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Inverse Kinematic Algorithm with Newton-Raphson Method iteration to Control Robot Position and Orientation based on R programming language 基于R语言的Newton-Raphson法迭代逆运动学机器人位置和姿态控制算法
Pub Date : 2023-04-30 DOI: 10.22146/ijccs.82781
Ruben Cornelius Siagian
 The homogeneous transform program is a function used to calculate the homogeneous transformation matrix at a specific position and orientation of a three-link manipulator. The homogeneous transformation matrix is a 4x4 matrix used to represent the position and orientation of an object in three-dimensional space. In the program, the rotation matrix R is calculated using the Euler formula and stored in a 4x4 matrix along with the position coordinates. The Jacobian matrix function calculates the Jacobian matrix at a specific position and orientation of a three-link manipulator using the homogeneous transformation matrix. The Euler formula used in the program is based on the rotation matrices for rotations around the x, y, and z-axes. The output of these functions can be useful for future research in developing advanced manipulators with improved accuracy and flexibility. Research gaps in exploring the limitations of these functions in real-world applications, particularly in scenarios involving complex manipulator configurations and environmental factors.
齐次变换程序是用于计算三连杆机械手在特定位置和方向上的齐次变换矩阵的函数。齐次变换矩阵是一个4x4矩阵,用于表示物体在三维空间中的位置和方向。在程序中,使用欧拉公式计算旋转矩阵R,并将其与位置坐标一起存储在4x4矩阵中。雅可比矩阵函数使用齐次变换矩阵计算三连杆机械手在特定位置和方向上的雅可比矩阵。程序中使用的Euler公式基于绕x、y和z轴旋转的旋转矩阵。这些函数的输出可用于未来的研究,以开发具有更高精度和灵活性的先进机械手。在探索这些功能在现实应用中的局限性方面存在研究空白,特别是在涉及复杂机械手配置和环境因素的场景中。
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引用次数: 0
The Comparison of ReliefF and C.45 for Feature Selection on Heart Disease Classification Using Backpropagation ReliefF和C.45在心脏病反向传播分类特征选择中的比较
Pub Date : 2023-04-30 DOI: 10.22146/ijccs.82948
Anita Desiani, Yuli Andriani, Irmeilyana Irmeilyana, Rifkie Primartha, M. Arhami, Dwi Fitrianti, Henny Nur Syafitri
One of the datasets used to predict heart disease is UCI dataset. unfortunately, the dataset contains missing data. the missing data dramatically affects the performance of the backpropagation classification method. One of the techniques used to handle missing data is feature selection. This study compares the ReliefF and the C4.5 algorithm in feature selection to handle missing data. The results of these algorithms are applied to the classification of heart disease using the Backpropagation. The results will be measured based on accuracy, precision, and recall. The performance results of the ReliefF and Backpropagation are an accuracy of 82.653%, a precision of 82.7%, and a recall of 82.7%. The performance results of the C4.5 and backpropagation are an accuracy of 80.61%, a precision of 80.4%, and a recall of 80.6%. Based on the results it can be concluded that the ReliefF gives better performance results on backpropagation than the performance results of the C4.5. Although, the results of C4.5 are below ReliefF but the results are quite satisfactory because of the accuracy, precision and recall results obtained above 80%. This shows that ReliefF and C4.5 can select features that affect the UCI heart disease patient dataset.
