Pub Date : 2020-09-01DOI: 10.1109/IES50839.2020.9231686
S. Sasaki, Shogo Shibahara
This paper presents a spatiotemporal and multidimensional analysis method for threatened species by various factors; spatial factors, temporal factors, natural-phenomenal factors and human’s socio-economic factors with 5D World Map System, which is for understanding the cause- and-effect relations and factors between threatened species and human activities. The objective of this study is to provide a systematic way to analyze and visualize the history and the current situation among biodiversity loss with a geographical analysis, and the causal relations between threatened species and human activities with a multidimensional way. In this paper, we verify the feasibility of our method by applying to a globally collected and accessible dataset of extinct or endangered/threatened species and analyzing the effects of human activities to those species, which has a potential for implementations of Sustainable Development Goals (SDGs).
{"title":"Spatiotemporal and Multidimensional Factor Analysis of Threatened Species with 5D World Map System","authors":"S. Sasaki, Shogo Shibahara","doi":"10.1109/IES50839.2020.9231686","DOIUrl":"https://doi.org/10.1109/IES50839.2020.9231686","url":null,"abstract":"This paper presents a spatiotemporal and multidimensional analysis method for threatened species by various factors; spatial factors, temporal factors, natural-phenomenal factors and human’s socio-economic factors with 5D World Map System, which is for understanding the cause- and-effect relations and factors between threatened species and human activities. The objective of this study is to provide a systematic way to analyze and visualize the history and the current situation among biodiversity loss with a geographical analysis, and the causal relations between threatened species and human activities with a multidimensional way. In this paper, we verify the feasibility of our method by applying to a globally collected and accessible dataset of extinct or endangered/threatened species and analyzing the effects of human activities to those species, which has a potential for implementations of Sustainable Development Goals (SDGs).","PeriodicalId":344685,"journal":{"name":"2020 International Electronics Symposium (IES)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130842624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/IES50839.2020.9231740
Reza Dwi Agustin, I. Astawa, Aries Pratiarso
Digital Video Broadcasting-Second Generation Terrestrial (DVB-T2) has been the most possible solution to implement digital television. It is the developed version of the last system that is known as Digital Video Broadcasting-Terrestrial (DVB-T). DVB-T2 system has superiority in data transmissions reliability with a high point-to-multipoint speeds. The combination of MIMO and OFDM has resulted in a high-speed data transfer system. Yet, a high-speed transmission could cause an Inter-symbol Interference (ISI) as the effect of frequency selective fading channels. In this research, simulation and performance analysis of Turbo Coding implementation on the MIMO-based DVB-T2 system were conducted. This system used the OFDM transmission technique to decrease ISI. The Turbo Code of this system was used as a Forward Error Correction (FEC) that was able to decrease the number of Bit Error Rate (BER). V-BLAST was also implemented as a detector and MMSE as a channel estimator. As a result, the Turbo Code ½ rate and the Turbo Code rate shows a decent performance on the MIMO-based DVB-T2 system. It was shown that the resulted BER was smaller compared to the system with no code.
