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All Journal KOMPUTIKA - Jurnal Sistem Komputer TELEKONTRAN: Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan
Didit Andri Jatmiko
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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Implementasi dan Uji Kinerja Algoritma Background Subtraction pada ESP32 Didit Andri Jatmiko; Salita Ulitia Prini
Komputika : Jurnal Sistem Komputer Vol 8 No 2 (2019): Komputika: Jurnal Sistem Komputer
Publisher : Computer Engineering Departement, Universitas Komputer Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (957.52 KB) | DOI: 10.34010/komputika.v8i2.2194

Abstract

Salah satu hal penting pada computer vision adalah ciri (feature) citra. Ciri digunakan sebagai dasar untuk mendeteksi objek, baik itu benda, manusia maupun hewan. Ciri citra yang biasa digunakan dalam penelitian antara lain tepian, sudut, bentuk maupun gradient histogram. Penelitian ini menjelaskan kinerja algoritma background subtraction pada unit pemroses berdaya rendah sebagai salah satu algoritma pada computer vision. Algoritma ini memiliki kompleksitas yang rendah dan dapat digunakan untuk mendeteksi objek sehingga berpotensi diterapkan pada kamera keamanan. Algoritma ini bekerja dengan melakukan pengurangan nilai piksel current frame dengan background model. Penelitian ini telah berhasil menerapkan algoritma dasar pengolahan citra, yaitu algoritma background subtraction pada modul ESP32. Pengujian menggunakan input citra yang memiliki dimensi 80x60 piksel dengan format warna 8bit grayscale. Ukuran frame citra 80 x 60 piksel dipilih sebagai citra uji karena keterbatasan memory DRAM EPS32 sebesar 328 KB (kilobyte). Implementasi pada modul ESP32 yang dilengkapi dengan mikroprosesor Xtensa 32-bit LX6 yang bekerja pada frekuensi 240MHz dapat memproses algoritma background subtraction 10000 kali dalam waktu ±2000ms menggunakan input citra uji tersebut. Kata Kunci – Background Subtraction; ESP32; Image Processing; Microcontroller; Object Detection.
Implementasi dan Uji Kinerja Kontrol PID untuk kestabilan Pesawat Tanpa Awak Tailsitter pada Keadaan Mengambang Taufiq Nuzwir Nizar; Didit Andri Jatmiko; Rodi Hartono; Agung Ibnu Ghani Pratama
Komputika : Jurnal Sistem Komputer Vol 10 No 1 (2021): Komputika: Jurnal Sistem Komputer
Publisher : Computer Engineering Departement, Universitas Komputer Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.34010/komputika.v10i1.3808

Abstract

Pesawat tailsitter adalah pesawat tanpa awak yang dapat lepaslandas secara vertikal. salah satu faktor keberhasilan terbang pesawat tanpa awak tailsiter adalah kestabilan pada saat lepaslandas hingga mengambang atau hovering sebelum transisi untuk terbang secara horizontal. Yang dimaksud dengan kestabilan pada topik ini adalah pesawat tanpa awak tailsitter harus dapat mempertahankan posisi nya pada tiga sumbu sudut pergerakan yaitu sumbu pergerakan Roll, Pitch, dan Yaw, dimana pesawat tanpa awak tailsitter dapat dikatakan stabil jika ketiga sumbu pergerakan Roll, Pitch dan Yaw bernilai 0 dalam satuan derajat. salah satu masalah yang dapat mengganggu kestabilan pada pesawat tanpa awak tailsitter adalah adanya ketidakseimbangan pada aktuator seperti putaran motor dan pergerakan servo stabilizer. Untuk mengatasi masalah tersebut diperlukan sebuah teknik pengendalian pada aktuator tersebut agar pesawat tanpa awak tailsitter stabil. Metode pengendalian yang akan digunakan adalah kontrol PID. Proses pengendalian oleh PID ini membutuhkan sebuah sensor IMU yang dapat membaca pergerkan dan perubahan sudut pada pesawat tanpa awak tailsitter. Dari hasil pengujian dan analisa pemberian parameter Kp : 2,5, Ki : 0,250, dan Kd : 23 untuk kendali Pitch dan Roll memerikan hasil yang cukup baik, dimana pesawat tanpa awak tailsitter dapat terbang dan mempertahankan kesetabilan nya pada saat fase mengambang/hovering.
Perancangan dan Implementasi Uji Kinerja Thrust vectoring Untuk Roket Elektrik Asep Miftahul Mubarok; Didit Andri Jatmiko
Telekontran : Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan Vol 8 No 1 (2020): TELEKONTRAN vol 8 no 1 April 2020
Publisher : Program Studi Teknik Elektro, Fakultas Teknik dan Ilmu Komputer, Universitas Komputer Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (661.849 KB) | DOI: 10.34010/telekontran.v8i1.3071

