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Struktur Komunitas Makrobentos Sebagai Bioindikator Kualitas Perairan di Kecamatan Sayung

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ABSTRAK

Quadcopter adalah helikopter UAV yang menggunakan empat baling-baling untuk
melakukan manuver. Gerakan manuver quadcopter yang sekarang banyak dikembangakan
yaitu gerak balancing pada quadcopter. Awalnya quadcopter membutuhkan kendali berupa
radio transmitter yang dikendalikan secara manual oleh manusia sehingga sering kali terjadi
gerakan balancing yang tidak sempurna. Gerakan balancing tersebut sangat susah
dikendalikan secara manual oleh seorang pilot quadcopter. Sehingga diperlukan suatu
sistem automasi kendali gerak quadcopter. Beberapa pengembangan Quadcopter
menggunakan konsep kecerdasan buatan behaviour-based intelligent fuzzy control (BBIFC).
Algoritma behaviour-based adalah salah satu algoritma yang banyak digunakan dalam
pengembangan automasi gerak quadcopter. Algoritma behaviour-based control diturunkan
dari sifat-sifat alami makhluk hidup sesuai dengan keadaan lingkungannya. Metode
behaviour-based intelligent fuzzy control dengan fuzzy Mamdani yang dijalankan pada
board microcontroller arduino nano v3.0 membutuhkan waktu 6.65 detik untuk mencapai
kondisi stabil pada behaviour altitude hold dan 5.74 detik untuk mencapai kondisi stabil
pada behaviour pole balancing dengan tingkat keberhasilan 70% dari 10 kali percobaan.
Kata kunci : Quadcopter, Autonomous Pole Balancing, Behaviour-Based Intelligent Fuzzy
Control, Fuzzy Mamdani

ABSTRACT

Quadcopter is a UAV helicopter that uses four propellers to maneuver. The movement of the
quadcopter maneuver that was currently widely developed such as movement of balancing
on the quadcopter. At begining quadcopter needs control such as a radio transmitter that was
controlled manually by humans so that there were often imperfect balancing movements.
The balancing movement is very difficult to be controlled manually by a quadcopter pilot.
So it needs a system of automation control of quadcopter motion. Some development of
Quadcopter was using the concept of artificial intelligence based on fuzzy intelligent control
(BBIFC). The behaviour-based algorithm was one algorithm that was widely used in the
development of quadcopter. Algorithm behavior-based control was derived from the natural
characteristics of living things according to their environmental conditions. The behaviorbased intelligent fuzzy control method with fuzzy Mamdani that was run on the Arduino Nano
V3.0 microcontroller board takes 6.65 seconds to reach stable conditions in altitude hold
behaviour and 5.74 seconds to achieve stable conditions at pole balancing behaviour with a
success rate of 70% of 10 attempts.
Keywords : Quadcopter, Autonomous Pole Balancing, Behaviour-Based Intelligent Fuzzy
Control, Fuzzy Mamdani

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Ketersediaan

697F19I

697 F 19-i

Perpustakaan FSM Undip (Referensi)

Tersedia

Informasi Detail

Judul Seri

ILMU KOMPUTER/INFORMATIKA

No. Panggil

697 F 19-i

Penerbit

: ., 2019

Deskripsi Fisik

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Bahasa

Indonesia

ISBN/ISSN

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Klasifikasi

005.1068

Tipe Isi

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Tipe Media

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Tipe Pembawa

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Edisi

-

Subjek

-

Info Detail Spesifik

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Pernyataan Tanggungjawab

Muhammad Iqbal Fadholi

Versi lain/terkait

Lampiran Berkas

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