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Sonar-based obstacle avoidance using a path correction method for autonomous control of a biped robot for the learning stratification and performance

Sonar-based obstacle avoidance using a path correction metho...

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IEEE International Conference on Industrial Engineering and Engineering Management

作者： Cheng-Hsuan Tsai Po-Hsuan Huang Wei-Chung Chou Chia-Hung Shih Chen-Yuan Chen Bih-Yaw Shih Chin-Jui Chang Cheng-Wu Chen Tsung-Hao Chen Wan-I Lee Pei-Yin Chung Department of Computer Science National Ping Tung University of Education Ping Tung Taiwan Doctoral Program in Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Department of Information Management Transworld University Yunlin Taiwan Institute of Maritime Information and Technology National Kaohsiung Marine University Kaohsiung Taiwan Departments of Business Administration Shu Te University Kaohsiung Taiwan Marketing and Distribution Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Department of Information Management Meiho University Ping Tung Taiwan

In this paper, a simple path correction and obstacle avoidance method with a bipedal robot for the learning stratification and performance, using an ultrasonic sensor and electronic compass sensor, is proposed. This bipedal robot was comprised using the Lego NXT Intelligent Bricks. The proposed method is implemented on an autonomous humanoid robot (the ARSR). One ultrasonic sensor and one electronic compass sensor are installed on the ARSR to detect environmental information including obstacles, the distance to the obstacle, and the directional angle of the robot. Based on the obtained information, an obstacle avoidance and path correct method is proposed to decide the ARSR's behavior so that it can avoid obstacles and move effectively to the destination area. Obstacle avoidance experiments are carried out to confirm the effectiveness of the proposed method and confirm the learning stratification and performance.

关键词： Robot sensing systems Acoustics Mobile robots Servomotors Compass Service robots

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Comprehensive survey of cloud intrusion detection system

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AIP Conference Proceedings 2023年第1期2654卷

作者： Aditya Nur Cahyo Tri Kuntoro Priyambodo Mardhani Riasetiawan 1Doctoral Program of Computer Science FMIPA UGM Yogyakarta Indonesia 2Informatics Education FKIP UMS Surakarta Indonesia 3Department of Computer Science and Electronics FMIPA UGM Yogyakarta Indonesia

Intrusion Detection System provides services related to surveillance of computer security, as one of the minimum components that must exist in a computer network architecture. Regarding the adoption of cloud technology, many users have switched to using cloud computers to operate servers, applications, or the web in cloud computing. To meet the security needs of users, various open source and commercial tools are being developed. Although many developments have taken place in the IDS area, in cloud-based IDS many challenges such as security, interoperability, resource scheduling, virtualization still need to be improved. This paper reviews the paradigms and surveys about the Intrusion Detection System that runs on cloud computing in terms of concepts, technology, tools, and various challenges. A systematic literature review of selected papers, published from 2016 to 2020, was carried out to properly understand the Intrusion detection System paradigm in cloud computing and the security challenges faced in cloud computing. This review paper helps researchers who want to start their research careers in the cloud computing-based Intrusion Detection System

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The complexity calculation for group decision making using TOPSIS algorithm

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AIP Conference Proceedings 2016年第1期1755卷

作者： Hamdani Retantyo Wardoyo 1Computer Sciences Doctoral Program Departement of Computer Science and Electronics Universitas Gadjah Mada Yogyakarta Indonesia 2Departement of Computer Sciences Universitas Mulawarman Indonesia 3Departement of Computer Science and Electronics Universitas Gadjah Mada Yogyakarta Indonesia

The complexity calculation is one of the things to be considered in choosing an algorithm to be applied to a decision support system (DSS). This study analyzes the complexity of Technique for Order Preference by Similarity to Ideal Solution (TOPSIS) algorithm. This algorithm is applied to the ranking process to resolve the problems associated with Multi-Criteria Decision Making (MCDM). MCDM is used for Group Decision Making (GDM) problems in making a decision. The end output of this study is making DM ranking resulted from decision-making. This problem also produces TOPSIS algorithm complexity used in group decision-making. This algorithm complexity is in the part of attribute normalization and weighting which results in O(n2). Whereas the complexity of a positive-negative ideal solution and V distance to A1, A2, A3, and A4 is O(n) and the algorithm complexity ranking results in O(1).

