Accumulator-free Hough Transform for Sequence Collinear Points

The perception, localization, and navigation of its environment are essential for autonomous mobile robots and vehicles. For that reason, a 2D Laser rangefinder sensor is used popularly in mobile robot applications to measure the origin of the robot to its surrounding objects. The measurement data generated by the sensor is transmitted to the controller, where the data is processed by one or multiple suitable algorithms in several steps to extract the desired information. Universal Hough Transform (UHT) is one of the appropriate and popular algorithms to extract the primitive geometry such as straight line, which later will be used in the further step of data processing. However, the UHT has high computational complexity and requires the so-called accumulator array, which is less suitable for real-time applications where a high speed and low complexity computation is highly demanded. In this study, an Accumulator-free Hough Transform (AfHT) is proposed to reduce the computational complexity and eliminate the need for the accumulator array. The proposed algorithm is validated using the measurement data from a 2D laser scanner and compared to the standard Hough Transform. As a result, the extracted value of AfHT shows a good agreement with that of UHT but with a significant reduction in the complexity of the computation and the need for computer memory

Analisis Performansi Protokol Routing Vehicular Network Menggunakan Algoritma Ant Colony Jamak

Pengembangan teknologi jaringan ad-hoc disebut Vehicular Ad-hoc Network (VANET).  VANET terbentuk dari kumpulan node yang menggunakan antarmuka nirkabel untuk dapat melakukan komunikasi antara satu node dengan node lainnya. Penelitian ini, membangun sebuah protokol routing dengan menggunakan algoritma Ant Colony yang diberi nama (ANTC), dimana akan dibandingkan dengan routing protokol Ad-Hoc On-Demand Distance Vector (AODV) untuk melihat performansi dari masing – masing routing protocol. Proses routing AODV dengan membentuk sebuah pergerakan dari satu node sumber ke node tujuan berdasarkan pada permintaan node sumber tersebut. Sedangkan proses routing ANTC, setiap node menyimpan memori yang berisi informasi pergerakan pada setiap node yang diketahuinya, informasi pergerakan akan diperbaharui secara berkala jika terjadi perubahan link. Parameter kinerja routing protokol yang diukur berupa Latency dan Througphut. Hasil yang diperoleh pada penelitian ini adalah routing protokol ANTC unggul pada nilai parameter Latency dengan nilai rata-rata 16,8 s  dan Througphut  dengan nilai rata-rata  87,758 Kbps

Education of Smart Fish Feeder Technology based on internet of things (IoT) for Catfish Farming Groups in Dham Pulo Village, Aceh Besar

This community service program aimed to implement the smart fish feeder technology based in internet of things (IoT) to increase aquaculture productivity in Dham Pulo Village, Aceh Besar. The community service program consisted of three stages, namely: (1) Dissemination and training, (2) Practice and installation of smartphone/ Internet of Things-based automatic feeder to fishpond plots and (3) Evaluation in the form of focus group discussion (FGD). Implementation of this program managed to enhance the aquaculture productivity of fish farmer in Dham Pulo Village, Ingin Jaya Regency, Aceh Besar. This technology was successfully transferred to the farmers and supported less contact economy and database-based technology

Efisiensi Daya Protokol Quantize and Forward Pada Sistem Komunikasi Kooperatif Multi-relay

One of effective diversity techniques to combat fading on wireless channel is a cooperative communication system in which a source sends information through several relays and then forward it to a destination. A cooperative communication system has shown increased the system performance and reduced the energy consumption. However, it depends on the used relay mechanism that is relay protocols such as quantize and forward (QF) and amplify and forward (AF). In the previous research, energy efficiency of AF relay has investigated for a single-relay cooperative system, but multi-relay is more practical. Therefore, this research focuses on power efficiency in multi-relay cooperative communication system using QF protocol. The research method used is mathematical analysis and computer simulation for outage probability and power efficiency in the multi-relay QF. Simulation result found that multi-relay QF system could provide a high power efficiency, but the efficiency is reduced when the distance ratio increases. Power efficiency can be increased by adding the number of relays in the system. A comparison of power efficiency for QF and AF protocols has simulated, in which power efficiency of multi-relay QF is higher than that of multi-relay AF at distance ratio and power transmit. Thus, multi-relay QF system can provide high performance and power efficiency in the cooperative communication system

Perancangan Aplikasi Peristiwa Kriminal Dengan Pendekatan Contextual Design

Pemetaan lokasi kriminal sangat berguna bagi pihak kepolisian dan masyarakat. Pada proses kerja selama ini, Kepolisian Republik Indonesia (POLRI) masih menggunakan pemetaan dalam bentuk konvensional seperti gambar peta pada kertas yang ditempelkan pada kantor kepolisian. Hingga saat ini, jumlah personel kepolisian pada suatu wilayah belum mencapai tahap ideal, yaitu 1 (satu) orang polisi untuk 100 orang masyarakat, sehingga pengawasan yang dilakukan akan menjadi kurang efektif. Meskipun demikian, pihak kepolisian masih menggunakan data dan informasi yang disimpan pada arsip serta peta konvensional yang memiliki banyak kelemahan seperti terbatasnya informasi yang ditampilkan, dan daya tahan peta serta arsip yang mudah rusak. Berdasarkan permasalahan yang terjadi, telah dilakukan penelitian tentang aplikasi pemetaan criminal, akan tetapi aplikasi tersebut masih memiliki kekurangan seperti belum menggunakan pendekatan atau metode yang dikenal dalam proses perancangan perangkat lunak untuk mengetahui kebutuhan user. Dari beberapa permasalahan yang ditemukan pada peta kriminal yang terdapat di kantor kepolisian, maka ditawarkan solusi dalam proses perancangan aplikasi peristiwa kriminal menggunakan pendekatan contextual design yang mampu mendapatkan kebutuhan user di lapangan. Sementara itu, dalam proses perancangan aplikasi, terdapat 6 (enam) langkah yang dilakukan, mulai dari wawancara kontekstual, interpretasi, konsolidasi data, visioning, storyboarding, user environment design, dan prototyping. Dengan adanya perancangan aplikasi peristiwa kriminal menggunakan pendekatan Contextual Design, maka diharapkan dapat memaksimalkan pengalaman user dalam menggunakan aplikasi sehingga menjadi lebih menyenangkan, menangkap kebutuhan user dengan benar, serta mendapatkan keluaran yang sesuai dengan kebutuhan mereka. Hal ini bertujuan untuk membantu pihak kepolisian sehingga dapat mempermudah kinerja mereka dalam proses mengelola data criminal

