Fuzzy reactive piloting for continuous driving of long range autonomous planetary micro-rovers

Abstract — A complete piloting control subsystem for a highly autonomous long range rover will be defined in order to identify the key control functions needed to achieve contin-uous driving. This capability can maximize range and num-ber of interesting scientific sites visited during the limited life time of a planetary rover. To achieve continuous driving, a complete set of techniques have been employed: fuzzy based control, real-time artificial intelligence reasoning, fast and ro-bust rover position estimation based on odometry and angu-lar rate sensing, efficient stereo vision elevation maps based on grids, and fast reaction and planning for obstacle detec-tion and obstacle avoidance based on a simple IF-THEN ex-pert system with fuzzy reasoning. To quickly design and im-plement these techniques, graphical programming has been used to build a fully autonomous piloting system using jus

Analysis of Public High School Students’ Interest in Padang City in Choosing an Educational Program at Universitas Negeri Padang

Improving the quality of education in Indonesia is related to the role of the teacher. The problem that occurs at this time is that high school students prefer to continue their education in non-education fields. This causes Indonesia to experience a crisis of quality teacher in the future. The purpose of this study was to analyze the internal and external factors of interest that influence students in choosing education programs. This research is quantitative descriptive, data analysis used in this study is multiple regression analysis using computer software, SPSS Version 21. Data were obtained by distributing questionnaires to 212 Senior high school students in Padang City. The results showed that the interest of state high school students in Padang city in choosing education study programs was influenced by internal factors and external factors; Internal factors consist of attention, feeling of happiness, ambition, personal values, and interest in the education study program. External factors are the family environment that includes the parenting, relationships between family members, home ambiance, competitor, family’s financial condition, understanding of parents, and cultural background. Based on the results of the study, the interest can be developed by demanding students to add insight into educational study programs by reading education literature, and parents are expected to direct their children to choose educational study programs because they can become teachers and earn good income because there are already professional allowances for teachers, the results of factor analysis classify that interest is formed by two variable, this is, ambition and family environment.     Keywords: interest, education progra

Analisis Grafik Pengendali Nonparametrik Dengan Estimasi Fungsi Densitas Kernel Pada Kasus Waktu Pelorotan Batik Tulis

The quality of the product becomes one of the basic factors in the decisions of consumers in selecting products. A companny needs a quality control for keeping the consistency of product quality. One of statistic tools which can be used in quality control is a control chart. If the obtained data do not have a specific distribution assumption, it is needs to use nonparametric control chart as the solution. One of ways to describe the nonparametric control chart is a kernel density estimation. The most important point in the kernel density estimation is optimal bandwidth selection and one of the method that can be used is Least Squares Cross Validation. In this case, will be described a nonparametric control chart to data of vanishing candle at batik in Pekalongan using Rectangular, Triangular, Biweight and Epanechnikov kernel density estimation. Based on the data processing using R.2.14, the result was obtained that from the four kernel estimatios which were used, the obtained control chart by the Rectangular kernel density estimation which have the largest value of variance. It shows that the control chart by the Rectangular kernel density estimation is the widest control chart. While, the obtained control chart by the Epanechnikov kernel density estimation which have the smallest value of variance. It shows that the control chart by the Epanechnikov kernel density estimation is the narrowest control char

Pendekatan Model Levine Dalam Mengatasi Gangguan Tidur Anak Kanker Di RSUPN Dr Cipto Mangunkusumo Jakarta

Levine\u27s Model Approach to Overcome the Sleeping Disturbance in Children with Cancer in Cipto Mangunkusumo Hospital Jakarta. Children and adolescents with cancer often experience sleep disorders that may lead to a decrease in the immune system and affect the quality of life. The purpose of this report is to provide an overview of Levine\u27s Conservation Model application on nursing care of children with cancer experiencing sleep pattern disturbance. There are five cases which being discussed on this article and we found sleep disturbance as the main problem. Nursing interventions based on conservation principles such as energy conservation, structural integrity, personal integrity and social integrity were given. The evaluation of the intervention which based on organismic responses indicated that some problems were resolved, while some others were partially resolved with some improvement or unresolved. We recommend the application of Levine\u27s Conservation Model on nursing care of children with cancer experiencing sleep disorders with the intervention of sleep hygiene and complementary therapies using honey before the children go to sleep to achieve optimal results

Crop-Cattle Integrated Farming System: An Alternative of Climatic Change Mitigation

An integrated farming system is one of the alternatives for climatic change mitigation. This paper reports the application of corn-cattle based integrated farming system in Agrotechno Park Center of Palembang, and discusses its impact on CO2 fixation and the reduction of methane emissions. The study was based on the data of the first 6 yr from 2003 until 2009. The CO2 fixed in the soil and plants was determined based on the content of organic C which was multiplied by the index of 3.67. The methane gas produced by Balinese cattle and its dung was observed and modified into feed rations. The results showed that soil organic C increased from 40.80 tons C/ha in the 1st yr to 66.40 tons C/ha in the 6th yr. In addition, there was organic C fixation equivalent to 93.95 tons of CO2e. Corn biomass increased from 6.67 tons/ha to 18.66 tons/ha, equivalent to an increase in the fixation of atmospheric CO2e as much as 19.80 tons CO2e/ha. The supplementation of 60%-80% grass fodder with concentrate lowered the concentration of methane gas in cattle breathing by 28.7%, from 617 ppm to 440 ppm, while the methane emissions from cattle manure decreased by 31%, from 1367 mL/head/d to 943 mL/head/d. Installing a bio digester that generates biogas served to accommodate methane gas emissions from cattle dung and used it for bioenergy. Composting reduced the formation of methane gas from cattle manure through a regular process of turning over that gives aeration and forms aerobic condition in the heap of cattle dung. Recycling produces a variety of organic products that store carbon for a longer period of time and slowed the conversion of organic C into CO2. This study showed that the diverse activities of an integrated crop-cattle farming could be an alternative solution to climatic change mitigation.Key words: integrated farming, mitigation, organic C, methane, recyclin

