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INDONESIA
Indonesian Journal of Electrical Engineering and Computer Science
Published by Institute of Advanced Engineering and Science
ISSN : 25024752     EISSN : 25024760     DOI : -
Core Subject :
Arjuna Subject : -
Articles 9,199 Documents
 378   379   380   381   382 
Adaptive Iterated Square-Root Cubature Kalman Filter and Its Application to SLAM of a Mobile Robot Zuguo Chen; Xuefeng Dai; LaiHao Jiang; Chao Yang; Biao Cai
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 12: December 2013
Publisher : Institute of Advanced Engineering and Science

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Abstract

For the mobile robot Simultaneous Localization and Mapping(SLAM)，a new algorithm is proposed, and named Adaptive Iterated Square-Root Cubature Kalman Filter based SLAM algorithm(AISRCKF-SLAM). The main contribution of the algorithm is that the numerical integration method based on cubature rule is directly used to calculate the SLAM posterior probability density. To improve innovation covariance and cross-covariance, the latest measurements are iteratively used in the measurement updating. The algorithm can reduce linearization error and improve the accuracy of the SLAM algorithm. The algorithm also used adaptive iterating estimation restricted by the iterative sentencing guideline to adjust the proportion of the observation and dynamic model, to make the estimated square root of the error covariance more accurate and reasonable. In experiments, the proposed algorithm is compared with Extended Kalman Filter based SLAM algorithm (EKF-SLAM), Unscented Kalman Filter based SLAM algorithm (UKF-SLAM) and Square-Root Cubature Kalman Filter based SLAM algorithm (SRCKF-SLAM). The results indicate that the proposed algorithm having with the higher accuracy of the state estimation is obtained to compare with the EKF-SLAM algorithm, the UKF-SLAM algorithm and the SRCKF-SLAM algorithm. DOI: http://dx.doi.org/10.11591/telkomnika.v11i12.3315
Power Flow Calculation for Traction Networks under Regenerative Braking Condition Based on Locomotive-Traction Network Coupling Wang Bin; Hu Haitao; Gao Shibin; Han Xudong
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 2: February 2013
Publisher : Institute of Advanced Engineering and Science

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Abstract

The regenerative braking technology is widely applied in high-speed electric multiple units (EMUs). And the voltage rise problem at end of the traction network would be caused by regenerative braking attracts more and more attention. The arm of this paper is to analyze the power flow calculation for EMUs under regenerative braking condition. Power flow calculation was done for two different EMU operation conditions by using a “locomotive-traction network” coupling model. In this model, a constant power load model on an all-parallel AT network multi-conductor chain circuit model is considerable. The simulation analysis shows that the iterative calculation method used in the present study is characterized by fast convergence and high accuracy, and is suitable to power flow calculation for traction networks under the braking condition and traction condition. It can be used to analyze voltage distribution, and the impact of traction load on power quality of the public power grid, etc. DOI: http://dx.doi.org/10.11591/telkomnika.v11i2.2033
The Power Unit Coordinated Control via Uniform Differential Evolution Zain Abdalla Zahran; Rui Feng Shi; Xiang Jie Liu
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 7: July 2013
Publisher : Institute of Advanced Engineering and Science

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Abstract

This paper modified the differential evolution (DE) algorithm adaptively to solve the power unit coordinated control (PUCC) problem.It was modified in two aspects: 1) a uniform initialization, which was controlled and regulated by a zone factor (m), 2) a regular mutation process, to develop an effective searching process and improve the convergence of the basic DE algorithm. A numerical case study was employed to verify the performance of our proposed uniform differential evolution (UDE) algorithm, by contrast to the performance with the basic DE, genetic algorithm (GA), and particle swarm optimization (PSO) algorithms. The experimental simulation results show that our proposed UDE algorithm has outperformed the other comparative algorithms, which demonstrate the effectiveness and efficiency of the new algorithm.DOI: http://dx.doi.org/10.11591/telkomnika.v11i7.2281
Phonemes Classification Using the Spectrum Ahmed El Ghazi; Cherki Daoui
Indonesian Journal of Electrical Engineering and Computer Science Vol 15, No 2: August 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v15.i2.pp368-372

Abstract

In this work, we present an automatic speech classification system for the Tamazight phonemes. We based on the spectrum presentation of the speech signal to model these phonemes. We have used an oral database of Tamazight phonemes. To test the system’s performances, we calculate the classification rate. The obtained results are satisfactory in comparison with the reference database and the quality of speech files.
Comparative Analysis of Chinese and European-American Cervical Vertebrae Geometry Haibin CHEN; Liying ZHANG; Liwen TAN; Shaoxiang ZHANG; Xuemei CHENG; Zhengguo WANG
Indonesian Journal of Electrical Engineering and Computer Science Vol 10, No 8: December 2012
Publisher : Institute of Advanced Engineering and Science

