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31,456 Article Results

Validation of End Effector Matrix for Robotic Kit OWI-535 using Matlab and Robo Analyzer

10.11591/ijra.v5i1.pp54-60
Bhivraj Suthar , Tanmay Shrivastava , Lamyanba Heisnam
This paper presents the validation of the end effector matrix having D-H parameter of the 4 DOF educational manipulator OWI-535 by MAT-LAB and Robo Analyzer. Transformation matrix of order 4x4 which describes end effecter’s position and orientation with respect to the base reference frame. MAT-LAB programming which gives details about the translation steps of the manipulator simultaneously. Forward kinematics of OWI 535 robotic kit has been calculated by Mat-lab as well as Robo Analyzer. We had calculated the End effector matrix in both software and compare it. We found that the results are similar up to three digit in some elements and up to two digits from decimal in few elements and it was different after three digit from the decimal in end effector matrix.
Volume: 5
Issue: 1
Page: 54-60
Publish at: 2016-03-01

English Teachers Classroom Assessment Practices

10.11591/ijere.v5i1.4526
Saefurrohman Saefurrohman , Elvira S. Balinas
The new language assessment policies in the Philippines and in Indonesia have impact on English teachers’ assessment practices. Classroom assessment; as mandated in the current curriculum of both countries swifts from sources of information to the inseparable process of teaching and learning. This study describes Filipino and Indonesian high school English teachers’ classroom assessment practices in ELL classes.This study was conducted using a mix method design with 48 Filipino and Indonesian junior high school English teachers as respondents who completed the questionnaire on classroom assessment practices. Twelve respondents participated in an interview and observation to further clarify their practices on classroom assessment. The study found that both Filipino and Indonesian junior high school English teachers used assessment for learning as the main purpose of assessment. The majority of Filipino Junior High school English teachers prepared and made their own assessment, while Indonesian junior high school English teachers used items from published textbooks as their primary sources for constructing assessment items. Both Filipino and Indonesian junior high school English teachers used written comments as their primary method for providing feedback. Total score test and a letter grade were the highest percentage methods for providing a final report for both Filipino and Indonesian junior high school English teachers.
Volume: 5
Issue: 1
Page: 82-92
Publish at: 2016-03-01

The Roles of Organizational Commitment in Mediating the Effects of Big Five Personality on Worker’s Adherence to Occupational Safety SOPs

10.11591/ijere.v5i1.4517
Hadi Prayitno , Tjipto Suwandi , Hamidah Hamidah
The incidence of work accidents in the construction industry particularly in Indonesia and generally in international shows an increasingly worrying trend given that either quantitatively or qualitatively the number of work accidents is very large compared to that of other industrial sectors. The main causing factors are mostly due to the workers’ behavior. This study aimed to determine the roles of organizational commitment in mediating the effects of Big Five Personality on workers’ adherence to occupational safety SOPs. The study belongs to observational analytic type with cross sectional study design. The study involved 140 samples taken randomly from workers at manufacturing department of PT. Boma Bisma Indra Pasuruan, East Java. The measurement of personality used five factor model (FFM) questionnaire of Costa & McRae. Hypothesis testing applied inferential statistical analysis. The  statistical method used was Structural Equation Model (SEM). The results showed that Organizational Commitment had lower roles in mediating the effects of Big Five Personality on workers’ adherence to occupational safety SOPs compared to that Big Five Personality in directly influencing the workers’ adherence to occupational safety SOPs at PT. Boma Bisma Indra Pasuruan.
Volume: 5
Issue: 1
Page: 14-21
Publish at: 2016-03-01

Degree of Achievability of Omnidirectional Motion in Various Mobile Robot Designs: A Review

