AN INTELLIGENT NAVIGATION SYSTEM FOR AN AUTONOMOUS UNDERWATER VEHICLE

The work in this thesis concerns with the development of a novel multisensor data fusion (MSDF) technique, which combines synergistically Kalman filtering, fuzzy logic and genetic algorithm approaches, aimed to enhance the accuracy of an autonomous underwater vehicle (AUV) navigation system, formed by an integration of global positioning system and inertial navigation system (GPS/INS). The Kalman filter has been a popular method for integrating the data produced by the GPS and INS to provide optimal estimates of AUVs position and attitude. In this thesis, a sequential use of a linear Kalman filter and extended Kalman filter is proposed. The former is used to fuse the data from a variety of INS sensors whose output is used as an input to the later where integration with GPS data takes place. The use of an adaptation scheme based on fuzzy logic approaches to cope with the divergence problem caused by the insufficiently known a priori filter statistics is also explored. The choice of fuzzy membership functions for the adaptation scheme is first carried out using a heuristic approach. Single objective and multiobjective genetic algorithm techniques are then used to optimize the parameters of the membership functions with respect to a certain performance criteria in order to improve the overall accuracy of the integrated navigation system. Results are presented that show that the proposed algorithms can provide a significant improvement in the overall navigation performance of an autonomous underwater vehicle navigation. The proposed technique is known to be the first method used in relation to AUV navigation technology and is thus considered as a major contribution thereof.J&S Marine Ltd., Qinetiq, Subsea 7 and South West Water PL

EFEKTIVITAS METODE CALCITE PRECIPITATION DENGAN BIOCATALYST BUBUK KEDELAI SEBAGAI METODE BIOGROUTING UNTUK MENCEGAH LIKUIFAKSI TANAH PASIR

Abstrak Likuifaksi merupakan fenomena perubahan konsistensi tanah dari keadaan padat menjadi keadaan cair akibat gempa bumi. Metode calcite precipitation merupakan salah satu metode inovatif untuk mitigasi likuifaksi. Penelitian ini bertujuan mengevaluasi efektivitas metode calcite precipitation dengan biocatalyst bubuk kedelai sebagai metode biogrouting pada tanah terlikuifaksi. Penelitian ini menggunakan sampel tanah berpotensi likuifaksi dengan variasi gradasi. Pengujian pengendapan kalsit diperlukan untuk menentukan komposisi optimum larutan calcite precipitation. Evaluasi efektivitas pada tanah dilakukan dengan pengujian distribusi kalsit dan penentuan nilai kekuatan tanah berdasarkan kurva hubungan antara kadar kalsit dan nilai UCS. Hasil pengujian pengendapan kalsit didapatkan konsentrasi bubuk kedelai 15 g/L sebagai komposisi optimum larutan calcite precipitation. Nilai kadar kalsit maksimum yang terbentuk di sampel pasir halus, sedang, dan kasar berturut-turut sebesar 4,96; 6,12; dan 1,32 % sehingga mampu menghasilkan nilai prediksi UCS sebesar 132, 172, dan 59 kPa. Hasil penelitian ini didapatkan metode calcite precipitation dengan biocatalyst bubuk kedelai terbukti efektif diaplikasikan pada sampel pasir untuk meningkatkan kekuatan tanah sehingga mampu mencegah terjadinya peristiwa likuifaksi. Kata kunci: bubuk kedelai, gradasi tanah, kalsit, likuifaksi Abstract Liquefaction was a phenomenon of change in soil consistency from a solid state to a liquid state due to the earthquake. Calcite precipitation method may be one of the innovative methods for liquefaction mitigation. The purpose of this research was to evaluate the effectiveness of the calcite precipitation method with soybean powder biocatalyst as a biogrouting method in liquefied soil. This research used potentially liquefied soil samples with various gradations. A precipitation test was needed to determined the optimum composition of the calcite precipitation solution. Evaluation of the effectiveness on soil was carried out by calcite distribution test and determining the value of soil strength based on the correlation curve between calcite contents and UCS values. The result of the precipitation test showed that 15 g/L soybean powder concentration was the optimum composition of the calcite precipitation solution. Maximum calcite content values had formed in fine, medium, and coarse sand sample was 4,96; 6,12; and 1,32 % so that able to produced UCS prediction values of 132, 172, and, 59 kPa.  The results of this research show that calcite precipitation method with soybean powder biocatalyst proved to be effective on sand samples to improved the strength of the soils so can prevented liquefaction. Keywords: calcite, liquefaction, soil gradation, soybean powder

