Attitude Determination And Control For Stabilization And Pointing Accuracy For 3u Class Nano-Satellite

Penyelidikan dan pembangunan 3U nano-satelit semakin meningkat sekarang ini dan telah membawa pelbagai misi ke angkasa lepas. InnoSAT adalah satelit 3U yang dibangunkan oleh Astronautics Technology Sdn.Bhd. (ATSB) dan lima universiti di Malaysia. Satelit itu dibangunkan dengan berat, kuasa, ruang dan bajet terhad. Misi satelit adalah untuk menangkap imej wilayah Malaysia daripada angkasa. Sistem yang sedia ada di dalam satelit menghasilkan dinamik tidak stabil dan berat tidak seimbang. Tiga paksi tork magnit, penderia matahari dan medan magnet dipasang pada paksi badan satelit. Tork kawalan satelit boleh dihasilkan oleh medan magnet daripada tork magnet yang serenjang dengan vektor medan magnet bumi yang berbezabeza di setiap posisi di orbit. Tiga paksi giroskopik berjenis Sistem Mikro Elektro Mekanikal (MEMS) dipasang sebagai penentuan utama sikap dan gabungan optimum penderia matahari dan medan magnet sebagai menengah. Sikap yang tepat, kedudukan dan kestabilan satelit di dalam orbit diperlukan ketika menangkap imej. Tesis ini membincangkan tentang bentuk pengiraan tepat dan cepat untuk penentuan sikap menengah dan juga penstabilan sikap, ketepatan menunjuk, dan kawalan gangguan untuk semua kedudukan satelit di orbit dengan menggunakan konfigurasi satelit sedia ada. Sikap ini telah dipilih menggunakan lima kaedah; TRIAD, The Quaternion Estimator (QUEST), kaedah-q, Fast Optimal Attitude Matrix (FOAM), Estimator Of The Optimal Quaternion-1 (ESOQ1) dan rekursi EKF. Kaedah yang dipilih dengan mempertimbangkan kerumitan dan kemungkinan untuk dapat diimplementasikan di dalam pengawal-mikro InnoSAT. Kaedah asas titik mampu menghasilkan keluaran yang tepat dan cepat apabila satelit itu berada jauh daripada gerhana tetapi kaedah EKF mampu melaksanakannya pada semua kedudukan. Kaedah-q menunjukkan hasil paling cepat dan tepat dalam menentukan sikap berbanding kaedah lain dengan kesilapan kurang daripada 5 %. Satelit ini dikawal dengan memasukkan mod terjerumus ke dalam model satelit untuk membentuk pengawal berdasarkan persamaan linear Riccati; LQR, H2, H¥, sintesi-m dan LPV berdasarkan Ketidaksaam Matriks Linear (LMI). Gelung tertutup dianalisis terhadap perubahan fungsi pemberat, ketidaktentuan, dan jumlah maklum balas di mana-mana kedudukan di orbit. Penggunaan kuasa pengawal amat dianggap melihat kemungkinan untuk dapat diimplementasikan di dalam sistem yang sedia ada. Pengawal ini mampu mengekalkan kestabilan hanya dalam bulatan kecil kedudukan satelit daripada titik kiraan pengawal tetapi jika satelit berada di luar bulatan maka pengawal baru mesti dikira semula. Kestabilan berterusan boleh dicapai dengan pengawal LPV, tetapi pengawal tidak dapat mengekalkan ketepatan menunjuk, dan penolakan gangguan pada masa yang sama. Sikap satelit disimulasi menggunakan 2-dimensi (2D) dan 3-dimensi (3D) Simulink MatlabTM. ________________________________________________________________________________________________________________________ Research and development of 3U nano-satellite is increasing nowdays and have been carrying various mission to space. InnoSAT is a 3U satellite developed by ATSB and five universities in Malaysia. The satellite is developed with limited weight, power, space and budget. The satellite mission is to capture images of Malaysia’s territory from space. Existing system in the satellite produces unstable dynamic and unbalance of weight. Three axis magnetorquers, sun and magnetic field sensor are installed on satellite body axes. The satellite control torque is produced by perpendicular magnetic field from magnetorquer and Earth’s magnetic field vector which varies periodically in orbit. Three axis Micro-Electro Mechanical Systems (MEMS) gyro is installed as a primary attitude determination and optimal combination of sun and magnetic field sensor as a secondary. Accurate attitude, position and stability of the satellite in orbit while capturing the image is required. This thesis discuss about designing of accurate and fast computation of secondary attitude determination and also attitude stabilization, pointing accuracy, and disturbance rejection control for all satellite position in orbit with existing satellite configuration. The attitude is determined using five methods; TRIAD, QUEST, q-method, FOAM, ESOQ1 and a recursive EKF. The methods are chosen by considering the complexity and possibility to be able to implement in onboard micro-controller of InnoSAT. The point base methods are able to produce accurate and fast output when the satellite out of eclipse but the EKF is able to perform at all position. The q-method shows the fastest and accurate attitude determination compare with other six methods with less than 5% error. The satellite is controlled by inserting sliding mode into satellite model to design controller based on linear Riccati equation; LQR, H2, H¥, m-synthesis and LPV based on Linear Matrix Inequality (LMI). The closed loop is analyzed due to variation of weighting functions, uncertainties, and number of feedback at any position in orbit. The controller power consumption is highly considered to see the possibility to implement in existing system. The controller is able to maintain the stability only in small radius position from its design point but if the satellite go beyond the radius the new controller must be recalculated. The continuous stability can be achieved by LPV controller, but the controller unable to maintain stability, pointing accuracy, and disturbance rejection simultaneously at the same time. The attitude is represented in Two Dimensions (2D) and Three Dimensions (3D) simulation using Simulink MatlabTM