10.11591/ijra.v5i1.pp17-28
Ajju Raja Justus
In the current field of robotics, many new robots are being developed based on different working principles. Each robot has its own strengths and weaknesses. Omnidirectional mobility is a major functional requirement for performing more complex actions. This article is a comprehensive study of some of the robots developed by different people with distinctive driving mechanisms. The actuation, driving method, operating conditions and control mechanism of all the selected robots is studied. Then finally, all the considered robots are compared based on various parameters to gauge the efficiency and degree of achievability of omnidirectional motion in each robot. Therefore, by the end of this article, we can have an understanding of how much effective each driving mechanism is in producing omnidirectional mobility.
Volume: 5
Issue: 1
Page: 17-28
Publish at: 2016-03-01

Nonlinear dynamic modeling and optimal motion analysis of two-link manipulators

10.11591/ijra.v5i1.pp61-66
Moein Taheri
Manipulators are used in various industrial applications to perform variant operations such as conveying payloads. Regarding to their applications, dynamic modeling and motion analysis of manipulators are known as important and appealing tasks. In this work, nonlinear dynamics and optimal motion analysis of two-link manipulators are investigated. To dynamic modeling of the system, the Lagrange principle is employed and nonlinear dynamic equations of the manipulator are presented in state-space form. Then, optimal motion analysis of the nonlinear system is developed based on optimal control theory. By means of optimal control theory, indirect solution of problem results in a two-point boundary value problem which can be solved numerically. Finally, in order to demonstrate the power and efficiency of method, a number of simulations are performed for a two-link manipulator which show applicability of proposed method.
Volume: 5
Issue: 1
Page: 61-66
Publish at: 2016-03-01

Correlation between Food Schemes and Children Nutrient Status at the Toddler’s Age

10.11591/ijere.v5i1.4522
Tri Ratnaningsih , Indah Lestari
The nutrient in the meal is very important, especially for the children at the toddler’s age. The aim of this research was to know the correlation between the food schemes with the children nutrient status at the toddler’s age (1-3 years). The research design was cross sectional. The population for this research was all of the mothers and the children at the toddler’s age (1-3 years). The sample was taken using purposive sampling method. Many respondents served in appropriate meal to their children. Many children suffered poor nutrition status.
Volume: 5
Issue: 1
Page: 55-59
Publish at: 2016-03-01

Implementation of Human Robot Interaction on UDOO Board

10.11591/ijra.v5i1.pp29-34
Min Raj Nepali , Priyanka C Karthik , Jharna Majumdar
Advanced Robot for Interactive Application (ARIA) is a Humanoid Robotic Head which is capable of mimicking Various Human Facial Expressions. Much work has been done on Implementation of Humanoid Robotic Head with High end systems and Personal Computers (PCs). This paper presents the essential elements necessary for the implementation of Advanced Robot for Interactive Application (ARIA) on UDOO Board. The main aim of the Project was to develop a control system and Graphical User Interface (GUI) for ARIA to deliver real time human facial expressions using embedded board. Humanoid Robotic Head which is capable of mimicking Human Facial Expressions in Real time. Implementation of ARIA   involved careful selection of Embedded Board, actuators, control algorithms, motor drivers, operating system, communication protocols, and programming languages. The Board contains a Quad Core A9 Processor and a Controller embedded on it, which are interconnected. In this project the controller is dedicated to control micro servo motors which are controlling eyes, eyebrows and eyelids movements whereas the Processor Handles the Dynamixel motors, GUI and different communication modules.
Volume: 5
Issue: 1
Page: 29-34
Publish at: 2016-03-01

Analysis of a New Reduced Switch Nine Level Inverter

10.11591/ijeecs.v1.i3.pp490-501
C.R. Balamurugan , S.P. Natarajan , R. Bensraj
The multi level inverter system is mostly used in ac drives, when both reduced harmonic contents and high power are required. In this paper a new topology of multilevel inverter is introduced. This type has many steps with less power electronic switches. Due to the less number of switches the cost of the inverter is very less and also less installation area is required. Firstly, we describe briefly the structural parts of the inverter then switching strategy and operational principles of the proposed inverter are explained and operational topologies are given. Simulation is performed using MATLAB SIMULINK. Various PWM techniques are applied to the circuit such as PDPWM, PODPWM, APODPWM, VFPWM and COPWM. By comparing among the PWM techniques, PODPWM provide the less THD value and COPWM provide a higher fundamental RMS output voltage. 
Volume: 1
Issue: 3
Page: 490-501
Publish at: 2016-03-01

