http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
A Nonlinear Path Following Control of an Unmanned Autonomous Industrial Vehicle
Tua Agustinus Tamba(투아 야구스티누스 탐바),Augie Widyotraitmo,T.T.Wuyen Bui,Keum-Shik Hong(홍금식) 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
In this paper, the development of an unmanned autonomous forklift is discussed. A control architecture using vision, laser ranger finder, sonar, etc. for autonomous navigation is presented. The kinematic of spin-turn mechanism is analyzed first, and then the obtained kinematic equations are transformed to the equations represented by path variables. These equations are nonlinear state equations to be used for control purposes. A time varying feedback control law via the chained form of Murray and Sastry is derived. The effectiveness of the proposed control law is examined through simulation.
Tua Halomoan Harahap,Ngakan Ketut Acwin Dwijendra,Sulieman Ibraheem Shelash Al-Hawary,A. Heri Iswanto,Noor Mohammed Ahmed,Yousra Mahdi Hasan,Saad Ghazi Talib,Purnima Chaudhary,Yasser Fakri Mustafa 대한산업공학회 2022 Industrial Engineeering & Management Systems Vol.21 No.3
The traveling salesman problem is one of the most well-known hybrid optimization problems. It is one of the (NP-complete) problems that its various applications have theoretically and operationally attracted the attention of re-searchers. Given that the existing optimization methods to solve such problems include many variables and constraints and reduce their practical efficiency in solving problems with larger dimensions, we have seen the use of algorithms in recent decades. In this research, after determining a linear programming model for the asylum seeker problem with asymmetric distances and solving it in Lingo software, I used two ant cloning algorithms and a forbidden search algorithm to solve the problem in large dimensions. By adjusting the parameters of the two algorithms using the Taguchi method to prove the efficiency of the two algorithms, we compared their results by solving the linear programming model in small-dimensional problems. Then, to compare the results and execution time of the two algorithms, we solved the problem in medium and large dimensions.
Scheduling for a Container Supply Chain to Minimize Costs Using the Meta-Innovation Approach
Tua Halomoan Harahap,Hikee Altaee,Paitoon Chetthamrongchai,Andrej P. Peressypkin,Anis Siti Nurrohkayati,Vo Hoang Ca,Huynh Tan Hoi,John William Grimaldo Guerrero,M. Kavitha 대한산업공학회 2022 Industrial Engineeering & Management Systems Vol.21 No.2
In this study, a problem of scheduling shipping lines for a container supply chain is addressed in order to minimize the costs of charging ships and the cost of maintaining the inventory of empty containers in the port by considering the time window of the port and the amount of fuel. This is a hard-NP problem and cannot be solved on a large scale with precise methods in a logical time. Therefore, to solve and optimize the model, a meta-innovative algorithm, a genetic algorithm, has been used. Also, to increase the effectiveness of the genetic algorithm, the parameters of the algorithm are adjusted using the Taguchi method. Finally, a number of problems have been solved to show the performance of this algorithm and its computational results have been compared with the results obtained from GAMS software. The study’s results demonstrate that the efficiency of displacement inside ports and fuel price on the overall costs, the optimal number of ships utilized, and the optimal scheduling table.
A Path Following Control of an Unmanned Autonomous Forklift
Tua Agustinus Tamba,홍봉희,홍금식 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.1
In this paper, the development of an unmanned autonomous forklift is discussed. A system configuration using vision, laser ranger finder, sonar, etc. for autonomous navigation is presented. The kinematics of a spin-turn mechanism is analyzed first, and then the obtained kinematics equations are transformed to the equations represented by path variables. These equations are nonlinear state equations to be used for control purposes. A time varying feedback control law via the chained form of Murray and Sastry [12] is derived. The effectiveness of the proposed control law is examined through simulations and experiments.
Dilah Tua,Chong Shin,Muhammad Jazlan Ahmad Khiri 부산외국어대학교 아세안연구원 2023 Suvannabhumi Vol.15 No.1
This study observes the language attitude and maintenance of the border community in Telok Melano, Lundu (Sarawak, Malaysia) and Desa Temajuk, Sambas (West Kalimantan, Indonesia). The main objective of this study is to study the language attitudes of two cross-border community who shares the socio-cultural, language, and economic realms. The research data is collected qualitatively through conversation recordings, face-to-face interviews, and participant observations. In this preliminary study, twelve informants (six from Telok Melano and six from Desa Temajuk) were chosen based on the quota sampling method. The questions for the interview were set according to three characteristics of language choice proposed by Garvin and Mathiot (1968), namely language loyalty, language pride, and the awareness of norms. The result of this study indicates that language loyalty, language pride, and awareness of the norms towards the speakers’ mother tongue and national language are relatively high. In terms of identity maintenance issues, this study found that the community in Telok Melano (Sarawak), originally identify themselves as “Sambas Malays,” shifted to “Sarawak Malays” after the formation of Malaysia in 1963. This preliminary study serves as a basis for further research particularly on the complexity of issues concerned with the border communities in the Southwest of Sarawak.
A Path Following Control of an Unmanned Autonomous Forklift
Tamba, Tua Agustinus,Hong, Bong-Hee,Hong, Keum-Shik 제어로봇시스템학회 2009 Transaction on control, automation and systems eng Vol. No.