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Abstract

To date, many finite element neck models suitable for the European-American population have been proposed to study neck impact injury mechanisms. However, the issue that a Chinese neck model can be obtained using the geometrical scaling of a western model is highly controversial. A Chinese neck model, based on MRI/CT scan images and frozen slice images from a 35-year old male cadaver, was established in this paper to examine the geometrical difference between Chinese and European-American cervical vertebrae. Results showed that at every level of all cervical vertebrae except C2, an evident difference between the geometrical model of the Chinese and European-American cervical vertebrae was revealed. In summary, it is necessary to apply the actual anatomic parameters of the Chinese neck rather than the scaled geometry of the European-American neck to establish a standard mid-size Chinese neck finite element model. DOI: http://dx.doi.org/10.11591/telkomnika.v10i8.1616
RBF Nerve Network Tuning PD Control Scheme for Tele-operation Robot Servo System Guang Wen
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 11: November 2013
Publisher : Institute of Advanced Engineering and Science

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Abstract

In the bilateral hydraulic servo control system of a construction tele-robot with in-situ force sensing, the p-f type force feedback architecture is liable to result in an impact on the operator hand, and its high amplitude will cause the control unstable. In order to solve this problem an improved force feedback control method with the feature of a T-S fuzzy feedback coefficient, which could be modified online nonlinearly and continuously, is proposed. And a RBF-PID force controller is also designed, and formed a bilateral hydraulic servo control system. The experimental results indicate that the new improved control method reduced the impact of the feedback force, the compliance and transparency of the tele-operation of construction tele-robot system are enhanced. DOI: http://dx.doi.org/10.11591/telkomnika.v11i11.2731
Research on Obstacle Recognition for UUV Based on Multi-beam Forward Looking Sonar LIN Fei-yu
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 5: May 2013
Publisher : Institute of Advanced Engineering and Science

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Abstract

Obstacle recognition is one of the key technologies for Unmanned Undersea Vehicle (UUV). In this paper, the design of obstacle recognition based on multi-beam forward looking sonar is presented. First of all, Gaussian mixed model operator is adopted in adaptive threshold segmentation to segment the sonar image into regions of interest and background. Secondly, we use morphological  operation to remove noise and pseudo-target in the image. At last, obstacle contour is fitted into an ellipse using least squares method and then we calculate minimum and maximum distance, maximum and minimum azimuth angle between obstacle and multi-beam forward looking sonar. Results obtained on real sonar data are shown and discussed. Our experimental results show that the way can obtain accurate obstacle distance and azimuth angle information. DOI: http://dx.doi.org/10.11591/telkomnika.v11i5.2500
Energy Efficiency Maximization Based on Cooperative sensing in Cognitive Relay Networks Yaolian Song; Guangzeng Feng; Xuanhui Xi
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 8: August 2013
Publisher : Institute of Advanced Engineering and Science

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Abstract

In this paper, we investigate the energy efficiency maximization problem of cognitive radio systems. We propose to study energy efficiency of cognitive relay transmission scheme based on cooperative spectrum sensing, since empirical studies have shown that optimal sensing time and transmit power are key factors for energy efficiency maximization. We design a method that simultaneously considers the parameters of spectrum sensing time and transmit power. Finally, we conduct deep experiments which show that our proposed approach can significantly improve the throughput and energy efficiency than the non-cooperative spectrum sensing method. DOI: http://dx.doi.org/10.11591/telkomnika.v11i8.2446
Bionic Intelligent Optimization Algorithm Based on MMAS and Fish-Swarm Algorithm Jingjing Yang; Benzhen Guo; Jixiang Gou; Xiao Zhang
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 9: September 2013
Publisher : Institute of Advanced Engineering and Science

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Abstract

With large number of ants, the ant colony algorithm would always take a long time or is rather difficult to find the optimal path from complex chapter path, further more, there exists a contradiction between stagnation, accelerated convergence and precocity. In this paper, we propose a new bionic optimization algorithm. The main idea of the algorithm is to introduce the horizons concept in the MMAS fish swarm algorithm, so it would take shorter time to find the optimal path with numerous ants, and the introduction of the concept of fish swarm algorithm congestion level would enable the ant colony find the path of global optimization with a strong crowding limit which avoids the emergence of local extreme and improves the accuracy and efficiency of the algorithm. DOI: http://dx.doi.org/10.11591/telkomnika.v11i9.2952
Efficient Passive Full-disclosure Attack on RFID Light-weight Authentication Protocols LMAP++ and SUAP Wang Shao-hui; Liu Sujuan; Chen Danwei
Indonesian Journal of Electrical Engineering and Computer Science Vol 10, No 6: October 2012
Publisher : Institute of Advanced Engineering and Science

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Abstract

Radio Frequency Identification (RFID) is a technology that has been widely used in daily life, such as in access control, in electronic passports, in payment and ticketing. However, since the RFID information may be easily unveiled over the air, security and the privacy issues always exist. Many RFID authentication protocols have been proposed to preserve security and privacy of the system. Nevertheless, most of these protocols are analyzed and it is shown that they can not provide security against some RFID attacks. LMAP++ and SUAP are two typical and recently proposed RFID lightweight authentication protocols, which were presented to resist passive attack. In this work, utilizing the particular structures of these two protocols and the property of bitwise operations, we present a new and efficient passive full-disclosure attack on LMAP++, SUAP-1 and SUAP-3 protocol. We point out the construction weakness of these two protocols and our passive attack can be used to reveal all the secrets shared by the Reader and Tag by eavesdropping about 20 rounds of the authentication messages. DOI: http://dx.doi.org/10.11591/telkomnika.v10i6.1398

Page 380 of 920 | Total Record : 9199

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