首页 > 最新文献

2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)最新文献

英文 中文
Effective Use of the Knowledge Management System in Improving Organizational Performance (Case Study in National Energy Company) 知识管理系统在组织绩效提升中的有效运用(以国家能源公司为例)
Tiara Putri Ananda, W. Budianto, Ibnu Fajar Alam, Gunawan Wang
The study aims to know the application of Knowledge Management in national utility company, PT. PLN. Data collection is done through conducting interviews to several stakeholders / employees of PT. PLN that has retired and some still active. The data collection method uses focus group discussion, where it examines a two-way communication between director and employees to discuss the effective way to improve corporate performance. The findings are developed and selected idea are gathered in a special portal for knowledge sharing activities or knowledge of company. It is known as Knowledge Management System (KMS). The article addresses several important factors that leads to implementation and enables to change productivity and increase competitive advantage.
本研究旨在了解知识管理在国有公用事业公司PT. PLN的应用。数据收集是通过对PT. PLN的一些已退休和一些仍在工作的利益相关者/雇员进行访谈来完成的。数据收集方法使用焦点小组讨论,在那里它检查董事和员工之间的双向沟通,讨论提高企业绩效的有效途径。研究结果被开发出来,选定的想法被收集在一个专门的门户网站上,用于知识共享活动或公司知识。它被称为知识管理系统(KMS)。本文讨论了导致实现的几个重要因素,这些因素能够改变生产力并增加竞争优势。
{"title":"Effective Use of the Knowledge Management System in Improving Organizational Performance (Case Study in National Energy Company)","authors":"Tiara Putri Ananda, W. Budianto, Ibnu Fajar Alam, Gunawan Wang","doi":"10.1109/ISRITI48646.2019.9034641","DOIUrl":"https://doi.org/10.1109/ISRITI48646.2019.9034641","url":null,"abstract":"The study aims to know the application of Knowledge Management in national utility company, PT. PLN. Data collection is done through conducting interviews to several stakeholders / employees of PT. PLN that has retired and some still active. The data collection method uses focus group discussion, where it examines a two-way communication between director and employees to discuss the effective way to improve corporate performance. The findings are developed and selected idea are gathered in a special portal for knowledge sharing activities or knowledge of company. It is known as Knowledge Management System (KMS). The article addresses several important factors that leads to implementation and enables to change productivity and increase competitive advantage.","PeriodicalId":367363,"journal":{"name":"2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120975386","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}
引用次数: 2
Hate Speech and Abusive Language Classification using fastText 使用fastText的仇恨言论和辱骂语言分类
Guntur Budi Herwanto, Annisa Maulida Ningtyas, Kurniawan Eka Nugraha, I. Nyoman Prayana Trisna
Hate speeches are defined as utterances, writings, actions, or performances that are intended to incite violence or prejudice against a person on the basis of the characteristics of a particular group that he or she is representing, such as race, ethnicity. In this study, we built a hate speech classification model using word representation with continous bag of words (CBOW) and fastText algorithm. This algorithms was chosen, because it is able to achieve a good performance, specially in the case of rare words by making use of character level information. Based on this result, we can see that there is no single, universal variations that outperform other. But in general, models that use pre-trained vectors from Wiki outperform models that do not use pre-trained vectors.
