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31,456 Article Results

Design Analysis of a Fish-Shaped PVDF Compliance Microgripper

10.11591/ijra.v5i2.pp67-71
Neeta Sahay
In this study the design and analysis of compliance microgripper made of piezoelectric PVDF (Poly Vinylidene Fluoride) material is presented. The inverse piezoelectric effect has been used in which the required amount of voltage has been applied at specific points at the base of the structure to produce the force at the tip and thereby the necessary deflection for gripping. The simulated results of frequency response, force-voltage relationship and displacement analysis are presented.
Volume: 5
Issue: 2
Page: 67-71
Publish at: 2016-06-01

Mobile Robot Framework Designing and Transferring of Data by PCI Controller

10.11591/ijra.v5i2.pp109-114
Alireza Rezaee
In this paper, a differential robot is designed and controlled by PCI card. This card connected between personal computer and microcontroller. Furthermore PID controller was designed by Asic device and implemented on robot.In this paper, instead of using that massive hardware’s, it designed a single FPGA chip to perform the same motion control of robot wheels. We developed a general purposed motion control of robot using a field programmable gate array (FPGA).In order to obtain independent robots movement, the main PID controller is implemented with a Field Programmable Gate Array. The main PID controller routine was designed to be fairly general purpose and modular form. While it is used to control a DC motor, it could be re-deployed to other situations where some parameter has to be controlled to a set value under varying conditions. The actual control software is located in a single function and its major inputs and output are held in a structure. Although it was designed originally for a specific job it is really only intended as an example of the basic techniques involved and to allow those with no control system knowledge to experiment with a simple PID system., FPGA, ATmega128L, Robot, Digital.
Volume: 5
Issue: 2
Page: 109-114
Publish at: 2016-06-01

Difficulties in Field-Based Observation among Pre-Service Teachers: Implications to Practice Teaching

10.11591/ijere.v5i2.4528
Maripaz C. Abas
Field-based observation has long been a central part of pre-service teacher education in many countries and is crucial for implementing effective practicum of student teachers. This paper focused on the perspectives of graduating pre-service teachers regarding their difficulties related to administrative support, cooperating teachers, student supervisors, students, peers, assigned tasks and learning environment during their 17-hour field observation in selected private and public secondary schools. An explanatory sequential mixed-methods research design was adopted utilizing survey questionnaire, Focus Group Interviews, and Key Informant Interview. Quantitative data were obtained from 136 sample respondents through stratified random sampling using proportionate allocation while qualitative data were gathered from 10 pre-service teachers, 10 cooperating teachers, six student supervisors and three school principals who were chosen purposively. Results of descriptive statistical analysis served as  basis  for  the  design  of  qualitative interview and focus group schedules which helped the researcher to  explain, or elaborate on the quantitative results” [1]. Findings of the study showed that pre-service teachers had over-all moderate difficulties during the field observation particularly on students, assigned tasks and learning environment. Findings of the study were substantiated through in-depth discussions of qualitative data. Implications were determined for continued enhancements of the practicum component that can help bridge the theory–practice nexus in pre-service teacher education, and contribute to the development of teachers’ professional competencies
Volume: 5
Issue: 2
Page: 101-112
Publish at: 2016-06-01

Modeling and Simulation of Hexapod Kinematics with Central Pattern Generator

10.11591/ijra.v5i2.pp72-86
Aju M.T.
The revealed secrets of nature always led humans to their aspiring achievements. The fastest animal on land is Cheetah and similar robot has developed by engineers so far to attain a record speed of 20mph among legged robots. But in nature there are some insects those are far ahead of cheetah in speed with a unit of body length per second. Insects are small in their body size with legs usually countable from 4 to 12 or more. With more legs they can have more stability and can adapt to different terrain faster while walking. Six legged robot (hexapod) is generally expect to attain higher speed in terms of body length per second, since the nature has proof for it. Bio-inspired Central Pattern Generator (CPG) is in use for so far in robotic world to mimic the locomotion patterns of insects and other animals. Currently the hybrid controller of CPG and reflex is going on and this paper suggests a new architecture for the system. Neural Network modeled CPG acts as the motor neuron for each joint of the leg. In each instant a neural network models the gait of the robot by learning procedure from the reflex system. This is like the Central Nervous System (CNS) selecting gait of an animal according to the terrain that travels. CNS takes sensory feedback from eyes, force on each leg and body balance from cochlea to adapt the gait for current terrain. This paper in first place tries to simulate the gait patterns for a hexapod.
Volume: 5
Issue: 2
Page: 72-86
Publish at: 2016-06-01