{"title":"Performance Analysis of Turbo Coding Implementation In MIMO Based DVB-T2 System","authors":"Reza Dwi Agustin, I. Astawa, Aries Pratiarso","doi":"10.1109/IES50839.2020.9231740","DOIUrl":"https://doi.org/10.1109/IES50839.2020.9231740","url":null,"abstract":"Digital Video Broadcasting-Second Generation Terrestrial (DVB-T2) has been the most possible solution to implement digital television. It is the developed version of the last system that is known as Digital Video Broadcasting-Terrestrial (DVB-T). DVB-T2 system has superiority in data transmissions reliability with a high point-to-multipoint speeds. The combination of MIMO and OFDM has resulted in a high-speed data transfer system. Yet, a high-speed transmission could cause an Inter-symbol Interference (ISI) as the effect of frequency selective fading channels. In this research, simulation and performance analysis of Turbo Coding implementation on the MIMO-based DVB-T2 system were conducted. This system used the OFDM transmission technique to decrease ISI. The Turbo Code of this system was used as a Forward Error Correction (FEC) that was able to decrease the number of Bit Error Rate (BER). V-BLAST was also implemented as a detector and MMSE as a channel estimator. As a result, the Turbo Code ½ rate and the Turbo Code rate shows a decent performance on the MIMO-based DVB-T2 system. It was shown that the resulted BER was smaller compared to the system with no code.","PeriodicalId":344685,"journal":{"name":"2020 International Electronics Symposium (IES)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133882949","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/IES50839.2020.9231533
Yolanda Dwi Paramitha, R. Sigit, T. Harsono, A. Anwar
Liver cancer is a type of cancer that affects the largest organs of the stomach, where some are grown from the liver and some grow in other organs, then spread to the liver. One of the technologies used to analyze and diagnose liver cancer is CT Scan (Computer Tomography Scanner). The CT Scan is often preferred for diagnosing liver cancer, especially as being considered of high accurate imaging, high imaging speed and relatively lower cost. However, the results of the CT Scan are often different depending on the accuracy and experience of the doctor so that it can lead to different diagnoses. In this study, a system was created that was able to extract features from CT Scan images of liver cancer to recognize the object of cancer and distinguish it from other objects. This system will be tested on 50 data abdominal CT Scan images with a diagnosis of liver cancer, where 21 data for benign liver cancer and 29 data for malignant liver cancer. This research has three main stages, that is preprocessing to improve image quality using scaling image, histogram equalization, and median filtering. Segmentation to identify the object being observed and separate it from the background using watershed method and binary thresholding with accuracy is 90%. The last is feature extraction based on cancer area, edge irregularity, and texture to identify liver cancer.
{"title":"Feature Extraction in Liver Cancer Based on Abdominal CT Scan Images using Contour Analysis and GLCM Method","authors":"Yolanda Dwi Paramitha, R. Sigit, T. Harsono, A. Anwar","doi":"10.1109/IES50839.2020.9231533","DOIUrl":"https://doi.org/10.1109/IES50839.2020.9231533","url":null,"abstract":"Liver cancer is a type of cancer that affects the largest organs of the stomach, where some are grown from the liver and some grow in other organs, then spread to the liver. One of the technologies used to analyze and diagnose liver cancer is CT Scan (Computer Tomography Scanner). The CT Scan is often preferred for diagnosing liver cancer, especially as being considered of high accurate imaging, high imaging speed and relatively lower cost. However, the results of the CT Scan are often different depending on the accuracy and experience of the doctor so that it can lead to different diagnoses. In this study, a system was created that was able to extract features from CT Scan images of liver cancer to recognize the object of cancer and distinguish it from other objects. This system will be tested on 50 data abdominal CT Scan images with a diagnosis of liver cancer, where 21 data for benign liver cancer and 29 data for malignant liver cancer. This research has three main stages, that is preprocessing to improve image quality using scaling image, histogram equalization, and median filtering. Segmentation to identify the object being observed and separate it from the background using watershed method and binary thresholding with accuracy is 90%. The last is feature extraction based on cancer area, edge irregularity, and texture to identify liver cancer.","PeriodicalId":344685,"journal":{"name":"2020 International Electronics Symposium (IES)","volume":"346 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133791045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/IES50839.2020.9231557
Netta Divana Vita Sembiring, Irma Wulandari, D. Permatasari
In the learning process, learning media serves to improve the quality of the teaching and learning process. However, so far the determination of learning media in a class has not paid attention to several aspects, namely ease in getting media, characteristics of students to the type of media, learning time in the use of media, as well as funds needed to obtain media. This study aims to assist teachers in determining the optimal learning media based on student learning styles, as well as using the Multi-Objective Optimization on the Basis of Ratio Analysis (MOORA) method in the optimization process. Determination of student learning styles is determined through filling questionnaires by students in the system that has been given a knowledge base and rules for determining learning styles. The MOORA method is used as a multi-objective system that optimizes several conflicting attributes simultaneously. The attributes needed in the optimization process in determining learning media are the ease of getting the media and student learning styles as the attributes to be maximized, as well as the time and funds required as the attributes to be minimized. The experimental result demonstrates that as much as 0.0859% for the assessment of each student experiencing a discrepancy because several factors can affect the acquisition of student learning outcomes, namely internal, external, and learning approaches. Besides, the assessment of the grade average shows a mismatch of 0.25%, because the system uses several criteria so that it does not only focus on the assessment criteria.
