Lokalisasi Mobile Robot berdasarkan Citra Kamera OMNI menggunakan Fitur Surf

Deteksi lokasi diri atau lokalisasi diri adalah salah satu kemampuan yang harus dimiliki oleh mobile robot. Kemampuan lokalisasi diri digunakan untuk menentukan posisi robot di suatu daerah dan sebagai referensi untuk menentukan arah perjalanan selanjutnya. Dalam penelitian ini, lokalisasi robot didasarkan pada data citra yang ditangkap oleh kamera omnidirectional tipe catadioptric. Jumlah fitur terdekat antara citra 360o yang ditangkap oleh kamera Omni dan citra referensi menjadi dasar untuk menentukan prediksi lokasi. Ekstraksi fitur gambar menggunakan metode Speeded-Up Robust Features (SURF). Kontribusi pertama dari penelitian ini adalah optimasi akurasi deteksi dengan memilih nilai Hessian Threshold dan jarak maksimum fitur yang tepat. Kontribusi kedua optimasi waktu deteksi menggunakan metode yang diusulkan. Metode ini hanya menggunakan fitur 3 gambar referensi berdasarkan hasil deteksi sebelumnya. Optimasi waktu deteksi, untuk lintasan dengan 28 gambar referensi, dapat mempersingkat waktu deteksi sebesar 8,72 kali. Pengujian metode yang diusulkan dilakukan menggunakan omnidirectional mobile robot yang berjalan di suatu daerah. Pengujian dilakukan dengan menggunakan metode recall, presisi, akurasi, F-measure, G-measure, dan waktu deteksi. Pengujian deteksi lokasi juga dilakukan berdasarkan metode SIFT untuk dibandingkan dengan metode yang diusulkan. Berdasarkan pengujian, kinerja metode yang diusulkan lebih baik daripada SIFT untuk pengukuran dengan recall 89,67%, akurasi 99,59%, F-measure 93,58%, G-measure 93,87%, dan waktu deteksi 0,365 detik. Metode SIFT hanya lebih baik pada presisi 98,74%. AbstractSelf-location detection or self-localization is one of the capabilities that must be possessed by the mobile robot. The self-localization ability is used to determine the robot position in an area and as a reference to determine the next trip direction. In this research, robot localization was by vision-data based, which was captured by catadioptric-types omnidirectional cameras. The number of closest features between the 360o image captured by the Omni camera and the reference image was the basis for determining location predictions. Image feature extraction uses the Speeded-Up Robust Features (SURF) method. The first contribution of this research is the optimization of detection accuracy by selecting the Hessian Threshold value and the maximum distance of the right features. The second contribution is the optimization of detection time using the proposed method. This method uses only the features of 3 reference images based on the previous detection results. Optimization of detection time, for trajectories with 28 reference images, can shorten the detection time by 8.72 times. Testing the proposed method was done using an omnidirectional mobile robot that walks in an area. Tests carried out using the method of recall, precision, accuracy, F-measure, G-measure, and detection time. Location detection testing was also done based on the SIFT method to be compared with the proposed method. Based on testing, the proposed method performance is better than SIFT for measurements with recall 89.67%, accuracy 99.59%, F-measure 93.58%, G-measure 93.87%, and detection time 0.365 seconds. The SIFT method is only better at precision 98.74%

The Prevalence of Tuberculosis among Addis Ababa City Bus Drivers and Cash Collectors

