Quadrotor Proportional-Derivative Regulation for onzero Set Point on SO(3) with Disturbance Compensation

Disturbance compensation is a challenging problem in quadrotor control, especially in nonzero set point regulation. This paper presents proportional-derivative regulation for nonzero set point on SO(3) with disturbance compensation for quadrotor UAV. Quadrotor nonlinear kinematics and dynamics model in SO(3) are used to design the control law. Disturbance compensation is added to the control law by using the upper bound of the disturbance. The numerical simulation shows that the disturbance compensation is able to counter the disturbance effect and improve the bound of the state variables

Pengembangan Metode Identifikasi Indometasin dengan Klt-spektrofotodensitometri

Indometasin adalah obat yang memiliki efek sebagai antiinflamasi. Berdasarkan efek tersebut, indometasin sering ditambahkan secara ilegal ke dalam produk obat herbal yang memiliki khasiat untuk menghilangkan pegal linu atau rematik. Tujuan dari penelitian ini adalah mengembangkan suatu metode KLT-Spektrofotodensitometri yang digunakan untuk uji identifikasi dan menentukan validasinya yang meliputi linearitas, batas deteksi, spesifisitas, dan presisi. Sampel diesktraksi menggunakan metode SPE C8-Cation Exchange dan kemudian dipisahkan dengan dua sistem KLT yang berbeda yaitu sistem TF dan TE. Kromatogram dan spektrum dari masing-masing noda senyawa dibuat pada panjang gelombang 210 nm dan 190-400 nm dengan menggunakan TLC Scanner 3 (Camag-Mutenz-Switzerland). Senyawa diidentifikasi berdasarkan nilai hRfc dan spektrum in situ. Berdasarkan hasil yang diperoleh dari uji identifikasi menunjukkan bahwa fraksi SPE mengandung indometasin. Nilai dari validasi metode yang dilakukan telah valid untuk linearitas dengan r > 0,999, batas deteksi untuk kedua sistem adalah 3,698 ng, spesifisitas metode dengan nilai korelasi spektrum > 0,90 untuk indometasin, dan presisi untuk hRf dan AUC menghasilkan KV < 2%

Utilization of Fermented Water Hyacinth (Eichhornia Crassipes) Meal in the Diets on Growth of Jelawat (Leptobarbus Hoeveni)

The purpose of this research was to know the amount of fermented waterhyacinth meal in diets on growth and feed efficiency of Leptobarbus heovenijuveniles. Five isonitrogenous (30% crude protein) experimental diets wasformulated to contain 0, 10, 20, 30, and 40% fermented water hyacinth meal and100, 90, 80,70,and 60% soybean meal (P0, P1, P2, P3, and P4, respectively).Completely randomized design (CRD) was used in this experiment.The result showed that a diet containing 40% fermented water hyacinth mealand 60% soybean meal (P4) support a good specific growth rate (2.18%/day), feedefficiency (29.83%) and protein retention (11.99%). It this concluded that up to 60%soybean meal can be substituted with fermented water hyacinth meal in the diets forLeptobarbus hoeveni juveniles

Perancangan Buku Panduan Dasar Trading Untuk Pemula

Perancangan buku panduan dasar trading berfokus pada dasar-dasar trading mulai dari pengertian trading, cara membaca dan menganalisa grafik dan dilengkapi dengan ilustrasi pendukung. Buku panduan yang berjudul “Start Trading Today!” ini memiliki keunikan dari sisi bahasa visual. Perancangan ini bertujuan untuk memberikan pengetahuan dan informasi kepada masyarakat tentang dasar-dasar trading

A Novel of Repulsive Function on Artificial Potential Field for Robot Path Planning

In this paper, the issue of local minima associated with GNRON (Goal Nonreachable with Obstacles Nearby) has been solved on the Artificial Potential Field (APF) for robot path planning. A novel of repulsive potential function is proposed to solve the problem. The consideration of surrounding repulsive forces gives a trigger to escape from the local mi- nima. Addition of signum function on the repulsive force which considers relative distance between the robot and the goal ensures that the goal position is the global optima of the total potential. Simulation conducted to prove that the proposed algorithm can solve GNRON and local minima problem on APF. Scenario of each simulation set in different type of obs- tacle and goal condition. The results show that the proposed method is able to handle local minima and GNRON problem

Pemisahan Rifampisin, Isoniazid, dan Pirazinamida dengan Klt Terimpregnasi Parafin

Telah dilakukan pengembangan metode kromatografi untuk pemisahan rifampisin, isoniazid, dan pirazinamida menggunakan pelat KLT terimpregnasi parafin. Penelitian ini bertujuan untuk mengembangkan metode pemisahan rifampisin, isoniazid, dan pirazinamida secara simultan. KLT silika gel 60 GF254 diimpregnasi menggunakan parafin 10% (v/v) dalam dietil eter. Beberapa variasi fase gerak yang dioptimasi mengacu pada campuran etanol : air (70:30 v/v) + 5% asam asetat glasial + 1% amonia 37%. Parameter kromatografi terbaik diperoleh dari pemisahan menggunakan fase gerak campuran etanol : air (95:5 v/v) + 5% asam asetat glasial + 1% dietilamin. Fase gerak ini juga memberikan pemisahan terbaik untuk ketiga senyawa dengan Rs > 1 dan ? > 1. Pelat dipindai pada panjang gelombang 335 nm untuk analisis rifampisin dan 275 nm untuk analisis isoniazid dan pirazinamida menggunakan KLT-spektrofotodensitometer. Metode yang dikembangkan dapat digunakan sebagai acuan untuk pemisahan rifampisin, isoniazid, dan pirazinamida pada sampel obat ataupun sampel biologis

Program Pelatihan Kesejahteraan Kesehatan Masyarakat dengan Konsep “Dusun Siaga Kesehatan” di Dusun Pajimatan – Payaman Utara, Girirejo, Imogiri, Bantul, YOGYAKARTA

To realize available workers with high quality and high competitiveness, health development should be directed to consciousness increasing, desire and ability to live healthy for everybody so that the society's high health can be realized. The degree of health, education, and economy are the main pillar which have a strong connection with the imrpovement of available workers' quality, therefore, it is expected that the available workers can be persistent, productive, and able to compete to face all challenge that may be found (Healthy Minister, 2010). For that case, we, as the young generation who are really expected in giving real contribution for realizing a brighter future for Indonesia, should participate in taking concrete actions in developing the concept of “Dusun Siaga Kesehatan”as an effort to develop society life which has high conciousness in healthy life based on cooperation principle and social movement. The aims of this report composing are to know the concept of “Dusun Siaga Kesehatan”as an effort of national healthy development based on society's healthy and to know the development of “Dusun Siaga Kesehatan”as an effort of national healthy development based on society's healthy. The typical character of “Dusun Siaga Kesehatan” is appearance of some activities related to readiness of the village to anticipate and to handle the health in the village. The appearance of the good character in the society is because they make it as a habit in their life. “Dusun Siaga Kesehatan” gives a concept of society life which respects deeply the essence of mutual assistance and caring to create a healthy society environment. “Dusun Siaga Kesehatan” involves the whole counrtyside society in the program accomplishing to motivate the social movement in the effort of natioanl health based on society's health. The development of “Dusun Siaga Kesehatan” needs some methods which are integrated and continued. One of them is by using managerial principle, those are planning, acting, evaluating, and controlling. The managerial principle is expected to motivate the social movement in the effort of national health development based on society's health