Study of User Perception of A Room (Case Study: Architecture Building)

Space cannot be separated from human life, both psychologically emotional (perception) and dimensional. Humans are moving and living, thinking, and also creating space to express the shape of their world and formed when people react to the environment in giving meaning to their environment. It can be said that environmental evaluation, furthermore, is a response to the overall influence of a detailed analysis of specific aspects, and more of a compared to the manifest function and is strongly influenced by images. This paper explains the results of the study, which intends to find out student perceptions of the meaning of space in the Architectural building of the Faculty of Engineering, University of North Sumatra. The study uses data analysis methods. The results of the study show that students' perceptions of space use are not by the allocation of the Department of Architecture, Faculty of Engineering, University of North Sumatra, because it is influenced by culture, space settings, and accessibility. The benefits of this study as a reference to the Department of Architecture of the University of North Sumatra to be able to improve the quality of teaching and to learn in supporting the comfort of student learning

Comparative effect haloperidol and quetiapine within positive symptoms for female schizophrenic patient

Schizophrenia is a worldwide public health problem that requires a lot of personal and economic costs. Schizophrenia affects approximately 1% of the world's population. Anti-psychotic drug used in the treatment of schizophrenia have varying pharmacologic properties, first-generation antipsychotic Drugs such as neuroleptics is due to neurologic side effects equation. The second generation of antipsychotics or newer fewer neurological effects. In-depth research related to the use of antipsychotics, especially on the improvement of positive symptoms in schizophrenic patients are still very few women. methods; This research is an experimental study, the two forms of group pretest posttest design, which uses a questionnaire Positive and Negative Syndrome Scale (PANSS) is a valid measurement tool to assess the severity of symptoms experienced by patients with schizophrenia and an assessment of the output terapeutik. Kriteria Inclusion: Female Patients , age 15- 55 years, Body Mass Index from 18.50 to 24.99, have the same severity, acute phase, Exclusive criteria; hypersensitivity to quetiapine or haloperidol,komorbiditas pregnant and general medical illness, organic mental disorder or disturbance other psychiatric systolic blood pressure <100 mmHg. Of the study obtained for the largest proportion of the study subjects quetiapine group was aged 15-24 years, while for the 45-55 age group. haloperidol significantly different on demographic factors; age, occupation, marital status, and the educational status.Has the significant differences in scores on the PANSS positive scale and the third week, fourth drug intervention using either quetiapine or haloperidol (P<0.05). The proportion of the largest studies on the subject of female schizophrenic patients grouped quetiapine is aged 15-24 years and 45-55 years, while haloperidol obtained difference scores on the PANSS scale significantly positive drug intervention on the day the third and fourth. Keywords: female schizophrenic patient, PANSS, quetiapine, haloperido

Comparative Effect Haloperidol and Quetiapine within Positive Symptoms for Female Schizophrenic Patient