Advanced Optimal For PV system coupled with PMSM

10.11591/ijeecs.v1.i3.pp556-565
Salam Waley Shneen
The main advantages of PMSM are high torque density, high efficiency and small size. Photovoltaic power generation system PV generation technology is treated as the most promising technology among renewable energies. Photovoltaic (PV) power generation system is a promising source of energy with great interest in clean and renewable energy sources. To use different control systems, like Classical PI Controller, Expert System Fuzzy Logic Controller and Optimization PSO Controller. It used to control for power electronic (inverter) &PMSM which worked in the integration system to PV energy. There are two parts in this paper, first part advanced Optimal PSO, Fuzzy &PI Controller power electronic (inverter) with PV for using different control systems this part on the generator side at constant torque. Second part in the load side of variable torque, by using different control systems with PMSM to analyze all results after using the simulation model of proposed based PV system. The PV system is coupled with PMSM. A closed loop control system with a PI control, Fuzzy, PSO in the speed loop with current controllers.
Volume: 1
Issue: 3
Page: 556-565
Publish at: 2016-03-01

Design of Compact Microstrip U Shape Bandpass Filter Using Via Ground Holes

10.12928/telkomnika.v14i1.2296
Fajri; Indonesian Institute of Sciences (LIPI) Darwis , Arief Budi; Indonesian Institute of Sciences (LIPI) Santiko , Novita Dwi; Indonesian Institute of Sciences (LIPI) Susanti
This paper present the microstrip bandpass filter using two U shape resonators with using via ground holes. The bandpass filter was established using two U shape resonators with using via ground holes and deployed on RT/duroid 6010 LM aims to minimize the dimension of filter. The proposed filter was characterized using software simulation. The characteristic of proposed filter is to deal with required specification. Hardware realization was done to verify the characteristic of proposed filter. The bandpass filter has the dimension of 4.2 mm x 3.8 mm. The filter was expected to have center frequency of 400 Mhz with minimum 3dB bandwidth of 15 Mhz, maximum insertion loss of -1.5 dB and VSWR less than 2. VSWR and 3dB bandwidth on realized filter have a good agreement with required specification. However the insertion loss and center frequency was not adequate. The realized filter has insertion loss of -2.554 dB with the center frequency of 404.711 MHz.
Volume: 14
Issue: 1
Page: 82-85
Publish at: 2016-03-01

SPICE Engine Analysis and Circuit Simulation Application Development

10.12928/telkomnika.v14i1.2832
Bing; Naval University of Engineering Chen , Gang; Equipment Department of the Navy Lu , Yuehai; North China University of Technology Wang
Electrical design automation plays an important role in nowadays electronic industry. Various commercial Simulation Program with Integrated Circuit Emphasis (SPICE) packages, such as pSpice Or CAD, have become the standard computer program for electrical simulation, with numerous copies in use worldwide. The customized simulation software with copyright need the understanding and using of SPICE engine which was open-source shortly after its birth. The inner workings of SPICE, including algorithms, data structure and code structure of SPICE were analyzed, and a engine package and application development approach were proposed. The experiments verified its feasibility and accuracy. 
Volume: 14
Issue: 1
Page: 64-71
Publish at: 2016-03-01

Research on Sensor Network Spectrum Detection Technology based on Cognitive Radio Network