Abstract

Research in the area of ​​rocket technology can be an indicator of a country's progress. Rocket technology is usually used to go into space and as a defense tool. In the military, the type of rocket used is the type of missile or commonly called a missile. The most famous type of missile is a cruise missile. Cruise missiles can fly with horizontal trajectories. Flying cruise missiles use wings as an aerodynamic force generator to control movement in the air. Basically cruise missiles are unmanned aircraft designed to carry conventional explosive bullets over long distances. One type of control rocket that is being developed in Indonesia is an electric rocket that can fly horizontally. In order for a rocket to fly rapidly horizontally on the axis of the rocket's throw, the rocket must have a vector thrust control system, a system that can change the direction of the wind contained in the rocket booster. Thrust vectoring system is the ability of a rocket to manipulate the direction of the thrust produced by the engine or its driving motor. This is done with the aim of controlling the angle or speed of the rocket. This study will discuss thrust vectoring systems so that rockets can rise quickly on the pitch axis. In conducting research there are several problems encountered. The researchers have formulated several problems, namely the creation of a thrust vectoring system and the stability of the rocket, which aims to speed up the takeoff process. This study uses the method of literature, the method of observation, testing, evaluation and conclusions. Based on the results of testing the rocket can fly fast on the pith shaft using a vector thrust system with a time of 4,6 seconds to reach a height of 30m.. Keyword ­: Missile, electric rocket, Thrust vectoring, Axis Pitch, System stability
Rancang Bangun Unmanned Surface Vehicle (USV) Dengan Sistem Navigasi Berbasis Kompas Dan Estimasi A-GPS Akbar Maulana Triezani; Didit Andri Jatmiko
Telekontran : Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan Vol 9 No 1 (2021): TELEKONTRAN vol 9 no 1 April 2021
Publisher : Program Studi Teknik Elektro, Fakultas Teknik dan Ilmu Komputer, Universitas Komputer Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.34010/telekontran.v9i1.5607

Abstract

Abstract - Nowadays, there is a system called the Global Navigation Satellite System (GNSS) to estimate the position of an autonomous vehicle. However, in reality, GNSS receivers often experience disturbances related to accuracy and stability of readings with the main cause of obstruction of the GNSS receiver by objects such as thick clouds, buildings, or positions in the room. In this study, the position estimation system of the vehicle will use position reading through one of the features of the GNSS, namely the Assisted Global Positioning System (A-GPS) on the smartphone. In its design, the vehicle will use a compass as a determinant of the direction of motion to reach the waypoint accurately. The purpose of this study is to design a navigation system that can make the vehicle reach a waypoint with a better level of reliability using a compass and estimation from A-GPS. The method used in this study is to test the vehicle to reach the waypoint using distance and bearing calculations between the current position of the vehicle and the destination and then compare the results of the A-GPS estimation system with the Global Positioning System (GPS). The results of this study showed that the vehicle navigation system using A-GPS was able to produce a better position estimate than GPS with an accuracy level of 1 to 3 meters for overall navigation or with an average of 1.5 meters for the waypoints reached by the vehicle when navigating. . The vehicle has also been proven to be able to adjust the direction of motion towards the waypoint using a compass sensor with the farthest deviation from the destination bearing of 3o. The concept of this research comes from the premise of the A-GPS system that has been integrated into the smartphone to get the most relevant position data without worrying if the GNSS receiver is blocked by the weather or in a position indoors. Therefore, combining the two reading systems can produce a better estimate of the position to increase the reliability of a vehicle to navigate autonomously. In addition, the impact of this research can also be applied in various systems, one of which is for autonomous vehicle navigation. Keyword ­: Autonomous, A-GPS, Compass, Navigation, Waypoint.
Co-Authors Agung Ibnu Ghani Pratama Akbar Maulana Triezani Asep Miftahul Mubarok Rodi Hartono Salita Ulitia Prini Taufiq Nuzwir Nizar