Wavelet Based Feature Extraction for The Indonesian CV Syllables Sound

This paper proposes the combined methods of Wavelet Transform (WT) and Euclidean Distance (ED) to estimate the expected value of the possibly feature vector of Indonesian syllables. This research aims to find the best properties in effectiveness and efficiency on performing feature extraction of each syllable sound to be applied in the speech recognition systems. This proposed approach which is the state-of-the-art of the previous study consist of three main phase. In the first phase, the speech signal is segmented and normalized. In the second phase, the signal is transformed into frequency domain by using the WT. In the third phase, to estimate the expected feature vector, the ED algorithm is used. Th e result shows the list of features of each syllables can be used for the next research, and some recommendations on the most effective and efficient WT to be used in performing syllable sound recognition

Inverse kinematics solution for trajectory tracking using artificial neural networks for SCORBOT ER-4u

This paper presents the kinematic analysis of the SCORBOT-ER 4u robot arm using a Multi-Layered Feed-Forward (MLFF) Neural Network. The SCORBOT-ER 4u is a 5-DOF vertical articulated educational robot with revolute joints. The Denavit-Hartenberg and Geometrical methods are the forward kinematic algorithms used to generate data and train the neural network. The learning of forward-inverse mapping enables the inverse kinematic solution to be found. The algorithm is tested on hardware (SCORBOT-ER 4u) and reliable results are obtained. The modeling and simulations are done using MATLAB 8.0 software