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Active object search using a pyramid approach to determine the next-best-view

10.11591/ijra.v11i1.pp70-88
Karen-Lizbeth Flores-Rodriguez , Felipe Trujillo-Romero , Jose-Joel Gonzalez-Barbosa
The development of service robotics continues to arouse interest in the scientific community due to the complexity of the activities performed like interaction in human environments, identifying and manipulating objects, and even learning by themselves. This paper proposed to improve the perception of the environment by searching for objects in service robotics tasks. We present the development and implementation of an active object search method based on three main phases: Firstly, image pyramid segmentation to examine in detail the im- age features. Second step, object detection at each level of the pyramid through a local feature descriptor and a mutual information calculation. Finally, the next camera position selection through analyzing the object detections accumulation in the pyramid. To evaluate the implementation of the proposed method, we use a NAO robot in a familiar place for humans, such as an office or a home. Ordinary objects are part of our database with the premise that a robot must know them before looking for an object. The results in the experiments showed an acceptable performance in simulation and with a real platform.
Volume: 11
Issue: 1
Page: 70-88
Publish at: 2022-03-01

Burnout among nurses working in COVID-19 pandemic

10.11591/ijphs.v11i1.21267
Tri Ismu Pujiyanto , Fery Agusman Motuho Mendrofa , Umi Hani
Nurses are at high risk of burnout because of the characteristic of their work that expends most of the time in delivering care to the patients. This study aimed to describe burnout among nurses working during corona virus disease 2019 (COVID-19) using nurses' demographic characteristics. This observational cross-sectional study involved 149 nurses from some hospitals and public health centers in Semarang using an online questionnaire from May 1 to June 15, 2020. Primary data were collected using Maslach Burnout Inventory including emotional exhaustion, depersonalization, and reduced personal accomplishment. Univariate and multivariate analyses were performed. The study showed that 63.6% of nurses in the COVID-19 unit were at high levels of emotional exhaustion, 56.3% of them were at high levels of depersonalization, and 46.7% of them are at high levels of reduced personal accomplishment. Education was the only demographic factor that was significantly related to emotional exhaustion and depersonalization (p<0.05) with a weak correlation. The work environment and the reduced anxiety-related factors were not significantly correlated with the reduced personal accomplishment with a very weak correlation, while the nurses’ unit was significantly correlated with depersonalization (p<0.05) with a very weak correlation. The results found that burnout develops among nurses due to the work environment-related factors such as the unit of work, corona-infected patients, personal protective equipment usage, and the specific characteristics of the workplace. Nurses’ characteristics affect their ability to manage the workload even in a pandemic. Nurses need optimal supports to build their self-efficacy. The organizational efforts play an important role in strengthening nurses to prevent burnout.
Volume: 11
Issue: 1
Page: 113-120
Publish at: 2022-03-01

The surface electromyography noise filtering and unwanted recordings attenuation for lower limb robotic system

10.11591/ijra.v11i1.pp62-69
Abdelhakim Deboucha
Exoskeleton robotic device (ERD) for rehabilitation purposes, physically interacts alongside with the user where high cognitive interaction and the safe human - machine system is required. To ensure safe interaction, there is a need to detect the user’s motion intention. One of the bio-signals that have been found to reflect directly the individual’s motion intention is surface electromyography (sEMG). However, sEMG signals are inevitably full of noises, not to mention the unwanted recordings and other artifact s between muscles where they cannot be freely used as a control signal for ERD. This paper presents the use of the Butterworth filter for noise suppression and the attenuation of unwanted recordings. Using classical Butterworth filter typically is unable to eliminate or attenuate the unwanted contamination on the signal of interest to its baseline level. Therefore, it is critical to modify the Butterworth filter at this stage. sEMG signals from the biceps femoris and rectus femoris muscles of seven health y male young adults were recorded in this study. The onset/ offset technique is utilized to detect the presence of the additional signal contaminated on the signal of interest. If the onset/offset index points are not approximately correlated with the movement, this means there is a contaminated measurement on the signal of interest. At this interval, a filter with distributed cutoff frequency plays the role to have the already smoothed baseline signal. In summary, the modified Butterworth filter shows to have a good performance to suppress the noises and to attenuate the unwanted recordings adaptively which ensures a safe human-machine system.
Volume: 11
Issue: 1
Page: 62-69
Publish at: 2022-03-01

Improved discrete plant propagation algorithm for solving the traveling salesman problem

