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Transparency Analysis of a Scaled Teleoperation System with Encoder Noise
Maya Wulandari,Dong Soo Kwon 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The main goal of teleoperation control design problem is to provide total transparency to make the operatorfeel as if he is manipulating the remote object directly. However, it has not been possible to achieve perfecttransparency. One of the possible reasons might be due to the presence of encoder noise. In this paper, transparencyanalysis for scaled teleoperation system; force-position and four-channel control architecture have been doneconsidering the effect of encoder noise. Low-pass filters have been used to restrict the effect of the noise and hence, newcriteria, relating the control parameters, the scaling factors, and the frequency of teleoperation system, have beenobtained to achieve better transparency in spite of the presence of noise. Simulation results show that for lowfrequencies, high position to force scaling ratio, and optimal gain controller, the transparency increases as thetransmitted impedance matches the scaled environment impedance.
Nyoman Anita Damayanti,Darmawan Setijanto,Arief Hargono,Ratna Dwi Wulandari,Maya Weka Santi,Benny Tjahjono,Aulia Ramadhani 대한의료정보학회 2019 Healthcare Informatics Research Vol.25 No.3
Objectives: The aim of this study is to demonstrate how an integrated information system of mother and toddler cohorts can be developed as a basis of the continuum of care approach that subsequently can be used as the basis of early detection of risk factors of maternal mortality. Methods: This research was carried out qualitatively. The data was collected through three techniques: in-depth interviews, focus group discussion, and document studies at six public health centers located in four sub-districts of Surabaya, Indonesia. This research was conducted from 2016 to 2018. Results: The data collected from this research has become a basis input data requirement analysis for an integrated mother and toddler cohort information system. The system accommodates all the variables in each period of pre-marriage, pregnancy, labor, infancy and toddlerhood. The system facilitates healthcare workers to retrieve data and information related to mother and toddler health status. Conclusions: The availability of various pieces of information enables the health status of mothers and toddlers to be monitored thoroughly throughout their long-life cycle. This continuum of care approach is beneficial in the early detection and management of risk factors of maternal mortality, such as pregnancy complications as well as childbirth and postpartum complications.