In this paper, the development of an unmanned autonomous forklift is discussed. A system configuration using vision, laser ranger finder, sonar, etc. for autonomous navigation is presented. The kinematics of a spin-turn mechanism is analyzed first, and then the obtained kinematics equations are transformed to the equations represented by path variables. These equations are nonlinear state equations to be used for control purposes. A time varying feedback control law via the chained form of Murray and Sastry [12] is derived. The effectiveness of the proposed control law is examined through simulations and experiments.
Andri Maruli Tua Lubis,Erick Wonggokusuma,Aldo Fransiskus Marsetio 대한슬관절학회 2019 대한슬관절학회지 Vol.31 No.1
Purpose: Up to now, there is no feasible solution for stopping or reversing the degenerative process of osteoarthritis (OA). Our study evaluated the effect of intraarticular injection of growth hormone (GH) in OAinduced rabbit knees compared to hyaluronic acid (HA) and placebo.Materials and Methods: A total of 21 male, skeletally mature, New Zealand rabbits received an intraarticular type II collagenase injection for OA induction. Two weeks later, the rabbits were randomized into three groups based on the weekly intraarticular injection to be received: GH, HA, and saline. Injections were done for three consecutive weeks. Evaluation was done at 8 weeks after treatment, clinically using the lameness period, macroscopically using the Yoshimi score and microscopically using the Mankin score. Results: The shortest period of lameness was found in the GH group (15.9±2.12 days), compared to the HA group (19.4±1.72 days) and placebo group (25.0±2.94 days). There was a statistically significant difference in macroscopic scoring between groups (p=0.001) in favor of the GH group. There was also significant difference in the microscopic score between groups (p=0.001) also in favor of the GH group.Conclusions: Intraarticular injection of GH showed better clinical, macroscopic and microscopic results as compared to HA and placebo.
COVID-19-Associated Encephalopathy: Systematic Review of Case Reports
Yusak Mangara Tua Siahaan,Vivien Puspitasari,Aristo Pangestu 대한신경과학회 2022 Journal of Clinical Neurology Vol.18 No.2
Background and Purpose Severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) primarily attacks the respiratory system, but there are also several reports of the involvement of the central nervous system, with one of the manifestations being encephalopathy. The relatively new emergence of COVID-19 means that few studies have investigated the clinical profile of encephalopathy associated with this disease. This study aimed to determine the clinical profile, laboratory, and imaging results of encephalopathy associated with COVID-19. Methods Three databases, namely PubMed/MEDLINE, Embase, and Scopus, were systematically searched for case reports and case series related to COVID-19-associated encephalopathy published from January 1, 2019 to July 20, 2020. Results This review included 24 studies involving 33 cases. The most-reported neurological symptoms were disorientation/confusion (72.72%), decreased consciousness (54.54%), and seizures (27.27%). Laboratory examinations revealed increases in the C-reactive protein level (48.48%), the lactate dehydrogenase level (30.30%), and lymphopenia (27.27%). Brain imaging did not produce any pathological findings in 51.51% of the cases. Electroencephalography showed generalized slowing in 45.45% of the cases. Elevated protein (42.42%) and lymphocytosis (24.24%) were found in the cerebrospinal fluid. Fifteen patients were reportedly discharged from the hospital in a stable condition, while four cases of mortality were recorded. Conclusions The clinical, laboratory, and imaging findings in this review support the hypothesis that cerebral damage in COVID-19-associated encephalopathy is caused by cytokine-immunemediated inflammation rather than by direct invasion.
탐바 투아 아구스티누스(Tua Agustinus Tamba),홍금식(Keum-Shik Hong) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This paper discusses the control system design of an unmanned autonomous forklift. A control architecture using several sensors (vision, laser range finder, sonar, etc.) and PC controller for autonomous navigation is presented. For the control purpose, a feedback control law is derived based on the kinematic model of the forklift. The aim of the designed feedback control algorithm is to force the forklift to follow a reference path trajectory provided by a path planner. Simulation is conducted to examine the proposed control algorithm.
Using frequency response function and wave propagation for locating damage in plates
Quek, Ser-Tong,Tua, Puat-Siong Techno-Press 2008 Smart Structures and Systems, An International Jou Vol.4 No.3
In this study, the frequency domain method which utilizes the evaluation of changes in the structural mode shape is adopted to identify regions which contain localized damages. Frequency response function (FRF) values corresponding to the modal frequency, analogous to the mode shape coefficients, are used since change in natural frequency of the system is usually insignificant for localized damage. This method requires only few sensors to obtain the dynamic response of the structure at specific locations to determine the FRF via fast-Fourier transform (FFT). Numerical examples of an aluminum plate, which includes damages of varying severity, locations and combinations of multiple locations, are presented to demonstrate the feasibility of the method. An experimental verification of the method is also done using an aluminum plate with two different degrees of damage, namely a half-through notch and a through notch. The inconsistency in attaining the FRF values for practical applications due to varying impact load may be overcome via statistical averaging, although large variations in the loading in terms of the contact duration should still be avoided. Nonetheless, this method needs special attention when the damages induce notable changes in the modal frequency, such as when the damages are of high severity or cover more extensive area or near the boundary where the support condition is modified. This is largely due to the significant decrease in the frequency term compared to the increase in the vibration amplitude. For practical reasons such as the use of limited number of sensors and to facilitate automation, extending the resolution of this method of identification may not be efficient. Hence, methods based on wave propagation can be employed as a complement on the isolated region to provide an accurate localization as well as to trace the geometry of the damage.