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All Journal International Journal of Electrical and Computer Engineering IJCCS (Indonesian Journal of Computing and Cybernetics Systems) Jurnal Ilmiah Informatika Komputer Jurnal Ilmiah Teknologi dan Rekayasa Majalah Ilmiah Matematika Komputer TELKOMNIKA (Telecommunication Computing Electronics and Control) PIKSEL : Penelitian Ilmu Komputer Sistem Embedded and Logic Jurnal Agroekoteknologi ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Jurnal ELTIKOM : Jurnal Teknik Elektro, Teknologi Informasi dan Komputer InComTech: Jurnal Telekomunikasi dan Komputer J I M P - Jurnal Informatika Merdeka Pasuruan
Tubagus Maulana Kusuma
Gunadarma University
Aerospace Engineering Agriculture, Biological Sciences & Forestry Automotive Engineering Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mathematics

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PERFORMANCE ANALYSIS OF HECTOR SLAM AND GMAPPING FOR MOBILE ROBOT NAVIGATION Paulus Sakti Laksono; Tubagus Maulana Kusuma
Jurnal Ilmiah Teknologi dan Rekayasa Vol 27, No 2 (2022)
Publisher : Universitas Gunadarma

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35760/tr.2022.v27i2.6063

Abstract

One of the most significant elements of a moving robot is mapping. The robot's capacity to identify its surroundings and translate them into a map allows it to navigate effectively from one spot to another while avoiding impediments that may arise during the navigation process. The SLAM method already has a mapping capability, so it can continuously localize the position against the map. In this experiment, 2D laser scanning data was obtained using RPlidar-A1 and then processed by the slam algorithm, namely gmapping and hector mapping to produce an occupancy grid map. The map is displayed by the RViz visualization widget, and its length is measured using the RViz measurement tools. The results of the occupancy grid map generated by the gmapping algorithm with a laser scan matcher have a lot of noise, and lose orientation. At the measured point length, the gmapping algorithm has slightly more error. The hector mapping algorithm has better performance than gmapping with a laser scan matcher on the RPLidar-A1 device.
Fuzzy Use Case Points as a Basis for Effort Estimation Rakhmi Khalida; Tubagus Maulana Kusuma; Khairunnisa Fadhilla Ramdhania
PIKSEL : Penelitian Ilmu Komputer Sistem Embedded and Logic Vol 11 No 1 (2023): March 2023
Publisher : LPPM Universitas Islam 45 Bekasi

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33558/piksel.v11i1.6941

Abstract

Many software development projects encounter problems related to over- or under-estimation of effort. Accurate effort estimation is crucial for successful project management, but it can be challenging when resources are limited, and little is known about the project. The commonly used method for effort estimation is Use Case Points (UCP), which is mainly used for application-based objects and takes use cases as input. However, UCP has weaknesses, particularly in the high variation of weight factor values for Unadjusted Use Case Weight (UUCW). To address this problem, Fuzzy Use Case Points (FUCP), which is a combination of fuzzy logic and use case points, can be used. By applying fuzzy logic to the UUCW category, FUCP derives new weight factor values for UUCW. The implementation of FUCP to calculate effort estimation in ten government-based projects in this research has shown that FUCP yields the closest value to the actual effort required. It has also been demonstrated that FUCP outperforms UCP in terms of accuracy, with an improvement of 6.51%.
Analysis of Speed and Connection When Accessing Information in Database Muhammad Guruh Ajinugroho; Tubagus Maulana Kusuma; Suryarini Widodo
J I M P - Jurnal Informatika Merdeka Pasuruan Vol 8, No 1 (2023): MARET 2023
Publisher : Fakultas Teknologi Informasi Universitas Merdeka Pasuruan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51213/jimp.v8i1.783