Sistem Embedded Cerdas Menggunakan Logika Fuzzy Untuk Efisiensi Konsumsi Energi Listrik

Bertambahnya pertumbuhan industri, penggunaan alat elektronik untuk kebutuhan kantor dan rumah tangga menjadi kontribusi peningkatan konsumsi energi pada setiap tahunnya sehingga berpotensi menimbulkan pemborosan pemakaian energi yang berdampak pada lingkungan dan pemanasan global. Pengendalian konsumsi energi listrik oleh pemerintah dan organisasi peduli ingkungan melalui kampanye kesadaran hemat energi pada masyarakat dinilai belum cukup efektif dan efisien. Penelitian ini membuat purwarupa sistem embedded cerdas yang dapat mengendalikan penggunaan peralatan elektronik menggunakan metode Logika Fuzzy sehingga pengendalian konsumsi energi listrik dapat dilakukan secara otomatis. Sistem ini dirancang dengan menggunakan mikrokontroller Arduino Nano yang diintegrasikan dengan sensor suhu, sensor gerak dan modul Real Time Clock (RTC). Pada tahap pengujian kinerja, sistem ini dihubungkan dengan berbagai peralatan elektronik seperti pendingin ruangan, lampu, dan tempat penghubung arus listrik (stopkontak). Berdasarkan hasil pengujian dapat disimpulkan bahwa penerapan sistem embedded cerdas mampu mengendalikan konsumsi energi dan menghemat energi listrik hingga 28,71%

Partner selection on the heterogeneous grid computing using fuzzy multi-objective decision making

[[abstract]]Many scheduling and load balancing solutions have been proposed for grid computing, but considerable parts of them do not clearly define the partners which are helpful in increasing system performance. We in this thesis study the partner selection problem which is an important problem in acquiring a good system performance in heterogeneous grid networks. The problem is formulated into four objectives: remain power (or node speed), queue length of jobs, link speed, and transfer time. The solution set of such formulated problem are fuzzy multi-objective decision making. The results are demonstrated by comparison between single objective and multi-objective decision making approaches in choosing a best partner. Keyword: grid computing, heterogeneous, partner selection, fuzzy, multi-objective decision makin

PERFORMANCE ANALYSES OF OPPORTUNISTIC SPECTRUM ACCESS IN COGNITIVE RADIO NETWORK

[[abstract]]This thesis studies the performance analysis of opportunistic spectrum access (OSA) with imperfect sensing, spectrum backup channels (BCs), and prediction scheme for cognitive radio networks (CRN). The studies have organized in to three works. At first work we study the performance of an opportunistic spectrum access (OSA) system with a general number of channels and imperfect spectrum sensing. The system is modeled as a two-dimensional continuous-time Markov chain. We specify the state-dependent transition rates due to imperfect sensing for the general channel number case by using simple recursive functions. For performance metrics, we consider blocking probability, termination probability and success probability for each type of users. On second work, we study the performance of cognitive radio networks with imperfect spectrum sensing and backup channels (BCs). In case an SU is blocked from PCs, it then checks the BCs to find a free one. The system is modeled as a three-dimensional continuous-time Markov chain. We specify the state-dependent transition rates due to imperfect sensing by simple recursive functions. On the last work we propose a hidden Markov model (HMM) with state prediction for opportunistic spectrum access (OSA) in cognitive radio (CR) networks. In contrast to the traditional scheme relying only on channel sensing for exploring spectrum opportunities, the proposed prediction scheme takes advantage of state prediction, channel sensing, and acknowledgments (ACKs) from the receiver in an attempt to maximize the utility. We impose some constraints on the system parameters and derive thresholds by which we can specify the optimal action. We then conduct simulations to compare the performance of the prediction scheme to that of the traditional scheme. Keyword: Opportunistic Spectrum Access, cognitive radio network, imperfect sensing, backup channel, prediction scheme, recursive function, two dimensional Markov, Three dimensional Markov, hidden Markov model

Implementing a non-local means method to CTA data of aortic dissection

It is necessary to conserve important information, like edges, details, and textures, in CT aortic dissection images, as this helps the radiologist examine and diagnose the disease. Hence, a less noisy image is required to support medical experts in performing better diagnoses. In this work, the non-local means (NLM) method is conducted to minimize the noise in CT images of aortic dissection patients as a preprocessing step to produce accurate aortic segmentation results. The method is implemented in an existing segmentation system using six different kernel functions, and the evaluation is done by assessing DSC, precision, and recall of segmentation results. Furthermore, the visual quality of denoised images is also taken into account to be determined. Besides, a comparative analysis between NLM and other denoising methods is done in this experiment. The results showed that NLM yields encouraging segmentation results, even though the visualization of denoised images is unacceptable. Applying the NLM algorithm with the flat function provides the highest DSC, precision, and recall values of 0.937101, 0.954835, and 0.920517 consecutively