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<![CDATA[Perancangan dan Implementasi Sistem Pola Berjalan Pada Robot Humanoid Menggunakan Metode Inverse Kinematic ]]>
<![CDATA[Riko Andianto]]>;
<![CDATA[Rizal Maulana]]>;
<![CDATA[Gembong Edhi Setyawan]]>
<![CDATA[ Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer Vol 2 No 8 (2018): Agustus 2018 ]]>
Publisher : <![CDATA[Fakultas Ilmu Komputer (FILKOM), Universitas Brawijaya ]]>
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<![CDATA[Robot is a very important work for the life of modern humans currently. Robot created to facilitate human activities daily, especially humanoid robot, the robot is able to similar almost all human activities completely, ranging from robots have joints to robots that are able to walk and exercise, but the constraints are often seen in the humanoid robot has not been able to walk Well, therefore this study aims to obtain the error value and maximum results in the process running on humanoid robot using kinematic inverse method. This study will provide an overview of the process of walking in detail and the calculation of the value of each joint so that the robot is able to stand and walk properly. The humanoid robot research design uses actuators in the form of Dynamixel AX-12 servo motor as propulsion and minicomputer Raspberry Pi as the brain and processor of all instructions given to the robot. Testing of this humanoid robot includes the robot's straight path, the robot oblique path and the testing time taken from the movement. Testing of robot straight path has an average rate of 92% and time 54,1 second, while the straight road has 86% accuracy and time 69,46 second.]]>
<![CDATA[Implementasi Robot Lengan Pemindah Barang 3 DOF Menggunakan Metode Inverse Kinematics ]]>
<![CDATA[Rimas Oktama]]>;
<![CDATA[Rizal Maulana]]>;
<![CDATA[Gembong Edhi Setyawan]]>
<![CDATA[ Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer Vol 2 No 8 (2018): Agustus 2018 ]]>
Publisher : <![CDATA[Fakultas Ilmu Komputer (FILKOM), Universitas Brawijaya ]]>
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<![CDATA[Moving object process from one place to another is usually done with the conventional way using human power, then it can certainly getting heavy objects and the farther the distance of displacement, manpower required objects are also getting bigger. It is judged ineffective considering the limitations of human capability in the shift of weight and time limitations of humans in the work. Based on these problems required a robot arm that is able to moving an object from one place to another. The robot arm was designed to have 3 DOF (Degree of Freedom) and the whole joint is revolute and implemented using servo dynamixel AX-12A. Input from this robot is initial coordinates and final coordinates are then computing by the method of inverse kinematics with an output in the form of large angle of each joint required in order for the robot arm reaches the point coordinates. Results from research that has been done, the robot is able to move the object from one point coordinate to another within an average period of 6 to 7 seconds as well as the level error that occurred in the achievement of the desired angle of 0.64%. Based on the results of the implementation system of the arm robot assessed transporter 3DOF using inverse kinematics method is very effective in carrying out its functions to move an object.]]>
<![CDATA[Sistem Ar Drone Pengikut Garis Menggunakan Algoritma Progressive Probabilistic Hough Transform ]]>
<![CDATA[Achmad Baichuni Zain]]>;
<![CDATA[Gembong Edhi Setyawan]]>;
<![CDATA[Hurriyatul Fitriyah]]>
<![CDATA[ Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer Vol 2 No 9 (2018): September 2018 ]]>
Publisher : <![CDATA[Fakultas Ilmu Komputer (FILKOM), Universitas Brawijaya ]]>
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<![CDATA[Quadcopter is UAV which has four motorcycle propellers used to move it. We can control quadcopter with smartphone or remote control while it is flying, but with a particular skill. Based on the issues, quadcopter should be developed in order to move and follow an object automatically. Quadcopter will detect and follow a black line directly. In this research, we use digital image processing that use canny detection and progressive probabilistic hough transform. Parrot AR Drone 2.0 is used in this research of quadcopter. Based on the result of research, it obtains the point of HSV from each parameter that is Hue with minimum point = 0 and maximum point = 180, Saturation with minimum point = 0 and maximum point = 255, and Value with minimum point = 0 and maximum point = 10. While the measure of frame used for detecting is 330*240 pixel and the percentage of precision of motion is 100 %. The system produces a delay that follows the line in the detected line to quadcopter and the point is 0,22 second. While altitude testing obtain the result that minimum high can be detected is 80 cm and maximum high is 230 cm.]]>
<![CDATA[Sistem Kendali Navigasi Ar Drone Menggunakan Leap Motion ]]>
<![CDATA[Andyan Bina Ardhana]]>;
<![CDATA[Gembong Edhi Setyawan]]>;
<![CDATA[Issa Arwani]]>
<![CDATA[ Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer Vol 2 No 9 (2018): September 2018 ]]>
Publisher : <![CDATA[Fakultas Ilmu Komputer (FILKOM), Universitas Brawijaya ]]>
