Salah satu kemampuan dasar wahana terbang type fixedwing adalah dapat lepas landas pada area yang terbatas, terbang cepat mencapai lokasi yang diinginkan secara aman, akurat pada lintasan yang ...diinginkan dan dapat kembali ke base untuk mendarat dengan selamat. Misi khusus seperti pertolongan dan pertahanan membutuhkan wahana terbang yang cepat dan mampu mendarat dengan akurat, tetapi performa tersebut juga membutuhkan konsumsi energi yang besar. Untuk mendapatkan performa yang cepat, namun dengan energi yang efisien, wahana terbang didesain dengan model pylon pusher menggunakan airfoil ag03-il dan penambahan stabilizer cruciform untuk meningkatkan kecepatan pesawat dan menjaga pesawat agar stabil. Untuk tahap awal penelitian ini dibagi menjadi tiga proses yaitu menentukan konfigurasi pesawat, membuat gambar tiga dimensi, dan menganalisis desain tiga dimensi menggunakan software ansys. Hasil ketiga proses tersebut didapatkan desain baru dengan konfigurasi penempatan sayap (hight wing) dengan ekor menggunakan stabilizer cruciform. Data teknis hasil perancangan adalah sebagai berikut: berat take-off 23 N, luas sayap 0,378 dan panjang pesawat 0,72 m pada saat kecepatan jelajah koefisien gaya angkat (Cl) 0,35 dan koefisien gaya angkat maksimum (CLmax) pesawat sebesar 1,12 ketika sudut serang .selain itu diperlukan campur tangan pilot melalui remote control untuk menghasilkan kecepatan yang maksimal. Desain baru pesawat model fighter untuk divisi Racing Plane mampu menambah kecepatan hingga 30% dari yang telah dibuat model pylon.
Internal fixation is a method of healing fractures by connecting them using metal called pen. Pen metal in the body isn’t permanent, when the bone was strong the pen must be removed to avoid ...infection. In finding the pen, X-Ray are usually used. But X-Ray has bad effect, so not everyone is allowed to use it. The solution given by make prototype to detect pen location using B-Mode ultrasonic scanning method, it uses 5MHz single transducerultrasonic. Objects measurement is the animal bones connected with metals placed in the jelly with different heights. From the two transducers, the concave surface transducer has a better result and smaller percentage error than the flat surface transducer. The concave surface transducer has a focal length area 1.94cm above the transducer surface. The maximum slope angle of the object is 20o, which more than that makes the echo signal unreadable the object.The measurement results of objects displayed in the B-Mode 1 dimensional on PC that displays the structure of the bottom surface of an object, based on comparison between the actual object and the B-Mode display an error less than 6%, meaning B-Mode can represent the surface structure bottom of the actual object.
The two-wheeled balancing robot is a robot that will maintain its balance to stay upright by using two wheels. This robot cannot be stable when the condition is upright and requires a control ...mechanism when moving. There are at least two control mechanisms in this robot, first is balance control, and the second is position control. The cascade PID method is proposed as a control mechanism, which consists of balance control as primary control and position control (distance and direction) as a secondary control. This method has been applied to robots. Based on the first, second, and third experiment, the best configuration of cascade PID control is PID for the balance control block, PD for distance control, and PD for direction control. By using cascade PID control, the two-wheeled balancing robot has been able to balance itself with oscillations ranging from ± 15.00 degrees when moving and it can move towards the ordered position with the error position from the target. Fourth experiment position error is (0.17, -0.26) and (0.45, -0.43) for the fifth experiment.
Wireless Sensor Network (WSN) is a network consisting of several sensor nodes that communicate with each other and work together to collect data from the surrounding environment. One of the WSN ...problems is the limited available power. Therefore, nodes on WSN need to communicate by using a cluster-based routing protocol. To solve this, the researchers propose a node grouping based on distance by using k-means clustering with a hardware implementation. Cluster formation and member node selection are performed based on the nearest device of the sensor node to the cluster head. The k-means algorithm utilizes Euclidean distance as the main grouping nodes parameter obtained from the conversion of the Received Signal Strength Indication (RSSI) into the distance estimation between nodes. RSSI as the parameter of nearest neighbor nodes uses lognormal shadowing channel modeling method that can be used to get the path loss exponent in an observation area. The estimated distance in the observation area has 27.9% error. The average time required for grouping is 58.54 s. Meanwhile, the average time used to retrieve coordinate data on each cluster to the database is 45.54 s. In the system, the most time-consuming process is the PAN ID change process with an average time of 14.20 s for each change of PAN ID. The grouping nodes in WSN using k-means clustering algorithm can improve the power efficiency by 6.5%.
