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25,002 Article Results

Mobile Robot Localization: A Review of Probabilistic Map-Based Techniques

10.11591/ijra.v4i1.pp73-81
Salvador Manuel Malagon-Soldara , Manuel Toledano-Ayala , Genaro Soto-Zarazua , Roberto Valentin Carrillo-Serrano , Edgar Alejandro Rivas-Araiza
This work presents a comprehensive review of current probabilistic developments used to calculate position by mobile robots in indoor environments. In this calculation, best known as localization, it is necessary to develop most of the tasks delegated to the mobile robot. It is then crucial that the methods used for position calculations be as precise as possible, and accurately represent the location of the robot within a given environment. The research community has devoted a considerable amount of time to provide solutions for the localization problem. Several methodologies have been proposed the most common of which are based in the Bayes rule. Other methodologies include the Kalman filter and the Monte Carlo localization filter wich will be addressed in next sections. The major contribution of this review rests in offering a wide array of techniques that researchers can choose. Therefore, method-sensor combinations and their main advantages are displayed.
Volume: 4
Issue: 1
Page: 73-81
Publish at: 2015-03-01

A Brief Survey Paper on Multi-Legged Robots

10.11591/ijra.v4i1.pp41-52
Mohammad Behmanesh , Ehsan Amiri Tehranizadeh , Mahmud Iwan Solihin
This paper presents a brief survey on multi-legged robots and their applications in agriculture such as for harvesting. Multi-legged robots have the benefit of more flexibility and adapt to different rough terrain in a better way. They also have very important applications in fulfilling the dangerous tasks such as mine detecting.
Volume: 4
Issue: 1
Page: 41-52
Publish at: 2015-03-01

The role of technological pedagogical and content knowledge on career adaptability among teachers in Indonesia and Malaysia

10.11591/ijphs.v14i1.24230
Rosita Endang Kusmaryani , Tria Widyastuti , Siti Rohmah Nurhayati , Hazalizah Hamzah
Since the COVID-19 pandemic, face-to-face learning has been transformed into online learning. This phenomenon was really challenging for teachers because they were not used to it. The adaptability of the teacher becomes an indispensable aspect to face the problem. The ability to integrate materials, pedagogy and technology or technological pedagogical and content knowledge (TPACK) supported the adaptability in implementing online learning. The purpose of this study was to investigate the impact of TPACK on professional adaptability. A sample of 457 junior and senior high school teachers in Indonesia and Malaysia completed the technological pedagogical and content knowledge scale and the career adaptability scale. Based on partial least square analysis, this study found that TPACK played a role in predicting four dimensions of career adaptability: concern, control, curiosity, and confidence. This structural model was also supported with path analysis. Therefore, TPACK becomes an essential aspect in influencing teachers' career adaptability.
Volume: 14
Issue: 1
Page: 361-370
Publish at: 2015-03-01

Analysis of risk factors and prevention strategy in accidents among coal hauling trucks: a scoping review

10.11591/ijphs.v14i1.24795
Adenan Adenan , Zulkifli Djunaidi
Powered hauling equipment is one of the most critical operational elements in the mining sector. Haulage is a significant hazard for the mining industry, accounting for over half of all mining-related fatal accidents yearly. Identifying safety risk variables is the foundation of risk assessment and accident prevention. This study aimed to identify risk variables and prevention techniques to reduce occurrences among truck drivers in coal mining. This research approach is a scoping review with the PRISMA Extension for Scoping Reviews (PRISMA-ScR). Thirty-five articles were reviewed based on the results of inclusion and exclusion criteria. Data analysis was performed using content analysis. The results show that human, environmental, machine and organizational factors contribute to the risk among truck drivers in coal mining. Safety culture, staffing and scheduling, training and education, policy and procedure implementation, and technology deployment are all part of the accident prevention plan. The central government should pay particular attention to the employment conditions of workers in cities with decreased resources and develop policies to prevent mining-related diseases in local communities.
Volume: 14
Issue: 1
Page: 183-191
Publish at: 2015-03-01

