Lokalisasi Mobile Robot berdasarkan Citra Kamera OMNI menggunakan Fitur Surf

Deteksi lokasi diri atau lokalisasi diri adalah salah satu kemampuan yang harus dimiliki oleh mobile robot. Kemampuan lokalisasi diri digunakan untuk menentukan posisi robot di suatu daerah dan sebagai referensi untuk menentukan arah perjalanan selanjutnya. Dalam penelitian ini, lokalisasi robot didasarkan pada data citra yang ditangkap oleh kamera omnidirectional tipe catadioptric. Jumlah fitur terdekat antara citra 360o yang ditangkap oleh kamera Omni dan citra referensi menjadi dasar untuk menentukan prediksi lokasi. Ekstraksi fitur gambar menggunakan metode Speeded-Up Robust Features (SURF). Kontribusi pertama dari penelitian ini adalah optimasi akurasi deteksi dengan memilih nilai Hessian Threshold dan jarak maksimum fitur yang tepat. Kontribusi kedua optimasi waktu deteksi menggunakan metode yang diusulkan. Metode ini hanya menggunakan fitur 3 gambar referensi berdasarkan hasil deteksi sebelumnya. Optimasi waktu deteksi, untuk lintasan dengan 28 gambar referensi, dapat mempersingkat waktu deteksi sebesar 8,72 kali. Pengujian metode yang diusulkan dilakukan menggunakan omnidirectional mobile robot yang berjalan di suatu daerah. Pengujian dilakukan dengan menggunakan metode recall, presisi, akurasi, F-measure, G-measure, dan waktu deteksi. Pengujian deteksi lokasi juga dilakukan berdasarkan metode SIFT untuk dibandingkan dengan metode yang diusulkan. Berdasarkan pengujian, kinerja metode yang diusulkan lebih baik daripada SIFT untuk pengukuran dengan recall 89,67%, akurasi 99,59%, F-measure 93,58%, G-measure 93,87%, dan waktu deteksi 0,365 detik. Metode SIFT hanya lebih baik pada presisi 98,74%. AbstractSelf-location detection or self-localization is one of the capabilities that must be possessed by the mobile robot. The self-localization ability is used to determine the robot position in an area and as a reference to determine the next trip direction. In this research, robot localization was by vision-data based, which was captured by catadioptric-types omnidirectional cameras. The number of closest features between the 360o image captured by the Omni camera and the reference image was the basis for determining location predictions. Image feature extraction uses the Speeded-Up Robust Features (SURF) method. The first contribution of this research is the optimization of detection accuracy by selecting the Hessian Threshold value and the maximum distance of the right features. The second contribution is the optimization of detection time using the proposed method. This method uses only the features of 3 reference images based on the previous detection results. Optimization of detection time, for trajectories with 28 reference images, can shorten the detection time by 8.72 times. Testing the proposed method was done using an omnidirectional mobile robot that walks in an area. Tests carried out using the method of recall, precision, accuracy, F-measure, G-measure, and detection time. Location detection testing was also done based on the SIFT method to be compared with the proposed method. Based on testing, the proposed method performance is better than SIFT for measurements with recall 89.67%, accuracy 99.59%, F-measure 93.58%, G-measure 93.87%, and detection time 0.365 seconds. The SIFT method is only better at precision 98.74%

ANALYSIS OF THE INFORMATION SYSTEM FOR THE DATA COLLECTION OF RESIDENTS TOWNSMAN ASSOCIATION LEVEL

It starts with the development of technology over time. The population continues to increase in each area, encouraging urban villages and community organizations to continue to innovate to reach convenience and use existing technology. Technologies that can comprehensively collect data and reach every citizen will resolve changes in data over time. The survey that the author conducted was in the village of Cimone Jaya. The survey found that the work on the Family Card was done manually, in which the role of urban civic associations is very vital. Old / new residents who will report must obtain approval from the local city to apply for a family card by submitting the required documents; then, it will be processed to the district stage. the district will print the family card. Through the proposed program, each head of household can register his family card online. Of course, residents can update the data, and the updated data will be approved by the local city association if the data entered is valid. This program is also able to provide invitations to every citizen and news related to the local area. This program may still have many shortcomings and still needs a lot of improvement, but this will make it easier for residents and municipal community associations to go to the sub-distric

