929 research outputs found
FAST-EDI
No full text# Fast Event-based Double Integral for Real-time Robotics (Academic Use Only)
## [Paper](https://arxiv.org/abs/2305.05925) | [Video: Youtube](https://www.youtube.com/watch?v=xzrHNA97wls) | [Video: Bilibili](https://www.bilibili.com/video/BV1qL411X7hc/?share_source=copy_web&vd_source=2483c9488f1bd3f3478cf69bfca4d49e)
Motion deblurring is a critical ill-posed problem that is important in many vision-based robotics applications. The recently proposed event-based double integral (EDI) provides a theoretical framework for solving the deblurring problem with the event camera and generating clear images at high frame-rate. However, the original EDI is mainly designed for offline computation and does not support real-time requirement in many robotics applications. In this paper, we propose the fast EDI, an efficient implementation of EDI that can achieve real-time online computation on single-core CPU devices, which is common for physical robotic platforms used in practice. In experiments, our method can handle event rates at as high as 13 million event per second in a wide variety of challenging lighting conditions. Its benefit has been demonstrated on multiple downstream real-time applications, including localization, visual tag detection, and feature matching.
## Understanding the hardware bias of event camera
[Tutorial of the bias](https://gitlab.com/inivation/inivation-docs/blob/master/Advanced configurations/User_guide_-_Biasing.md)
## Checking the hardware bias using the jAER
One can use the jAER project to get a roughly estimated contrast from the bias currents that are estimated to be generated by the on-chip bias generator bias current ratios:[jAER homepage](https://github.com/SensorsINI/jaer)
Discussion regarding the bias estimation:[discussion](https://groups.google.com/g/davis-users/c/68gp0zxTMUk/m/SpweyJKrDgAJ)
and the physical model that build to estimate the threshold:[Paper](https://ieeexplore.ieee.org/document/7962235/)
## Usage
Test env:
```
ubuntu 18.04
dv-runtime 1.6.1
dv-gui 1.6.0
```
1. download the DV and install it following the tutorial [DV install guide](https://inivation.gitlab.io/dv/dv-docs/docs/getting-started.html)
2. download the fast EDI code
```
git clone https://github.com/eleboss/fast_EDI
```
3. compile the fast EDI module
```
cd ./dv-module/fast-edi
cmake ./
make
```
then you will see the `fedi_FEDI.so`, this is the file you need to add to the dv-gui.
4. configure the DV-GUI search path
```
dv-gui
```
find the `structure - add modules - modify module search path - add path` (this path leads to `fedi_FEDI.so`, for me is `/home/eleboss/Documents/fast_EDI/dv-module/fast-edi`). Then you can add the fast edi modules to the dv-gui and wires it in this way:
5. download the test data [dataset](www.google.com), and play it.
Performance tips: You can tune the contrast or use the jAER to estimate, or use EDI to optimize an accurate contrast.
## Citation
```
@article{lin2023fast,
title={Fast Event-based Double Integral for Real-time Robotics},
author={Lin, Shijie and Zhang, Yingqiang and Huang, Dongyue and Zhou, Bin and Luo, Xiaowei and Pan, Jia},
booktitle={international conference on robotics and automation (ICRA)},
year={2023},
organization={IEEE}
}
```
</p
Manajemen Panen dan Efisiensi Pengangkutan Tandan Kelapa Sawit di Kebun Adolina, PT. Perkebunan Nusantara IV Sumatera Utara.
No full textKegiatan magang dilaksanakan di Kebun Adolina, PT. Perkebunan Nusantara
IV Sumatera Utara pada tanggal 5 Februari 2018 sampai 30 Juni 2018. Pemanenan
perlu dilakukan dengan baik untuk mendapatkan rendemen minyak yang tinggi
dengan kadar asam lemak bebas yang rendah. Secara umum pengamatan terhadap
manajemen panen terdiri organisasi panen, perencanaan panen, pelaksanaan panen,
pengawasan dan evaluasi panen. Secara khusus efisensi pengangkutan diamati
dengan membandingkan teknis dan waktu muat buah pada hanca. Hasil pengamatan
terkait manajemen panen seperti rotasi panen, estimasi dan realisasi dari angka
kerapatan panen, jumlah tenaga kerja, kriteria matang panen mengalami deviasi
dari standar prosedur operasional (SPO) perusahaan. Hal ini dilakukan untuk
mencapai target produksi bulanan saat kerapatan buah menurun akibat pencurian.