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<![CDATA[The technology is highly developed from various aspects without the crew one quadcopter. the majority still use a quadcopter applications Android-based. simple movements control can make to control the quadcopter. Emergence of innovation of Natural User Interfaces (NUI), language human-like voice, movement, or view to communicate with quadcopter technology. In the system research created a control harness innovation from NUI quadcopter from users. The user's hand be detected using leap motion. Leap motion is a device where optical and infrared sensors to detect a hand gesture. Leap motion and quadcopter programmed either using javascript. and speed, the resulting percentage accuracy of movement of 100%.the generated quadcopter to movement of the pitch, roll, yaw, gaz that is directly proportional to the value obtained from the user's movement, this indicates when the input from the user, then the greater the quadcopter will grow quickly and so vice versa. the system delay is the user moves the hand in accordance with quadcopter user instruction generates a delay of 0,26 seconds.]]>
<![CDATA[Sistem Kendali Take-Off Quadcopter Ar.Drone Menggunakan Logika Fuzzy ]]>
<![CDATA[Fajar Miftakhul Ula]]>;
<![CDATA[Gembong Edhi Setyawan]]>;
<![CDATA[Rizal Maulana]]>
<![CDATA[ Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer Vol 2 No 9 (2018): September 2018 ]]>
Publisher : <![CDATA[Fakultas Ilmu Komputer (FILKOM), Universitas Brawijaya ]]>
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<![CDATA[Unmanned Aerial Vehicle (UAV) or we knownby plane without crew is type of sky's robot explores have incrase develop in nowadays. One kinds of UAV is quadcopter, quadcopter is kinds of sky robots have four motors as vane drive. On process make quadcopter have many trouble, that is experienced pilot requirements for fly quadcopter use remote, expecially for the take-off, because take-off on quadcopter is absolute phase to keep the stability. So need have auto pilot system to manage process a great take-off. Based on that trouble so made experiment about guide system of take-off quadcopter use fuzzy logic with rule 7x7 where have two input is acceleration and change of acceleration, while output which result is speed. For know the error phase is examination as much as ten times with high 1 - 4 meter. And for know time need quadcopter for get hover use record time with stopwatch. So the result of this experiment is the precision obtained is already good but the time if takes is still need a long time while the rule is match with result output.]]>
<![CDATA[Perhitungan Kapasitas Baterai dan Arus Komponen pada Ar.Drone Quadcopter untuk Estimasi Waktu dan Jarak Terbang ]]>
<![CDATA[Yusril Dewantara]]>;
<![CDATA[Gembong Edhi Setyawan]]>;
<![CDATA[Barlian Henryranu Prasetio]]>
<![CDATA[ Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer Vol 2 No 9 (2018): September 2018 ]]>
Publisher : <![CDATA[Fakultas Ilmu Komputer (FILKOM), Universitas Brawijaya ]]>
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<![CDATA[AR.Drone quadcopter 2.0 is one type of unmanned aircraft that is small. Quadcopter is often used by technology practitioners in the field of aerodynamics, used by RC(remote control) hobbyists, used for facilities in the field of search and rescue, or used in military fields. But not infrequently unexpected things like quadcopter that suddenly fell. One of the causes of this is the lack of features that support the user to monitor battery capacity to find out the rest of the flight time the quadcopter can do and how far the quadcopter can fly. To solve that problem, a system that can make the quadcopter operate using a laptop keyboard as a controller can monitor the energy of the battery and used to estimate the time and estimate the displacement when the quadcopter operates have been built. Flight time estimation uses parameters of battery capacity, and current from components on quadcopter board that summed with current on a brushless motor which converted from PWM (Pulse Width Modulation). And to get the value that shows the remaining time of flying quadcopter is used coloumb's law. For estimation of displacement is done based on quadcopter flight test experiments that perform flying operations within a minute. The results of this study informed that the error of movement accuracy using the keyboard is 0%, the error of time fly estimation accuracy is 1.14%, and the error of displacement estimation accuracy is 29.75%]]>
<![CDATA[Sistem Deteksi Warna pada Quadcopter Ar.Drone Menggunakan Metode Color Filtering Hue Saturation and Value (HSV) ]]>
<![CDATA[Ayang Setiyo Putri]]>;
<![CDATA[Gembong Edhi Setyawan]]>;
<![CDATA[Tibyani Tibyani]]>
<![CDATA[ Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer Vol 2 No 9 (2018): September 2018 ]]>
Publisher : <![CDATA[Fakultas Ilmu Komputer (FILKOM), Universitas Brawijaya ]]>
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<![CDATA[Currently quadcopter is widely used as one of the objects of research method using image processing. With the applied image processing on quadcopter then quadcopter will have plenty of ability to perform the mission, such as tracking, landing, or detect certain objects. However, in most research image still captured by the external camera that additional cost prohibitive. To solve this problem, in this research used Parrot AR.Drone quadcopter that has a built in camera, so not needed an extra camera. Image processing is implemented on the platform that is used to connect the ROS and quadcopter with PC using OpenCV. The method used is color filtering on the HSV color space. The results of this research in the form of a system at AR.Drone are able to detect color with accuracy of 89,6%. Tests on the system is done by testing the performance of detection distance against quadcopter with objects and color detection performance testing with a certain speed. The results is the effective range of object detection is at a distance of 1 meter and the effective speed of quadcopter done dynamically detection is with the speed of 0.6 m/s.]]>