10.11591/ijai.v11.i1.pp13-22
Hussein Fouad Almazini , Salah Mortada , Hassan Fouad Abbas Al-Mazini , Hayder Naser Khraibet AL-Behadili , Jawad Alkenani
The primary goal of traveling salesman problem (TSP) is for a salesman to visit many cities and return to the starting city via a sequence of potential shortest paths. Subsequently, conventional algorithms are inadequate for large-scale problems; thus, metaheuristic algorithms have been proposed. A recent metaheuristic algorithm that has been implemented to solve TSP is the plant propagation algorithm (PPA), which belongs to the rose family. In this research, this existing PPA is modified to solve TSP. Although PPA is claimed to be successful, it suffers from the slow convergence problem, which significantly impedes its applicability for getting good solution. Therefore, the proposed partial-partitioned greedy algorithm (PPGA) offers crossover and three mutation operations (flip, swap, and slide), which allow local and global search and seem to be wise methods to help PPA in solving the TSP. The PPGA performance is evaluated on 10 separate datasets available in the literature and compared with the original PPA. In terms of distance, the computational results demonstrate that the PPGA outperforms the original PPA in nine datasets which assures that it is 90% better than PPA. PPGA produces good solutions when compared with other algorithms in the literature, where the average execution time reduces by 10.73%.
Volume: 11
Issue: 1
Page: 13-22
Publish at: 2022-03-01

An alternative technique to reduce time, cost and human effort during natural or manufactured disasters

10.11591/ijra.v11i1.pp10-20
Samaher Al-Janabi , Ayad Alkaim , Ahmed Rahem
The world suffers from a very large number of missing persons, ranging from about 250,000 to about one million people for various reasons in recent years. Therefore, the process of finding and tracing the missing persons as a result of a plane crash, fire or explosion in a particular area is a humanitarian and religious and national duty, and is one of the most important issues in our country. So, the idea of using a drone to find missing people was invested. We have designed system that collects real-time data and analyzes in a smart way and utilizes global positioning system (GPS) to locate people and track their impact. The idea of this work has been developed and implemented. They represent it in the form of a triangular problem, which included: First, how to locate the missing persons and send video broadcasts to a calculator or mobile device remotely. Analyze the data collected in real time, and send a report identifying the safe path that can be taken to reach the missing persons. The second stage is collection the data in the master computer and analysis it, while the final stage determines the coordinates of the location to the missing persons and the best possible way to reach of them.
Volume: 11
Issue: 1
Page: 10-20
Publish at: 2022-03-01

The harmonic reduction techniques in shunt active power filter when integrated with non-conventional energy sources

10.11591/ijeecs.v25.i3.pp1236-1245
Kambhampati Venkata Govardhan Rao , Malligunta Kiran Kumar
The article covers the control techniques of shunt active filters using switching devices using artificial neural network (ANN) Theory. The basic idea is to achieve perfect disturbance minimization in both steady and transient states. The paper talks about a four-legged converter with a voltage source that can adjust for biased currents and harmonic elements caused by non-linear loads. A shunt connected active filter is used to minimise harmonic currents. The new proposed ANN controller for the improvement of percent total harmonic distortion (THD) is in comparison. The entire power filter concept is based on a MATLAB-modeled with ANN controller. The proposed circuit in this research is studied under various operating situations and simulated, demonstrating the system's potential.
Volume: 25
Issue: 3
Page: 1236-1245
Publish at: 2022-03-01

Mathematical connections made during investigative tasks in statistics and probability

10.11591/ijere.v11i1.21730
Liezl Joy Lazaro Quilang , Lyndon Laborte Lazaro
The Philippines has undergone a fundamental overhaul of its educational system to highlight basic education and overcome its deficiencies. The educational reform prompts prospective teachers to connect the concepts taught to instill a more profound understanding. As such, the researchers explored the mathematical connections made by prospective secondary mathematics teachers while completing investigative tasks. The study employed a concurrent triangulation mixed-methods design. Data were gathered from 39 prospective secondary mathematics teachers enrolled in the state universities' flagship campuses in Northeastern Philippines. Data were gathered using mathematical connections evaluation, think-aloud strategy, and interviews. Frequency counts, percentages, mean percent scores, Pearson product-moment correlation coefficient, and analysis of the interviews' transcriptions were employed in the study. Results showed that the prospective teachers performed best in making instruction-oriented connections but have difficulty in making implications connection. Also, the prospective teachers' ability to successfully make the mathematical connection is directly linked to their knowledge of the concept, the algorithm, and the part-whole relationship. As such, reform efforts should be made to enhance mathematical connections, emphasizing statistical thinking, and reasoning. Moreover, higher education institutions should incorporate connecting as one of the intended learning outcomes for prospective mathematics teachers.
Volume: 11
Issue: 1
Page: 239-249
Publish at: 2022-03-01

