Tri Kuntoro Priyambodo

Optimizing control based on fine tune PID using ant colony logic for vertical moving control of UAV system

Fixed-wing UAV has the ability to fly like a plane. For the movement of the flight, a good control system is needed. Part of the flight controls that require our attention among them is the vertical moving control. The controls are used to adjust the vertical movement involving aircraft pitch angle control. To control it, we can use control method that has been commonly used. The control method is a PID (Propositional, Integral and Derivative) control method. PID has three components (Kp, Ki, and Kd). The three components of PID can be obtained in various ways or methods. However, to produce a robust control, a method that can optimize the PID components is needed. Ant Colony Optimization (ACO) is one of PID controller optimization method which adapted by ant colony ability to find the shortest way from their nest to food. Some ACO parameters are a number of ants, parameters, and pheromone component for pheromone. Pheromones are the values given by the ants when they use the road.

PID self tuning control based on Mamdani fuzzy logic control for quadrotor stabilization

Quadrotor as one type of UAV have the ability to perform Vertical Take Off and Landing (VTOL). It allows the Quadrotor to be stationary hovering in the air. PID (Proportional Integral Derivative) control system is one of the control methods that are commonly used. It is usually used to optimize the Quadrotor stabilization at least based on the three Eulerian angles (roll, pitch, and yaw) as input parameters for the control system. The three constants of PID can be obtained in various methods. The simplest method is tuning manually. This method has several weaknesses. For example if the three constants are not exact, the resulting response will deviate from the desired result. By combining the methods of PID with fuzzy logic systems where human expertise is implemented into the machine language is expected to further optimize the control system.

Research of smart real-time robot navigation system

In this paper described how the humanoid robot measures its distance to the orange ball on green floor. We trained the robot camera (CMUcam5) to detect and track the block color of the orange ball. The block color also used to estimate the distance of the camera toward the ball by comparing its block color size when its in the end of field of view and when its near of the camera. Then, using the pythagoras equation we calculate the distance estimation between the whole humanoid robot toward the ball. The distance will be used to estimate how many step the robot must perform to approach the ball and doing another task like kick the ball. The result shows that our method can be used as one of smart navigation system using a camera as the only one sensor to perceive the information of environtment.

Optimizing control based on ant colony logic for Quadrotor stabilization

Quadrotor as one type of UAV (Unmanned Aerial Vehicle) have the ability to perform Vertical Take Off and Landing (VTOL). It allows the Quadrotor to be stationary hovering in the air. PID (Proportional Integral Derivative) control system is one of the control methods that are commonly used. It is usually used to optimize the Quadrotor stabilization at least based on the three Eulerian angles (roll, pitch, and yaw) as input parameters for the control system. The three constants of PID can be obtained in various ways or methods. However, to produce a robust control, we need a method that can optimize the PID components. Ant Colony Optimization (ACO) is one of PID controller optimization method which adapted by ant colony ability to find the shortest way from their nest to food. Some ACO parameters are number of ants, parameters, and pheromone constant for pheromone. Pheromones are the values given by the ants when they use the road.

An Exploratory Study of Tourists Photo Taking Behavior at Nglanggeran Ancient Volcano, Gunungkidul, Indonesia

“No pict is hoax” is a statement usually used by young people, which means that pictures need to be taken to provide a sense of meaningfulness to their stories. Generally, tourists use pictures to share their experiences from the tourist destination with their relatives, friends, and communities. In this digital era, there is no real need to share the photographs in printed version. Through the Internet, people can share their moments with all of their acquaintances in social media. This paper reports on research undertaken into tourists photo taking behavior at Nglanggeran Ancient Volcano. It finds that respondents take some pictures as part of self-actualization. Tourists mainly use camera in their mobile phones in preference to other photographic devices, which they will typically share via social media. The result shows that most respondents take pictures and share them in a single device that is mobile phone.

Responses of Social Media Users to Professional and Tourist Photographs

This study examines the responses of social media users to tourist photographs and professional photographs on social media platforms. The research participants were students from the Diploma Program in Tourism, Universitas Gadjah Mada (UGM). The research design was experimental using questionnaires as the data collection instrument. This research used a paired t-test to analyze the differences in responses to photographs by tourists and professionals in terms of the photography’s component and eWOM’s components through AIDA’s hierarchy process model. Some different responses were identified.

A Proposed Strategy for Secure and Trusted Environment in e-Government

The Internet as a primary means of the implementation of e-Government is an insecure channel and can provide a loophole, which allows the emergence of various types of threat and vulnerability. This becomes an obstacle in the efforts to increase the participation of the community and gives impacts in decreasing the trust in the system. Therefore, a strategy that involves technological as well as conceptual aspects needs to be carried to realize a secure and trusted environment on e-government. This paper gives an overview of the strategy based on security and trust in one comprehensive solution that can be applied to achieve the goal through the integration of five components, namely: security and standard, security policy, trusted computing, defense-in-depth strategy and human factor. Through this paper then all parties involved in e-government may reconsider a strategy that has been set up to give attention to the issue of secure and trust in the implementation of e-government system.

Real-time operating system implementation on OBC/OBDH for UGMSat-1 sequence

On-Board Computer or On-Board Data Handling (OBC/OBDH) has an important role as a manager for data housekeeping and communication handling between OBC/OBDH to its TTC (Telemetry and Telecommand) and EPS (Electronic Power System) subsystems in the satellite system. In order to operate according to the satellite sequence, the RTOS (Real-Time Operating System) is implemented on the UGMSat-1. The CooCox CoOS is used as an RTOS, which is has three tasks which are Condition-Check, Housekeeping, and Communication Task. The highest priority among the tasks on the system is Communication Task. The experiment proves that three tasks can run well with the time cycle of 2.034, 30.047, and 1.017 seconds for Condition-Check, Housekeeping, and Communication task respectively. The result of overall experiments shows that the OBC/OBDH can manage data packets and sent them to Ground Station.

Identification of flood-prone area using remotely sensed data - Case in Tanjung Selor City, North Kalimantan

This research was conducted in Tanjung Selor area as a new city in North Kalimantan, Indonesia. It is aimed at analyzing flood-prone area based on high resolution image data. The area was sensed by a compact digital camera installed on Unmanned Aerial Vehicle (UAV). Visual interpretation was carried out to identify the flood prone area, supported by topographic information from other data. Based on the preliminary assessment, almost all area in that city tends to be flooded due to meander form of the river. In general, the most susceptible area is situated nearby river body. More detail analysis is necessary to get a more comprehensive results. This phase will be an important part for flood mitigation.

Digital Evidence Cabinets: A Proposed Framework for Handling Digital Chain of Custody

Chain of custody is the procedure to do a chronological documentation of evidence, and it is an important procedure in the investigation process. Both physical and digital evidence is an important part in the process of investigation and courtroom. However, handling the chain of custody for digital evidence is more difficult than the handling of physical evidence. Nevertheless, the handling of digital evidence should still have the same procedure with the handling of physical evidence. Until now handling the chain of custody for digital evidence is still an open problem with a number of challenges, including the business model of the interaction of the parties that deal with digital evidence, recording of metadata information as well as issues of access control and security for all the handling digital chain of custody. The solution offered in this research is to build a model of Digital Evidence Cabinets as a new approach in implementing the digital evidence handling and chain of custody. The model is constructed through three approaches: Digital Evidence Management Frameworks, Digital Evidence Bags with Tag Cabinets as well as access control and secure communication. The proposed framework is expected to be a solution for the availability of an environment handling of digital evidence and to improve the integrity and credibility of digital evidence.