction. Therefore, this paper presented a guildline designed and implemented that can assist to choose such value. The experiment was setup using CloudSim to simulate cloud environment and collecting time taken in key distribution and key reconstruction process to achieve the optimal threshold value.
Volume: 6
Issue: 6
Page: 2979-2988
Publish at: 2016-12-01
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