Motivation and implementation of Islamic concept in madrasah ibtidaiyah school: Urban and rural

10.11591/ijere.v11i1.21943
Alfauzan Amin , Asiyah Asiyah , Zulkarnain Syafal , Alimni Alimni , Nurlaili Nurlaili , Ayu Wulandari , Dwi Agus Kurniawan
This study aimed to see how students' motivation and understanding of the concept of Islamic religion in students in rural and urban areas. This research uses mixed-method research. Qualitative data will be supporting data for quantitative data. The sample of this study consisted of 87 students and eight teachers in urban and 99 students and eight teacher rural Islamic elementary school students with random sampling technique. Instrument in the study used a questionnaire for motivation with a Likert scale of 4 and a test for understanding the concept of Islam. In this study, there are two types of data analysis used, namely quantitative analysis using descriptive statistics (mean, standard deviation, and category), and inferential statistics (independent sample t-test) using the SPSS 21 application, for qualitative using reducing analysis, analyzing, and interpreting findings from Miles and Huberman. The findings of this study illustrated that motivation was good (M=2.88, SD=0.78) and understanding of student concepts (M=81, SD=0.77) was good too, but in rural areas are better than in urban areas. This finding has implications that the challenges of Islamic religion in urban areas are greater for students. The novelty in this study is the implicit finding of this study that external factors (school social environment, community social environment, family environment) have a major influence on motivation and understanding of Islamic religious concepts.
Volume: 11
Issue: 1
Page: 345-352
Publish at: 2022-03-01

The trend of sharenting among Malaysian parents: a qualitative study on their content and motivation

10.11591/ijphs.v11i1.21193
Lee Jia Wen , Crendy Tan , Saroja Dhanapal
With social media having penetrated people’s daily life, sharenting has become a common phenomenon among the current generation. The term “sharenting” is derived from the combination of the words “share” and "parenting” which refers to parents who often post or share their children’s photos/videos on social media such as Facebook, Instagram, Snapchat, YouTube, Blog, and so on. Sharenting has resulted in a lot of consequences due to the sharing of children’s information. To understand the consequences of sharenting, the current research analysed the contents of children’s information that are shared by parents in Malaysia. The research also investigated the reasons that motivated parents to be involved in the trend of sharenting. A qualitative research adopting one-to-one interview was conducted to obtain in-depth information and knowledge from the respondents selected through a non-probability snowball sampling method. The responses from the interviews were analysed using a thematic analysis where it was noted that in terms of the content shared, two key themes emerged specifically funny and interesting photos as well as children’s educational progress. On the other hand, in terms of reasons for sharenting, the respondents listed several reasons including to keep in touch with friends/family members, to keep as memories, and gain support from others.
Volume: 11
Issue: 1
Page: 310-319
Publish at: 2022-03-01

Efficacy of chili plant diseases classification using deep learning: a preliminary study

10.11591/ijeecs.v25.i3.pp1442-1449
Suhana Rozlan , Marsyita Hanafi
Plant disease classification using deep learning techniques is a popular research area due to the numerous opportunities for introducing advance and robust classifiers. Nevertheless, classifying chilli plant diseases accurately from images under uncontrolled environment and various imaging conditions remains unsolved due to the lack of chilli disease image datasets. In this study, the efficacy of three high-performance deep learning algorithms, namely VGG16, InceptionV3, and EfficientNetB0, in classifying three types of chilli leaves diseases, namely upward curling, mosaic/mottling, and the bacterial spot, is demonstrated. These methods are popularly used for other plant disease classifications due to their effectiveness. The experiments were performed on the 3,000 chilli plant disease images collected from three different field environments in Selangor, Malaysia. The images were captured with a complex background and various illuminations, angles, and distances to reflect the real-life scenarios. The complexity of the collected images was created based on the taxonomic information of chilli leaves diseases and the unavailability of chilli disease images under various imaging conditions in the publicly available plant disease databases. Experimented using appropriate specifications, the models demonstrated outstanding performance with more than 95% accuracy with the highest accuracy of 98.83% by InceptionV3.
Volume: 25
Issue: 3
Page: 1442-1449
Publish at: 2022-03-01

Person following control for a mobile robot based on color invariance corresponding to varying illumination