A meta-analysis of long-term COVID-19 symptoms

10.11591/ijphs.v14i1.24087
Shi D. Prantilla , Cesar G. Demayo , Mark Anthony J. Torres , Orven E. Llantos
This meta–analysis examines the far–reaching effects of long COVID (LC), highlighting the need for welfare strategies emphasizing the Parity of Esteem. The analysis of clinical studies reveals the prevalence of LC across various demographic factors, including age, gender, infection type, and severity. The findings highlight persistent pulmonary impairments that result in post-COVID pulmonary fibrosis (PCPF), long-term cardiovascular symptoms, gastrointestinal issues, dermatological concerns, and neuropsychiatric outcomes. These effects continue beyond the acute phase of COVID-19, affecting both symptomatic and asymptomatic people. The study emphasizes that LC is not only a physical ailment but also has a significant impact on mental health, necessitating a holistic approach to healthcare. Psychological and emotional distress among LC patients necessitates empathetic support. This study concludes by emphasizing the significance of LC and advocating for data-driven healthcare policies and assistance programs to address the unique challenges encountered by COVID-19 survivors. For managing the long-term effects of LC on both physical and mental health, an unwavering commitment to parity of esteem is crucial.
Volume: 14
Issue: 1
Page: 311-321
Publish at: 2015-03-01

Low zinc serum affects insulin-like growth factor-1 level in dehydrated pregnant women

10.11591/ijphs.v14i1.24431
Erry Yudhya Mulyani , Hardinsyah Hardinsyah , Dodik Briawan , Budi Iman Santoso , Idrus Jus'at
Maternal body fluids imbalance affects amniotic fluid, serum sodium-potassium, edema, and preeclampsia. Insulin-like growth factor-1 (IGF-1) is a growth hormone and a regulator in sodium balance regulation. This study aimed to determine the correlation of IGF-1, zinc, calcium, and sodium with hydration status and the nutrients impact to IGF-1 based on hydration status of pregnant women at Kebon Jeruk Health-Center, West Jakarta. This cohort-prospective study was conducted in December 2016 to January 2018. A total of 66 pregnant women in the second trimester were examined. Urine color, urine specific gravity, serum sodium, serum osmolality and urine were used as hydration status indicators. Zn, Ca, Na, and IGF-1 levels as the growth indicator from mother to fetus. Pearson correlation test, independent t-test and linear regression were used in statistical analysis. There were no differences in IGF-1, Zn, Ca, and Na serum between the two groups (p³0.05). There was no relationship between Ca, Na and IGF-1 level (p³0.05). The regression results show a possitive relation that low zinc serum affect IGF-1 level in dehydrated pregnant women. Therefore, it is necessary for pregnant women to consume zinc-rich foods to increase IGF-1 level and keep hydration status with water consume 3.0 L per-day.
Volume: 14
Issue: 1
Page: 175-182
Publish at: 2015-03-01

A PSO-Optimized Reciprocal Velocity Obstacles Algorithm for Navigation of Multiple Mobile Robots

10.11591/ijra.v4i1.pp31-40
Ziyad Allawi , Turki Abdalla
In this paper, a new optimization method for the Reciprocal Velocity Obstacles (RVO) is proposed. It uses the well-known Particle Swarm Optimization (PSO) for navigation control of multiple mobile robots with kinematic constraints. The RVO is used for collision avoidance between the robots, while PSO is used to choose the best path for the robot maneuver to avoid colliding with other robots and to get to its goal faster. This method was applied on 24 mobile robots facing each other. Simulation results have shown that this method outperforms the ordinary RVO when the path is heuristically chosen.
Volume: 4
Issue: 1
Page: 31-40
Publish at: 2015-03-01

