Sagu sebagai Makanan Rakyat dan Sumber Informasi Budaya Masyarakat Inanwatan: Kajian Folklor Non Lisan

Tulisan ini memberi gambaran bahwa suo (sagu) yang merupakan makanan pokok masyarakat budaya Inanwatan secara khusus, tetapi juga masyarakat Papua secara umum, merupakan suatu tradisi lisan budaya yang memberikan informasi tentang sagu yang selain sebagai makanan pokok, sagu juga merupakan sumber informasi budaya, alam, dan manusianya sebagai identitas (jati diri) nya. Kekayaan alam kesaguan, membuat konsep (pengetahuan) masyarakatnya sangat kaya dengan pengetahuan infrastruktur dan pengetahuan mengolah panganan dari sagu secara bervariasi dengan jenis dan bentuknya. Tidak hanya makanan, tetapi perilaku atau kebiasaan pengolahan sagu (suo) menjadikan ciri pembeda dari kolektifitas yang lainnya. Transmisi budaya yang dituturkan secara lisan dengan leksikon-leksikon kesaguan dari turun-temurun secara tradisional telah membuat sebuah tradisi yang membentuk pengetahuan kuliner dan juga budaya masyarakatnya yang ternyata merupakan suatu tradisi lisan. Transmisi lisan tentang cara mengolah bahan sagu sampai menjadi aneka kuliner seperti Papeda, sagu lempeng, sagu forna, sagu apatar, adalah bentuk produk makanan rakyat dari sebuh aktivitas tuturan secara lisan, tetapi juga sebagai sumber informasi kebudayaan kolektifnya

Expanding wavefront frontier detection: An approach for efficiently detecting frontier cells

Frontier detection is a key step in many robot exploration algorithms. The more quickly frontiers can be detected, the more efficiently and rapidly exploration can be completed. This paper proposes a new frontier detection algorithm called Expanding Wavefront Frontier Detection (EWFD), which uses the frontier cells from the previous timestep as a starting point for detecting the frontiers in the current timestep. As an alternative to simply comparing against the naive frontier detection approach of evaluating all cells in a map, a new benchmark algorithm for frontier detection is also presented, called Naive Active Area frontier detection, which operates in bounded constant time. EWFD and NaiveAA are evaluated in simulations and the results compared against existing state-of-the-art frontier detection algorithms, such as Wavefront Frontier Detection and Incremental-Wavefront Frontier Detection

Efficient neighbourhood-based information gain approach for exploration of complex 3D environments

This paper presents an approach for exploring a complex 3D environment with a sensor mounted on the end effector of a robot manipulator. In contrast to many current approaches which plan as far ahead as possible using as much environment information as is available, our approach considers only a small set of poses (vector of joint angles) neighbouring the robot's current pose in configuration space. Our approach is compared to an existing exploration strategy for a similar robot. Our results demonstrate a significant decrease in the number of information gain estimation calculations that need to be performed, while still gathering an equivalent or increased amount of information about the environment. © 2013 IEEE

A sliding window approach to exploration for 3D map building using a biologically inspired bridge inspection robot

© 2015 IEEE. This paper presents a Sliding Window approach to viewpoint selection when exploring an environment using a RGB-D sensor mounted to the end-effector of an inchworm climbing robot for inspecting areas inside steel bridge archways which cannot be easily accessed by workers. The proposed exploration approach uses a kinematic chain robot model and information theory-based next best view calculations to predict poses which are safe and are able to reduce the information remaining in an environment. At each exploration step, a viewpoint is selected by analysing the Pareto efficiency of the predicted information gain and the required movement for a set of candidate poses. In contrast to previous approaches, a sliding window is used to determine candidate poses so as to avoid the costly operation of assessing the set of candidates in its entirety. Experimental results in simulation and on a prototype climbing robot platform show the approach requires fewer gain calculations and less robot movement, and therefore is more efficient than other approaches when exploring a complex 3D steel bridge structure

Key feature-based approach for efficient exploration of structured environments

© 2015 IEEE. This paper presents an exploration approach for robots to determine sensing actions that facilitate the building of surface maps of structured partially-known environments. This approach uses prior knowledge about key environmental features to rapidly generate an estimate of the rest of the environment. Specifically, in order to quickly detect key features, partial surface patches are used in combination with pose optimisation to select a pose from a set of nearest neighbourhood candidates, from which to make an observation of the surroundings. This paper enables the robot to greedily search through a sequence of nearest neighbour poses in configuration space, then converge upon poses from which key features can best be observed. The approach is experimentally evaluated and found to result in significantly fewer exploration steps compared to alternative approaches

Climbing Robot for Steel Bridge Inspection: Design Challenges

Inspection of bridges often requires high risk operations such as working at heights, in confined spaces, in hazardous environments; or sites inaccessible by humans. There is significant motivation for robotic solutions which can carry out these inspection tasks. When inspection robots are deployed in real world inspection scenarios, it is inevitable that unforeseen challenges will be encountered. Since 2011, the New South Wales Roads & Maritime Services and the Centre of Excellence for Autonomous Systems at the University of Technology, Sydney, have been working together to develop an innovative climbing robot to inspect high risk locations on the Sydney Harbour Bridge. Many engineering challenges have been faced throughout the development of several prototype climbing robots, and through field trials in the archways of the Sydney Harbour Bridge. This paper will highlight some of the key challenges faced in designing a climbing robot for inspection, and then present an inchworm inspired robot which addresses many of these challenges

Space Shuttle UHF Communications Performance Evaluation

An extension boom is to be installed on the starboard side of the Space Shuttle Orbiter (SSO) payload bay for thermal tile inspection and repairing. As a result, the Space Shuttle payload bay Ultra High Frequency (UHF) antenna will be under the boom. This study is to evaluate the Space Shuttle UHF communication performance for antenna at a suitable new location. To insure the RF coverage performance at proposed new locations, the link margin between the UHF payload bay antenna and Extravehicular Activity (EVA) Astronauts at a range distance of 160 meters from the payload bay antenna was analyzed. The communication performance between Space Shuttle Orbiter and International Space Station (SSO-ISS) during rendezvous was also investigated. The multipath effects from payload bay structures surrounding the payload bay antenna were analyzed. The computer simulation tool based on the Geometrical Theory of Diffraction method (GTD) was used to compute the signal strengths. The total field strength was obtained by summing the direct fields from the antennas and the reflected and diffracted fields from the surrounding structures. The computed signal strengths were compared to the signal strength corresponding to the 0 dB link margin. Based on the results obtained in this study, RF coverage for SSO-EVA and SSO- ISS communication links was determined for the proposed payload bay antenna UHF locations. The RF radiation to the Orbiter Docking System (ODS) pyros, the payload bay avionics, and the Shuttle Remote Manipulator System (SRMS) from the new proposed UHF antenna location was also investigated to ensure the EMC/EMI compliances

Form Factors in the radiative pion decay

We perform an analysis of the form factors that rule the structure-dependent amplitude in the radiative pion decay. The resonance contributions to pion -> e nu_e gamma decays are computed through the proper construction of the vector and axial-vector form factors by setting the QCD driven asymptotic properties of the three-point Green functions VVP and VAP, and by demanding the smoothing of the form factors at high transfer of momentum. A comparison between theoretical and experimental determinations of the form factors is also carried out. We also consider and evaluate the role played by a non-standard tensor form factor. We conclude that, at present and due to the hadronic incertitudes, the search for New Physics in this process is not feasible.Comment: 14 pages, no figures. Typos corrected. Accepted for publication in The European Physical Journal