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Khairul Anam,Prihastono,Handy Wicaksono,Rusdhianto Effendi,Indra Adji S,Son Kuswadi,Achmad Jazidie,Mitsuji Sampei 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes hybridization of fuzzy Q-learning and behavior-based control for autonomous mobile robot navigation problem in cluttered environment with unknown target position. The fuzzy Q-learning is incorporated in behavior-based control structure and it is considered as generation of primitive behavior like obstacle avoidance and target searching. The simulation result demonstrates that the hybridization enables robot to be able to learn the right policy, to avoid obstacle and to find the target. Real implementation of this hybridization shows that the robot was able to learn the right policy i.e. to avoid obstacle.
Modified Fuzzy Behavior Coordination for Autonomous Mobile Robot Navigation System
Handy Wicaksono,Prihastono,Khairul Anam,Rusdhianto Effendi,Indra Adji S.,Son Kuswadi,Achmad Jazidie,Mitsuji Sampei 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In behavior based robotics, development of behavior coordination method is very important. Fuzzy BehaviorCoordination (FBC) can be used here, but it still have weaknesses, because it can result in slow robot movement, toolong time to reach the target and fail to avoid trap. In this paper, modification of FBC, by combining it withSubsumption Architecture, is proposed to overcome those weaknesses. The simulation result shows that MFBC give the faster robot movement and decrease the amount of time to reach the target.
Prihastono,Handy Wicaksono,Khairul Anam,Rusdhianto Effendi,Indra Adji S.,Son Kuswadi,Achmad Jazidie 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The research of legged robot was rapidly developed. It can be seen from recent ideas about newsystems of robot movement that take ideas from nature, called biology inspired. This research focused on five legs robotthat inspired from sea star (phylum echinodermata). For cluttered environment, it is necessary to uses more than onelearning module to control navigation of five legs robot. This paper proposes the use of hybrid coordination node to coordinate multi fuzzy Q-learning module. The fuzzy Q-learning was incorporated in behavior-based control structure and was considered as generation of primitive behavior like obstacle avoidance.
Septisetyani Endah Puji,Prasetyaningrum Pekik Wiji,Anam Khairul,Santoso Adi 대한면역학회 2021 Immune Network Vol.21 No.6
The high virulent severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) virus that emerged in China at the end of 2019 has generated novel coronavirus disease, coronavirus disease 2019 (COVID-19), causing a pandemic worldwide. Every country has made great efforts to struggle against SARS-CoV-2 infection, including massive vaccination, immunological patients’ surveillance, and the utilization of convalescence plasma for COVID-19 therapy. These efforts are associated with the attempts to increase the titers of SARS-CoV-2 neutralizing Abs (nAbs) generated either after infection or vaccination that represent the body’s immune status. As there is no standard therapy for COVID-19 yet, virus eradication will mainly depend on these nAbs contents in the body. Therefore, serological nAbs neutralization assays become a requirement for researchers and clinicians to measure nAbs titers. Different platforms have been developed to evaluate nAbs titers utilizing various epitopes sources, including neutralization assays based on the live virus, pseudovirus, and neutralization assays utilizing recombinant SARS-CoV-2 S glycoprotein receptor binding site, receptor-binding domain. As a standard neutralization assay, the plaque reduction neutralization test (PRNT) requires isolation and propagation of live pathogenic SARS-CoV-2 virus conducted in a BSL-3 containment. Hence, other surrogate neutralization assays relevant to the PRNT play important alternatives that offer better safety besides facilitating high throughput analyses. This review discusses the current neutralization assay platforms used to evaluate nAbs, their techniques, advantages, and limitations.