Schizophrenia is a worldwide public health problem that requires a lot of personal and economic costs. Schizophrenia affects approximately 1% of the world's population. Anti-psychotic drug used in the treatment of schizophrenia have varying pharmacologic properties, first-generation antipsychotic Drugs such as neuroleptics is due to neurologic side effects equation. The second generation of antipsychotics or newer fewer neurological effects. In-depth research related to the use of antipsychotics, especially on the improvement of positive symptoms in schizophrenic patients are still very few women. methods; This research is an experimental study, the two forms of group pretest posttest design, which uses a questionnaire Positive and Negative Syndrome Scale (PANSS) is a valid measurement tool to assess the severity of symptoms experienced by patients with schizophrenia and an assessment of the output terapeutik. Kriteria Inclusion: Female Patients , age 15- 55 years, Body Mass Index from 18.50 to 24.99, have the same severity, acute phase, Exclusive criteria; hypersensitivity to quetiapine or haloperidol,komorbiditas pregnant and general medical illness, organic mental disorder or disturbance other psychiatric systolic blood pressure <100 mmHg. Of the study obtained for the largest proportion of the study subjects quetiapine group was aged 15-24 years, while for the 45-55 age group. haloperidol significantly different on demographic factors; age, occupation, marital status, and the educational status.Has the significant differences in scores on the PANSS positive scale and the third week, fourth drug intervention using either quetiapine or haloperidol (P<0.05). The proportion of the largest studies on the subject of female schizophrenic patients grouped quetiapine is aged 15-24 years and 45-55 years, while haloperidol obtained difference scores on the PANSS scale significantly positive drug intervention on the day the third and fourth. Keywords: female schizophrenic patient, PANSS, quetiapine, haloperido

Designing Port Passenger Terminal in the Meat Village as Ecotourism Area with Neo Vernacular Architecture Approach

This journal is essential for social, economic, and government in the Meat Village. It is about a potentially marine tourism destination, located in Meat Village, Tampahan District, Toba Samosir Regency, North Sumatra Province. As one of the tourism destinations, this village needs to be developed, especially water transportation, which is supported by Lake Toba's natural resources. But it has been replaced by land and air transportation. On the other hand, water transportation has its privilege, namely giving a sense of being united with nature and listening to the gentle sound of water, which cannot be felt if using land or air transportation. Therefore, it requires a passenger port to facilitate tourists in accessing this tourism village through water transportation. This port consists of a passenger terminal that accommodates passengers' departure and arrival. The method used in site selection is done through discussion of primary data, namely data sources that directly provide data to data collectors and secondary data, that is, data that does not directly provide data to researchers, through other people or analyzed documents and concluded. The result of the methodology used is, this passenger terminal needs the Neo Vernacular Architecture approach for the design. Because the village has aspects of the past, such as Batak Toba culture and mythology that need to be preserved and introduced to the present as long-term projections for the future. This is useful to make the building becomes part of the Meat Village community

Stress Levels in the Stabilization Phase of Schizophrenia Patients

Stress is one of the central concepts of psychiatry, although this term has a source on the physiology and expertise. This study’s aim is to determine the level of stress in schizophrenic patients in the stabilization phase of treatment and the proportion of demographic characteristics by sex, age group, education level, occupation, and place of residence to the stress level. This study is descriptive and sampling techniques with the use of systemic randomization techniques that meet the inclusion and exclusion criteria to achieve a total sample of 100 people, conducted on schizophrenic patients stabilization phase of treatment that came went to Polyclinic General Psychiatry BLUD Provincial Government Mental Hospital North Sumatra, during the period March 1, 2010 to August 31, 2010 Completion of the questionnaire conducted by direct interview using a scale of measurement auto anamnesis Daily hassles scale. Of the 100 schizophrenic patients found that the intermediate stress levels are at 31 people (31%), high stress levels by 33 people (33%) and the highest stress levels by 36 people (36%). Based on the demographics of the highest stress levels encountered in the male sex by 27 people (75%), in the age group 35-44 years by 17 people (47.2%), the group that does not work for 24 people (66.7 %), high school education by 22 people (61%), and place of residence outside the city of 27orang field (75%). It was found highest stress levels in schizophrenic patients stabilisation phase of treatment that is equal to 36 people (36%), male gender, age 33-44 years, not working, the level of high school education, and lived outside the city of Medan. Keywords: schizophrenic patients, the level of stress, the Daily Hassles Stres