{"title":"Determination of Learning Media in Elementary School using Multi-Objective Optimization on the Basis of Ratio Analysis Method","authors":"Netta Divana Vita Sembiring, Irma Wulandari, D. Permatasari","doi":"10.1109/IES50839.2020.9231557","DOIUrl":"https://doi.org/10.1109/IES50839.2020.9231557","url":null,"abstract":"In the learning process, learning media serves to improve the quality of the teaching and learning process. However, so far the determination of learning media in a class has not paid attention to several aspects, namely ease in getting media, characteristics of students to the type of media, learning time in the use of media, as well as funds needed to obtain media. This study aims to assist teachers in determining the optimal learning media based on student learning styles, as well as using the Multi-Objective Optimization on the Basis of Ratio Analysis (MOORA) method in the optimization process. Determination of student learning styles is determined through filling questionnaires by students in the system that has been given a knowledge base and rules for determining learning styles. The MOORA method is used as a multi-objective system that optimizes several conflicting attributes simultaneously. The attributes needed in the optimization process in determining learning media are the ease of getting the media and student learning styles as the attributes to be maximized, as well as the time and funds required as the attributes to be minimized. The experimental result demonstrates that as much as 0.0859% for the assessment of each student experiencing a discrepancy because several factors can affect the acquisition of student learning outcomes, namely internal, external, and learning approaches. Besides, the assessment of the grade average shows a mismatch of 0.25%, because the system uses several criteria so that it does not only focus on the assessment criteria.","PeriodicalId":344685,"journal":{"name":"2020 International Electronics Symposium (IES)","volume":"177 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126943593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/IES50839.2020.9231695
Anisah Nabilah, R. Sigit, T. Harsono, A. Anwar
Ovarian cyst is a disease that occurs in the uterus of a woman, the method of detection and analysis is carried out by experts by looking at and observing the size of the cyst and the characteristics of the cyst on an ultrasound device. The accuracy of manual ovarian cyst measurement analysis on ultrasound examination results often results in errors, therefore a tool is needed to calculate the size of the cyst and detect the characteristics of the cyst based on the papillary growth in the cyst. Ultrasound image from the hospital as input from the system, then a preprocessing process is carried out to remove noise in the image, the next step is the segmentation process using the watershed method, the segmentation results will be used for feature extraction by detecting cysts and papillary and their sizes using contour analysis with the bounding box method. The extraction feature will be used for cyst classification. This system has an accuracy rate of 97.8%.
