Control Barrier Function Based Quadratic Programs for Safety Critical Systems

Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive applications, this paper develops a methodology that allows safety conditions -- expressed as control barrier functions -- to be unified with performance objectives -- expressed as control Lyapunov functions -- in the context of real-time optimization-based controllers. Safety conditions are specified in terms of forward invariance of a set, and are verified via two novel generalizations of barrier functions; in each case, the existence of a barrier function satisfying Lyapunov-like conditions implies forward invariance of the set, and the relationship between these two classes of barrier functions is characterized. In addition, each of these formulations yields a notion of control barrier function (CBF), providing inequality constraints in the control input that, when satisfied, again imply forward invariance of the set. Through these constructions, CBFs can naturally be unified with control Lyapunov functions (CLFs) in the context of a quadratic program (QP); this allows for the achievement of control objectives (represented by CLFs) subject to conditions on the admissible states of the system (represented by CBFs). The mediation of safety and performance through a QP is demonstrated on adaptive cruise control and lane keeping, two automotive control problems that present both safety and performance considerations coupled with actuator bounds

Penerapan Sunk Cost Dan Differential Cost Terhadap Keputusan Penggantian Aktiva Tetap Pada CV. Excellent Auto Manado

Era modern saat ini telah banyak inovasi yang diciptakan Perusahaan dalam mengembangkan kegiatannya, salah satu diantaranya dengan menggunakan aktiva tetap seperti mesin yang canggih. Tapi dalam penggantian aktiva tetap, Perusahaan harus memperhatikan beberapa biaya seperti sunk cost dan differential cost. Sunk cost adalah biaya yang dalam situasi tertentu tidak dapat diperoleh kembali. Pengeluaran yang telah dilakukan pada masa lalu, semuanya tidak dapat diperoleh kembali. Differential cost adalah biaya masa depan yang dapat dipergunakan dalam pengambilan keputusan pada masing-masing alternatif Perusahaan. Tujuan penelitian ini untuk mengetahui bagaimana Perusahaan menerapkan sunk cost dan differential cost terhadap pengambilan keputusan penggantian aktiva tetap. Metode analisis yang digunakan dalam penelitian ini adalah metode deskriptif kualitatif, dimana metode ini membahas suatu permasalahan secara terperinci dengan cara mengumpulkan data Perusahaan dan mengolah serta menyimpulkan hasil analisis. Hasil penelitian menunjukkan CV. Excellent Auto Manado dapat menerapkan konsep sunk cost dan differential cost dalam pengambilan keputusan. Dengan menerapankan kedua biaya tersebut, Perusahaan dapat meminimalisir biaya yang akan dikeluarkan dalam perbaikan aktiva tetap. Juga bermanfaat untuk menghindari pengeluaran biaya yang dapat merugikan Perusahaan. Sebaiknya manajemen Perusahaan mempertahankan mesin lama karena terdapat selisih yang cukup besar dalam penggantian aktiva tetap. Kata kunci: sunk cost, differential cost, penggantian aktiva teta

Analisis Belanja Modal Pemerintah Daerah Kabupaten Kepulauan Talaud

. This research is aimed to understand the obstacles of disbursing capital expenditures in Talaud local government and strategies to overcome such problems. This is an exploratory qualitative research. The sampling method is purposive sampling. Data were collected by in-depth interviews and documentation studies. This study concludes that there are several obstacles in the capital expenditures obstacles within: (a) the stage of budget planning, (b) capital expenditure disbursement and (c) in the responsibility stage. The main factors causing those obstacles are the low quality of the human resources, lack of knowledges in performing their tasks and functions as the officers and providers to supplies, budget limitation, and lack of commitment of the district head, insufficient of continuous and periodic supervision. There are 4 types of strategy implemented to overcome the obstacles in relation to SWOT: (1) SO (strengths-opportunities) strategies are used to overcome the low quality of the human resources and commitment of the district head, (2) WO (weaknesses-opportunities) strategies are employed to overcome budget limitation, (3) ST (strength-threats) strategies are conducted to resolve continuous and periodic supervision and evaluation for improvement, (4) WT (weakness-threats) strategies are implemented to solve insufficient knowledge knowledges in performing their tasks and functions as the officers and providers to supplies