Intisari— Tren permintaan ikan konsumsi terus meningkat pesat, bahkan Food and Agriculture Organization (FAO), mengatakan hasil budidaya ikan diperkirakan akan meningkat sekitar 172 juta ton pada ...tahun 2021. Oleh karena itu dibutuhkan usaha-usaha untuk meningkatkan produksi ikan lele nasional. Metode-metode terbaru dalam budidaya ikan lele pun bermunculan, salah satunya adalah metode budidaya ikan lele dalam drum. Namun, masih banyak peternak ikan lele dalam drum di Indonesia masih menggunakan metode konvensional yang sudah tidak efektif lagi, dikarenakan banyak benih ikan lele yang mati sebelum dewasa, hal ini disebabkan diantaranya karena pemberian pakan yang kurang terjadwal serta jumlah berat pakan yang kurang akurat dengan jumlah dan usia ikan dalam sebuah drum yang menyebabkan pertumbuhan ikan lele menjadi kurang maksimal. Berdasarkan permasalahan-permasalahan itulah yang mendorong untuk mengembangkan sebuah alat yang dapat mengontrol dan monitor jadwal pemberian pakan ikan dan jumlah berat takaran pakan ikan sesuai dengan jumlah dan usia ikan dalam satu drum berbasis mikrokontroler dengan memanfaatkan metode fuzzy logic yang dapat memudahkan dalam proses penalaran secara bahasa (linguistic reasoning),dan hanya dengan melalui smartphone, peternak dapat mengatur jadwal pemberian pakan serta memilih jumlah ikan dan usia ikan yang ada dalam sebuah drum. Hasilnya alat mampu memberikan pakan sesuai dengan jadwal pakan dengan tingkat error 0%, serta alat dapat memberikan pakan sesuai dengan takaran pakan dengan keakuratan mencapai 98,9% dengan rata-rata akurasi 96,09%.
Kata Kunci— Pakan ikan otomatis, MQTT Dashboard, Fuzzy Logic
In the development of an electric car, many things should be considered for making it an environmentally friendly vehicle and therefore it is suitable for public use, one of them is the dashboard ...system. A dashboard is an interface device that connects the driver with the electrical and mechanical systems of the vehicle. In this study a dashboard system was developed to display information about electrical aspects of electric cars. The dashboard system is packaged in an Android-based smartphone that is placed on the steering wheel of the car using Bluetooth transmission. The system that is made is portable and universal on all Android smartphones so that with this system the driver can monitor the electrical condition easily and conveniently. The parameters displayed are battery voltage and capacity, current consumption, BLDC motor rotational speed, motor temperature, battery temperature, car speed and energy consumption. This system creates a reading value for each parameter that corresponds to the ratio of the standardized measuring instrument with an average error of 0.38% for the voltage sensor, 1.06% for the current sensor, 1.21% and 2.98% for the temperature sensor, 0.07% for the speed sensor and the use of the coulomb counting method for reading the state of charge (SoC) value produces an average error of 1.57%. By comparing the value of energy consumption reading with a standard wattmeter, we obtained an average difference of 1.69%.
Quadcopter has been interesting researchers due to its wide application, such as surveillance, mapping, delivery drone, etc... Developing a low-cost embedded flight controller unit (EFCU) for making ...the quadcopter autonomous is still challenging problem. In this work, an EFCU is developed based on ARM STM32F103C8T6 microcontroller, the MPU6050 IMU sensor and the HC-SR04 ultrasonic sensor. An PID control strategy is implemented for automatically take-off, landing, and stabilizing control of the quadcopter. The EFCU and PID controller is developed in this work. It is implemented and tested experimentally by providing error on roll and pitch position in 0.71° and 0.68° respectively.
Kontes Robot Terbang Indonesia (KRTI) Flight controller division has a mission to independently make an unmanned aerial vehicle (UAV) controller. UAV controllers are usually made by non-local ...manufacturers, who have a package between the controller and the aircraft. Due to limited pins and specific functions, most controllers cannot adapt to user requirements. For this reason, in this study, we made a UAV controller with a more significant number of pins that can be programmed independently. Main Controller is a master board device used to control the stability of the UAV when flying. The main controller has been designed specifically for certain products so that the UAV cannot be modified. In this study, it is proposed to make the main controller that is specifically designed to fly a Quadcopter UAV. Movement control for quadcopter stability when flying using the Proportional Integral Derivative (PID) method. The main controller has a function that is to regulate the entire course of flight on unmanned vehicles. PID control can adapt to changes so that the system becomes stable. The PID control on the Main Controller is intended to balance the quadcopter concerning its orientation angle. The Main Controller is also tasked with recording data from sensors such as the Inertial Measurement Unit (IMU) and reading data from the remote. The controller successfully flew the quadcopter with a P value of 0.245, an I value of 0.0139, and a D value of 0.0085.
3D scanner that uses image sensors requires the role of a computer that includes a data generator, data acquisition, and visual display. In a simply system, it can be designed the sensory system uses ...non-imagery sensor so the role of the data generator can be handled by the microcontroller. This research aims to make a simple 3D scanner using inexpensive non-imagery Time of Flight VL53L0X sensor and data processing can be processed directly by the microcontroller. The results of sensor distance measurements are processed on the microcontroller and desktop application. The distance and angle values are converted into Cartesian coordinate using cylindrical coordinate system. The scan results of the cubes, prisms and cylinder are similar with the reference object, but the results of the pyramid test at the top cannot be scanned properly due to the narrow surface. The laser beam from the emitter cannot bounce back to the collector properly makes distance reading is inaccurate and causes error in the point cloud conversion. The comparison error between the side of the scan results and the reference object is between 2.54-39.8%. The surface of objects with bright color has a smaller error than those with dark color. The comparison error of the height of the scan results with the reference object is between 5-32%. The angle of the emitter exclusion cone and the collector exclusion cone sensor affects the error at the side and height of the scan results.
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