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                <text>TELKOMNIKA Telecommunication, Computing, Electronics and Control &#13;
The flow of baseline estimation using a single omnidirectional camera</text>
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                <text>Baseline is a distance between two cameras, but we cannot get information from a single camera. Baseline is one of the important parameters to find the depth of objects in stereo image triangulation. The flow of baseline is produced by moving the camera in horizontal axis from its original location. Using baseline estimation, we can determined the depth of an object by using only an omnidirectional camera. This research focus on determining the flow of baseline before calculating the disparity map. To estimate the flow and to tracking the object, we use three and four points in the surface of an object from two different data (panoramic image) that were already chosen. By moving the camera horizontally, we get the tracks of them. The obtained tracks are visually similar. Each track represent the coordinate of each tracking point. Two of four tracks have a graphical representation similar to second order polynomial. </text>
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                <text>Sukma Meganova Effendi, Dadet Pramadihanto, Riyanto Sigit</text>
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                <text>DOI: 10.12928/TELKOMNIKA.v18i3.14797</text>
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                <text>Universitas Ahmad Dahlan</text>
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                <text>Sri Wahyuni</text>
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                <text>ISSN: 1693-6930</text>
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                <text>TELKOMNIKA Telecommunication, Computing, Electronics and Control&#13;
 Cleveree: an artificially intelligent web service for Jacob voice chatbot</text>
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                <text>Cosine similarity, LSTM, Stacked residual, TextRank, Web service</text>
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                <text>Jacob is a voice chatbot that use Wit.ai to get the context of the question and give an answer based on that context. However, Jacob has no variation in answer and could not recognize the context well if it has not been learned previously by the Wit.ai. Thus, this paper proposes two features of artificial intelligence (AI) built as a web service: the paraphrase of answers using the Stacked Residual LSTM model and the question summarization using Cosine Similarity with pre-trained Word2Vec and TextRank algorithm. These two features are novel designs that are tailored to Jacob, this AI module is called Cleveree. The evaluation of Cleveree is carried out using the technology acceptance model (TAM) method and interview with Jacob admins. The results show that 79.17% of respondents strongly agree that both features are useful and 72.57% of respondents strongly agree that both features are easy to use. </text>
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                <text>Octavany, Arya Wicaksana</text>
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                <text>DOI: 10.12928/TELKOMNIKA.v18i3.14791</text>
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                <text>Universitas Ahmad Dahlan</text>
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                <text>Sri Wahyuni</text>
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                <text>TELKOMNIKA Telecommunication, Computing, Electronics and Control &#13;
Vision: a web service for face recognition using convolutional network</text>
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                <text>This paper proposes a face recognition module built as a web service.&#13;
We introduce a novel design and mechanism for face recognition on a web platform and to memorize most recent users for the user. This web service is called Vision and developed using the Flask and TensorFlow deep learning framework. The face recognition process is powered by FaceNet deep convolutional network model. The face recognition process done by Vision could also be utilized for user authentication and user memorization, both done in on a web platform. As a demonstration of concept and viability, in this study, Vision is integrated into a web-based voice chatbot. The testing and evaluation of Vision’s face recognition process show an overall F-score of one for all test scenarios. </text>
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                <text>DOI: 10.12928/TELKOMNIKA.v18i3.14790</text>
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                <text>Universitas Ahmad Dahlan</text>
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                <text>Sri Wahyuni</text>
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                <text>ISSN: 1693-6930</text>
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                <text>TELKOMNIKA Telecommunication, Computing, Electronics and Control &#13;
Deep hypersphere embedding for real-time face recognition</text>
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                <text>Deep hypersphere embedding, Real-time face detection, Real-time face recognition, Robotic visions, Security surveillance system</text>
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                <text>With the advancement of human-computer interaction capabilities of robots, computer vision surveillance systems involving security yields a large impact in the research industry by helping in digitalization of certain security processes. Recognizing a face in the computer vision involves identification and classification of which faces belongs to the same person by means of comparing face embedding vectors. In an organization that has a large and diverse labelled dataset on a large number of epoch, oftentimes, creates a training difficulties involving incompatibility in different versions of face embedding that leads to poor face recognition accuracy. In this paper, we will design and implement robotic vision security surveillance system incorporating hybrid combination of MTCNN for face detection, and FaceNet as the unified embedding for face recognition and clustering. </text>
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                <text>TELKOMNIKA Telecommunication, Computing, Electronics and Control </text>
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Velocity control of ROV using modified integral SMC with optimization tuning based on Lyapunov analysis </text>
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                <text>Remotely Operated Vehicle also known as ROV is a vehicle with high&#13;
nonlinearity and uncertainty parameters that requires a robust control system to maintain stability. The nonlinearity and uncertainty of ROV are caused by underwater environmental conditions and by the movement of the vehicle SMC is one of the control systems that can overcome nonlinearity and uncertainty with the given robust system. This work aims to control velocity of the vehicle with proposes the use of modified integral SMC compensate error in ROV and the use of particle swarm optimization (PSO) to optimize the adjustment of SMC parameters. The ROV used in this paper has a configuration of six thrusters with five DoF movements that can be controlled. Modified integral sliding mode is used to control all force direction to increase the convergence of speed error. Adjustment optimization techniques with PSO are used to determine four values of sliding control parameters for five DoF. Using Lyapunov stability approach control law of sliding mode is derived and its global stability proved mathematically. Simulation results are conducted to evaluate the effectiveness of Modified Integral SMC and compared with nonlinear control. </text>