<![CDATA[Perancangan Perangkat Pengendali Navigasi AR Drone Quadcopter Berbasis Hand Gesture dengan Metode Complementary Filter ]]>
<![CDATA[Syarif Hidayatullah]]>;
<![CDATA[Gembong Edhi Setyawan]]>;
<![CDATA[Sabriansyah Rizqika Akbar]]>
<![CDATA[ Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer Vol 2 No 9 (2018): September 2018 ]]>
Publisher : <![CDATA[Fakultas Ilmu Komputer (FILKOM), Universitas Brawijaya ]]>
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<![CDATA[Quadcopter is a type of Unmanned Aerial Vehicle (UAV) which widely used in various fields of life. Navigation control is a very important thing to know while using quadcopter. Navigation control is a way to set the direction of quadcopter movement when flying. Remote control can be used to control the direction of quadcopter. But, using the remote control is required specific ability for the user to set the direction of quadcopter movement. Natural User Interface (NUI) is a new way to interact with a system. NUI made human easier to interact with the system. Because NUI using natural input such as the movement of the human body. In this research built a wearable device which can detect hand gesture and control the movement of quadcopter. The device applies complementary filter method to reduce noise when detecting angle transformation when user doing hand gesture. Based on the tests that had been done, this system got succes on each test of hand gesture. Delay in this system generates when the user doing hand gesture until the quadcopter move is 0.67 seconds.]]>
<![CDATA[Sistem Kontrol dan Monitoring Kualitas Air Tambak Udang Windu Dengan Metode Fuzzy Logic Control Menggunakan Mikrokontroler NI myRIO ]]>
<![CDATA[Ayu Samura]]>;
<![CDATA[Wijaya Kurniawan]]>;
<![CDATA[Gembong Edhi Setyawan]]>
<![CDATA[ Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer Vol 2 No 9 (2018): September 2018 ]]>
Publisher : <![CDATA[Fakultas Ilmu Komputer (FILKOM), Universitas Brawijaya ]]>
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<![CDATA[The water quality is a very important factor for the survival and productivity of shrimp farming. The water quality can be seen from the physical parameters of water temperature, salinity, and turbidity . Poor water quality can lead to decreased appetite of shrimp, slow fattening, and susceptible to disease. To avoid these problems, the authors propose an embedded system that can monitoring and controlling the shrimp farm water quality based on temperature, salinity and water turbidity parameters.Microcontroller NI myRIO-1900 with fuzzy logic controller methode are used to control and monitor the water quality of shrimp farm. This sistem can also store the results of monitoring and controlling data that has been done. Based on the test, the sistem can monitor the temperature, salinity and turbidity with an average time stable 241.67 seconds. For determination the shrimp farm water quality using Fuzzy Logic Controller method with three membership and five membership compared to manual calculation obtained fuzzy result with five membership is much more accurate with difference 0.51, while fuzzy with three membership yield difference 3.22. on the water quality control function by controlling the speed of the pump rotation produce a good level conformity.]]>
<![CDATA[Analisis Performa Jaringan Sensor Nirkabel Berdasarkan Penentuan Lokasi Node Yang Telah Diimplementasikan Dengan Algoritma Genetika ]]>
<![CDATA[Irma Asri Kartika Sandy]]>;
<![CDATA[Mochammad Hannats Hanafi Ichsan]]>;
<![CDATA[Gembong Edhi Setyawan]]>
<![CDATA[ Jurnal Pengembangan Teknologi Informasi dan Ilmu Komputer Vol 2 No 10 (2018): Oktober 2018 ]]>
Publisher : <![CDATA[Fakultas Ilmu Komputer (FILKOM), Universitas Brawijaya ]]>
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<![CDATA[The critical success factor of communication in a wireless sensor network is the connectivity of the sensor nodes in the network. Connectivity of the sensor nodes depends on the position of the sensor nodes, so in the design of wireless sensor network need to pay attention to the laying of sensor nodes in order to improve the performance of sensor networks. Genetic Algorithm is a method that has a bending property that can be used to determine the position of the node. There are studies using genetic algorithms to determine the best position that has not been implemented. Therefore, the implementation and analysis on the performance of wireless sensor networks that laying the node has been implemented with genetic algorithm. Analysis is done by analyzing the value of quality of service (delay, jitter, throughput) from communication between nodes to user's computer, and by analyzing test result from 5 channel flame sensor coverage area. And to make the previous system become dynamic, the feature is added. The result of the analysis shows the value of quality of service delay of 7.66 s. The value of jitter is 1.01 and the value of throughput is 77.01. Analysis of the 5 channel flame sensor test results is the sensor can cover with a distance of more than 100 cm with medium or large fire volume. Test results from the system to be more dynamic has a 100% success, that is by adding features of the radius input section of the sensor and the room width according to user needs.]]>