Tuberculosis control policies emphasize the importance of case finding and treatment, particularly of Smear-positive cases aiming at a cure rate of 85%. This is a Cross-sectional survey which was mainly aimed to estimate the magnitude of smear-positive pulmonary tuberculosis among Addis Ababa City Bus drivers and cash collectors. The specific objectives were to determine the proportion of all forms of tuberculosis among the bus drivers and cash collectors; to determine the proportions of smear-negative and extra-pulmonary TB cases, relapses, defaulters, and treatment failures among all types of the identified TB cases; to determine the proportion of registered Smear-positive TB cases among all the identified cases; and to look for trends in the magnitude of tuberculosis over the years. A total of 903 [466 (51.6%) Addis Ababa City Bus drivers and 437 (48.4%) cash collectors] aged between 19 and 59 years (mean age = 35.6 years) were screened for tuberculosis. Six hundred and forty (70.9%) were males and 263(29.1%) females. The study took place starting from December 28/2003 to March 15/2004. A pretested standardized questionnaire was used to collect socio-demographic characteristics and clinical information. All the study participants had a full physical examination and laboratory tests (sputum smear for AFB, chest x-ray, and FNA) were ordered for all suspected TB cases as recommended by the National Tuberculosis and Leprosy Control Guide line. EPI-INFO Version 6 and SPSS statistical packages were used for data entry and analysis. There were 12(1328/100,000) existing cases of tuberculosis and 4(442/100,000) newly diagnosed. The prevalence of Smear-positive pulmonary TB (PTB+) was 4/903(443/100,000) (P >0.05). There was no significant difference with the proportion of smear-positive pulmonary TB cases in Wereda 16, Addis Ababa (189/100,000). The prevalence of all types of tuberculosis was 16/903(1772/100,000) (P< 0.05) as compared with the prevalence of notified cases in Addis Ababa in 2003(372/100,000). The proportion of Smear-negative pulmonary TB (PTB-) cases among all types of tuberculosis was 8/16(50%) (P>0.05) and the proportion of extra-pulmonary tuberculosis (EPTB) 3/16(18.8%) (P> 0.05). In Addis Ababa the two proportions were 33.4% and 33.01% respectively. The proportion of relapse TB cases was 1/16(6.25%). There was no association between the prevalence of tuberculosis and the various socio-demographic characteristics. All the identified cases were registered in health institutions where there were DOTS program (P<0.05). The trend of tuberculosis was analyzed starting from 1989 G.C. to 2003/04 G.C. There was no increasing or decreasing trend for all forms of tuberculosis, Chi-square test for trend for PTB+, PTB-, and EPTB were 1.86, 1.26, and 0.0635 respectively. Since our comparison group was not an appropriate one it was concluded that this study will help as a base line for future studies and it was recommended that further future studies will be required

The Prevalence of Tuberculosis among Addis Ababa City Bus Drivers and Cash Collectors

Tuberculosis control policies emphasize the importance of case finding and treatment, particularly of Smear-positive cases aiming at a cure rate of 85%. This is a Cross-sectional survey which was mainly aimed to estimate the magnitude of smear-positive pulmonary tuberculosis among Addis Ababa City Bus drivers and cash collectors. The specific objectives were to determine the proportion of all forms of tuberculosis among the bus drivers and cash collectors; to determine the proportions of smear-negative and extra-pulmonary TB cases, relapses, defaulters, and treatment failures among all types of the identified TB cases; to determine the proportion of registered Smear-positive TB cases among all the identified cases; and to look for trends in the magnitude of tuberculosis over the years. A total of 903 [466 (51.6%) Addis Ababa City Bus drivers and 437 (48.4%) cash collectors] aged between 19 and 59 years (mean age = 35.6 years) were screened for tuberculosis. Six hundred and forty (70.9%) were males and 263(29.1%) females. The study took place starting from December 28/2003 to March 15/2004. A pretested standardized questionnaire was used to collect socio-demographic characteristics and clinical information. All the study participants had a full physical examination and laboratory tests (sputum smear for AFB, chest x-ray, and FNA) were ordered for all suspected TB cases as recommended by the National Tuberculosis and Leprosy Control Guide line. EPI-INFO Version 6 and SPSS statistical packages were used for data entry and analysis. There were 12(1328/100,000) existing cases of tuberculosis and 4(442/100,000) newly diagnosed. The prevalence of Smear-positive pulmonary TB (PTB+) was 4/903(443/100,000) (P >0.05). There was no significant difference with the proportion of smear-positive pulmonary TB cases in Wereda 16, Addis Ababa (189/100,000). The prevalence of all types of tuberculosis was 16/903(1772/100,000) (P< 0.05) as compared with the prevalence of notified cases in Addis Ababa in 2003(372/100,000). The proportion of Smear-negative pulmonary TB (PTB-) cases among all types of tuberculosis was 8/16(50%) (P>0.05) and the proportion of extra-pulmonary tuberculosis (EPTB) 3/16(18.8%) (P> 0.05). In Addis Ababa the two proportions were 33.4% and 33.01% respectively. The proportion of relapse TB cases was 1/16(6.25%). There was no association between the prevalence of tuberculosis and the various socio-demographic characteristics. All the identified cases were registered in health institutions where there were DOTS program (P<0.05). The trend of tuberculosis was analyzed starting from 1989 G.C. to 2003/04 G.C. There was no increasing or decreasing trend for all forms of tuberculosis, Chi-square test for trend for PTB+, PTB-, and EPTB were 1.86, 1.26, and 0.0635 respectively. Since our comparison group was not an appropriate one it was concluded that this study will help as a base line for future studies and it was recommended that further future studies will be required