用于预测心脏病的数据集之一是UCI数据集。不幸的是,数据集包含丢失的数据。缺失数据严重影响反向传播分类方法的性能。用于处理缺失数据的技术之一是特征选择。本研究比较了ReliefF和C4.5算法在特征选择上处理缺失数据的效果。将这些算法的结果应用于反向传播的心脏病分类。结果将根据准确性、精密度和召回率来衡量。ReliefF和Backpropagation的性能结果是准确率为82.653%,精度为82.7%,召回率为82.7%。C4.5和反向传播的性能结果是准确率为80.61%,精密度为80.4%,召回率为80.6%。根据结果可以得出结论,ReliefF在反向传播方面的性能结果优于C4.5的性能结果。虽然C4.5的结果低于ReliefF,但由于获得了80%以上的正确率,精密度和召回率结果,结果相当令人满意。这表明ReliefF和C4.5可以选择影响UCI心脏病患者数据集的特征。
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引用次数: 0
Analyze the Clustering and Predicting Results of Palm Oil Production in Aceh Utara 印尼亚齐省棕榈油产量聚类分析及预测结果
Pub Date : 2023-04-30 DOI: 10.22146/ijccs.83195
Mutammimul Ula, Gita Perdinanta, R. Hidayat, Ilham Sahputra
PT. Perkebunan Nusantara 1 is a company that works in palm oil mills with a total land area of 1,144 Ha in Aceh Utara. This research aimed to determine the cluster of the productive palm oil production's target. The expected results of palm oil production are for the following year so that it can be used as a recommendation for the managers to maximize performance. Research data are taken from PTPTN 1 PKS Cot Girek consisting of plantation and oil palm production data. The results of PKS Cot Girek palm oil production data for 2019-2022 from January to December were 1,365,530, while in 2022, it reached 1,768,720. The overall value obtained is 4,431,180 production data. The results of a land area of 1,144 Ha got 800.4 Ha of productive land and 343.6 Ha of less effective land. The test result in the first iteration of the C-Means process is 1.87, the second iteration is 3.87, the first iteration of the K-Means is 2.27, and the seventh iteration is 4.165 with an accuracy of 0.46 and 0.295. Meanwhile, the prediction model results have an accuracy rate of 90.77%. As a comparison, the fuzzy time series' accuracy level is 81.27%.
PT. Perkebunan Nusantara 1是一家在亚齐北部的棕榈油工厂工作的公司,总面积为1144公顷。本研究旨在确定集群生产性棕榈油生产的目标。棕榈油生产的预期结果是下一年的,因此它可以作为经理们的建议,以最大限度地提高业绩。研究数据取自PTPTN 1 PKS Cot Girek,包括种植园和油棕生产数据。PKS Cot希腊棕榈油产量数据结果显示,2019-2022年1 - 12月的棕榈油产量为1365530,而2022年的棕榈油产量为1768720。获得的生产数据总计为4,431,180。以1144 Ha的土地面积为例,得到生产性土地800.4 Ha,低效土地343.6 Ha。C-Means过程第一次迭代的测试结果为1.87,第二次迭代的测试结果为3.87,K-Means第一次迭代的测试结果为2.27,第七次迭代的测试结果为4.165,准确率分别为0.46和0.295。同时,预测模型结果的准确率为90.77%。作为比较,模糊时间序列的准确率为81.27%。
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引用次数: 0
Siamese-Network Based Signature Verification using Self Supervised Learning 基于暹罗网络的自监督学习签名验证
Pub Date : 2023-04-30 DOI: 10.22146/ijccs.74627
Muhammad Fawwaz Mayda, Aina Musdholifah
The use of signatures is often encountered in various public documents ranging from academic documents to business documents that are a sign that the existence of signatures is crucial in various administrative processes. The frequent use of signatures does not mean a procedure without loopholes, but we must remain vigilant against signature falsification carried out with various motives behind it. Therefore, in this study, a signature verification system was developed that could prevent the falsification of signatures in public documents by using digital imagery of existing signatures. This study used neural networks with siamese network-based architectures that also empower self-supervised learning techniques to improve accuracy in the realm of limited data. The final evaluation of the machine learning method used gets a maximum accuracy of 83% and this result is better than the machine learning model that does not involve self-supervised learning methods.