Online Biped Walking Pattern Generation with Contact Consistency

10.11591/ijra.v4i1.pp19-30
Wenqi Hou , Jian Wang , Jianwen Wang , Hongxu Ma
In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.
Volume: 4
Issue: 1
Page: 19-30
Publish at: 2015-03-01

Soft Switching Boost Converter Solution for Increase the Efficiency of Solar Energy Systems

https://ijeecs.iaescore.com/index.php/IJEECS/article/view/4224
Alireza Kaviani-Arani , Alireza Gheiratmand
Nowadays, renewable energies are considered as an important source of non-polluting and free energy. Solar energy in the form of photovoltaic systems is one of the most prominent of them. Using this type of energy can be an affordable and suitable solution to supply electricity to the consumers who do not have access to the distribution network due to geographical conditions. Regarding to low efficiency and high cost of installing solar panels, receiving the maximum power of them is taken into consideration. DC-DC converters are one of the key components of solar energy systems. These converters have the switching losses and their efficiency is not so high. This paper explores the switching losses in hard switching boost converter and by providing a soft switching boost converter, reduces switching losses and increases the efficiency of solar energy systems. The performance of the converter has been studied and simulations indicate its performance. DOI: http://dx.doi.org/10.11591/telkomnika.v13i3.7127 
Volume: 13
Issue: 3
Page: 449-457
Publish at: 2015-03-01

Saron Music Transcription Based on Rhythmic Information using HMM on Gamelan Orchestra

10.12928/telkomnika.v13i1.295
Yoyon K; Institut Teknologi Sepuluh Nopember Suprapto , Yosefine; Sekolah Tinggi Manajemen Informatika dan Teknik Komputer (STIKOM) Triwidyastuti
Nowadays, eastern music exploration is needed to raise his popularity that has been abandoned by the people, especially the younger generation. Onset detection in Gamelan music signals are needed to help beginners follow the beats and the notation. We propose a Hidden Markov Model (HMM) method for detecting the onset of each event in the saron sound. F-measure of average the onset detection was analyzed to generate notations. The experiment demonstrates 97.83% F-measure of music transcription. 
Volume: 13
Issue: 1
Page: 103-117
Publish at: 2015-03-01

A Detection Method for Transmission Line Insulators Based on an Improved FCM Algorithm

10.12928/telkomnika.v13i1.1319
BoWen; Northeast Dianli University Wang , Quan; University of Glasgow Gu
An improved segmentation Fuzzy C-Means algorithm (FCM) is proposed for the image recognition of transmission line insulators. In this paper, the improved Wiener filter algorithm is firstly used to filtrate and recover image in pre-processing. Then, the insulator image is segmented based on the improved algorithm FCM. Finally, the contour of insulator is labelled by using connected component labelling algorithm. Experimental results have shown that the improved Wiener filtering algorithm may effectively filter and recover the images; furthermore, the improved FCM image segmentation algorithm may accurately segment insulators from the image.
Volume: 13
Issue: 1
Page: 164-172
Publish at: 2015-03-01

Improved Leader Follower Formation controller for multiple Quadrotors based AFSA

10.12928/telkomnika.v13i1.994
Rabah; Beijing Institute of Technology Abbas , Qinghe; Beijing Institute of Technology Wu
In this paper, formation tracking in  plane with equal height for all quadrotors is discussed. Two controllers are necessary. First, PID controller is used to ensure the tracking of the desired trajectory by the first quadrotor named leader. The formation of the quadrotors in  plane is achieved by using the directed lyapunov controller. In order to improve the controller performances, the artificial fish swarm algorithm is used to ensure the dynamic optimization of the parameter controllers. When the desired shape formation is achieved, PID controller is used again to ensure the keeping of this formation shape. Finally, simulation results demonstrate the effectiveness of the proposed controllers compared to the ordinary controller and also compared to the static optimization by using the same algorithm.
Volume: 13
Issue: 1
Page: 85-92
Publish at: 2015-03-01

