286 research outputs found
Efficient Jacobian-Based Inverse Kinematics With Sim-to-Real Transfer of Soft Robots by Learning
No full textThis article presents an efficient learning-based method to solve the <italic>inverse kinematic</italic> (IK) problem on soft robots with highly nonlinear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of analytical formulation for either forward or inverse kinematics. To address this challenge, we employ neural networks to learn both the mapping function of forward kinematics and also the Jacobian of this function. As a result, Jacobian-based iteration can be applied to solve the IK problem. A sim-to-real training transfer strategy is conducted to make this approach more practical. We first generate a large number of samples in a simulation environment for learning both the kinematic and the Jacobian networks of a soft robot design. Thereafter, a sim-to-real layer of differentiable neurons is employed to map the results of simulation to the physical hardware, where this sim-to-real layer can be learned from a very limited number of training samples generated on the hardware.Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Materials and ManufacturingMechatronic Desig
Metode Simple Additive Weighting (SAW) Dalam Pemilihan Sim Card Provider
No full textWith the development of technology at this time Sim Card Provider is needed to support community activities. In Indonesia alone many Sim Card Provider many services and also ease of accessing the internet, sonsumers are required to see which Sim Card Provider suits their needs. To overcome the problem of selecting the Sim Card Provider, a Decision Support System will be made using the Simple Additive Weighting (SAW) method using data taken from questionnaires distributed to Sim Card Provider users, which is expected to help in the selection of the appropriate Sim Card Provider with Consumer needs. The author uses six criteria, namely Signal, Price, Internet Package, Internet Connection, Phone Bonus, SMS Bonus. By using five alternatives namely Simpati, XL, Indosat, Smartfren, Three (3). The final result of this study indicated that alternative 5 or Three (3) has the biggest result of 3,245 and alternative
3 namely Indosat has the lowest result among the alternatives which is 2,625.
Keywords: Criteria, Sim Card Provider, Simple Additive Weighting
Abstrak
Dengan berkembangnya teknologi pada saatini Sim Card Provider sangat dibutuhkan untuk menunjang aktivitas masyarakat. Di Indonesia sendiri banyak Sim Card Provider banyak menyediakan layanan dan juga kemudahan dalam mengakses internet, konsumen dituntut untuk melihat manakah Sim Card Provider yang sesuai dengan kebutuhan. Untuk mengatasi masalah pemilihan Sim Card Provider tersebut maka akan dibuat Sistem Pendukung Keputusan dengan menggunakan Metode Simple Additive Weighting (SAW) dengan menggunakan data yang diambil dari kuesioner yang dibagikan kepada para pengguna Sim Card Provider, yang diharapkan dapat membantu dalam pemilihan Sim Card Provider yang sesuai dengan kebutuhan Konsumen. Penulis menggunakan enam kriteria yaitu Sinyal, Harga, Paket Internet, Koneksi Internet, Bonus Telpon, Bonus Sms. Dengan menggunakan lima alternatif yaitu Simpati, XL, Indosat, Smartfren, Three (3). Hasil akhir dari penelitian ini menunjukan bahwa alternatif 5 atau Three (3) memiliki hasil terbesar yaitu 3,245 dan alternatif 3 yaitu Indosat memiliki hasil terendah diantara alternatif yang ada yaitu 2,625.