从学术文件到商业文件,在各种公共文件中经常遇到签名的使用,这表明签名的存在在各种行政流程中至关重要。签名使用频繁并不意味着程序没有漏洞,但我们必须对各种动机的伪造签名行为保持警惕。因此,在本研究中,开发了一个签名验证系统,该系统可以通过使用现有签名的数字图像来防止公共文件中的签名被伪造。本研究使用了基于暹罗网络架构的神经网络,该架构还赋予了自我监督学习技术以提高有限数据领域的准确性。对所使用的机器学习方法的最终评估获得了83%的最高准确率,这一结果优于不涉及自监督学习方法的机器学习模型。
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引用次数: 0
SIMULATION TECHNIQUE IN DETERMINING STUDENT ATTENDANCE USING THE MONTE CARLO METHOD 蒙特卡罗法测定学生出勤率的模拟技术
Pub Date : 2023-04-30 DOI: 10.22146/ijccs.83891
Klara Bonita Madao, I. Gusti, Ayu Ngurah, Kade Sukiastini, Engelina Prisca Kalensun, Kata kunci — Kehadiran, Monte Simulasi, Prediksi carlo
In lectures, attendance is one of the assessment points that plays an important role in determining a student's graduation. The attendance prediction simulation is an estimate of the calculation of student attendance in lectures. This type of research is quantitative research using data collection techniques by means of observation and documentation study. In the process of analysis, the observed data were attendance data of 5th semester computer engineering study program students and a sample of 40 people as research subjects. The stages of the monte carlo simulation are used: Determining variable frequency; Calculating cumulative probabilities; Determine random number intervals; Create a simulation to determine student attendance; Generate random numbers; Make a simulation of the experimental circuit. Based on a series of experimental data that has been The simulation results obtained predicted attendance and absence of computer engineering study program students at the STMIK Agamua Wamena campus from November 7 to December 19, 2022 with an average attendance of above 50%. Keywords— Attendance, Simulation, Monte carlo, Prediction
在课堂上,出勤率是决定学生毕业与否的重要考核指标之一。出勤率预测模拟是对学生上课出勤率计算的估计。这种类型的研究是定量研究,使用数据收集技术,通过观察和文献研究。在分析过程中,观察到的数据是计算机工程专业第五学期学生的出勤数据和40人作为研究对象的样本。采用蒙特卡罗模拟的几个阶段:确定变频;计算累积概率;确定随机数区间;创建一个模拟来确定学生的出勤率;生成随机数;对实验电路进行仿真。根据一系列实验数据,模拟结果获得了2022年11月7日至12月19日STMIK Agamua Wamena校区计算机工程专业学生的预测出勤率和缺勤率,平均出勤率在50%以上。关键词:考勤,模拟,蒙特卡罗,预测
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引用次数: 0
Mahalanobis Fuzzy C-Means Clustering with Spatial Information for Image Segmentation 基于空间信息的马氏模糊C均值聚类图像分割
Pub Date : 2023-04-30 DOI: 10.22146/ijccs.81521
Wawan Gunawan, N. Latifah
A fuzzy C-Means segmentation algorithm can be implemented in an image segmentationbased on the Mahalanobis distance; However, this method only needs to consider the colorspace situation, not the neighborhood system of the image. It was an effective edge detectionprocess unwell performed and generated less accuracy in segmentation results. In this article,we propose a new method for image segmentation with Mahalanobis fuzzy C-means Spatialinformation (MFCMS). The proposed method combines feature space and images of theinformation of the neighborhood (spatial information) to improve the accuracy of the result ofsegmentation on the image. The MFCMS consists of two steps, the histogram threshold modulefor the first step and the MFCMS module for the second step. The Histogram Threshold moduleis used to get the MFCMS initialization conditions for the cluster centroid and the number ofcentroids. Test results show that this method provides better segmentation performance thanclassification errors (ME) and relative foreground area errors (RAE) of 1.61 and 3.48,respectively.