Di kebun tidak ditemukan adanya losses berupa buah matang tidak dipanen setelah
ada perubahan sistem hanca. Selain itu terdapat perbedaan tingkat kepatuhan
pemanen pada tanaman yang menggunakan sistem tanam standar dan big hole.
Hasil pengamatan terkait efisiensi pengangkutan menunjukkan adanya perbedaan
teknis dan waktu yang nyata antara cara pengangkutan menggunakan jembatan atau
tidak
Manajemen Panen dan Pasca Panen pada Pembentukan Citarasa Kopi Arabika (Coffea arabica L.) di Kebun Blawan PTPN XII Bondowoso, Jawa Timur.
No full textFaktor yang mempengaruhi citarasa kopi Arabika penting untuk diketahui
dalam manajemen budidaya kopi Arabika. Penelitian bertujuan mengetahui faktorfaktor
pada tahap panen dan pasca panen yang mempengaruhi kualitas dan citarasa
kopi Arabika. Penelitian dilakukan di Kebun Blawan PTPN XII Bondowoso, Jawa
Timur pada bulan Februari sampai Juni 2018. Hasil penelitian menunjukkan bahwa
perbedaan suhu penyangraian dan pengaruh kadar air berbeda nyata pada setiap
perlakuan terhadap citarasa kopi Arabika pada uji organoleptik dengan protokol
penilaian Specialty Coffee Association of America (SCAA). Ukuran biji kopi
Arabika, umur simpan, dan kinerja pemanen buah kopi Arabika antara laki-laki dan
perempuan tidak berpengaruh nyata dalam memperoleh panen buah kopi Arabika
merah
Infestasi Gulma pada Agroekologi yang Berbeda di Perkebunan Kelapa Sawit (Elaeis guineensis Jacq.) Tambusai Estate, Kab. Rokan Hulu, Riau
No full textWeed control in oil palm plantation can improve the productivity of oil palm trees. This in was carried out internship Tambusai Estate, Rokan Hulu, Riau, from February to May 2012. The objective of this apprentice was to improve the knowledge, skills, work experience and analyze factors that affect weed dynamic in different agroecological areal at oil palm plantation. Data were collected by direct method for primary data and indirect method for secondary data. Data of weed were collected using vegetation analysis of 1 m x 1m kuadran. The number of samples were 264. Weed were scored and tested using cluster analysis and shown as a dendogram. The results showed that agro-ecological factors, especially soil subgroup determined weed population and dominance in Tambusai Estate. Weed invasion on palm oil plantation spread based on the nature of the morphology, botany, and nature of damage to plants as well as palm oil is the difference in the form agroekologi subgroup of land. The humid soil conditions is an optimum for weeds Asystasia intrusa (Forssk.) Blume., Nephrolepsis bisserata (Sw.) Schott, and various kinds of other ferns which is the dominant weeds in Tambusai Estate
Korelasi Suhu dan Curah Hujan terhadap Produksi Kakao (theobroma cacao L) di Kebun Banjarsari PT Perkebunan Nusantara XII (Persero) Jember
No full textProduksi merupakan aspek penting dalam suatu perkebunan karena aspek
inilah yang menentukan keberhasilan dan keberlangsungan perusahaan. Kegiatan
magang bertujuan untuk mempelajari dan memahami proses produksi kakao dan
pengaruh suhu dan curah hujan terhadap produksi. Kegiatan magang dilaksanakan
di Kebun Banjarsari PTPN XII Jember, Jawa Timur, pada bulan Februari - Juni
2015. Data dianalisis menggunakan regresi linier. Hasil menunjukan adanya
pengaruh nyata curah hujan dan suhu terhadap produksi. Namun demikian
korelasi tersebut belum dapat digunakan sebagai peramalan produksi dikarenakan
nilai regresi menunjukkan R - square di bawah 50 %. Terdapat faktor lain yang
perlu dikaji lebih lanjut dalam rangka peramalan produksi kakao
Manajemen Sumber Daya Air di Perkebunan Kelapa Sawit PTPN III Kebun Rambutan: Asesmen Kebutuhan Grey Water Footprint
No full textMagang dilaksanakan di Kebun Rambutan PTPN III Sumatera Utara dari
tanggal 6 Februari hingga 5 Juni 2017. Kegiatan magang bertujuan menambah
pengalaman teknis dan meningkatkan pengetahuan budidaya tanaman kelapa
sawit khususnya dalam manajemen sumber daya air. Kegiatan yang dilakukan
selama magang meliputi aspek teknik sebagai karyawan harian lepas (KHL) dan