10.11591/ijra.v11i1.pp33-42
Shinsuke Oh-hara , Kaoru Saito , Atsushi Fujimori
In this paper, we present a method of person following control for a mobile robot using visual information. Color information is often used for object tracking. Color information of objects varies greatly under illumination changing environment. In such conditions, the robot controlled by visual information may lose sight of a person. In this paper, we consider a robust person following method by color invariance and image-based control. Color invariance shows robust features of colored objects in terms of changing illumination conditions. At first, we estimate the lowest positions of both feet of a tracked person through particle filters based on color invariances. Then, we control the velocity of the robot to track the person by using the image-based controller. Experimental results using an actual robot demonstrate the effectiveness of the proposed method.
Volume: 11
Issue: 1
Page: 33-42
Publish at: 2022-03-01

Implementation of FaceNet and support vector machine in a real-time web-based timekeeping application

10.11591/ijai.v11.i1.pp388-396
Ly Quang Vu , Phan Thanh Trieu , Hoang-Sy Nguyen
This paper presents in detail how to build up and implement a real-time web-based face recognition application. The system works so that images of people are recorded and compared with the references on the database. If they match, the information about their presence will be recorded. As for the system architecture, the multi-task cascaded neural network was deployed for face detection. Followingly, for the recognizing tasks, we conducted a study to compare the accuracy level of three different face recognizing methods on three different public datasets by means of both the literature review and our simulation. From the comparison, it can be drawn that the FaceNet algorithm in-used with the support vector machine (SVM) classifier performs the best among others and is the most suitable candidate for the practical deployment. Eventually, the proposed system can deliver a highly satisfactory result, proving its potentials not only for the research but also the commercial purposes.
Volume: 11
Issue: 1
Page: 388-396
Publish at: 2022-03-01

Integration of STEM education in history learning

10.11591/ijere.v11i1.22064
Rinaldo Adi Pratama , Inne Marthyane Pratiwi , Muhammad Adi Saputra , Sumargono Sumargono
The 21st century needs pupils with learning ability and necessary skills, particularly critical thinking skills instead of content focused. The study of science, technology, engineering and mathematics (STEM) education approach can lead teachers to a new teaching approach in history learning. Through this approach, the teachers can create a new way of teaching history integrated with STEM. This study used a qualitative approach. Data collection in this research using pupil’s work samples, interview, and the teacher journal. This research was conducted in two high school and two vocational school in the urban area. The findings showed that the teachers integrated one of the historical thinking skills and understanding history. The skills are still in the lower level of historical thinking skills. For historical teaching skills to be effectively integrated in history learning, teachers need to be trained so the pupil's historical thinking skills can be enhanced through the integrated history learning with the STEM approach.
Volume: 11
Issue: 1
Page: 313-320
Publish at: 2022-03-01

An effective approach to enhance the balancing control in bycycorobot using the soft computing techniques

10.11591/ijra.v11i1.pp43-61
Aswant Kumar Sharma , Dhanesh Kumar Sambariya
The balancing and control of bycycorobot is a challenging task. The pre-specified controller available in the literature for balancing has been reduced with novel optimization to improve the effectiveness of balancing, uncertainty, and the complexity of the complete system. The novel Harris hawk optimization (HHO) which is based on the hunting behavior of the hawk has been utilized to improve the balancing of the bycycorobot. The paper proposes the decreased order controller of a pre-specified controller for a bycycorobot. The obtained controller response with bycycorobot in the complete closed loop is analyzed, and the best performance is compared with the reduced order controller available in the literature. The comparison is based on the response indices and response characteristics.
Volume: 11
Issue: 1
Page: 43-61
Publish at: 2022-03-01

Analysis of chattering in step down converter via sliding mode reaching law

10.11591/ijape.v11.i1.pp25-32
Siddesh Kondapur Basavarajan , Shivarudraswamy Rudrappa
The reaching law approach is broadly used for chattering repression, minimization of steady state error and reaching pace kept minimsed. The reasons of chattering, in this paper proposes sliding mode reaching law. In one hand, they assurance the scheme arrives at the sliding face swiftly and stay on it, in another way they deteriorate the chattering inefficiently, even matchless certainties and disturbances. This proposed reaching law gives uniqueness of the response. The reaching law is compared with Gao’s reaching law. Sliding mode reaching laws gives the efficacy in reducing the chattering of the variable structure control (VSC). This reaching law also reduces the losses in the switching diplomacy. In turns efficiency of the step-down converter increases. Simulation results give significant decrease of chattering and extremely fewer receptive in supply and load variation.
Volume: 11
Issue: 1
Page: 25-32
Publish at: 2022-03-01
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