仇恨言论被定义为基于某人所代表的特定群体的特征(如种族、民族)煽动暴力或偏见的言论、文字、行动或表演。在本研究中,我们使用连续词袋(CBOW)和fastText算法建立了仇恨言论分类模型。之所以选择这种算法,是因为它能够达到很好的性能,特别是在利用字符级别信息的罕见词情况下。基于这个结果,我们可以看到,没有单一的、普遍的变异比其他变异表现得更好。但一般来说,使用Wiki预训练向量的模型优于不使用预训练向量的模型。
{"title":"Hate Speech and Abusive Language Classification using fastText","authors":"Guntur Budi Herwanto, Annisa Maulida Ningtyas, Kurniawan Eka Nugraha, I. Nyoman Prayana Trisna","doi":"10.1109/ISRITI48646.2019.9034560","DOIUrl":"https://doi.org/10.1109/ISRITI48646.2019.9034560","url":null,"abstract":"Hate speeches are defined as utterances, writings, actions, or performances that are intended to incite violence or prejudice against a person on the basis of the characteristics of a particular group that he or she is representing, such as race, ethnicity. In this study, we built a hate speech classification model using word representation with continous bag of words (CBOW) and fastText algorithm. This algorithms was chosen, because it is able to achieve a good performance, specially in the case of rare words by making use of character level information. Based on this result, we can see that there is no single, universal variations that outperform other. But in general, models that use pre-trained vectors from Wiki outperform models that do not use pre-trained vectors.","PeriodicalId":367363,"journal":{"name":"2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127497002","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}
引用次数: 19
ISRITI 2019 Author Index ISRITI 2019作者索引
{"title":"ISRITI 2019 Author Index","authors":"","doi":"10.1109/isriti48646.2019.9034558","DOIUrl":"https://doi.org/10.1109/isriti48646.2019.9034558","url":null,"abstract":"","PeriodicalId":367363,"journal":{"name":"2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115261796","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}
引用次数: 0
Predicting Student Academic Performance using Machine Learning and Time Management Skill Data 使用机器学习和时间管理技能数据预测学生学习成绩
Meizar Raka Rimadana, S. Kusumawardani, P. Santosa, Maximillian Sheldy Ferdinand Erwianda
Prediction of student academic performance is an important aspect in the learning process. This study applies several machine learning models in predicting student academic performance using Time Management Skills data obtained from Time Structure Questionnaire (TSQ). Previously, some other data has been used as a feature in making predictions, but TSQ result had never been used before as a feature, even though it may shows the conditions of how students use their time in learning. Five different machine learning models were trained using TSQ data to predict student academic performance. In addition, student English performance is also predicted in the same way as a comparison As a result, the Linear Support Vector Machine model can predict student academic performance with 80% accuracy and English performance with 84% accuracy using TSQ data.
学生学习成绩预测是学习过程中的一个重要方面。本研究利用时间结构问卷(TSQ)的时间管理技能数据,应用几个机器学习模型来预测学生的学习成绩。以前,其他一些数据也被用作预测的特征,但TSQ结果从未被用作特征,尽管它可能显示了学生如何利用他们的学习时间的情况。使用TSQ数据训练了五种不同的机器学习模型来预测学生的学习成绩。此外,学生的英语成绩也以同样的方式进行预测,作为比较。因此,线性支持向量机模型使用TSQ数据预测学生学业成绩的准确率为80%,英语成绩的准确率为84%。
{"title":"Predicting Student Academic Performance using Machine Learning and Time Management Skill Data","authors":"Meizar Raka Rimadana, S. Kusumawardani, P. Santosa, Maximillian Sheldy Ferdinand Erwianda","doi":"10.1109/ISRITI48646.2019.9034585","DOIUrl":"https://doi.org/10.1109/ISRITI48646.2019.9034585","url":null,"abstract":"Prediction of student academic performance is an important aspect in the learning process. This study applies several machine learning models in predicting student academic performance using Time Management Skills data obtained from Time Structure Questionnaire (TSQ). Previously, some other data has been used as a feature in making predictions, but TSQ result had never been used before as a feature, even though it may shows the conditions of how students use their time in learning. Five different machine learning models were trained using TSQ data to predict student academic performance. In addition, student English performance is also predicted in the same way as a comparison As a result, the Linear Support Vector Machine model can predict student academic performance with 80% accuracy and English performance with 84% accuracy using TSQ data.","PeriodicalId":367363,"journal":{"name":"2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)","volume":"159 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123021949","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}
引用次数: 5
Pair Extraction of Aspect and Implicit Opinion Word based on its Co-occurrence in Corpus of Bahasa Indonesia 印尼语语料库中基于共现的词体与隐式意见词的配对提取
Yuliana Setiowati, A. Djunaidy, D. Siahaan
In implicit opinion sentences containing implicit opinions, the use of traditional dictionary-based method is no longer effective, since there is no any opinion word serving as a clue to identify the sentiment value. This study proposes an approach to obtain pairs of aspect and opinion word from sentences containing implicit opinion. Two methods are developed this approach. The first method serves to separate clauses from a compound implicit opinion sentence and refine its corresponding parse-tree from clauses as a result of the separation. The second method determines the opinion word from the implicit opinion clause. This method uses co-occurrence of aspect and opinion word based on a corpus of explicit opinion sentences. In this study, an initial experiment was conducted using a data set containing 30 implicit opinion sentences with 76 clauses. The proposed approach is capable of detecting pairs of aspect and opinion from the given corpus of Bahasa Indonesia.
