Segmentasi Citra pada Robot Sepak Bola Beroda Menggunakan Multilayer Neural Network dan Fitur Warna HSV

Robot sepak bola beroda merupakan robot beroda yang dikembangkan untuk bermain sepak bola secara full autonomous. Robot bertanding secara tim melawan tim lain pada lapangan indoor yang telah disesuaikan ukurannya. Selama pertandingan, tidak diperbolehkan adanya campur tangan manusia. Pada robot, telah di pasang sebuah kamera dengan tujuan untuk  menemukan di mana objek penting berada. Salah satu tahapan sebelum mendeteksi objek adalah segmentasi. Segmentasi citra bertujuan untuk memisahkan objek dengan latar belakang atau membagi citra ke dalam beberapa daerah dengan setiap daerah memiliki kemiripan atribut. Salah satu cara untuk melakukan segmentasi citra adalah dengan mengklasifikasikan tiap piksel pada citra sebagai objek tertentu maupun latar belakang. Pada penelitian ini, dilakukan klasifikasi tiap piksel pada ruang warna HSV menjadi 6 kelas. Yaitu: kawan (cyan), lawan (magenta), lapangan (hijau), garis lapangan (putih), bola (orange), dan objek lain (hitam). Proses klasifikasi dilakukan dengan menerapkan model Multilayer Neural Network. Kemudian hasil klasifikasi tersebut digunakan untuk membangun lookup table yang akan digunakan untuk klasifikasi tiap piksel warna secara cepat pada komputer robot. Dari hasil uji coba dan fine tuning terhadap hyperparameter dan arsitektur pada multilayer neural network, didapatkan nilai error rata-rata terkecil yaitu 0.16%. Kemudian dari evaluasi hasil segmentasi, diperoleh error rata-rata sebesar 19.37%

Cellulase Pretreatment of Kappaphycus alvarezii polymer forPromising Medical Dressing Application

Seaweed contains hydrocolloid polysaccharides which are useful for the application of wound dressing. The use of natural ingredients such as seaweed Kappahycus alvarezii requires pretreatment before it is applied. Pretreatment of seaweed Kappaphycus alvarezii flour was carried out using hydrolyzing enzyme called cellulase. The cellulase (EC 3.2.1.4) is an enzyme which could hydrolyze cellulose polymers thereby breaking β1,4 glycosidic bond into oligosaccharide and simple sugars. Meanwhile the cell wall of seaweed could as well be degraded partially by cellulase followed by releasing hydrocolloid polymers (carrageenan) from the inner layer of seaweed cell wall. The aims of this study is to determine the effect of enzymatic pretreatment on seaweed so that it can be useful for further research as one of the promising component in wound dressing. The result showed that the reducing sugar decreased in content of 0.5 mg /ml after enzymatic modification at 0.5 hours incubation time. The FTIR spectra showed shifting at several functional groups namely C-H, C-O-C and C=C

Rise and Fall of a Multi-sheet Intrusive Complex, Elba Island, Italy

Elba Island intrusive complex: multisheet laccoliths, sheeted pluton, mafic dyke swarm. Laccolith magma fed from dykes and emplaced in crustal discontinuities (traps). Pluton growth by downward stacking of three magma pulses. Laccoliths and plutons: different outcomes of similar processes in different conditions. Emplacement of excess magma in a short time led to massive gravity slide

Characterization of a small cryptic plasmid from endophytic Pantoea agglomerans and its use in the construction of an expression vector

A circular cryptic plasmid named pPAGA (2,734 bp) was isolated from Pantoea agglomerans strain EGE6 (an endophytic bacterial isolate from eucalyptus). Sequence analysis revealed that the plasmid has a G+C content of 51% and contains four potential ORFs, 238(A), 250(B), 131(C), and 129(D) amino acids in length without homology to known proteins. The shuttle vector pLGM1 was constructed by combining the pPAGA plasmid with pGFPmut3.0 (which harbors a gene encoding green fluorescent protein, GFP), and the resulting construct was used to over-express GFP in E. coli and P. agglomerans cells. GFP production was used to monitor the colonization of strain EGE6gfp in various plant tissues by fluorescence microscopy. Analysis of EGE6gfp colonization showed that 14 days after inoculation, the strain occupied the inner tissue of Eucalyptus grandis roots, preferentially colonizing the xylem vessels of the host plants