aspek manajerial sebagai pendamping mandor dan asisten. Pengamatan yang
dilakukan meliputi kegiatan yang melibatkan penggunaan air, proses pengelolaan
air permukaan (air hujan atau rorak), dan analisa grey water footprint basis kebun
yang memiliki TBM dan TM. Data pengelolaan air permukaan dianalisa secara
deskriptif dan grey water footprint dianalisa secara kuantitatif dari kegiatan
pemupukan, pengendalian gulma, dan pengendalian hama. Total nilai grey water
footprint tahunan adalah 7.732,16 m3 air ton-1 TBS terbagi dari pemupukan
sebesar 7.139,22 m3 ton-1, pengendalian gulma sebesar 81,13 m3 ton-1, dan dari
pengendalian hama sebesar 511,81 m3 ton-1
Teaching through Challenges for Equity, Diversity, and Inclusion (EDI)
No full textStephanie Burrell Storms and Jay Rozgonyi (with Kathi Rainville) are contributing authors, From Awareness to Action: Creating PSAs to Promote EDI, Chapter 5.
Betsy Bowen is a contributing author, Disturbing Voices: Literacy in the Archive and the Community, Chapter 6.
Paula Gill-Lopez is a contributing author, Know Thyself: Implicit Bias and Mindfulness, Chapter 8.
Stephaney Morrison is a contributing author, A Person-Centered Approach to Facilitate Students’ Social Advocacy, Chapter 11.
Colleges and universities cannot ignore the increasingly diverse student population in their classrooms, and how a focus on equity, diversity, and inclusion across disciplines trains students in the intercultural awareness they will need in competitive job markets. Yet while faculty may be aware of a need to understand EDI goals in relationship to their disciplines, and institutions may support EDI in theory, the onus of pedagogical training in EDI often falls on individual faculty. This book was written by faculty and administrators for educators who value the goals of EDI, and seek an intellectual community to help them develop their practice. Important to this book is an honest discussion of common challenges faculty may face when they engage in this difficult work, and effective strategies for addressing those challenges. The chapters are grouped according to six different themes: respect for divergent learning styles; inclusion and exclusion; technology and social action; affective considerations; reflection for critical consciousness; and safe spaces and resistance.https://digitalcommons.fairfield.edu/education-books/1065/thumbnail.jp
Manajemen Produksi Kelapa Sawit: Produksi Biomassa di Kebun Rambutan PTPN III, Sumatera Utara
No full textKegiatan magang dimaksudkan untuk meningkatkan kemampuan mahasiswa dalam pengelolaan kegiatan teknis dan manajemen kebun kelapa sawit. Magang secara khusus bertujuan untuk mempelajari produksi biomassa kebun kelapa sawit dilihat dari produksi kelapa sawit dan gulma. Magang dilaksanakan di Kebun Rambutan, PT Persero Nusantara III, Sumatera Utara pada bulan Februari-Juni 2014. Data diamati dari kebun sawit tahun tanam 1994 dan 2006. Hasil menunjukkan bahwa produksi biomassa kebun kelapa sawit pada tahun tanam 1994 yaitu 149.75 ton ha-1, sedangkan produksi biomassa pada tahun tanam 2006 yaitu sebesar 98.23 ton ha-1. Biomasa gulma yang diukur dari total bobot basah gulma pada tahun tanam 1994 adalah 6.43 ton ha-1, dan pada tahun tanam 2006 adalah 4.57 ton ha-1. Adanya perbedaan produksi biomassa pada tahun tanam berbeda disebabkan perbedaan produksi biomassa kelapa sawit dan gulma. Perbedaan tersebut diduga karena perbedaan dalam populasi tanaman, kegiatan pengendalian gulma dan perlakuan budidaya
Collaboration as a driver of EDI: How Collaborative Activities Drive the Development and Implementation of Employee-Driven Innovation Initiatives