在包含隐式意见的隐式意见句中,由于没有意见词作为识别情感值的线索,使用传统的基于词典的方法已经不再有效。本研究提出了一种从含有内隐意见的句子中提取方面词和意见词对的方法。采用这种方法开发了两种方法。第一种方法是从复合隐式意见句中分离分句,并从分句中提炼出相应的解析树。第二种方法是从隐含意见子句中确定意见词。该方法利用基于显性意见句语料库的方面词和意见词共现。在本研究中,使用包含30个隐含意见句和76个分句的数据集进行了初步实验。所提出的方法能够从给定的印尼语语料库中检测成对的方面和意见。
{"title":"Pair Extraction of Aspect and Implicit Opinion Word based on its Co-occurrence in Corpus of Bahasa Indonesia","authors":"Yuliana Setiowati, A. Djunaidy, D. Siahaan","doi":"10.1109/ISRITI48646.2019.9034672","DOIUrl":"https://doi.org/10.1109/ISRITI48646.2019.9034672","url":null,"abstract":"In implicit opinion sentences containing implicit opinions, the use of traditional dictionary-based method is no longer effective, since there is no any opinion word serving as a clue to identify the sentiment value. This study proposes an approach to obtain pairs of aspect and opinion word from sentences containing implicit opinion. Two methods are developed this approach. The first method serves to separate clauses from a compound implicit opinion sentence and refine its corresponding parse-tree from clauses as a result of the separation. The second method determines the opinion word from the implicit opinion clause. This method uses co-occurrence of aspect and opinion word based on a corpus of explicit opinion sentences. In this study, an initial experiment was conducted using a data set containing 30 implicit opinion sentences with 76 clauses. The proposed approach is capable of detecting pairs of aspect and opinion from the given corpus of Bahasa Indonesia.","PeriodicalId":367363,"journal":{"name":"2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114301653","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}
引用次数: 4
Melanoma Cancer Classification Using ResNet with Data Augmentation 使用ResNet和数据增强进行黑色素瘤癌症分类
Arief Budhiman, S. Suyanto, A. Arifianto
Melanoma skin cancer is cancer that difficult to detect. In this study, have been done melanoma cancer classification using Convolutional Neural Network (CNN). CNN is a class of Deep Neural Network (Deep Learning) and commonly used to analyzing images data. A lot of data used on CNN can greatly affect accuracy. In this study, the objective is to get best ResNet model for classifying melanoma cancer and normal skin images. The dataset that used is ISIC 2018. ResNet is used because the model winning the ILSVRC competition at 2015. ResNet architecture model that used are ResNet 50, 40, 25, 10 and 7 models. The architecture trained using data train that has been augmented and undersampling. The validation result on each model calculated using F1 Score. After validation and F1 Score result from the model obtained, the result compared each other to select the best model. The best architecture is ResNet 50 without augmentation that gives a validation accuracy of 0.83 and f1 score of 0.46.
黑色素瘤皮肤癌是一种难以发现的癌症。在本研究中,利用卷积神经网络(CNN)对黑色素瘤进行了癌症分类。CNN是深度神经网络(Deep Neural Network, Deep Learning)的一类,通常用于分析图像数据。CNN上使用的大量数据会极大地影响准确性。本研究的目的是获得最佳的ResNet模型用于黑色素瘤癌和正常皮肤图像的分类。使用的数据集是ISIC 2018。使用ResNet是因为该模型在2015年的ILSVRC竞赛中获胜。使用的ResNet架构模型有ResNet 50、40、25、10和7模型。该体系结构使用增强和欠采样的数据训练。使用F1 Score计算的每个模型的验证结果。验证后与模型得到的F1评分结果进行比较,选择最优模型。最好的体系结构是没有增强的ResNet 50,它的验证精度为0.83,f1分数为0.46。
{"title":"Melanoma Cancer Classification Using ResNet with Data Augmentation","authors":"Arief Budhiman, S. Suyanto, A. Arifianto","doi":"10.1109/ISRITI48646.2019.9034624","DOIUrl":"https://doi.org/10.1109/ISRITI48646.2019.9034624","url":null,"abstract":"Melanoma skin cancer is cancer that difficult to detect. In this study, have been done melanoma cancer classification using Convolutional Neural Network (CNN). CNN is a class of Deep Neural Network (Deep Learning) and commonly used to analyzing images data. A lot of data used on CNN can greatly affect accuracy. In this study, the objective is to get best ResNet model for classifying melanoma cancer and normal skin images. The dataset that used is ISIC 2018. ResNet is used because the model winning the ILSVRC competition at 2015. ResNet architecture model that used are ResNet 50, 40, 25, 10 and 7 models. The architecture trained using data train that has been augmented and undersampling. The validation result on each model calculated using F1 Score. After validation and F1 Score result from the model obtained, the result compared each other to select the best model. The best architecture is ResNet 50 without augmentation that gives a validation accuracy of 0.83 and f1 score of 0.46.","PeriodicalId":367363,"journal":{"name":"2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122176019","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}