LKP : Perancangan Program PLC untuk Mesin Pengisian Botol pada PT. Kairos Solusi Indonesia

Saat ini perkembangan teknologi pada bidang industri sangatlah pesat, semua itu bertujuan agar kemampuan produksi dalam suatu industri dapat dilakukan menjadi lebih baik dari sebelumnya, sehingga pekerjaan yang awal mulanya dilakukan oleh manusia kini banyak yang telah diakusisi oleh sistem otomasi. Program sistem otomasi menggunakan PLC untuk pengisi teh botol pada PT. Mayora ini telah dibuat untuk memperbaiki dan memaksimalkan kinerja mesin yang telah ada guna memperlancar proses produksi sehingga mampu berproduksi lebih baik dalam hal kualitas maupun kuantitas. Perancangan sistem ini menggunakan perangakat PLC sebagai kontroler sistem dengan metode pemrograman Ladder Diagram. PLC melakukan kontrol pada conveyour botol dengan cara menjalankan conveyour dan memberhentikan conveyour saat berada tepat pada posisi pengisisan botol, sehingga saat itu juga valve terbuka untuk melakukan pengisian teh kedalam botol-botol yang tepat berada di bawahnya saat botol penuh maka conveyour akan berjalan lagi untuk menjalankan beberapa botol berikutnya secara bergantian, semua langkah – langkah tersebut dilakukan menggunakan perhitungan waktu yang tepat dan beberapa sensor proximity hanya digunakan sebagai pengaman. Untuk mempermudah sistem operasional mesin terutama dalam melakukan pengaturan dan juga troubleshooting pada sistem ini terpasang HMI sebaga tampilan operasi mesin dan tempat pengaturannya

LKP : Perancangan Program PLC untuk Mesin Pengisian Botol pada PT. Kairos Solusi Indonesia

Saat ini perkembangan teknologi pada bidang industri sangatlah pesat, semua itu bertujuan agar kemampuan produksi dalam suatu industri dapat dilakukan menjadi lebih baik dari sebelumnya, sehingga pekerjaan yang awal mulanya dilakukan oleh manusia kini banyak yang telah diakusisi oleh sistem otomasi. Program sistem otomasi menggunakan PLC untuk pengisi teh botol pada PT. Mayora ini telah dibuat untuk memperbaiki dan memaksimalkan kinerja mesin yang telah ada guna memperlancar proses produksi sehingga mampu berproduksi lebih baik dalam hal kualitas maupun kuantitas. Perancangan sistem ini menggunakan perangakat PLC sebagai kontroler sistem dengan metode pemrograman Ladder Diagram. PLC melakukan kontrol pada conveyour botol dengan cara menjalankan conveyour dan memberhentikan conveyour saat berada tepat pada posisi pengisisan botol, sehingga saat itu juga valve terbuka untuk melakukan pengisian teh kedalam botol-botol yang tepat berada di bawahnya saat botol penuh maka conveyour akan berjalan lagi untuk menjalankan beberapa botol berikutnya secara bergantian, semua langkah – langkah tersebut dilakukan menggunakan perhitungan waktu yang tepat dan beberapa sensor proximity hanya digunakan sebagai pengaman. Untuk mempermudah sistem operasional mesin terutama dalam melakukan pengaturan dan juga troubleshooting pada sistem ini terpasang HMI sebaga tampilan operasi mesin dan tempat pengaturannya