No full textA growing perspective on innovation suggests that significant innovation can stem from employees' daily activities. Traditional innovation practices often delegate decision-making to a select group, typically R&D departments or specialized units. However, this approach overlooks the innovation potential distributed across all employees in an organization. Recent understanding challenges this traditional view, emphasizing that all employees possess the potential for innovation. Recognizing and harnessing this potential can lead to more distributed and effective innovation practices within organizations. This concept is referred to as Employee-Driven Innovation.In the context of Employee-Driven Innovation (EDI), collaboration is crucial for successful development and implementation. Effective collaboration, reliant on structures promoting knowledge exchange, skill development, and resource sharing, amplifies an organization's performance by capitalizing on individual strengths and expertise. However, the specific impact of collaboration on EDI practices is not well-understood, creating a gap in the literature and an opportunity to explore how collaboration influences EDI. Understanding these dynamics can inform and shape effective EDI practices. Therefore, it's essential to investigate the influence of collaborative activity on EDI, guiding the formation of effective strategies and driving successful EDI practices.This research narrows its focus to the development and implementation phase of Employee-Driven Innovation (EDI), as the literature suggests this phase is most influenced by collaborative activities and the organizational context allows deeper research into this specific phase. The central question being explored in this research is: how do collaborative activities drive the development and implementation of EDI initiatives?To address this, a case study is conducted within a single organization, Stedin, a grid operator in the Netherlands. The study encompasses several EDI initiatives and involves questioning both the initiators of the initiatives and collaborators during the development and implementation phase. A semi-structured interview format is used to gather insights.This research reveals key insights into the contrasting collaborative activities of the "fuzzy front end" and the "back end" of the development and implementation process of EDI initiatives. The fuzzy front end, characterized by exploration, thrives on dynamic, distant, and informal collaboration. These characteristics facilitate swift interactions, overcome organizational resistance, and prevent collective decision-making structures, thus promoting speed and flexibility.Conversely, the back end, typically more specialized and complex, benefits from stable, intimate, and homogeneous collaboration. This phase involves a time-consuming and complex role transfer, transitioning the EDI to an innovation that can be adopted organization-wide. Stable, homogeneous and intimate collaboration ensures effective implementation and a smooth transition of ownership...Management of Technology (MoT
Pengaruh Dosis Pupuk Majemuk NPK dan Jarak Tanam terhadap Pertumbuhan Tanaman Doyo (Curculigo latifolia Dryand).
No full textPenelitian ini dilakukan untuk mempelajari sebagian dari teknik budidaya tanaman doyo, yaitu diperolehnya dosis pupuk NPK dan jarak tanam terbaik bagi tanaman doyo. Penelitian pada polybag dilaksanakan di Kebun Percobaan IPB Leuwikopo dan Laboratorium Pascapanen, Dramaga, Bogor, pada bulan Agustus 2017 hingga Maret 2018. Rancangan yang digunakan adalah rancangan petak terbagi, dengan dua faktor perlakuan dan tiga ulangan. Faktor pertama yaitu jarak tanam sebagai petak utama yang terdiri atas dua taraf: 50 cm x 50 cm dan 100 cm x 100 cm. Faktor kedua yaitu dosis pupuk NPK (15-15-15) sebagai anak petak yang terdiri atas empat taraf: tanpa pupuk, pupuk NPK 5 g, pupuk NPK 10 g, dan pupuk NPK 15 g per tanaman. Pemberian dosis pupuk NPK tidak menunjukkan pengaruh yang nyata untuk semua peubah, kecuali peubah bobot basah akar. Pemberian pupuk 15 g per tanaman menghasilkan bobot basah akar terberat. Pengaturan jarak tanam menunjukkan pengaruh nyata pada peubah jumlah anakan. Pengaturan jarak tanam 50 cm x 50 cm menghasilkan lebih banyak dibandingkan jarak tanam 100 cm x 100 cm. Interaksi jarak tanam dan dosis pupuk NPK tidak berpengaruh nyata terhadap semua peubah yang diamati
- …
