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All Journal Jurnal Agronomi Tanaman Tropika (JUATIKA) Blend Sains Jurnal Teknik
Ridho, Muhammad Fauzan
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Agriculture, Biological Sciences & Forestry Automotive Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Mechanical Engineering

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Integrasi Odometri LiDAR dan Sensor IMU untuk Peningkatan Lokalisasi pada Robot Bergerak Indoor Ridho, Muhammad Fauzan; Abidin, Ali Zainal; Septian, Belen
Blend Sains Jurnal Teknik Vol. 2 No. 4 (2024): Edisi April
Publisher : Ilmu Bersama Center

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.56211/blendsains.v2i4.470

Abstract

Lokalisasi adalah salah satu kompon penting dalam navigasi robot bergerak. Tugas tersebut dapat dilakukan dengan memanfaatkan data odometri LIDAR dan sensor unit pengukuran inersia (IMU). Odometri lidar memberikan informasi tentang gerak berbasis cahaya, sedangkan IMU memberikan data tentang percepatan dan kecepatan sudut. Keduanya mempunyai kelebihan, namun juga mempunyai kelemahan. Akumulasi kesalahan odometri LiDAR dan penyimpangan IMU seiring waktu sering terjadi pada odometri yang berbasis pada dua sensor tersebut. Penelitian ini mencoba mengatasi permasalahan tersebut dengan mengembangkan metode fusi sensor dengan mengntegrasi data odometri LIDAR dan IMU bertujuan untuk meningkatkan akurasi dan keandalan lokalisasi robot. Penelitian meliputi kalibrasi sensor, pemrosesan data, dan evaluasi kinerja pendekatan fusi yang diusulkan. Dengan memanfaatkan literatur terbaru tentang pengembangan teknologi sensor dan strategi fusi sensor, penelitian ini berkontribusi pada pemahaman yang lebih baik tentang cara meningkatkan navigasi robot bergerak dalam berbagai situasi. Kami berharap hasil penelitian ini dapat membuka jalan bagi pengembangan robot bergerak yang lebih akurat dan andal, terutama ketika melakukan pergerakan pada lingkungan yang kompleks.
Analysis of Lead (PB) Metal Content in Soil and Peanut Seeds Arachis hypogaea With the Application of Coal Ash Fly Ash and Bottom Ash (FABA) in Post-Tin Mining Land Inonu, Ismed; Pratama, Deni; Roanisca, Occa; Ridho, Muhammad Fauzan; Khodijah, Nyayu Siti
JURNAL AGRONOMI TANAMAN TROPIKA (JUATIKA) Vol. 8 No. 1 (2026): Jurnal Agronomi Tanaman Tropika (JUATIKA) Vol. 8 No. 1 January 2026
Publisher : LPPM UNIVERSITAS ISLAM KUANTAN SINGINGI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.36378/juatika.v8i1.4958

Abstract

The increase of heavy metal content in post-mining land is one of the main challenges in using tin mine tailings for agricultural activities. This study aimed to determine lead changes (Pb) concentrations in tin mine tailings after the application of Faba (fly ash–bottom ash) and the cultivation of peanut (Arachis hypogaea L.), and to evaluate the potential for Pb accumulation in peanut seeds. The experiment was conducted using five levels of Faba application (0; 15; 30; 45; and 60 tons/ha) on tin mine tailings, followed by peanut cultivation for one growing season. The results showed that Faba application increased total soil Pb concentration from 0.09 mg/kg (without Faba) to 19.58 mg/kg (60 tons/ha). However, after peanut cultivation, soil Pb content in all treatments decreased to below the AAS detection limit (< 8.73 mg/kg). Analysis of peanut seeds revealed that Pb levels were also below the detection limit (< 0.165 mg/kg), indicating no significant Pb accumulation in the seeds. This study demonstrates that applying Faba at certain doses can modify the chemical characteristics of mine tailings, and that peanut cultivation has the potential to reduce soil Pb levels through absorption and immobilization mechanisms. The key finding of this study is that combining Faba application at 30–45 tons/ha with peanut cultivation effectively reduces soil Pb content without increasing contamination in harvested seeds. Furthermore, peanut seeds remain safe for consumption due to their very low Pb concentration. Therefore, integrating Faba-based amelioration with the cultivation of excluder or phytoremediation plants, such as peanuts, is recommended as an environmentally friendly tailings reclamation strategy that supports sustainable food security.
Co-Authors Ali Zainal Abidin Belen Septian Ismed Inonu Pratama, Deni Roanisca, Occa