Early Childhood Caries among a Bedouin community residing in the eastern outskirts of Jerusalem

<p>Abstract</p> <p>Background</p> <p>ECC is commonly prevalent among underprivileged populations. The Jahalin Bedouin are a severely deprived, previously nomadic tribe, dwelling on the eastern outskirts of Jerusalem. The aim of this study was to assess ECC prevalence and potentially associated variables.</p> <p>Methods</p> <p>102 children aged 12–36 months were visually examined for caries, mothers' anterior dentition was visually subjectively appraised, demographic and health behavior data were collected by interview.</p> <p>Results</p> <p>Among children, 17.6% demonstrated ECC, among mothers, 37.3% revealed "fairly bad" anterior teeth. Among children drinking bottles there was about twice the level of ECC (20.3%) than those breast-fed (13.2%). ECC was found only among children aged more than one year (p < 0.001); more prevalent ECC (55.6%) was found among large (10–13 children) families than among smaller families (1–5 children: 13.5%, 6–9 children: 15.6%) (p = 0.009); ECC was more prevalent among children of less educated mothers (p = 0.037); ECC was more prevalent among mothers with "fairly poor" anterior dentition (p = 0.04). Oral hygiene practices were poor.</p> <p>Conclusion</p> <p>ECC levels in this community were not very high but neither low. This changing population might be on the verge of a wider dental disease "epidemic". Public health efforts clearly need to be invested towards the oral health and general welfare of this community.</p

Structures Related to the Emplacement of Shallow-Level Intrusions

A systematic view of the vast nomenclature used to describe the structures of shallow-level intrusions is presented here. Structures are organised in four main groups, according to logical breaks in the timing of magma emplacement, independent of the scales of features: (1) Intrusion-related structures, formed as the magma is making space and then develops into its intrusion shape; (2) Magmatic flow-related structures, developed as magma moves with suspended crystals that are free to rotate; (3) Solid-state, flow-related structures that formed in portions of the intrusions affected by continuing flow of nearby magma, therefore considered to have a syn-magmatic, non-tectonic origin; (4) Thermal and fragmental structures, related to creation of space and impact on host materials. This scheme appears as a rational organisation, helpful in describing and interpreting the large variety of structures observed in shallow-level intrusions

Systematic review: conservative treatments for secondary lymphedema

<p>Abstract</p> <p>Background</p> <p>Several conservative (i.e., nonpharmacologic, nonsurgical) treatments exist for secondary lymphedema. The optimal treatment is unknown. We examined the effectiveness of conservative treatments for secondary lymphedema, as well as harms related to these treatments.</p> <p>Methods</p> <p>We searched MEDLINE^®, EMBASE^®, Cochrane Central Register of Controlled Trials^®, AMED, and CINAHL from 1990 to January 19, 2010. We obtained English- and non-English-language randomized controlled trials or observational studies (with comparison groups) that reported primary effectiveness data on conservative treatments for secondary lymphedema. For English-language studies, we extracted data in tabular form and summarized the tables descriptively. For non-English-language studies, we summarized the results descriptively and discussed similarities with the English-language studies.</p> <p>Results</p> <p>Thirty-six English-language and eight non-English-language studies were included in the review. Most of these studies involved upper-limb lymphedema secondary to breast cancer. Despite lymphedema's chronicity, lengths of follow-up in most studies were under 6 months. Many trial reports contained inadequate descriptions of randomization, blinding, and methods to assess harms. Most observational studies did not control for confounding. Many studies showed that active treatments reduced the size of lymphatic limbs, although extensive between-study heterogeneity in areas such as treatment comparisons and protocols, and outcome measures, prevented us from assessing whether any one treatment was superior. This heterogeneity also precluded us from statistically pooling results. Harms were rare (< 1% incidence) and mostly minor (e.g., headache, arm pain).</p> <p>Conclusions</p> <p>The literature contains no evidence to suggest the most effective treatment for secondary lymphedema. Harms are few and unlikely to cause major clinical problems.</p