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Analysis of Application of the SAW, WP and TOPSIS Methods in Decision Support System Determining Scholarship Recipients at University

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Journal of Physics: Conference Series 2021年第1期1830卷

作者： Murni Marbun Muhammad Zarlis Zulkifli Nasution Doctoral Program Faculty of Computer Science and Information Technology Universitas Sumatera Utara Medan Indonesia Department of Teknik Informatika STMIK Pelita Nusantara Medan Indonesia

This research is an analysis of the application of the SAW, WP and TOPSIS methods to the support system for decision making at university. The types of scholarships provided are PPA education scholarships given by the Kementerian Riset, Teknologi dan Pendidikan Tinggi. The research variables are the attributes or criteria specified by the Directorate General of Learning and Student Affairs as contained in the 2018 Academic Achievement Improvement (PPA) guidebook. Decision Support Systems apply the classic FMADM method SAW, WP and TOPSIS. The results of this study are the application of the both methods of SAW and WP produce the same ranking and TOPSIS giving different rankings.

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Combining rating scale and FANP to determine the important weight of learning competency for students’ assessment

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AIP Conference Proceedings 2016年第1期1755卷

作者： Sri Andayani Sri Hartati Retantyo Wardoyo Djemari Mardapi 1Doctoral program of Computer Science Universitas Gadjah Mada Yogyakarta Indonesia 2Department of Computer Science and Electrical Universitas Gadjah Mada Yogyakarta Indonesia 3Study Program of Educational Research and Evaluation Graduate School Universitas Negeri Yogyakarta Indonesia

Determining the important weight of learning competency is an important problem for students’ assessment in credentialing and certification decision-making. Learning competencies should have importance weight that definitely affect the final decision, and can represent strengths and weaknesses of student achievement of certain competencies. The weight of learning competency is determined based on its difficulty level, which is identified by the depth, scope and complexity of material involved in it. The dependency among learning competencies must also be considered in determining the weight. Therefore, this study aims to develop a weighting method based on combining rating scale and fuzzy analytic network process (FANP) to determine the weight of learning competency. Using the proposed method, the weight of learning competency is obtained and then can be used in calculating the final score for students’ assessment.

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Lamé Parameter Estimation from Static Displacement Field Measurements in the Framework of Nonlinear Inverse Problems

arXiv

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arXiv 2017年

作者： Hubmer, Simon Sherina, Ekaterina Neubauer, Andreas Scherzer, Otmar Johannes Kepler University Linz Doctoral Program Computational Mathematics Altenbergerstraße 69 LinzA-4040 Austria Technical University of Denmark Department of Applied Mathematics and Computer Science Asmussens Allé Kongens Lyngby 2800 Denmark Johannes Kepler University Linz Industrial Mathematics Institute Altenbergerstraße 69 LinzA-4040 Austria University of Vienna Computational Science Center Oskar Morgenstern-Platz 1 Vienna1090 Austria Johann Radon Institute Linz Altenbergerstraße 69 LinzA-4040 Austria

We consider a problem of quantitative static elastography, the estimation of the Lamé parameters from internal displacement field data. This problem is formulated as a nonlinear operator equation. To solve this equation, we investigate the Landweber iteration both analytically and numerically. The main result of this paper is the verification of a nonlinearity condition in an infinite dimensional Hilbert space context. This condition guarantees convergence of iterative regularization methods. Furthermore, numerical examples for recovery of the Lamé parameters from displacement data simulating a static elastography experiment are *** Codes 65J22, 65J15, 74G75 Copyright © 2017, The Authors. All rights reserved.

关键词： Inverse problems

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It's about time: Feeding competition costs of sociality are affected more by temporal characteristics than spatial distribution

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Ecology and Evolution 2024年第4期14卷 e11209页

作者： Ekanayake-Weber, Marcy Mathew, Namita Cunha, Deanna Payen, Nathanael Grimm, Volker Koenig, Andreas Department of Anthropology Stony Brook University Stony Brook NY United States Interdepartmental Doctoral Program in Anthropological Sciences Stony Brook University Stony Brook NY United States Department of Computer Science Stony Brook University Stony Brook NY United States Department of Ecological Modeling Helmholtz Centre for Environmental Research – UFZ Leipzig Germany Graduate Program in Ecology and Evolution Stony Brook University Stony Brook NY United States