Design and Coordination of Cooperative Mobile Robots

10.11591/ijra.v5i2.pp115-135
Mohamed Krid
Object transportation is an important task considered in mobile robotics. For many years, it has been performed by single robots, capable to transport payload of moderate size and mass with respect to the robot size and mass. But if the payload gets bigger, the robot fails in the transporting task. For wider or heavier payloads, human operators improve their capacities by working in group. A similar improvement should be expected with a group of mobile robots.In this paper, we proposed a new concept of cooperative mobile robots to deal with the problem of long object transportation in unstructured environment whatever the payload length. The proposed C3Bots AT/VLP robot is formed by the association of two or more mono-robots with simple kinematics forming a poly-robot system.The paper presents several kinematic schemes and the corresponding obstacle-crossing processes. It deals with the problem of how to maintain stable motion for the poly-robot during obstacle crossing. Changes in the internal configuration of the robot adjust the center of gravity to guarantee stable motion. A specific stability criterion for contact on three wheels is presented. By adjusting the relative poses of the front and rear axles with respect to the payload, it is possible to maximize the stability of the poly-robot and its payload during obstacle crossing.
Volume: 5
Issue: 2
Page: 115-135
Publish at: 2016-06-01

A Reliability and Validity of an Instrument to Evaluate the School-Based Assessment System: A Pilot Study

10.11591/ijere.v5i2.4533
Nor Hasnida Md Ghazali
A valid, reliable and practical instrument is needed to evaluate the implementation of the school-based assessment (SBA) system. The aim of this study is to develop and assess the validity and reliability of an instrument to measure the perception of teachers towards the SBA implementation in schools. The instrument is developed based on a conceptual framework developed by Daniel Stufflebeam, that is the CIPP (context, input, process and product) Evaluation Model. The instrument in the form of questionnaire is distributed to a sample of 120 primary and secondary school teachers. The response rate is 80 percent. The content validity is assessed by the experts and the construct validity is measured by Exploratory Factor Analysis (EFA). The reliability of the instrument is measured using internal consistence reliability, which is measured by alpha coefficient reliability or Cronbach Alpha. The finding of this pilot study shows that the instrument is valid and reliable. Finally, out of 71 items, 68 items are retained.
Volume: 5
Issue: 2
Page: 148-157
Publish at: 2016-06-01

Using a Mobile Robot with Interpolation and Extrapolation Method for Chemical Source Localization in Dynamic Advection-diffusion Environment

10.11591/ijra.v5i2.pp87-97
Xiang Gao , Levent Acar
this paper address the problem of mapping likely particle path derived from a chemical source using interpolation and extrapolation method. Order localization is the problem of finding the source of an odor or other volatile chemical. Most localization method require the robot to follow the odor plume along its entire length, which is time consuming and may be especially difficult in a cluttered environment. In this paper, a map of sensors’ environment was used, together with the path line of airflow, to predict the pattern of air movement. The robot then used the airflow pattern to reason about the probable location of the odor source. This demonstrates that interpolation and extrapolation method can be used to assist odor localization search and indicates that similar techniques have great operating in an unstructured environment to reason about its surroundings. This paper present details of getting the model of particle path using interpolation and extrapolation method, model of particle path surrounding the obstacles and openings, result of practical odor source location simulation.
Volume: 5
Issue: 2
Page: 87-97
Publish at: 2016-06-01

The Relationship between Religiosity and Academic Performance amongst Accounting Students