10.12928/telkomnika.v14i1.2442
Wenzhun; Xijing University Huang , Xinxin; Xijing University Xie , Yuting; Xijing University Zhang , Shanwen; Xijing University Zhang
With the bursting development of computer science and the hardware technology, Internet of Things and wireless sensor networks has been popularly studied in the community of engineering. Under the environment of Internet of Things, we carry out theoretical analysis and numerical simulation on the sensor network spectrum detection technology based on cognitive radio network. As a means of information and intelligence, information service system is an important research hotspot in the field of Internet of things. Wireless sensor network is composed of a large number of micro sensor nodes, which have the function of information collection, data processing, and wireless communication, characterized by the integration of wireless self-organization. However, most of the methodologies proposed by the other institutes are suffering form the high complexity while with the high time-consuming when processing information. Therefore, this study is to assess the economic feasibility of using the optimized multipath protocol availability and the increased bandwidth and several mobile operators through the use of cost-benefit analysis, single path selection model is to develop more path agreement to achieve better performance. To test the robustness, we compare our method with the other state-of-the-art approach in the simulation section and proves the effectiveness of our methodology. The experimental result reflected that our approach could achieve higher accuracy with low time-consuming when dealing with complex sources of information.
Volume: 14
Issue: 1
Page: 101-109
Publish at: 2016-03-01

Energy Management of Context-aware Cold Chain Vehicle Nodes

10.12928/telkomnika.v14i1.2744
Ronling; Huaiyin Institute of Technology Hu , Xiang; Huaiyin Institute of Technology Li , Yang; Huaiyin Institute of Technology Lou , Wei; Huaiyin Institute of Technology Yan
In view of the question that the energy-constrained sensor nodes affect the normal operation of the whole system due to the short survival period, in this paper we present a new solution of adaptive energy management from the angle of context-aware computing. In different scenario modes, we take different environment acquisition and communication strategy according to scenario parameters, and thus build the context-aware energy management model. Finally, we extend the whole system life by lowering energy consumption of single internet of things vehicle node. Experimental data show that the energy management plan of context-aware wireless sensor nodes effectively reduces the energy consumption of nodes and extends the system life under the premise of providing reliable services.
Volume: 14
Issue: 1
Page: 136-143
Publish at: 2016-03-01

Hierarchical Gaussian Scale-Space on Androgenic Hair Pattern Recognition

10.12928/telkomnika.v15i1.5381
Regina; Universitas Mercu Buana Jakarta Lionnie , Mudrik; Universitas Mercu Buana Jakarta Alaydrus
Androgenic hair pattern stated to be the new biometric trait since 2014. The research to improve the performance of androgenic hair pattern recognition system has begun to be developed due to the problems that occurred when other apparent biometric trait such as face is hidden from sight. The recognition system was built with hierarchical Gaussian scale-space using 4 octaves and 3 levels in each octave. The system also implemented the equalization process to adjust image’s intensity by using histogram equalization. We analyzed 400 images of androgenic hair in the database that were analyzed using 2-fold and 10-fold cross validation and Euclidean distance to classify it. The experimental results showed that our proposed method gave better performance compared to previous work that used Haar wavelet transformation and principal component analysis as the main method. The best recognition precision was 94.23 % obtained from the base octave with the third level using histogram equalization and 10-fold cross validation.   
Volume: 15
Issue: 1
Page: 522-530
Publish at: 2016-03-01

A Comprehensive Study on Specifying an Intelligent Approach to Solve Network Reconfiguration Problem

10.11591/ijeecs.v1.i3.pp480-489
Mahmoud Reza Shakarami , Sina Khajeh Ahmad Attari , Farhad Namdari
This paper presents an approach based on biogeography-based optimization (BBO) algorithm to solve the distribution network reconfiguration (DNR) problem for minimizing active power loss. Also it is demonstrated that with considering the nature of reconfiguration problem, among the intelligent algorithms, BBO approach could result the best performance. One of the remarkable advantages of this study is comparing seven different intelligent algorithms in solving network reconfiguration problem. This comparison, not only includes final fitness in optimization process, but also considers number of function evaluation (NFE). The effectiveness of the BBO method has been tested on two different distribution systems and the obtained simulation results are compared with Genetic algorithm (GA), Particle swarm optimization (PSO), Artificial bee colony (ABC), Gravitational search algorithm (GSA), Technical learning based optimization (TLBO) and Cuckoo algorithm (CA). The comparison results show that BBO approach can be an efficient and promising method for solving DNR problems.
Volume: 1
Issue: 3
Page: 480-489
Publish at: 2016-03-01
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