引用次数: 35
School zoning system using K-Means algorithm for high school students in Makassar City 基于K-Means算法的望加锡市高中生学校分区系统
Maghfirah Dinsyah Febriana, Z. Zainuddin, I. Nurtanio
The process of admitting High School Students in Makassar City produces a lot of student data, in the form of student learning activities data and also student profile data. This affects the search for information on the data. This study discusses the grouping of students towards Makassar City Public High Schools by utilizing the data mining process using clustering techniques. The algorithm used for cluster formation is the K-Means algorithm. K-Means is a nonhierarchical data clustering method that can group school data into several clusters based on the similarity of the data. Euclidean Distance is used to determine the distance of school points and address points for students. The proposed system is a zoning area determination system for acceptance of high school students on a noncircle basis using student data and school data. The data used are 22 school data and 1547 student data. The results of this study are used as a basis for decision making to determine optimal school zoning so that student distribution is evenly distributed based on the cluster formed. The aim is so that the data distribution does not overlap for schools that are close together so that schools that have the closest distance are grouped in one cluster.
望加锡市高中招生过程中产生了大量的学生数据,包括学生的学习活动数据和学生的个人资料数据。这会影响对数据信息的搜索。本研究利用聚类技术,探讨望加锡市公立高中学生的分组。聚类形成的算法是K-Means算法。K-Means是一种非分层数据聚类方法,它可以根据数据的相似度将学校数据分成几个类。欧几里得距离用于确定学生的学校点和地址点的距离。该制度是利用学生资料和学校资料,以非循环方式确定高中入学地区的制度。使用的数据是22个学校数据和1547个学生数据。将本研究结果作为决策依据,确定最优学校分区,使学生在形成集群的基础上均匀分布。这样做的目的是使距离较近的学校的数据分布不会重叠,以便将距离最近的学校分组在一个集群中。
{"title":"School zoning system using K-Means algorithm for high school students in Makassar City","authors":"Maghfirah Dinsyah Febriana, Z. Zainuddin, I. Nurtanio","doi":"10.1109/ISRITI48646.2019.9034601","DOIUrl":"https://doi.org/10.1109/ISRITI48646.2019.9034601","url":null,"abstract":"The process of admitting High School Students in Makassar City produces a lot of student data, in the form of student learning activities data and also student profile data. This affects the search for information on the data. This study discusses the grouping of students towards Makassar City Public High Schools by utilizing the data mining process using clustering techniques. The algorithm used for cluster formation is the K-Means algorithm. K-Means is a nonhierarchical data clustering method that can group school data into several clusters based on the similarity of the data. Euclidean Distance is used to determine the distance of school points and address points for students. The proposed system is a zoning area determination system for acceptance of high school students on a noncircle basis using student data and school data. The data used are 22 school data and 1547 student data. The results of this study are used as a basis for decision making to determine optimal school zoning so that student distribution is evenly distributed based on the cluster formed. The aim is so that the data distribution does not overlap for schools that are close together so that schools that have the closest distance are grouped in one cluster.","PeriodicalId":367363,"journal":{"name":"2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129166319","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}
引用次数: 2
Deep Residual Neural Network for Age Classification with Face Image 基于深度残差神经网络的人脸图像年龄分类
Raya Rahadian, S. Suyanto
One of the challenges in computer vision is age classification. There have been many methods used to classify someone age from the image of their faces. Convolutional neural network (CNN) gives a high accuracy but it cannot be used on many layers. Therefore, a residual technique is applied on convolutional neural network then named residual neural network. In this paper, some Residual Networks are applied to develop an age classification with face image using the Adience dataset that has 19,370 face images from 2,284 individuals grouped into eight categories: 0-2, 4-6, 8-13, 15-20, 25-32, 38-43, 48-53, and 60-100 years. Three techniques: cyclical learning rate, data augmentation, and transfer learning are observed. Six training scenarios are performed to select the best model. Experimental results show that Resnet34 is the best model with an average F1 score of 0.792 that is achieved by data augmentation, transfer learning, and trained on the image with size 224 x 224 pixels.