Analisis Sistem Antrian Dan Optimalisai Pelayanan Teller Pada PT. Bank Sulutgo

Antrian merupakan suatu garis tunggu dari nasabah (satuan) yang memerlukan layanan dari satu atau lebih pelayan (fasilitas layanan). Pada Kenyataanya, antrian diakibatkan waktu menunggu lebih lama daripada waktu pelayanan. Tujuan dari penelitian ini adalah untuk menganalisis penerapan model M/M/S pada sistem antrian Bank SulutGo cabang utama. Langkah pertama yang dilakukan adalah mengambil data kedatangan antrian nasabah. Hasil perhitungan dengan model M/M/S pada Bank SulutGo cabang utama menerapkan disiplin antrian yaitu first come first serve (FCFS). Pola kedatangan nasabah berdistribusi Poisson dan pola pelayanan berdistribusi Eksponensial. Dari hasil perhitungan rata-rata jumlah nasabah yang menunggu dalam sistem terpanjang pada periode waktu 12.00 -13.00 yaitu sebanyak 5,1353 orang atau = 5 orang. Sedangkan jumlah rata-rata nasabah yang menunggu dalam sistem terpendek terjadi pada periode waktu 08.00 – 09.00 yaitu sebanyak 0,8338 orang atau = 1 orang. Rata-rata jumlah nasabah dalam antrian terjadi pada periode waktu 12.00 – 13.00 yaitu sebanyak 1,385 orang atau = 1 orang dapat disimpulkan kinerja system antrian Bank SulutGo cabang utama optimal

Ipteks Balance Scorecard di Dinas Komunikasi Informatika Persandian dan Statistik Provinsi Sulawesi Utara

Performance is the achievement or level of success of a person or group of people who have exceeded the standard set. The higher the achievement of the work the better it will be and vice versa. To find out the achievement, it is necessary to measure performance. In the scope of the public sector where performance measurement is very important because performance measurement can help to determine the level of achievement of the success of activities or work program from an agency both within the scope of the region to the center. For the reason, in knowing the level of performance it is necessary to measure performance. Performance measurement in this study uses a balanced scorecard concept, where the performance measurement is assessed based on four perspectives. Where from these four perspectives will be seen the performance achieved by the Office of Communication, Information, Coding and Statistics of North Sulawesi Province. Through the four perspectives of the balance scorecard it will be known in any scope the performance of the Regional Office of Communication, Information, Coding and Statistics of North Sulawesi Province still needs to be emproved

Pengaruh Kinerja Keuangan Pemerintah Daerah Terhadap Belanja Modal Untuk Pelayanan Publik (Studi Pada Kabupaten Dan Kota Di Provinsi Sulawesi Utara)

The main objective of regional autonomy is to improve public services and promote the local economy in Indonesia. Capital expenditures for public services is used to finance expenditure in investing activities (add assets) aimed at improving public infrastructure that results can be used directly by the public. Developed regions tend to maintain the structure of expenditure into maintenance expenditure. The shift in spending patterns in the local government often triggered concerns about the extent to which the amount of local revenue affects the pattern of local government spending, especially capital expenditure for public services. This study purposes to analyze growth of revenue (PAD), the ​​fiscal decentralization, financial effectiveness and efficiency of the Local Government Financial Management to the capital expenditure for public services. The method used is quantitative method with a sampling technique using judgment sampling which took samples with consideration of the availability of data in the Local Government Financial Statements Reports in the Province of North Sulawesi by 10 districts/cities of Local Government in North Sulawesi since 2010 to 2015. The analytical method used is a multiple regression using SPSS 20 application assistance. The results show that PAD growth is effect as positive and significant capital expenditures for public services, fiscal decentralization is negative effect and not significant toward capital expenditures for public services, effectiveness and efficiency of local financial is effect as positive but not significant toward capital expenditures for public services.

Pengaruh Kompetensi Sumber Daya Manusia, Teknologi Informasi, Reviu Laporan Keuangan dan Sistem Pengendalian Internal terhadap Kualitas Laporan Keuangan pada Pemerintah Provinsi Sulawesi Utara

This study aims to examine the effect of human resources competence, information technology, review of financial statement and internal control system on the quality of financial statement in Government of North Sulawesi. The variables in this study consist of independent variable :human resources competence (X1), information technology (X2), review of financial statement (X3) and internal control system (X4).On the other hand, the dependent variable is the quality of financial statement (Y). Data were analyzed by multiple linear regression analysis (multiple regression). The results indicate that human resources competence, information technology, review of financial statement and internal control system simultaneously have a significant influence on the quality of financial statement. The value of the coefficient of determination shows that human resources competence, information technology, review of financial statement and internal control system simultaneously contribute to the quality of financial statement.R2 is 71.3%, it means those dependent variables affect the quality of financial statement by 71.3%. While the remaining of 28.7% is influenced by other variables which are excluded within this research. Partial test results show that information technology, review of financial statement and internal control system have a significant impact on the quality of financial statement. Human resources competence has no significant impact on the quality of financial statement. Keywords : quality of financial statement, human resources competence, information technology, review of financial statement, internal control syste