10.11591/ijere.v5i2.4535
Umaru Mustapha Zubairu , Olalekan Busra Sakariyau
In this paper, the association between religiosity and academic performance among accounting students enrolled at the International Islamic University Malaysia (IIUM) is explored, as recent research demonstrates a positive association between religiosity and academic success. Students' religiosity was measured using proxies from an Islamic perspective, whilst their academic performances were measured using their Cumulative Grade Point Averages (CGPA). The statistical analysis revealed no significant correlation between religiosity and academic performance among accounting students at IIUM. However, a closer examination of the results revealed that students at IIUM possessed high levels of religiosity as well as high levels of academic performances.
Volume: 5
Issue: 2
Page: 165-173
Publish at: 2016-06-01

Design and Fabrication of Friction Stir Welding End-Effector for an ABB IRB1410 Robot

10.11591/ijra.v5i2.pp98-104
Santosh Vanama
The paper propose modelling and fabrication of friction stir welding end-effector for ABB IRB1410 robot. A dynamically developing version of pressure welding processes, join material without reaching the fusion temperature called friction stir welding. As friction stir welding occurs in solid state, no solidification structures are created thereby eliminating the brittle and eutectic phase’s common to fusion welding of high strength aluminium alloys. In this paper, Friction stir welding is applied to aluminum sheets of 2 mm thickness. A prototype setup is developed to monitor the evolution of main forces and tool temperature during the operation. Pressure of a gripper plays a major role for tool rotation and developing torque.  Fabrication of the tool has done. Force calculations are done by placing the sensors on the outer surface of gripper. Methods of evaluating weld quality are surveyed as well.
Volume: 5
Issue: 2
Page: 98-104
Publish at: 2016-06-01

The Family Parenting Influenced Adolescent Brawls Behavior

10.11591/ijere.v5i2.4531
Heni Nurhaeni , Dinarti Dinarti , Dwi Priharti
There are four types of parenting: democratic, authoritarian, permissive, and ignored, which would affect the character of the child. But family upbringing itself influenced education, norms/cultural, environmental, social, economic and belongs to the family members. quasi-experimental study through questionnaires, observation, deep interview, and interventions against high school Students, Peers, Teachers (BK), and their Parents/Family have been conducted through a random sampling of 108 respondents in four high school set. The result met the test paired T test statistical significance level 0 and T test result of 0.05 shows that the two variables p-value of p=0.00000. Correlation tests showed that there is a relationship between two variables at-0616. This sign (-) means that the test results are negative correlation. Can be seen if the correlation between the two variables is quite high between 0.50 to 1.0 can be concluded that the direction of the relationship between the two variables is negative. These results can be displayed from "if the family provides a strict upbringing will influence behavior in high school brawls in Adolescents will tend to be low and vice versa".
Volume: 5
Issue: 2
Page: 126-134
Publish at: 2016-06-01

Embedded Fuzzy Based Boiler Control

10.11591/ijra.v5i2.pp105-108
Celin S
Boiler control in a power station is a very important criteria in regulation of uninterrupted electricity. In existing power plants, the control of its features and parameters are done by PI and PD controllers. The parameters that control the regulation of boiler conduction are drum level, steam flow, feed water flow, steam temperature and light intensity. It is necessary to produce the steam required to run the generator. When the load in the generator changes, there must be corresponding change in the steam volume. This may cause adverse effect in the boiler. In order to avoid the effect in the boiler, the parameters mentioned above must be maintained constant, which is attained by regulating the corresponding valves. This project work has a feasibility of using fuzzy logic controllers in the place of conventional controllers is done by using embedded system. It is found that the rule based fuzzy logic technique can be implemented by stringent operating conditions. 
Volume: 5
Issue: 2
Page: 105-108
Publish at: 2016-06-01

The Implementation of Cooperative Learning Model ‘Number Heads Together (NHT)’ in Improving the Students’ Ability in Reading Comprehension