{"title":"Classification of Ovarian Cysts on Ultrasound Images Using Watershed Segmentation and Contour Analysis","authors":"Anisah Nabilah, R. Sigit, T. Harsono, A. Anwar","doi":"10.1109/IES50839.2020.9231695","DOIUrl":"https://doi.org/10.1109/IES50839.2020.9231695","url":null,"abstract":"Ovarian cyst is a disease that occurs in the uterus of a woman, the method of detection and analysis is carried out by experts by looking at and observing the size of the cyst and the characteristics of the cyst on an ultrasound device. The accuracy of manual ovarian cyst measurement analysis on ultrasound examination results often results in errors, therefore a tool is needed to calculate the size of the cyst and detect the characteristics of the cyst based on the papillary growth in the cyst. Ultrasound image from the hospital as input from the system, then a preprocessing process is carried out to remove noise in the image, the next step is the segmentation process using the watershed method, the segmentation results will be used for feature extraction by detecting cysts and papillary and their sizes using contour analysis with the bounding box method. The extraction feature will be used for cyst classification. This system has an accuracy rate of 97.8%.","PeriodicalId":344685,"journal":{"name":"2020 International Electronics Symposium (IES)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123474156","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/IES50839.2020.9231578
Febi Nur Salsabila, Umi Laili Yuhana, E. M. Yuniarno, M. Purnomo
The limitations of deaf children in language lead to the delay progress in teaching and learning process of deaf children compared to normal children, especially in mathematics. This also made teacher hard to understand to what extent the deaf students understand the lesson taught by teacher. Using the advantage of serious game which can help motivate students, this research used Sifte-math, a Sifteo based serious game to test the ability of deaf students in basic mathematics lesson for elementary school, hoping that the game can be an alternative tool for assessment. Sifte-Math was tested on seven students in a school for disabled children in Surabaya, Indonesia. Six from seven students who tested the game responded with enjoy playing the game. Four of them said they prefer to use Sifte-Math as their assessment tools instead of paper and pen, while one student prefers the basic paper and pen, and the other two students prefer both.
{"title":"Sifte-Math, A Sifteo based Mathematics Assessment Serious Game for Deaf Children","authors":"Febi Nur Salsabila, Umi Laili Yuhana, E. M. Yuniarno, M. Purnomo","doi":"10.1109/IES50839.2020.9231578","DOIUrl":"https://doi.org/10.1109/IES50839.2020.9231578","url":null,"abstract":"The limitations of deaf children in language lead to the delay progress in teaching and learning process of deaf children compared to normal children, especially in mathematics. This also made teacher hard to understand to what extent the deaf students understand the lesson taught by teacher. Using the advantage of serious game which can help motivate students, this research used Sifte-math, a Sifteo based serious game to test the ability of deaf students in basic mathematics lesson for elementary school, hoping that the game can be an alternative tool for assessment. Sifte-Math was tested on seven students in a school for disabled children in Surabaya, Indonesia. Six from seven students who tested the game responded with enjoy playing the game. Four of them said they prefer to use Sifte-Math as their assessment tools instead of paper and pen, while one student prefers the basic paper and pen, and the other two students prefer both.","PeriodicalId":344685,"journal":{"name":"2020 International Electronics Symposium (IES)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129344221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/IES50839.2020.9231564
B. Sumantri, N. Tamami, Yudha Birawa Nuraga, Bagus Kurniawan
Quadcopter has been interesting researchers due to its wide application, such as surveillance, mapping, delivery drone, etc… Developing a low-cost embedded flight controller unit (EFCU) for making the quadcopter autonomous is still challenging problem. In this work, an EFCU is developed based on ARM STM32F103C8T6 microcontroller, the MPU6050 IMU sensor and the HC-SR04 ultrasonic sensor. An PID control strategy is implemented for automatically take-off, landing, and stabilizing control of the quadcopter. The EFCU and PID controller is developed in this work. It is implemented and tested experimentally by providing error on roll and pitch position in 0.71° and 0.68° respectively.
