Turn and Orientation Sensitive A* for Autonomous Vehicles in Intelligent Material Handling Systems

Autonomous mobile robots are taking on more tasks in warehouses, speeding up operations and reducing accidents that claim many lives each year. This work proposes a dynamic path planning algorithm, based on A* search method for large autonomous mobile robots such as forklifts, and generates an optimized, time-efficient path. Simulation results of the proposed turn and orientation sensitive A* algorithm show that it has a 94% success rate of computing a better or similar path compared to that of default A*. The generated paths are smoother, have fewer turns, resulting in faster execution of tasks. The method also robustly handles unexpected obstacles in the path

KESANTUNAN TINDAK TUTUR GURU MADRASAH ALIYAH RUHUL ISLAM ANAK BANGSA DALAM PEMBELAJARAN

ABSTRAKMaulidawati, 2016. Kesantunan Tindak Tutur Guru Madrasah Aliyah Ruhul Islam Anak Bangsa dalam Pembelajaran. Tesis, Program Studi Magister Pendidikan Bahasa dan Sastra Indonesia, Program Pascasarjana Universitas Syiah Kuala. Pembimbing (1) Dr. Rajab Bahry, M.Pd. dan (2) Dr. Wildan, M.Pd.Kata Kunci: kesantunan, tindak tutur, guruPenelitian ini bertujuan menganalisis wujud kesantunan tindak tutur, mengidentifikasi jenis tindak tutur, mendeskripsikan penyimpangan terhadap prinsip-prinsip kesantunan tindak tutur guru Madrasah Aliyah Ruhul Islam Anak Bangsa dalam pembelajaran. Pendekatan yang digunakan adalah pendekatan kualitatif dan jenis penelitiannya adalah penelitian deskriptif. Sumber data diperoleh dari tindak tutur guru dengan mata pelajaran yang bervariasi dan kelas yang berbeda. Teknikpengumpulan data dalam penelitian ini menggunakan teknik simak bebas libat cakap, peneliti tidak terlibat komunikasi antara guru dan siswa, peneliti hanya menjadi pengamat penuh dalam penggunaan bahasa guru dalam pembelajaran di kelas. Jadi, untuk melakukan pengumpulan data dalam penelitian ini ada 3 teknik yang digunakan, yaitu simak, yang didukung dengan teknik rekam dan catat. Hasil penelitian menunjukkan bahwa maksim-maksim yang dipatuhi oleh guru Madrasah Aliyah Ruhul Islam Anak Bangsa, antara lain: maksim kebijaksanaan, maksim pemufakatan, maksim penghargaan, maksim kesederhanaan, maksim kedermawanan, dan maksim kesimpatian. Tuturan tersebut dituturkan dengan menggunakan tindak tutur direktif, tindak tutur representatif, tindak tutur deklarasi, tindak tutur ekspresif. Penyimpangan terhadap prinsip kesantunan tindak tutur yang ditemukan adalahpenyimpangan karena tidak adanya pemakaian kata honorifik, pemakaian kata tabu, dan kesalahan penggunaan kata ganti untuk orang tua atau orang yang lebih tua. Berdasarkan data yang ada, dapat disimpulkan bahwa guru Madrasah Aliyah Ruhul Islam Anak Bangsa santun dalam bertindak tutur.Banda Ace

Co-iOAM: In-situ Telemetry Metadata Transport for Resource Constrained Networks within IETF Standards Framework

Providing reliable and continuous wireless connectivity during the operational phase of large-scale IoT deployments is a challenge for network operators. Conventional methods of acquiring network telemetry data using dedicated probe messages are costly in terms of additional bandwidth consumption, battery depletion, increased network congestion, leading to degraded application QoS. We propose an in-situ network telemetry transport mechanism, termed Co-iOAM (Telemetry in-situ Operations Administration and Maintenance), for monitoring and troubleshooting resource constrained 6LoWPAN/LPWAN networks, where telemetry data appended as metadata accompanying application packet at intermediate nodes. Further, cross-layer telemetry information support by Co-iOAM can be used for performance analysis of the path traversed by the application packets, network lifetime estimation, and network planning. The architectural and design objectives of Co-iOAM include, flexibility, light-weight operation, and cross-layer telemetry data and its optimized representation. We share the implementation aspects of the protocol on Contiki OS, and present the experimental results that exhibit relatively good scalability. We also propose context aware compression and simple distributed probabilistic update techniques to further reduce the byte overheads of Co-iOAM data while maintaining the quality of network monitoring