Informing compliance factors regarding hospitals waste management procedures in Indonesia: a scoping review

10.11591/ijphs.v14i1.24500
Markus Kaban , Tri Retnaningsih Soeprobowati , Suhartono Suhartono , Purwanto Adi Pireno , Alberta Widya Kristanti , Perigrinus Hermin Sebong
The hospital staff's non-compliance in managing hazardous waste can hurt the environment and public health. There are various practicals to mitigate the harmful effects of hazardous medical waste on the environment and public health. However, there needs to be evidence to provide accurate data regarding compliance with hazardous waste management at hospitals in Indonesia. This study aims to assess and map the determinants affecting hospital liquid medical waste management. This study examined electronic databases from 2017-2023. Studies were screened based on inclusion and exclusion criteria. The study was grounded in the scoping review to inform compliance factors regarding waste management in Hospitals. One article describes compliance with the regulation, and the other concerns supervising hospital waste management. Those articles are not detailed enough in describing supervision, so we suggest further research about supervision support to foster the management process and the result of hospital waste management. Regulation is essential for all processes and products that affect the environment. Compliance with guidelines needs to become a habit and improve over time.
Volume: 14
Issue: 1
Page: 219-226
Publish at: 2015-03-01

Image Edge Feature Extraction and Refining Based on Genetic-Ant Colony Algorithm

10.12928/telkomnika.v13i1.1264
Xing; Henan University of Urban Construction Zhang , Shuai; Henan University of Urban Construction Liu
Edge is composed by a collection of its nearby pixels which has a step change or changes in roof, an image is an information system and most of its information comes from the edges. This paper gives a brief overview of the status and the importance of image edge detection and introduces the research status of the image edge detection. After that, it introduces the basic principle and the main steps of the genetic algorithm and ant colony algorithm. On the basis of these, the paper proposed a new hybrid algorithm for the image edge extraction and refining, which combined the genetic algorithm and ant colony algorithm. Through the analysis of the time-speed graph of the genetic algorithm and the ant colony algorithm, we can find the best fusion point between the genetic algorithm and the ant colony algorithm. The experiment indicated the proposed hybrid algorithm can make the full use of the image information, the simulation time is shorter, the image edge is more continuous, and preserved the outline of original image more completely.
Volume: 13
Issue: 1
Page: 118-127
Publish at: 2015-03-01

A scoping review of economic evaluations of post-traumatic stress disorder patients’ intervention

10.11591/ijphs.v14i1.23725
Veronica Dwarika , Amos Nnaemeka Amedu
Intervention programmes for patients with post-traumatic stress disorder (PTSD) have been extensively evaluated economically, and the related implementation costs are presumably high. This study reviewed the cost-effectiveness of PTSD intervention programmes and associated health benefits. The literature search was carried out between June and July 2023. The PRISMA guidelines for scoping review protocols were strictly followed. A literature search was conducted on the National Health Service (NHS) Economic Evaluation Database, PubMed, PsycInfo, and EconLit, this search yielded 16 studies. This review revealed that trauma-focused cognitive-behavioural therapy (+selective serotonin re-uptake inhibitor) (TF+CBT+SSRIs); prolonged exposure therapy; MDMA-assisted therapy (MDMA-AT); stepped care, screen and treatment; and the transmural trauma care model were cost-effective for PTSD treatment. The cost-effectiveness of intervention programmes that lasted 10 to 31 years was greater. In general, long-term intervention programmes have been associated with health benefits. It is also important to note that telemedicine, cognitive-behavioural therapy, biopsychosocial therapy, and individual therapeutic interventions are capital-intensive and inefficient. When disbursing funding for PTSD treatment around the world, the world health organisation (WHO) should keep in mind these identified interventions and the countries where they have been found to be cost-effective.
Volume: 14
Issue: 1
Page: 333-342
Publish at: 2015-03-01
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