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                <text>DOI: 10.12928/TELKOMNIKA.v18i3.14781</text>
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                <text>Universitas Ahmad Dahlan</text>
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                <text>Sri Wahyuni</text>
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                <text>ISSN: 1693-6930</text>
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                  <text>VOL. 18, NO. 3 2020</text>
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Application of recommendation system with AHP method and sentiment analysis </text>
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                <text>Over time, people needs are increasing. Needs that must be met, often cause problems in the people in determining a choice. People must make the right choice and according to their needs. Not an easy thing for people to make these choices. Therefore, a recommendation system is needed to support people in making decisions that fit their criteria. This research provides a system that can provide recommendations for decision support people according to their criteria, which are web-based. The decision-making system in this research uses the analytical hierarchy process (AHP) method. AHP is a multi-criteria decision-making method, which in this research one of the criteria is using sentiment analysis. Sentiment analysis is the process of understanding, extracting, and processing textual data to get sentiment information from an opinion sentence. The opinion sentiment value of each alternative will be included in the AHP calculation to get the best &#13;
alternative recommendations according to the criteria of people. The result of this research is that the system can provide recommendations to people or users according to their criteria and alternatives as well as public opinion about each alternative. </text>
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                <text>Ira Prasetyaningrum, Kholid Fathoni, Tri Tangguh Jiwo Priyantoro</text>
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                <text>DOI: 10.12928/TELKOMNIKA.v18i3.14778</text>
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                <text>Sri Wahyuni</text>
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                <text>ISSN: 1693-6930</text>
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Identifier of human emotions based on convolutional neural network for assistant robot </text>
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                <text>This paper proposes a solution for the problem of continuous prediction in real-time of the emotional state of a human user from the identification of characteristics in facial expressions. In robots whose main task is the care of people (children, sick or elderly people) is important to maintain a close relationship man-machine, anld a rapid response of the robot to the actions of the person under care. We propose to increase the level of intimacy of the robot, and its response to specific situations of the user, identifying in real time the emotion reflected by the person's face. This solution is integrated with algorithms of the research group related to the tracking of people for use on an assistant robot. The strategy used involves two stages of processing, the first involves the detection of faces using HOG and linear SVM, while the second identifies the emotion in the face using a CNN. The strategy was completely tested in the laboratory on our robotic platform, demonstrating high performance with low resource consumption. Through various controlled laboratory tests with different people, which forced a certain emotion on their faces, the scheme was able to identify the emotions with a success rate of 92%. </text>
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Effects of noises on near infrared sensor for blood glucose level measurement </text>
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Communication between PLC different vendors using OPC server improved with application device </text>
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                <text>Many industries often use different devices and controllers in automation systems. They all face the same difficulty how to exchange data between all those components. This paper proposed the implementation of OPC Server as software interface on communication between two different controllers, PLC Mitsubishi and PLC Omron. The main advantage of the method is the compatibility and solution for the factory difficulty problem because of using several driver controller. The compatibility among the different platforms of both controller, PLC Mitsubishi and PLC Omron, can be reached by use of KEPServerEx6 (OPC server) as a software interface. To test the compatibility amongst two different controllers, there was developed and implemented two field application devices, bottle unscramble and bottle filling station. This implementation shows OPC Server technology resolving data compatibility issues between different platforms and reducing development costs. It is envisaged that the method can be very useful to&#13;
realize integration. </text>
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                <text>DOI: 10.12928/TELKOMNIKA.v18i3.14757</text>
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Comparison of machine learning performance for earthquake prediction in Indonesia using 30 years historical data</text>
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                <text>Indonesia resides on most earthquake region with more than 100 active volcanoes, and high number of seismic activities per year. In order to reduce the casualty, some method to predict earthquake have been developed to estimate the seismic movement. However, most prediction use only short term of historical data to predict the incoming earthquake, which has limitation on model performance. This work uses medium to long term earthquake historical data that were collected from 2 local government bodies and 8 legitimate international sources. We make an estimation of a medium-to-long term prediction via machine learning algorithms, which are multinomial logistic regression, support vector machine and Na ̈ıve Bayes, and compares their performance. This work shows that the support vector machine outperforms other method. We compare the root mean square error computation results that lead us into how concentrated data is around the line of best fit, where the multinomial logistic regression is 0.777, Na ̈ıve Bayes is 0.922 and support vector machine is 0.751. In predicting future earthquake, support vector machine outperforms other two&#13;
methods that produce significant distance and magnitude to current earthquake report. </text>
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                <text>I Made Murwantara, Pujianto Yugopuspito, Rickhen Hermawan</text>
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                <text>DOI: 10.12928/TELKOMNIKA.v18i3.14756</text>
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                <text>Sri Wahyuni</text>
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