For most herbivorous animals, group-living appears to incur a high cost by intensifying feeding competition. These costs raise the question of how gregariousness (i.e., the tendency to aggregate) could have evolved to such an extent in taxa such as anthropoid primates and ungulates. When attempting to test the potential benefits and costs, previous foraging models demonstrated that group-living might be beneficial by lowering variance in intake, but that it reduces overall foraging success. However, these models did not fully account for the fact that gregariousness has multiple experiences and can vary in relation to ecological variables and foraging competition. Here, we present an agent-based model for testing how ecological variables impact the costs and benefits of gregariousness. In our simulations, primate-like agents forage on a variable resource landscape while maintaining spatial cohesion with conspecifics to varying degrees. The agents' energy intake rate, daily distance traveled, and variance in energy intake were recorded. Using Morris Elementary Effects sensitivity analysis, we tested the sensitivity of 10 model parameters, of which 2 controlled gregarious behavior and 8 controlled food resources, including multiple aspects of temporal and spatial heterogeneity. We found that, while gregariousness generally increased feeding competition, the costs of gregariousness were much lower when resources were less variable over time (i.e., when calorie extraction was slow and resource renewal was frequent). We also found that maintaining proximity to other agents resulted in lower variance in energy intake when resources were more variable over time. Thus, it appears that the costs and benefits of gregariousness are strongly influenced by the temporal characteristics of food resources, giving insight into the pressures that shaped the evolution of sociality and group living, including in our own lineage. © 2024 The Authors. Ecology and Evolution published by Jo

关键词： agent-based model foraging group living resource availability resource distribution resource quality

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A model to optimize palm oil biomass supply chain by considering production traceability information

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AIP Conference Proceedings 2023年第1期2714卷

作者： Heru Pranoto Muhammad Zarlis Syahril Efendi Herman Mawengkang Doctoral Program of Computer Science and Information Technology Universitas Sumatera Utara Medan Indonesia Faculty of Computer Science and Information Technology Universitas Sumatera Utara Medan Indonesia Faculty of Mathematics and Natural Sciences Universitas Sumatera Utara Medan Indonesia

Due to the global situation, it is necessary for an industrial company to integrate production scheduling and traceability planning, in a way to get more reliable stand and to make economics advantages. This paper presents biomass supply chain company which could produce a renewable energy. Traceability is a tracking requirement to check whether the quality of the product is satisfied. The supply chain of biomass planning problem aims to meet customer demand subject to traceability and other restrictions. The problem is modelled as a mixed integer linear program, and then it is solved using neighborhood search approach.

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Empirical testing: The prototyper's evaluation mechanism

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NAVAL ENGINEERS JOURNAL 1997年第1期109卷 41-46页

作者： Hafner, AN Arnold N. Hafner Ph.D.:is founder and president of Information Systems Research (ISR). He has twenty-five years of experience in systems development and is published in the field of systems development management. He served as corporate research scientist at Systems Exploration Inc. from 1988 to 1991 program director at Computer Science Corporation from 1983 to 1988 director of operations at Republic Management Systems Corporation from 1981 to 1983 and program manager at Computer Science Corporation from 1972 to 1981. A 1962 graduate of the US. Naval Academy he holds a doctoral degree in human behavior and engineering degrees in electronics and communications. He has taught courses on information systems and systems management at most of the colleges in the San Diego area. Dr. Hafner has presented fourteen refereed research papers while publishing sixteen articles and a book A Manager's Guide to Software System Development.

Evaluating complex systems is the subject of this paper, the third in a series investigating prototyping. It provides an interesting and helpful overview of how to evaluate systems prototypes and outlines the iterative stream of developer-user interactions that is replacing older approaches to testing and evaluating new military systems, which promise to reduce the time required to develop and field future military capabilities. Changes to the acquisition process, such as those the paper sketches, will facilitate the nation's rapid transit through its current revolution in military affairs.

关键词： Systems analysis

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Framework for tackling stochastic DEA based on data-driven approach

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AIP Conference Proceedings 2023年第1期2714卷

作者： Hengki Tamando Sihotang Syahril Efendi Muhammad Zarlis Herman Mawengkang Doctoral Program Faculty of Computer Science and Information Technology Universitas Sumatera Utara Medan Indonesia Faculty of Computer Science and Information Technology Universitas Sumatera Utara Medan Indonesia Faculty of Mathematics and Natural Sciences Universitas Sumatera Utara Medan Indonesia

Data Envelopment Analysis (DEA) is a linear programming-based technique used to evaluate the relative efficiency of multi-input and multi-output decision-making units based on observed data by comparing one decision-making unit (DMU) with another DMU. The efficacy assessment process sometimes involves a stochastic approach due to the uncertainty inherent in many real life problems, so the DEA model discussed in this paper is the stochastic DEA (SDEA) model. Data-driven decision-making is based entirely on the data involved. This paper proposes a framework for the completion of SDEA based on a data-driven approach.

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