ANALYSIS OF THE INFORMATION SYSTEM FOR THE DATA COLLECTION OF RESIDENTS TOWNSMAN ASSOCIATION LEVEL

It starts with the development of technology over time. The population continues to increase in each area, encouraging urban villages and community organizations to continue to innovate to reach convenience and use existing technology. Technologies that can comprehensively collect data and reach every citizen will resolve changes in data over time. The survey that the author conducted was in the village of Cimone Jaya. The survey found that the work on the Family Card was done manually, in which the role of urban civic associations is very vital. Old / new residents who will report must obtain approval from the local city to apply for a family card by submitting the required documents; then, it will be processed to the district stage. the district will print the family card. Through the proposed program, each head of household can register his family card online. Of course, residents can update the data, and the updated data will be approved by the local city association if the data entered is valid. This program is also able to provide invitations to every citizen and news related to the local area. This program may still have many shortcomings and still needs a lot of improvement, but this will make it easier for residents and municipal community associations to go to the sub-distric

ANALYSIS OF THE INFORMATION SYSTEM FOR THE DATA COLLECTION OF RESIDENTS TOWNSMAN ASSOCIATION LEVEL

It starts with the development of technology over time. The population continues to increase in each area, encouraging urban villages and community organizations to continue to innovate to reach convenience and use existing technology. Technologies that can comprehensively collect data and reach every citizen will resolve changes in data over time. The survey that the author conducted was in the village of Cimone Jaya. The survey found that the work on the Family Card was done manually, in which the role of urban civic associations is very vital. Old / new residents who will report must obtain approval from the local city to apply for a family card by submitting the required documents; then, it will be processed to the district stage. the district will print the family card. Through the proposed program, each head of household can register his family card online. Of course, residents can update the data, and the updated data will be approved by the local city association if the data entered is valid. This program is also able to provide invitations to every citizen and news related to the local area. This program may still have many shortcomings and still needs a lot of improvement, but this will make it easier for residents and municipal community associations to go to the sub-distric

Understanding Patients with COVID in the Isolation Rooms from the Perspective of Care: A Qualitative Study

Abstract Introduction Being treated in isolation rooms for people infected with COVID-19, creates various perceptions of uncertainty, especially when strict “health protocols” are applied. This study aims to determine the understanding patients with COVID in the intensive care unit from the perspective of care. Materials and Methods The research design used phenomenological qualitative with in-depth interviews. Purposive sampling was used with interpretive phenomenological analysis. Participants were 25 patients who had been exposed to COVID-19, consisting of 10 men and 15 women. Results This study resulted in the theme of the perception of COVID-19 sufferers while undergoing treatment in isolation rooms, with four themes, namely, 1) mental attacks, 2) feel like fighting alone, 3) expecting Concern, 4) positive attitude

Understanding Patients with COVID in the Isolation Rooms from the Perspective of Care: A Qualitative Study

Introduction: Being treated in isolation rooms for people infected with COVID-19, creates various perceptions of uncertainty, especially when strict “health protocols” are applied. This study aims to determine the understanding patients with COVID in the intensive care unit from the perspective of care. Materials and Methods: The research design used phenomenological qualitative with in-depth interviews. Purposive sampling was used with interpretive phenomenological analysis. Participants were 25 patients who had been exposed to COVID-19, consisting of 10 men and 15 women. Results: This study resulted in the theme of the perception of COVID-19 sufferers while undergoing treatment in isolation rooms, with four themes, namely, 1) mental attacks, 2) feel like fghting alone, 3) expecting Concern, 4) positive attitude. Conclusion: This analysis shows that various perceptions of uncertainty that are felt while being treated in the isolation room due to suffering from COVID-19 disease can be anticipated by increasing the awareness of nurses to be closer to patients through caringbased nursing practices by emphasizing meaningful interpersonal relationships