Kata kunci: Kriteria, Sim Card Provider, Simple Additive Weightin
Implementasi GIS SIM Keliling DKI Jakarta Berbaisis Android Menggunakan Android Studio
No full textAbstrakSurat Izin Mengemudi (SIM) adalah bukti registrasi dan identifikasi yang diberikan oleh Polri kepada seseorang yang telah memenuhi persyaratan administrasi, sehat jasmani dan rohani, memahami peraturan lalu lintas, dan terampil mengemudikan kendaraan bermotor. Setiap orang yang mengemudikan Kendaraan Bermotor di jalan wajib memiliki Surat Izin Mengemudi sesuai dengan jenis Kendaraan Bermotor yang dikemudikan. Saat ini kecepatan informasi merupakan hal yang diperlukan oleh setiap orang, dari informasi yang akurat akan tercipta suatu kepercayaan yang sangat berguna, salah satunya informasi mengenai jadwal pelayanan SIM keliling. Geographic Information System (GIS) atau Sistem Informasi Berbasis Pemetaan dan Geografi adalah sebuah alat bantu manajemen berupa informasi berbantuan komputer yang berkaitan erat dengan sistem pemetaan dan analisis terhadap segala sesuatu serta peristiwa-peristiwa yang terjadi di muka bumi. Teknologi GIS mengintegrasikan operasi pengolahan data berbasis database yang biasa digunakan saat ini, seperti pengambilan data berdasarkan kebutuhan, serta analisis statistik dengan menggunakan visualisasi yang khas dengan berbagai keuntungan yang mampu ditawarkan analisis geografis melalui gambar-gambar petanya. Kemampuan tersebut membuat sistem informasi GIS berbeda dengan sistem informasi pada umumnya sehingga berharga bagi perusahaan milik masyarakat atau perseorangan untuk memberikan penjelasan tentang suatu peristiwa, membuat peramalan kejadian, dan perencanaan strategis lainnya. Saat ini pengolahan perpanjangan SIM tidak terpusat di Sistem Administrasi Manunggal Satu Atap (Samsat) melainkan sudah ada pelayanan SIM Keliling. Mengingat kurangnya informasi yang disampaikan mengenai tempat dan waktu pelaksanaan SIM Keliling, pada penelitian ini dirancang aplikasi Mobile Phone Android untuk Pemetaan Informasi SIM Keliling.Kata Kunci: Aplikasi Android, GIS, Android Studio, Surat Ijin MengemudiAbstractDriver’s License (SIM) is registration and identification issued by the National Police to a person who has met the administrative, physical and spiritual health requirements, understand the traffic rules and is proficient in driving or riding a motor vehicle. Anyone driving or riding a motor vehicle on the road is required to have a driver's license in accordance with the type of the vehicle. Velocity of information now becomes everyone’s need. Accuracy of information will encourage trust. One useful information is the schedule of driver’s license mobile service. Geographic Information System (GIS) or Mapping and Geography-Based Information System, is a management tool in the form of computer-assisted information closely linked to the mapping system and analysis of all things and events occur on Earth. GIS technology integrates data processing operations based on database commonly used today, such as data retrieval as needed, and statistical analysis using specific visualization. In addition, it offers benefits from its geographic analysis along with its pictures. Its capability makes GIS different from information systems in general and makes it valuable for community-owned companies or individual company to provide an explanation of an event, forecast of events, and other strategic planning. Currently, driver’s license renewal is not centralized at SAMSAT (one-stop integrated service), but could be renewed at driver’s license mobile service. Considering that the location and schedule of the SIM mobile service are not accurately provided, the author raised this issue to be discussed. As the Android Mobile Application developed, the author developed an application of SIM mobile service Information Mapping using Android Studio Tour. Keywords: Android Applications, GIS, Android Studio, a driver's licens
An FPGA-based Snappy Decompressor-Filter