Abstract

Animality Vetama is a pet store and clinic that has implemented an integrated management system which consist of several interconnected applications and a database across branches. Several branches complained about performances. Several factors was analyzed by the developer, resulting in a hypothesized that the problem was caused by connectivity issues on specific internet provider dubbed “provider X”. Said problem is suspected to lies within the TCP port because it only occurs when accessing the system but not when doing other things like browsing. Client application connects to the database using MySQL direct connection. To prove this case, a study using purposive sampling quota approach was proposed to determine what makes a problematic provider. This approach was then followed by a simulation for each criteria by doing a test connection to the database using the existing method and a proposed method using webservice. The simulation were focused on average connection durations as well as success and failed ratio. The result shown that in general, connecting to the database using webservice is a lot time faster than connecting client directly regardless of the provider. The success ratio is also increased significantly
Pengaruh Perbedaan Tingkat Konsentrasi Nutrisi Terhadap Pertumbuhan dan Hasil Beberapa Varietas Tanaman Sawi Hijau (Brassica Juncea L.) Pada Sistem Aeroponik Cerdas Fitriani, Ayu; Kurniasih, Ratih; Azmi, Tubagus Kiki Kawakibi; Kusuma, Tubagus Maulana
Jurnal Agroekoteknologi Vol 16, No 2 (2024)
Publisher : Jurusan Agroekoteknologi Fakultas Pertanian Untirta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33512/jur.agroekotetek.v16i2.26513

Abstract

The increase in demand for mustard greens requires an increase in production by using superior varieties and improving cultivation techniques, one of which is using an aeroponic system. Aeroponics is a hydroponic technique where the plants are suspended in the air. Aeroponic systems can now be combined with IoT (Internet of Things) devices called smart aeropoics systems. The purpose of this research is to find out the effect of different varieties of mustard greens and nutrient concentrations on the growth and yield of mustard greens with a smart aeroponics system. The research was conducted in the UG Technopark Smart Farming Greenhouse from May to July 2023 using a Randomized Complete Group Design Nested Design consisting of two factors, namely factor I (main plot) is the concentration of AB Mix nutrients consisting of two levels, namely 1000 ppm and 1500 ppm. Factor II (subplots) is the type of mustard green variety consisting of four levels, namely Shinta F1, SA 764 (Princess), Tosakan and CS1443 (Serena). The results showed that different varieties had a significant effect on the growth of mustard green plants in the parameters of plant height, number of leaves, root length and leaf area. Different nutrient concentrations significantly affect the growth and yield of mustard greens in the parameters of number of leaves, root length, crown wet weight, root wet weight, crown dry weight and root dry weight.Keywords: cultivation, internet of things, sensors, smart farming, nutrients
Living Fountain – Sistem Kendali pada Air Mancur berdasarkan Gerakan Rangka Tubuh PRAYOGO, SANDY SURYO; PARAGYA, DHATU; PERMADI, YOGI; KUSUMA, TUBAGUS MAULANA
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 11, No 3: Published July 2023
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v11i3.594

Abstract

ABSTRAKUG-Technopark merupakan fasilitas pendukung edukasi yang bertujuan memberikan wawasan dan pengetahuan kepada pengunjungnya dengan metode observasi lapangan. Metode tersebut memiliki pengaruh signifikan terhadap pemahaman pengunjung. Sehingga, penelitian ini bertujuan untuk merancang dan mengimplementasikan air mancur di UG-Technopark sebagai daya tarik sekaligus media pembelajaran tentang sistem kendali yang diberi nama “Living Fountain”. Penelitian ini melibatkan perancangan dan implementasi sistem kendali pada sebuah kolam air mancur yang dapat dikendalikan secara otomatis atau berdasarkan gerakan tubuh melalui pemrosesan computer vision. Sistem kendali ini menggunakan mikrokontroler arduino mega yang menerima informasi posisi pergelangan tangan dari kamera melalui permprosesan pada perangkat komputer. Living Fountain bertujuan meningkatkan pengetahuan dan pemahaman sistem kendali bagi pengunjung, mahasiswa, dan dosen dengan memberikan pengalaman belajar yang interaktif dan praktis melalui interaksi langsung dengan air mancur yang bergerak dan mengubah warna sesuai dengan interaksi pengunjung.Kata kunci: deteksi objek, kecerdasan buatan, mikrokontroler, sistem kendali, visi komputer ABSTRACTUG-Technopark is an educational support facility aimed at providing insights and knowledge to its visitors through field observation methods. This method has a significant influence on visitors' understanding. Therefore, this research aims to design and implement a fountain in UG-Technopark as an attraction and a learning medium about control systems, named "Living Fountain". This research involves the design and implementation of a control system for a fountain that can be controlled automatically or based on body movements through computer vision processing. This control system uses an Arduino Mega microcontroller that receives information about wrist position from a camera through processing on a computer device. The Living Fountain aims to enhance the knowledge and understanding of control systems for visitors, students, and professors by providing an interactive and practical learning experience through direct interaction with a moving fountain that changes color based on visitor interactions.Keywords: computer vision, control system, microcontroller, AI, Object Detection
No-Reference Video Quality Assessment based on The Dover Framework using A Transfer Learning Method Ariska, Ardhi Muda; Kusuma, Tubagus Maulana
Jurnal ELTIKOM : Jurnal Teknik Elektro, Teknologi Informasi dan Komputer Vol. 9 No. 1 (2025)
Publisher : P3M Politeknik Negeri Banjarmasin