计算机视觉的挑战之一是年龄分类。有很多方法可以根据人脸图像来判断一个人的年龄。卷积神经网络(CNN)具有较高的准确率,但不能用于多层。因此,将残差技术应用于卷积神经网络,称为残差神经网络。在本文中,一些残差网络应用于人脸图像的年龄分类,使用Adience数据集,该数据集有来自2,284个人的19,370张人脸图像,分为8个类别:0-2、4-6、8-13、15-20、25-32、38-43、48-53和60-100岁。观察了三种技术:周期学习率、数据增强和迁移学习。通过六个训练场景来选择最佳模型。实验结果表明,在224 × 224像素的图像上,通过数据增强、迁移学习和训练得到的最佳模型是Resnet34, F1平均得分为0.792。
{"title":"Deep Residual Neural Network for Age Classification with Face Image","authors":"Raya Rahadian, S. Suyanto","doi":"10.1109/ISRITI48646.2019.9034664","DOIUrl":"https://doi.org/10.1109/ISRITI48646.2019.9034664","url":null,"abstract":"One of the challenges in computer vision is age classification. There have been many methods used to classify someone age from the image of their faces. Convolutional neural network (CNN) gives a high accuracy but it cannot be used on many layers. Therefore, a residual technique is applied on convolutional neural network then named residual neural network. In this paper, some Residual Networks are applied to develop an age classification with face image using the Adience dataset that has 19,370 face images from 2,284 individuals grouped into eight categories: 0-2, 4-6, 8-13, 15-20, 25-32, 38-43, 48-53, and 60-100 years. Three techniques: cyclical learning rate, data augmentation, and transfer learning are observed. Six training scenarios are performed to select the best model. Experimental results show that Resnet34 is the best model with an average F1 score of 0.792 that is achieved by data augmentation, transfer learning, and trained on the image with size 224 x 224 pixels.","PeriodicalId":367363,"journal":{"name":"2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129468683","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}
引用次数: 7
Mobile Robot Localization via Unscented Kalman Filter 基于Unscented卡尔曼滤波的移动机器人定位
Lasmadi Lasmadi, Freddy Kurniawan, Denny Dermawan, G. Pratama
Mobile robot localization concerns estimating the position and heading of the robot relative to its environment. Basically, the mobile robot moves around without initial knowledge of the environment. Therefore, a scheme to handle it is necessary, such as the Kalman Filters. Rather than the Extended Kalman Filter, we choose to employ the sigma points approach. In this paper, we take into consideration the method proposed by Van Der Merwe to determine the sigma points in Unscented Kalman Filter. The simulation and results verify that the Unscented Kalman Filter works pretty well for locating the mobile robot.