{"title":"Development of a Low-Cost Embedded Flight Controller for Quadcopter","authors":"B. Sumantri, N. Tamami, Yudha Birawa Nuraga, Bagus Kurniawan","doi":"10.1109/IES50839.2020.9231564","DOIUrl":"https://doi.org/10.1109/IES50839.2020.9231564","url":null,"abstract":"Quadcopter has been interesting researchers due to its wide application, such as surveillance, mapping, delivery drone, etc… Developing a low-cost embedded flight controller unit (EFCU) for making the quadcopter autonomous is still challenging problem. In this work, an EFCU is developed based on ARM STM32F103C8T6 microcontroller, the MPU6050 IMU sensor and the HC-SR04 ultrasonic sensor. An PID control strategy is implemented for automatically take-off, landing, and stabilizing control of the quadcopter. The EFCU and PID controller is developed in this work. It is implemented and tested experimentally by providing error on roll and pitch position in 0.71° and 0.68° respectively.","PeriodicalId":344685,"journal":{"name":"2020 International Electronics Symposium (IES)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122124372","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/IES50839.2020.9231903
Rangga Dikarinata, Iwan Kumianto Wibowo, M. Bachtiar, Muhammad Abdul Haq
Wheeled Indonesian Soccer Robot Contest (Wheeled KRSBI) is a national competition focused on the development of wheeled soccer robots. EEPIS Robot Soccer On Wheeled (ERSOW) is one of KRSBI's wheeled soccer robots. ERSOW has Artificial Intelligent (AI) for detecting balls, dribbling, and avoiding opponents. Currently, the object detection system in ERSOW uses image processing, this will be a heavy computation because it is done thoroughly in all pixel area. This research focused on making local detection to reduce heavy image processing. Local detection works by searching for local objects in the area around the detected object. It creates the ROI for local detection. From the results of tests conducted when the ball is detected, local detection system can increase 4 EPS from the full frame detection system, whereas in the test results when the ball is not detected, the local detection system is 0.2 FPS slower than the full frame detection system.
{"title":"Searching Ball Around ROI to Increase Computational Processing of Detection","authors":"Rangga Dikarinata, Iwan Kumianto Wibowo, M. Bachtiar, Muhammad Abdul Haq","doi":"10.1109/IES50839.2020.9231903","DOIUrl":"https://doi.org/10.1109/IES50839.2020.9231903","url":null,"abstract":"Wheeled Indonesian Soccer Robot Contest (Wheeled KRSBI) is a national competition focused on the development of wheeled soccer robots. EEPIS Robot Soccer On Wheeled (ERSOW) is one of KRSBI's wheeled soccer robots. ERSOW has Artificial Intelligent (AI) for detecting balls, dribbling, and avoiding opponents. Currently, the object detection system in ERSOW uses image processing, this will be a heavy computation because it is done thoroughly in all pixel area. This research focused on making local detection to reduce heavy image processing. Local detection works by searching for local objects in the area around the detected object. It creates the ROI for local detection. From the results of tests conducted when the ball is detected, local detection system can increase 4 EPS from the full frame detection system, whereas in the test results when the ball is not detected, the local detection system is 0.2 FPS slower than the full frame detection system.","PeriodicalId":344685,"journal":{"name":"2020 International Electronics Symposium (IES)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128406261","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/IES50839.2020.9231879
Mochamad Ayuf Basthomi, A. H. Alasiry, Anhar Risnumawan, A. Wijayanto, Miftahul Anwar, Choirul Anwar Maulana, Puguh Budi wasono, Moch Yahya Indranuddin
Humanoid Soccer Robot is one of the divisions in the Robocup Competition. Robocup is an organization that focuses on research and development of soccer robots. With the aim to build a robot soccer team that will be able to fight humans in 2050. In humanoid robots, the main problem in developing humanoid robots is how to make humanoid robots run stably on uneven surfaces. This paper describes how to maintain the stability of the humanoid football robot called EROS, by optimizing walking movements. Optimization is done by adjusting the movement of walking to the footing conditions. The default robot position will be adjusted based on the position of the robot's center of pressure (CoP), which is then combined with the Linear Inverted Pendulum Model (LIPM). To find out the condition of the pedestal base, the pressure sensor is mounted on the sole of the robot's feet. So it is known the position of the pressure center on the robot, which will be used as a parameter in planning the walking motion. This system has been implemented on humanoid robots with a height of 520 mm, as well as running on synthetic grass under different conditions at a constant speed. From the experiments that have been done it can be seen that by applying this method makes the robot more stable when it is on an uneven surface.
