A Multi-hop Topology Control Based on Inter-node Range Measurement for Wireless Sensor Networks Node Localization

In centralized range-based localization techniques, sufficiency of inter-node range information received by the base station strongly affects node position estimation results. Successful data aggregation is influenced by link stability of each connection of routes, especially in a multi-hop topology model. In general, measuring the inter-node range is only performed for position determination purposes. This research introduces the use of inter-node range measurement information for link selection in a multi-hop route composition in order to increase the rate of data aggregation. Due to irregularity problems of wireless media, two areas of node communication have been considered. The regular communication area is the area in which other nodes are able to perform symmetrical communication to the node without failure. The irregular area is the area in which other nodes are seldom able to communicate. Due to its instability, some existing methods tried to avoid the irregular area completely. The proposed method, named Virtual Boundaries (VBs) prioritizes these areas. The regular communication area’s nodes have high priority to be selected as link vertices; however, when there is no link candidate inside this area, nodes within the irregular area will be selected with respect to their range to the parent node. This technique resulted in a more robust multi-hop topology that can reduce isolated node numbers and increase the percentage of data collected by the base station accordingly

Anti-Sway Control for Haptic Crane for Application of Material Handling by Using Active Force Control (AFC)

This paper focuses on anti-sway control system for haptic crane that uses accelerometer and weight sensor as sway sensor and mass calculation of payload. The control method proposed is AFC which is able to control more accurate and robust while transport the payload to another location and at the end of the movement as fast and as accurate as possible. To do this the dynamic mathematical model of the crane is introduced. The result shows that the addition of weight sensor and accelerometer as an additional parameter in AFC loop calculation in the hook gives better performance even with several disturbances than the PID control

Mining named entities from search engine query logs

We present a seed expansion based approach to classify named entities in web search queries. Previous approaches to this classification problem relied on contextual clues in the form of keywords surrounding a named entity in the query. Here we propose an alternative approach in the form of a Bag-of-Context-Words (BoCW) that is used to represent the context words as they appear in the snippets of the top search results for the query. This is particularly useful in the case where the query consists of only the named entity without any context words, since in the previous approaches no context is discovered. In order to construct the BoCW, we employ a novel algorithm, which iteratively expands a Class Vector that is created through expansion by gradually aggregating the BoCWs of similar named entities appearing in other queries. We provide comprehensive experimental evidence using a commercial query log showing that our approach is competitive with existing approaches

IMPLEMENTASI METODE VIRTUAL FORCE FIELD UNTUK KONTROL PERGERAKAN AUTONOMOUS MOBILE ROBOT PADA APLIKASI SOCCER ROBOT

Virtual Force Field method is the one method which have simply concept but have a good ability to solve problem about obstacle avoidance. From the research that have done by Borenstein, Virtual Force Field is developed from the research that have done before that is Potential Field Method which work based on Histogram Grid. But it use Weight Value that different in any place which have obstacle. From the poorness that method, finally it can handled by Virtual Force Field method. In the Virtual Force Field method, an obstacle will represented as Repulsive Force and the target will represented as Attractive Force toward robot. Then the result from two force will be command in steering robot. To detect an obstacle that surrounds robot we use An Ultrasonic Sensor SRF 04 which work optimally up to 100 cm. For detect the object in front of robot we use Object Tracking method which use CMU Cam2 camera. In practically, we get an error resultant about 0.059% for the vector angle and 0.073% for the value of vector. Keyword : Virtual Force Field method, Obstacle Avoidance, Ultrasonic SRF 04, Object Tracking, CMU Cam2 camer

Rancang Bangun Prototype Node dan Protokol Komunikasi untuk Pengambilan Data Pada Sistem Penyelamatan Korban Kebakaran Gedung Bertingkat

Storey building on fire in the big city is still often the case with substantial levels of casualties. Fire alarm at the rise buildings functioned well, but it was only for first aid. If the fire alarm has been enlarged, it was not working. With a fairly large fire conditions would cause confusion for the victim to find a way out. Therefore, this project will provide an information system that makes it a sign of the victim to escape. Singlehop serial communications using RS 485 serial is capable for take data from node either under normal conditions and when there is a fire. This system consists of several nodes that are connected in multidrop. Node with LM 35 temperature sensor, smoke sensor AF-30, and the water detector will be placed on parts of the building in order to monitor the location of each building. The data collection process undertaken by a sub master after receiving a request from the master. Data received by each node will be collected in advance by the master, and then data will be sent to the server. Master will wait for a response from the server, if within a period of 20 seconds the server does not respond then the master will request back to the sub-master. But if there is a response from the master server sends the response to sub-master for immediate execution. The system implemented is able to provide information solutions with 90% success rate. Node with LM 35 temperature sensor, smoke sensor AF-30, and water detector can be used as the information level of the building fire. Inter-node communication system supports data retrieval process by taking in one cycle time of 1.5 second. The retrieval of data between nodes using a baud rate of 19 200. The checking of data between nodes using FCS can provide accurate data that is sent to the server. Keyword : Fire, LM 35, AF 30, water detector, RS 485, singlehop, FC

The Application of an Hybrid Trilateration Method for Multi-Robot Localization System