模糊C均值分割算法可以在基于马氏距离的图像分割中实现;然而,这种方法只需要考虑颜色空间的情况,而不需要考虑图像的邻域系统。这是一个有效的边缘检测过程,执行不当,分割结果的准确性较低。本文提出了一种新的基于马氏模糊C均值空间信息的图像分割方法。该方法将特征空间和图像的邻域信息(空间信息)相结合,提高了图像分割结果的准确性。MFCMS由两个步骤组成,第一步为直方图阈值模块,第二步为MFCMS模块。直方图阈值模块用于获得聚类质心和质心数量的MFCMS初始化条件。测试结果表明,该方法比分类误差(ME)和相对前景区域误差(RAE)分别为1.61和3.48提供了更好的分割性能。
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引用次数: 0
Applying Data Mining to Classify Customer Satisfaction using C4.5 Algorithm Decision Tree 基于C4.5算法决策树的数据挖掘在客户满意度分类中的应用
Pub Date : 2023-04-30 DOI: 10.22146/ijccs.83535
J. Prayoga, Zelvi Gustiana, Sabrina Aulia Rahmah
Tight business competition demands business actors to make responsive, timely decisions to survive the uncertainty. Food business, especially cafes, has emerged as one of the most popular business types recently.  One cafe concept that draws most customers' interest is modern concepts, friendly service, and affordable prices. Finn Coffee is one of the cafes providing a range of foods and beverages, especially coffee-based beverages. Customer satisfaction defines one's feelings when comparing performance. It denotes customer's responses to their satisfied needs. The term satisfaction itself is described as one's happy expression after receiving a quality product with affordable price and satisfying quality. The present study aimed to analyze cafe customer satisfaction using the C4.5 algorithm with predetermined criteria. Customer satisfaction was classified using C4.5. The algorithm displays the level of customer satisfaction based on the customers' response to the Google form distributed by the cafe employees/owner.
激烈的商业竞争要求业务参与者做出反应迅速、及时的决策,以便在不确定性中生存下来。食品生意,尤其是咖啡馆,最近已经成为最受欢迎的商业类型之一。吸引大多数顾客兴趣的一个咖啡馆概念是现代的概念、友好的服务和实惠的价格。Finn Coffee是一家提供各种食物和饮料的咖啡馆,尤其是以咖啡为基础的饮料。顾客满意度定义了一个人在比较业绩时的感受。它表示顾客对其满足的需求的反应。“满意”一词本身被描述为一个人在收到价格合理、质量令人满意的优质产品后的快乐表达。本研究旨在使用C4.5算法与预定标准分析咖啡馆顾客满意度。使用C4.5对客户满意度进行分类。该算法根据顾客对咖啡馆员工/老板分发的谷歌表单的响应显示顾客满意度水平。
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引用次数: 0
The Tweetology of New and Renewable Energy in Indonesia 印尼新能源和可再生能源的推特
Pub Date : 2023-04-30 DOI: 10.22146/ijccs.81397
Ariana Yunita, Sara Florensia Telaumbanua, A. Irawan
The amount of unstructured data is increasing annually, which is promising forgaining insights. Twitter, a platform producing unstructured data, is currently one of the mostpopular media platforms used for conducting research on a topic's trend. This study attempts toanalyze the topic of New and Renewable Energy (NRE) in Indonesia. The purpose of this studyis to gain insights into the NRE topic trend over the last ten years by modeling the topicsdiscussed on Twitter and examining the location distribution of users who post tweets about thetopic. Accordingly, this study employed descriptive analysis, geocoding analysis, and topicmodeling. The results of descriptive analysis show that the development of NRE has acceleratedin recent years, particularly in 2021. Geocoding analysis reveals that the distribution of peoplewho engage in NRE posting activities is dominated by DKI Jakarta province. Topic modelingyielding two topics that were discussed the most by Indonesians over a 10-year period. The twotopics are related to government policies that support the development of NRE and electricity,which is Indonesia's focus in NRE. This study highlights the importance of analyzing theTweetology of NRE.