{"title":"Walking Balance Control for Humanoid Soccer Robot on Synthetic Grass","authors":"Mochamad Ayuf Basthomi, A. H. Alasiry, Anhar Risnumawan, A. Wijayanto, Miftahul Anwar, Choirul Anwar Maulana, Puguh Budi wasono, Moch Yahya Indranuddin","doi":"10.1109/IES50839.2020.9231879","DOIUrl":"https://doi.org/10.1109/IES50839.2020.9231879","url":null,"abstract":"Humanoid Soccer Robot is one of the divisions in the Robocup Competition. Robocup is an organization that focuses on research and development of soccer robots. With the aim to build a robot soccer team that will be able to fight humans in 2050. In humanoid robots, the main problem in developing humanoid robots is how to make humanoid robots run stably on uneven surfaces. This paper describes how to maintain the stability of the humanoid football robot called EROS, by optimizing walking movements. Optimization is done by adjusting the movement of walking to the footing conditions. The default robot position will be adjusted based on the position of the robot's center of pressure (CoP), which is then combined with the Linear Inverted Pendulum Model (LIPM). To find out the condition of the pedestal base, the pressure sensor is mounted on the sole of the robot's feet. So it is known the position of the pressure center on the robot, which will be used as a parameter in planning the walking motion. This system has been implemented on humanoid robots with a height of 520 mm, as well as running on synthetic grass under different conditions at a constant speed. From the experiments that have been done it can be seen that by applying this method makes the robot more stable when it is on an uneven surface.","PeriodicalId":344685,"journal":{"name":"2020 International Electronics Symposium (IES)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128537794","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/IES50839.2020.9231708
Revina Awalia Putri, Idris Winamo, Wiratmoko Yuwono, Agus Priyo Utomo
Interest in parallel computing has been increasing since the introduction of multi-core processor at a reasonable price for the common people, moreover parallel computing has the advantage of faster processing time compared to serial computing. However, the use of parallel computing which can shorten the time does not make it free from the risk of failure which causes the parallel computing process to stop so that the time needed to complete the process will increase depending on how long it takes to detect the failure (realize that the process is stalled) and repair the system to run the process again, also the process time that has been spent because of repeating the process from the beginning. To deal with this, a new resilience system is implemented for parallel computing with the adoption of RaaS (Resilience as a Service). In RaaS-implemented system, checkpoint is done periodically and RaaS run monitoring in order to detect failures. If failure occurs, RaaS automatically run recovery mechanism by replacing the failed instance and resuming the process from the most recent checkpoint. The experiment shows that RaaS implementation can be done for parallel computing and there is faster processing time to handle failure. With the implementation of RaaS, the time to detect failure is shorter and there is no need to repeat the process from the beginning again.
{"title":"Implementation of Resilience as a Service for Parallel Computing","authors":"Revina Awalia Putri, Idris Winamo, Wiratmoko Yuwono, Agus Priyo Utomo","doi":"10.1109/IES50839.2020.9231708","DOIUrl":"https://doi.org/10.1109/IES50839.2020.9231708","url":null,"abstract":"Interest in parallel computing has been increasing since the introduction of multi-core processor at a reasonable price for the common people, moreover parallel computing has the advantage of faster processing time compared to serial computing. However, the use of parallel computing which can shorten the time does not make it free from the risk of failure which causes the parallel computing process to stop so that the time needed to complete the process will increase depending on how long it takes to detect the failure (realize that the process is stalled) and repair the system to run the process again, also the process time that has been spent because of repeating the process from the beginning. To deal with this, a new resilience system is implemented for parallel computing with the adoption of RaaS (Resilience as a Service). In RaaS-implemented system, checkpoint is done periodically and RaaS run monitoring in order to detect failures. If failure occurs, RaaS automatically run recovery mechanism by replacing the failed instance and resuming the process from the most recent checkpoint. The experiment shows that RaaS implementation can be done for parallel computing and there is faster processing time to handle failure. With the implementation of RaaS, the time to detect failure is shorter and there is no need to repeat the process from the beginning again.","PeriodicalId":344685,"journal":{"name":"2020 International Electronics Symposium (IES)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128028882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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