移动机器人定位涉及估计机器人相对于其环境的位置和方向。基本上,移动机器人在没有环境初始知识的情况下四处移动。因此,需要一种方案来处理它,如卡尔曼滤波器。而不是扩展卡尔曼滤波器,我们选择采用西格玛点的方法。本文考虑了Van Der Merwe提出的确定Unscented卡尔曼滤波器中sigma点的方法。仿真和结果验证了Unscented卡尔曼滤波对移动机器人定位的良好效果。
{"title":"Mobile Robot Localization via Unscented Kalman Filter","authors":"Lasmadi Lasmadi, Freddy Kurniawan, Denny Dermawan, G. Pratama","doi":"10.1109/ISRITI48646.2019.9034570","DOIUrl":"https://doi.org/10.1109/ISRITI48646.2019.9034570","url":null,"abstract":"Mobile robot localization concerns estimating the position and heading of the robot relative to its environment. Basically, the mobile robot moves around without initial knowledge of the environment. Therefore, a scheme to handle it is necessary, such as the Kalman Filters. Rather than the Extended Kalman Filter, we choose to employ the sigma points approach. In this paper, we take into consideration the method proposed by Van Der Merwe to determine the sigma points in Unscented Kalman Filter. The simulation and results verify that the Unscented Kalman Filter works pretty well for locating the mobile robot.","PeriodicalId":367363,"journal":{"name":"2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129109794","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}
引用次数: 5
Implementation of RAM-based Cache at Write-back Mode Using Virtual-NAS for DAS-based Storage on VMware Platform VMware平台上基于das的存储使用Virtual-NAS实现回写模式的ram缓存
Marcel
Storage was one of the crucial components that have a big impact on overall system performance, especially in a virtualization environment. The application of cache as storage performance accelerator was an option especially for small scale environments with limited resources and the usage of DAS-based storage scenarios (Direct-Attached Storage). Maximum performance obtained when the cache function was applied to both read and write operations (at write-back mode), but there was a limitation for RAM-based cache implementation on the DAS-based storage scenario with VMware-based platform which currently only supports write- through mode (acceleration was only for read operations). This paper tried to propose an alternative solution using a virtual NAS approach to apply RAM-based cache that runs in writeback mode at VMware platform on DAS-based storage scenario. Performance test performed using the workload simulation tool for single-cache and multi-cache implementation scenarios. The test results showed a significant performance improvement for read and write operations compared to baseline (without cache condition) within the scope of the workload simulation being performed. A single cache implementation scenario, the improvement range for read operation was between 27.71x - 98.02x, while write operation was between 21.94x - 63.21x better than baseline. In a multi-cache implementation scenario, the range of performance improvement for reading operations was between 110.37x - 431.43x, whereas for write operations it was in the range of 23.14x - 391.76x better than baseline.
存储是对整个系统性能有很大影响的关键组件之一,尤其是在虚拟化环境中。缓存作为存储性能加速器的应用是一种选择,尤其适用于资源有限的小规模环境和使用基于das的存储场景(直接连接存储)。当缓存功能应用于读和写操作(回写模式)时,可以获得最大的性能,但是在基于das的存储场景中,基于ram的缓存实现在基于vmware的平台上存在限制,该平台目前只支持透写模式(加速仅适用于读操作)。本文试图提出一种替代方案,使用虚拟NAS方法在基于das的存储场景中应用基于ram的缓存,该缓存在VMware平台上以回写模式运行。使用工作负载模拟工具对单缓存和多缓存实现场景执行性能测试。测试结果显示,与正在执行的工作负载模拟范围内的基线(没有缓存条件)相比,读写操作的性能有了显著提高。在单一缓存实现场景中,读操作的改进幅度在27.71 - 98.02倍之间,写操作的改进幅度在21.94 - 63.21倍之间。在多缓存实现场景中,读取操作的性能提升幅度在110.37 - 431.43倍之间,而写操作的性能提升幅度在23.14 - 391.76倍之间。
{"title":"Implementation of RAM-based Cache at Write-back Mode Using Virtual-NAS for DAS-based Storage on VMware Platform","authors":"Marcel","doi":"10.1109/ISRITI48646.2019.9034613","DOIUrl":"https://doi.org/10.1109/ISRITI48646.2019.9034613","url":null,"abstract":"Storage was one of the crucial components that have a big impact on overall system performance, especially in a virtualization environment. The application of cache as storage performance accelerator was an option especially for small scale environments with limited resources and the usage of DAS-based storage scenarios (Direct-Attached Storage). Maximum performance obtained when the cache function was applied to both read and write operations (at write-back mode), but there was a limitation for RAM-based cache implementation on the DAS-based storage scenario with VMware-based platform which currently only supports write- through mode (acceleration was only for read operations). This paper tried to propose an alternative solution using a virtual NAS approach to apply RAM-based cache that runs in writeback mode at VMware platform on DAS-based storage scenario. Performance test performed using the workload simulation tool for single-cache and multi-cache implementation scenarios. The test results showed a significant performance improvement for read and write operations compared to baseline (without cache condition) within the scope of the workload simulation being performed. A single cache implementation scenario, the improvement range for read operation was between 27.71x - 98.02x, while write operation was between 21.94x - 63.21x better than baseline. In a multi-cache implementation scenario, the range of performance improvement for reading operations was between 110.37x - 431.43x, whereas for write operations it was in the range of 23.14x - 391.76x better than baseline.","PeriodicalId":367363,"journal":{"name":"2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116335779","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}
引用次数: 0
期刊
2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1