No full textNew interfaces to interconnect CPUs and accelerators at memory-class bandwidth pose new opportunities and challenges for the design of accelerators. This thesis studies one such accelerator, a decompressor for Parquet files compressed with the Snappy library. Our design targets reconfigurable logic (FPGAs) attached via the open coherent accelerator processor interface(OpenCAPI) at 25.6GB/s. We give an overview of the previous research in hardware-based (de)compression engines and present and analyze our design. Much of the challenge of designing the decompression engine stems from the need to process more than one token per cycle. In our design, a single engine can process two tokens per cycle. A Xilinx KU15P FPGA is expected to support multiple such engines. The input throughput and the output throughput ranges of a single engine are 3.96.3 bytes/cycle and 8.315 bytes/cycle, respectively. Based on the implementation results, a single engine of the proposed design could work at 140MHz, meaning 0.510.82 GB/s input throughput or 1.081.96 GB/s output throughput. The Parquet format enables the parallel decompression of multiple blocks when multiple units are instantiated. With the latest generation of FPGAs, we estimate at most 28 units can be supported leading to a total input/output bandwidth of 14.28/30.24 to 22.96/54.88 GB/s. Because the output bandwidth can exceed the interface bandwidth if multiple engines are supported, the design is especially effective when combined with a filter engine that reduces the output size.Electrical Engineering | Microelectronic
Characteristics and outcome of patients with hyperthyroidism attending a hospital endocrine clinic- a retrospective study
No full textA semi-analytical thermal model of selective laser melting process
No full textComputational Design and Mechanic
Tunable Berry curvature and transport crossover in topological Dirac semimetal KZnBi
No full text© 2021, The Author(s).Topological Dirac semimetals have emerged as a platform to engineer Berry curvature with time-reversal symmetry breaking, which allows to access diverse quantum states in a single material system. It is of interest to realize such diversity in Dirac semimetals that provides insight on correlation between Berry curvature and quantum transport phenomena. Here, we report the transition between anomalous Hall and chiral fermion states in three-dimensional topological Dirac semimetal KZnBi, which is demonstrated by tuning the direction and flux of Berry curvature. Angle-dependent magneto-transport measurements show that both anomalous Hall resistance and positive magnetoresistance are maximized at 0° between net Berry curvature and rotational axis. We find that the unexpected crossover of anomalous Hall resistance and negative magnetoresistance suddenly occurs when the angle reaches to ~70°, indicating that Berry curvature strongly correlates with quantum transports of Dirac and chiral fermions. It would be interesting to tune Berry curvature within other quantum phases such as topological superconductivity.11Nsciescopu
Sistem Informasi Manajemen Pph 21 Pada Pt Mesindo Tekninesia
No full textManagement Information System or commonly called SIM is needed by an organization or company in its internal control. In the current era of digital transformation, it is very necessary to develop a driver's license in companies, one of which is the PPh21 tax application.Seeing the conditions above, the author intends to conduct research aimed at providing solutions through the study of various theories and observations in the field in the context of developing the PPh 21 tax application. Building a SIM uses PHP as the program and phpMyAdmin as the database. The application development methodology used is the Waterfall methodology, consisting of phasing requirements, design, implementation, integration and testing, and operation and maintance. The results of this study can simplify the PPh 21 tax calculation system and minimize the difficulty of processing tax data so that the PPh 21 tax system becomes neat, orderly, and more efficient
Performance of the multiple-strategy scoring method on the YD set.
No full text<p>(A) The ROC curves of six scoring combinations, including joint sequence similarity (<i>S<sub>sim</sub></i>), normalized rank (<i>S<sub>rank</sub></i>), conserved score (<i>S<sub>con</sub></i>), <i>S<sub>sim</sub></i> + <i>S<sub>rank</sub></i>, <i>S<sub>sim</sub></i> + <i>S<sub>con</sub></i>, and <i>S<sub>sim</sub></i> + <i>S<sub>rank</sub></i> + <i>S<sub>con</sub></i>, on the YD set for the target organism, <i>S. cerevisiae</i>. (B) The relationship between the number of true-positive cases and the precision of these six scoring methods. Among these six combinations, <i>S<sub>sim</sub></i> + <i>S<sub>rank</sub></i> + <i>S<sub>con</sub></i> is the best. (C) The relationship between recall (black line) and precision (red line) of the multiple-strategy scoring method (<i>S<sub>sim</sub></i> + <i>S<sub>rank</sub></i> + <i>S<sub>con</sub></i>) by mapping two organisms (i.e. <i>D. melanogaster</i> and <i>H. sapiens</i>) to <i>S. cerevisiae</i>.
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