非结构化数据的数量每年都在增加,这很有希望获得洞察力。Twitter是一个生产非结构化数据的平台,目前是最受欢迎的媒体平台之一,用于对一个主题的趋势进行研究。本研究试图分析印尼新能源和可再生能源(NRE)的主题。本研究的目的是通过对Twitter上讨论的主题进行建模,并检查发布有关该主题的推文的用户的位置分布,从而深入了解过去十年NRE主题的趋势。因此,本研究采用描述性分析、地理编码分析和主题建模。描述性分析结果表明,近年来,特别是在2021年,NRE的发展速度有所加快。地理编码分析显示,从事NRE张贴活动的人员分布以DKI雅加达省为主。话题模型得出了印尼人在过去10年里讨论最多的两个话题。这两个主题与政府支持新能源和电力发展的政策有关,这是印尼在新能源领域的重点。本研究强调了分析NRE推文的重要性。
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引用次数: 0
World Cup 2022 Knockout Stage Prediction Using Poisson Distribution Model 用泊松分布模型预测2022年世界杯淘汰赛阶段
Pub Date : 2023-04-30 DOI: 10.22146/ijccs.82280
Stanislaus Jiwandana Pinasthika, D. Fudholi
Football is one of the most popular sports in the world. The popularity makes every topic related to football interesting, for instance, the FIFA World Cup winner prediction. This topic is not only for casual discussion but could be a practical decision support for coaching staff to rate the team’s readiness. Most prediction methods use large match datasets. Since every national team has a different squad for every world cup and the FIFA World Cup is held every four years, the usage of a large match dataset is irrelevant. Therefore, there is a need for a prediction method based on the relevant data. We applied the Poisson distribution model for predicting the FIFA World Cup 2022 knockout stage match results. We calculate the probability of winning and losing based on their average goal scores and goal conceded and evaluate the difference by the actual result using de Finetti distance. The successful prediction is 8 out of 15 matches, with six inside the round of 16 games. Thus, the new data attributes need to reformulate Poisson’s lambda. Further studies need to add the 3-4 prior world cup matches data to increase the acceptance of prediction.
足球是世界上最受欢迎的运动之一。受欢迎程度使得每一个与足球相关的话题都变得有趣,例如,国际足联世界杯冠军的预测。这个话题不仅仅是随便讨论的话题,而且可以作为教练组评估球队准备情况的实际决策支持。大多数预测方法使用大型匹配数据集。由于每个国家队在每届世界杯上都有不同的阵容,而FIFA世界杯每四年举行一次,所以使用大型比赛数据集是无关紧要的。因此,需要一种基于相关数据的预测方法。我们应用泊松分布模型对2022年世界杯淘汰赛阶段的比赛结果进行预测。我们根据两队的平均进球数和失球数来计算输赢的概率,并使用德菲内蒂距离来评估实际结果的差异。15场比赛中有8场预测成功,16轮比赛中有6场预测成功。因此,新的数据属性需要重新表述泊松的lambda。进一步的研究需要加入之前3-4场世界杯比赛的数据,以提高预测的接受度。
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引用次数: 0
Concrete Subsurface Crack Detection Using Thermal Imaging in a Deep Neural Network 基于深度神经网络的混凝土亚表面裂纹热成像检测
Pub Date : 2023-04-30 DOI: 10.22146/ijccs.82912
Mabrouka Abuhmida
The article discusses how impact actions, such as conflict and warfare, can negatively impact the structural integrity of concrete structures and how detecting hidden defects in concrete structures is difficult without expert knowledge. The paper presents a new technique that combines thermal imaging and artificial intelligence to detect hidden defects in concrete structures. The authors trained an AI model on simulated data and achieved a validation accuracy of 99.93%. They then conducted a laboratory experiment to create a dataset of concrete blocks with and without subsurface cracks and trained a new model, which achieved a validation accuracy of 100%. The article concludes that AI can detect hidden defects and subsurface cracks in concrete structures by classifying thermal images of concrete surfaces.
本文讨论了冲突和战争等冲击行为如何对混凝土结构的结构完整性产生负面影响,以及在没有专家知识的情况下检测混凝土结构中的隐藏缺陷是如何困难的。本文提出了一种将热成像和人工智能相结合的新技术来检测混凝土结构中的隐藏缺陷。作者在模拟数据上训练了一个人工智能模型,并实现了99.93%的验证准确率。然后,他们进行了一项实验室实验,创建了一个有和没有地下裂缝的混凝土块数据集,并训练了一种新的模型,实现了100%的验证准确度。文章得出结论,人工智能可以通过对混凝土表面的热图像进行分类来检测混凝土结构中的隐藏缺陷和亚表面裂纹。
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引用次数: 0
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IJCCS Indonesian Journal of Computing and Cybernetics Systems
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