Gender Difference and PANSS Score of Paranoid Schizophrenia Using Risperidone

Recently many focus study of schizophrenia on gender are about onset and reducing the severity of illness. Males typically experience a much earlier age of onset, make up a larger proportion of clinical cases, and are more likely to have primary negative symptoms that are associated with chronic course and poor outcome. These study used the standard mental state examination of Psychiatry Department of University of North Sumatera, and SCID (Structured Clinical Interview for DSM-IV) that had been translated in Indonesian. The psychotic symptoms were rated by PANSS, using the total PANSS score. All subjects was examined until 8 weeks for each week. From the 80 total subjects, the mean age of the study for males and females was 29,42±5,53 for males and 30,80±5,64, respectively. The onset was 25,60±6,86 and 26,98±7,44. There was significant difference between gender and PANSS total scores in week 1 until 6 (p<0,05) where males was higher than females, but no differences in other weeks. The decrease of total PANSS per week showed significant difference (p<0,05) in week 1,2, 7 and 8, but not significant in other week. No significant difference (p?0,05) of total PANSS score between gender, before and after using risperidone. The difference respons percentage between male and female was not significant (p?0,05). In these study, the mean dosis of risperidone for male and female respectively was 4,008±0,141 and 4,083±0,215. There was some significant difference between gender from the psychopathology perspective in schizophrenia using risperidone. Keywords: gender, PANSS score, risperidon

The Difference of Medication Adherence in Schizophrenic Patients between Normal Body Mass Index And Overweight

Background:  Nonadherence to medication is a recognized problem and may be the most challenging aspect of treatment. The weight gain is an important factor that contributed to discontinuation of treatment Participants and Methods: A total 88 participants with a DSM-IV diagnosis of schizophrenia who were admitted to psychiatric hospital. This study used cross sectional design. The assessments included an interview to obtain sociodemographic data, Morisky Medication Adherence Scale (MMAS-8) were examined, for difference based on the following body mass index (BMI) categories: normal body mass index (BMI 18,50-24,99) and overweight (BMI ≥25). Results:  88 subjects were divided into two groups, normal BMI group: high adherence (20.5%), medium adherence (63.6%), low adherence (15.9%).   Those overweight group: high adherence (6.8%), medium adherence (18.2%), low adherence (75.0%) Conclusions: This study found that schizophrenic patients with normal body mass index is more adherence than those overweight. Keywords: Medication Adherence, Body Mass Index, Overweight, Morisky Medication Adherence Scale (MMAS-8

Cognitive Profile of Patients with Schizophrenia in North Sumatera Indonesia

BACKGROUND: Cognitive dysfunction is one of the characteristics of schizophrenia traditionally experienced by elderly patients. In the past 25 years, studies have proven that the cognitive dysfunction is an early characteristic of this disease, besides introversion, drug abuse, suicidal behavior, and depressive symptoms. The mini-mental state examination is a test designed to identify functional and organic disorders in psychiatric patients. North Sumatera is often considered as “small Indonesia” due to the variety of tribes live in the province; therefore, a study in relation with the cognitive profile of patients with schizophrenia (PwS) is needed. AIM: We aimed to analyze cognitive function in PwS in the North Sumatera. METHODS: The study was a descriptive study with a cross-sectional approach of cognitive profile of PwS stressing in the age, sex, education, and illness duration of the patients. RESULTS: The results of the study using 200 subjects found that the most affected gender were male (62.5%), between the ages of 25–34 years (46%), with secondary school education background (55.5%), and with an illness duration >1 year (64.0%). The results showed that cognitive function in schizophrenic patients was probable cognitive dysfunction (56.5%). CONCLUSIONS: From the results of this study, it was found that the most affected subjects were men, between 25 and 34 years, with high school education, and the illness lasted more than 1 year. Most of the schizophrenic patients experienced probable cognitive dysfunction