The ability to know the location (localization) of robots in the environment or other robots, play an important role in multi-robot systems. Many methods and sensors had been propose, for example Dead-Reckoning; GPS; Vision based; etc.. Dead-Reckoning produce an accumulation errors, if used in a wide area or in a long time moving[1]. GPS has a level of significant errors when applied to a small robot or on the environment that are not large [2], while the vision has a poor response when applied to a fast-moving robots [3]. This research applied the trilaterasi methods that have been commonly used in communications systems, for localization in a multi-robot system composed of robots +11 cm in diameter. Sensors that are used in the form of 3 receiver with relatively fixed position to each other on a robot and an ultrasonic transmitter on the other robots. The principle of measurement based on the arrival time difference, or TDOA and processed by equation trilaterasi [4], to get the distance and relative orientation of the robot. Tests conducted on the condition still and moving the robot, at a certain distance and orientation, with a range of distance measurements between 30cm to 180cm. The result shows that this method successfully applied to the robot, with the average accuracy of 6% in the room, and the average accuracy of 5,2% outside the room. From the results of the analysis is also known that due to lack of the presence of some obstacles, that generate a magnetic field and the significant temperature changes in the robot environment. Another weakness of the system this system can not be used the same sensors (ultrasonic) for the purposes of obstacle detection, because it causes the interference

Implementation of Virtual Force Field Method for Movements Control Autonomous Mobile Robot in Soccer Robot Applications

Virtual Force Field method is the one method which have simply concept but have a good ability to solve problem about obstacle avoidance. From the research that have done by Borenstein, Virtual Force Field is developed from the research that have done before that is Potential Field Method which work based on Histogram Grid. But it use Weight Value that different in any place which have obstacle. From the poorness that method, finally it can handled by Virtual Force Field method. In the Virtual Force Field method, an obstacle will represented as Repulsive Force and the target will represented as Attractive Force toward robot. Then the result from two force will be command in steering robot. To detect an obstacle that surrounds robot we use An Ultrasonic Sensor SRF 04 which work optimally up to 100 cm. For detect the object in front of robot we use Object Tracking method which use CMU Cam2 camera. In practically, we get an error resultant about 0.059% for the vector angle and 0.073% for the value of vector

PROGRAM MONITORING DAN VISUALSASI STATUS BATAS WILAYAH DARAT

Lately, many cases of violations of land boundaries. Mode is done, especially for land boundary is with the removal, theft and even transfer of shares, shares land boundaries. The weakness of the stakes of existing borders, among others, only made of cement block / concrete in nature passive, so it's easy to move even eliminated by certain parties. From these circumstances it is required a system capable of dealing with the situation. In this final project will be created a system capable of providing information about land boundaries of the status of the stake "safe", "danger" and "lost" to be displaying in a web browser online in the form resembles a stake with a color display that can be changed according to status. Stake is in a state of "safe" will be colored green, whereas the disturbed or condition of "danger" will change color with red, while the "lost" the stake will be blue with a red cross sign. From this condition is also accompanied by information on the status of the stake. To make the display will be used MapServer software. From this test has been carried out showing the status of the level of success in the position of the condition of each stake is 98%. Results from the system that was created can be used for monitoring the condition of boundary stake. Keyword : stake, web browser,online,map serve

PENENTUAN POSISI NODE JARINGAN SENSOR DENGAN METODE TRILATERASI BERDASARKAN KEKUATAN SINYAL RADIO

Sensor network is a group of sensors which can communicate each other among one and the other in certain range, and recently, the concern about sensor network system has been increasing. Sensors for temperature, humidity, object detection / determination so on are arranged everywhere. In sensor network system, sensors are connected mutually and positional information of each sensor becomes essential. Acquiring positional information will gives better service for advanced analysis. This research idea arises from factual case in a computer control room from a data center which is need a guarantee of operation and clock frequency maintenance. This Final project basically be a watchfulness. Intention of this final project is making a system for position livehood a node with used radio signal strength (RF) from minimum 3 node that known the position.Node hasn�t known the position stayed in field wiper RF 3 node that known their position with calculation analyticly use trilateration method. The result of distance sent and kept to master node, then sent to PC. PC will present it in 2 dimention appearance. The result of this final project declared that radio signal strength can not be used to determine position node according to 2 dimension (x and y) caused by has different value in different measurement condition. Errror measurement of distance that got up to 2.315m. Keyword : Sensor Network, 2D Position, Trilateration metho

PROTOTIPE DETEKTOR KUALITAS CEMENTING PADA PENGEBORAN TAHAP CLOSE HOLE MENGGUNAKAN SENSOR ULTRASONIK

In the drilling process, there are several phases: open hole and close hole. Open hole stage is drilled to create holes and then measured in three-dimensional shape of land. While the close hole stage is a reservoir that have been made, coated with concrete is known cementing. In this final project will discuss the form of wall surface of cementing (close holes). This system uses ultrasonic sensors with 42 KHz of frequency as a detector layer of concrete walls, a rotary sensor for measuring the depth of the hole drilling and facilities of the microcontroller as the main controller circuit. Data from scanning is data pulses to be processed by a microcontroller, and then it is sent to the computer by serial communications and display in three dimensions. To display the form of a layer of concrete walls in three dimensions, the y-axis is assumed as the depth of well. As for the x-axis and z-axis are sought by the formula geometry obtained from the combination of TOF ultrasonic and servo angle. The expectation target is to know the shape of the surface layer of concrete from the reservoir is detected by the ultrasonic sensors. Surfer is software used to display three-dimensional surface layer of concrete