Pengaruh Gaya Kepemimpinan, Motivasi, dan Disiplin Kerja terhadap Kinerja Pegawai (Studi pada Pegawai Seksi Pkc di Kantor Pengawasan dan Pelayanan Bea dan Cukai Tipe Madya Pabean Tanjung Perak Surabaya)

Research aimed to analyze and to explain the simultaneous and partial effect of leadership style, motivation and work discipline on the performance of PKC Section employees at The Office of Customs Supervision and Service, Medium Level, Customs Region of Tanjung Perak Surabaya. Type of research was explanatory research. Hypothesis testing had produced several results which meant that there was a simultaneous and partial effect of leadership style (X­1), motivation (X­2), and work discipline (X­3) on employee performance (Y). This research was suggested that PKC Section at The Office of Customs Supervision and Service, Medium Level, Customs Region of Tanjung Perak Surabaya, should consider research variables in making policies and decisions in order to improve employee performance. Employees must show their discipline in executing SLA and 5R and keep their promises in delivering the service. Leaders should control the duty report and the work schedule of the employees, and also evaluate whether there was problems impairing work accomplishment. Leaders were also required to foster good relationship with subordinates in order to produce harmonious encounter and better cooperation, to facilitate the accomplishment of work and function of employees in PKC Sectio

The Effect of Music Therapy on Sleep Quality Among Children with Chronic Illness

  Abstract   The priority of handling children with chronic illness is to improve the quality of life by paying attention the symptoms that arise during treatment, one of which is the sleep problem. The purpose of this study to identify the effect of music therapy for the sleep quality of children with chronic illness. This study used a quasi experiment. Sample size was 30 childrens were divided into experimental group and control group. Respondents were given music therapy in 30-45 minutes before bed for 4 days. Sleep quality is measured by using Pittsburgh Sleep Quality Index (PSQI). There was a significant mean difference regarding PSQI score in experimental and control group. It was found that the experimental group score was higher compared with the control group (p=0,001). Thus music therapy could be used as an alternative intervention to improve the sleep quality to improve the quality of life of children with chronic illness.   Key words : children, chronic illness, music therapy, sleep qualit

Pengaruh Konsentrasi Maltodekstrin Terhadap Kadar Air Dan Waktu Melarutnya Santan Kelapa Bubuk (Coconut Milk Powder) Dalam Air

Kelapa (Cocos nucifera L.) merupakan tanaman yang banyak dikenal di Indonesia. Sangat banyak manfaat yang didapat dari bagian-bagian tanaman kelapa. Bagian buah jika diekstrak dan ditambahkan air akan menghasilkan santan. Santan dapat dikeringkan menggunakan pengering semprot (spray dryer) menghasilkan santan kelapa bubuk (Coconut Milk Powder). Santan kelapa bubuk dapat digunakan untuk keperluan pangan misalnya sebagai bahan tambahan pada pembuatan kue, creamer pada minuman dan manfaat pada produk-produk non pangan, misalnya digunakan pada formulasi produk kesehatan, yaitu sebagai penjaga kelembaban kulit, dan perawatan untuk tubuh. Tujuan dari penelitian ini adalah mempelajari pengaruh konsentrasi maltodekstrin terhadap kadar air dan waktu melarutnya santan kelapa bubuk dalam air. Variasi komposisi maltodekstrin (w/w) yang digunakan terdiri dari 2%, 4%, 6%, 8%, 10% pada temperatur pengeringan inlet spray dryer 1500C. Metode pembuatan santan kelapa bubuk dilakukan dengan cara memisahkan skim dan krim dari santan kelapa, kemudian skim yang diperoleh ditambahkan maltodekstrin dengan berbagai variasi komposisi dan ditambahkan natrium kaseinat 3% (w/w) kemudian diaduk agar homogen. Selanjutnya dilakukan pengeringan di dalam spray dryer pada temperatur 1500C. Pengujian sifat fisik santan kelapa bubuk yang dihasilkan meliputi kadar air dan waktu melarutnya dalam air. Hasil penelitian menunjukan bahwa kadar air paling baik untuk standar produk bubuk yaitu pada konsentarsi maltodekstrin 6% (w/w) dengan persamaan regresi hubungan konsentrasi maltodekstrin (x) dan kadar air (y) mengikuti persamaan y = -0,0738x2 + 0,7255x + 6,154, R2=0,8556. Waktu melarutnya santan kelapa bubuk tercepat yaitu pada sampel dengan konsentrasi maltodekstrin (w/w) 4%, yaitu selama 283 detik dengan persamaan regresi y = 6,0179x2 – 61,664x + 437,6, R2=0,8715