Knowledge and attitude towards voluntary counseling and testing for HIV: A community based study in northwest Ethiopia

Background: Voluntary counseling and testing (VCT) is potentially effective intervention to prevent transmission of HIV by changing sexual behaviour, and also enabling seropositive women to make informed decision whether or not to have children. Objective: To assess the knowledge, attitude, behaviour and practice of the community on VCT for HIV and prevention of Mother-to-Child transmission (PMTCT). Methods: This is a cross-sectional survey aimed at assessing the knowledge, attitude and practice towards VCT for HIV and PMTCT. A total of 992 subjects residing in urban and rural Kebeles were interviewed using a pre-tested questionnaire. Results: 89.9% of the respondents were aware that one can check her/his HIV status. However, less number of them, i.e. 732 (73.8%) knew about the availability of VCT services. Urban dwellers were found to be more willing than rural villagers to undergo testing for HIV. The majority of women (426, 85.5%) specified their willingness to take antiretroviral treatment during pregnancy to protect vertical transmission if they are seropositive. Conclusion: Level of knowledge about HIV/AIDS seems to be high among the study community. However, there are still wrong interpretations and misunderstanding about modes of transmission and preventive methods. The result could be used as a baseline data for instituting VCT and PMTCT activities. [Ethiop.J.Healh Dev. 2004;18(2):82-89

Prevalence and management out comes of anti TB drugs induced hepatotoxicity, St.Peter TB Specialized Hospital

Back Ground and Objectives: Tuberculosis is a major public health problem in the world, according to MOH in Ethiopia, in 1995 TB was the leading cause of out patient morbidity ranking 4th with 37%. WHO designed a strategy of treatment under direct observation (DOTS), but most of the anti TB drugs affect the liver and causes drug-induced hepatitis. This side effect was usually observed in St. Peter TB Specialized Hospital and there was a debate weather to discontinue all anti TB drugs so that drug resistance could be possibly avoided or partially so that patient could be protected from worsening of the underlined disease. Taking the above concept as a rationale a prospective study was conducted for one year with an over all objective to determine the prevalence of anti Tb drug induced hepatitis and to suggest the management out comes. Patients and Methods: All TB patients admitted in the Hospital during the study period are the source of population, the study groups were been selected by detecting the possible confounding factors for jaundice. Base line LFT before anti TB initiation was determined before developed jaundice. Those patients, whom the jaundice is expected to be of anti TB drugs, were classified into two groups to be managed by 1) total and 2) partial discontinuation of the anti TB drugs. Results: 516 (83.8%) of the admitted TB patients were qualified as a study group. The majority were in reproductive age group (15-49 years old.) (55.8%) were males. 332(64.3%) of this TB patients were new where as 110 (21.3%) patients were re treatment cases. The prevalence of jaundice supposed to be due to anti TB drugs induced hepatitis was 8.9% (46 patients); observed mostly with in 2 weeks of time, after anti TB initiation 25(54.3%). Among the jaundiced patients 41(89.1%) were newly treated and four (8.6%) retreated TB patients. Hence, there was statistically significant association between newly treated patients and risk of hepato toxicity (