10.11591/ijere.v5i2.4536
Mayong Maman , Andi Aryani Rajab
The study aimed at describing the implementation of cooperative learning model of (NHT) at student of SMPN 2 Maros. The method used was a classroom action research in two cycles. Data were collected using the test for the quantitative and non-test for the qualitative by employing observation, field note, student’s workbook, student’s reflection sheet, and test of learning outcomes. The improvement of competence on cycle I was 44% that was categorized as extremely good, 56% were categorized as good, and no student was categorized as low. Cycle II, 84% were classified as extremely good, 16% were grouped as good, and no one was classified as low.
Volume: 5
Issue: 2
Page: 174-180
Publish at: 2016-06-01

Card Games and Algebra Tic Tacmatics on Achievement of Junior Secondary II Students in Algebraic Expressions

10.11591/ijere.v5i2.4527
Okpube Nnaemeka Michael , N. M. Anugwo
This study investigated the Card Games and Algebra tic-Tacmatics on Junior Secondary II Students’ Achievement in Algebraic Expressions. Three research questions and three null hypotheses guided the study. The study adopted the pre-test, post-test control group design. A total of two hundred and forty (240) Junior Secondary School II students were used as sample for this study. The experimental group was taught using games while the control group was taught using the conventional (lecture) method. Algebraic Achievement Test (AAT) was used to collect data for this study. AAT was validated by three experts in mathematics education and measurement and evaluation respectively. The reliability index of AAT was 0.79. Mean and standard deviation were used to answer the research questions while ANCOVA was used to test the hypotheses at 0.05 level of significance. The findings of the study showed among others that there was a significant difference between students taught algebraic expressions with games and those taught without games, there was also a significant difference between the achievement of males and females taught algebraic expressions with games and those taught without games in favour of the males.
Volume: 5
Issue: 2
Page: 93-100
Publish at: 2016-06-01

A Hyperlink based Graphical User Interface of Knowledge Management System for Broiler Production

10.11591/ijeecs.v2.i3.pp668-674
Yusra Fernando , Kudang Boro Seminar , Irman Hermadi , Rudi Afnan
 The level of consumption of animal protein in Indonesia has been increasing. Unfortunately, this increase has not been balanced by the adequate rise stock production.  The use of closed house system for broiler production is very potential to contribute the increase of protein source. The purpose of this research is to build a knowledge management system broiler production management closed house system. Web-based system developed using PHP programming language, and Protégé as processing knowledge representation. This research has developed the concept of knowledge management system with ontology model of semantic network, among the results of this research is a conceptual model, knowledge maps, and prototype production management knowledge management website broiler closed house system. Knowledge management system is equipped with recording system applications. This application is useful to be able to see results in the production of a period of production. The prototype knowledge management website provides links consultancy services for farmers who want to ask about production management. The concept of knowledge management systems can be used as a basis for building a semantic website that can model the process and rules management broiler production closed house system.
Volume: 2
Issue: 3
Page: 668-674
Publish at: 2016-06-01

Optimal Capacitors in Radial Distribution System for Loss Reduction and Voltage Enhancement

10.11591/ijeecs.v2.i3.pp566-582
S. Bhongade , Sachin Arya
The work presented in this paper is carried out with the objective of identifying the optimal location and size (Kvar ratings) of shunt capacitors to be placed in radial distribution system, to have overall economy considering the saving due to energy loss minimization. To achieve this objective, a two stage methodology is adopted in this paper. In the first stage, the base case load flow of uncompensated distribution system is carried out. On the basis of base case load flow solution, Nominal voltage magnitudes and Loss Sensitivity Factors are calculated and the weak buses are selected for capacitor placement.In the second stage, Particle Swarm Optimization (PSO) algorithm is used to identify the size of the capacitors to be placed at the selected buses for minimizing the power loss. The developed algorithm is tested for 10-bus, 34-bus and 85-bus Radial Distribution Systems. The results show that there has been an enhancement in voltage profile and reduction in power loss thus resulting in much annual saving.
Volume: 2
Issue: 3
Page: 566-582
Publish at: 2016-06-01
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