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31961/eltikom.v9i1.1398

Abstract

No-reference Video Quality Assessment (VQA) presents a critical challenge in digital multimedia. This study explores video quality measurement using the DOVER framework combined with a transfer learning method. While existing approaches often rely on end-to-end fine-tuning that requires substantial computational resources, this study introduces and validates a more efficient implementation. The model was built using Google Colab and Python, with the KoNViD-1k dataset as the training base. A head-only transfer learning approach was employed, using the DOVER framework as its foundation. This approach addresses a key research gap in resource-efficient no-reference VQA, as many state-of-the-art models remain impractical for real-world deployment due to high computational demands. The training process was conducted over 10 epochs with resource efficiency in mind. The head-only transfer learning technique allows for GPU memory optimization, showing minimal accuracy differences (1%–2%) compared to full end-to-end fine-tuning. Unlike previous studies that compromise performance for efficiency, this approach maintains competitive accuracy while significantly lowering computational costs. The results show that the proposed method delivers accurate and efficient video quality assessments, confirming the potential of the DOVER framework in no-reference VQA. This study highlights a practical balance between computational efficiency and assessment accuracy using transfer learning techniques.
Penerapan Deepface dan Retinaface dalam Pengenalan Wajah Parsial Untuk Aplikasi Keamanan Digital Fauziah, Helmi Yulianti; Kusuma, Tubagus Maulana
Jurnal Ilmiah Informatika Komputer Vol. 30 No. 2 (2025)
Publisher : Universitas Gunadarma

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35760/ik.2025.v30i2.241

Abstract

Pengenalan wajah merupakan aspek penting dalam teknologi keamanan modern dan memiliki banyak aplikasi. Namun demikian teknologi ini juga menghadapi tantangan, terutama dalam mengidentifikasi wajah yang hanya sebagian terlihat akibat berbagai kondisi seperti tertutup masker, kacamata atau benda lain. Penelitian ini mengusulkan solusi penegnalan wajah parsial berbasis deep learning dengan mengintegrasikan RetinaFace sebagai detektor wajah dan ArcFace yang diimplementasikan melalui framework DeepFace sebagai ekstraktor fitur untuk meningkatkan akurasi identifikasi wajah tidak utuh. Dataset dikumpulkan menggunakan kamera ponsel dengan variasi pencahayaan, ekspresi, dan oklusi (masker/kacamata), kemudian diproses melalui pipeline prapengolahan citra yang mencakup konversi warna, resizing, dan normalisasi. Model dilatih dengan loss function berbasis angular margin untuk memaksimalkan jarak antar kelas, dioptimasi menggunakan Adam (learning rate 0.001) dan dievaluasi melalui confusion matrix. Hasil pengujian menunjukkan akurasi 92% pada citra statis dan 94% dalam skenario realtime, dengan kesalahan prediksi terutama terjadi pada wajah tertutup lebih dari 50%. Keunggulan sistem ini terletak pada kombinasi deteksi multi-tugas RetinaFace (landmark + bounding box) dan ekstraksi fitur diskriminatif ArcFace, yang terbukti robust terhadap variasi parsial. Temuan ini mendukung aplikasi praktis seperti absensi digital dan keamanan berbasis kamera, dengan rekomendasi peningkatan kualitas dataset dan hardware untuk mengurangi false negative.
Co-Authors Achmad Benny Mutiara Ariska, Ardhi Muda Azmi, Tubagus Kiki Kawakibi Brizky Ramadhani Ismanto Busono Soerowirdjo Dina Anggraini Emy Haryatmi Fauziah, Helmi Yulianti Fitriani, Ayu Hans-Jurgen Zepernick Hariyanto Hariyanto Hustinawaty Hustinawaty, Hustinawaty Khairunnisa Fadhilla Ramdhania Kurniasih, Ratih Muhammad Guruh Ajinugroho Musa, Purnawarman PARAGYA, DHATU Paulus Sakti Laksono Permadi, Yogi Prayogo, Sandy Suryo Rakhmi Khalida Randy Rahmanto Rifiana Arief Sarifuddin Madenda Sunny Arief Sudiro Suryarini Widodo