Malay Idioms and Proverbs Game for Android

These days, more and more technology has been used in education including in learning Malay Idioms and Proverbs. But, the current mobile applications that have been created works similarly with the reference book where student need to read them to get know the Malay Idioms and Proverbs. Therefore, a Malay Idioms and Proverbs Game will be developed to help the primary school student to learn and know Malay Idioms and Proverbs with more fun learning environment. Malay Idioms and Proverbs Game is an android mobile application system that provides the primary school student with game about Malay Idioms and Proverbs that contains the element of education so that the students can learn and play at the same time. A lot of investigations have already been made to study the current existing mobile application that related to Malay Idioms and Proverbs so that the user requirement can be meet and the scope of the project is developed a game that going to teach the primary school about the Malay Idioms and Proverbs. Inside this project, the main technology and programming used is Java together with the use of normal computer. Finally and the last, I hope that the system that I going to develop can help the primary school student to learn about Malay Idioms and Proverbs with more fun environment besides increase their interest in learning and knowing Malay Idioms and Proverb

Analisis Tingkat Kesehatan Bank Dengan Menggunakan Pendekatan Rec (Studi Pada PT. Bank Mandiri Persero, Tbk Periode 2011-2013)

The purpose of this research is to know the application of REC analysis at Bank Mandiri and to know health rate of Bank Mandiri by using REC approach during 2011-2013. This research is a descriptive research with a quantitative approach. Research is done at Bank Mandiri, Tbk. The result of REC analysis at Bank Mandiri, Tbk shows that based on the analysis of (NPL) year 2012, credit risk was the lowest than year 2011 and 2013. Market Risk of Bank Mandiri, Tbk measured by (IRR) formula were increased every year, it means the income of the bank was always highest. Based on the calculation of Liquidity Risk using (LDR), (LAR), and (CR), known that LDR of the bank categorized is good enough, the result of LAR are larger than CR, besides the score earned by CR is small, so that the liquidity level of Bank Mandiri was low. Profitability factors measured by (ROA) and (NIM) during 2011-2013 shows an upward trend, it means that profit rise is signify followed by increased asset of Bank Mandiri. Capital factors that measured by (CAR) during 2011-2013 are classified in rank one, because it has top value at the provisions of Bank Indonesia (above 8 %)

A Comparative Study of Speech Production between Auditory and Visual Learners at Sixth Semester of English Education Department of Alauddin State Islamic University of Makassar

The finding of the resesarch showed that there was a significant difference between learners’ auditory learners and visual learners. The mean score of auditory learners’ test (620.90) in the test was higher than the mean score of visual learners’ test (561.00) in the test

PENENTUAN JENIS TIKUNGAN DAN GEOMETRIK JALAN (STUDI KASUS : JL. PERKEBUNAN, DESA TENGGANAU, KEC. PINGGIR, BENGKALIS)

Seiring meningkatnya sector ekonomi di Kecamatan Pinggir, kebutuhan akan sarana dan prasarana transportasi semakin tinggi. Dengan kondisi jalan yang baik, diharapkan perekonomian Kecamatan Pinggir bisa meningkat lima kali lipat. Dalam mewujudkan cita-cita tersebut, kondisi geometric jalan adalah salah satu hal yang sangat penting untuk diperhatikan. Kondisi geometric jalan yang kurang baik nantinya akan membahayakan pengguna jalan. Adapun tujuan yang ingin dicapai pada penelitian ini, yakni mengetahui jenis tikungan dan klasifikasi medan pada kondisi eksisting Jalan Perkebunan, Desa Tengganau, Kec. Pinggir. Berdasarkan keseluruhan hasil evaluasi yang telah dilakukan dalam penyusunan ini, maka dapat ditarik kesimpulan bahwa Jalan Perkebunan, Desa Tengganau, Kec. Pinggir Kabupaten Bengkalis. Setelah dilakukan perhitungan terdapat 9 tikungan, dengan 7 tikungan S-C-S, 1 tikungan S-S, dan 1 tikungan F-C

PEKERJA MIGRAN SIRKULER DALAM PENINGKATAN KESEJAHTERAAN SOSIAL KELUARGA DI DESA NGEMBOH KECAMATAN UJUNGPANGKAH KABUPATEN GRESIK

Abstract: Research on circular migrants and improving their family's social welfare has been carried out in Ngemboh Village, Ujungpangkah District, Gresik Regency. This study involved 30 respondents who came from 30 families whose members were circular migrant workers. Data were collected through interviews, observation, and document review, then analyzed descriptively and qualitatively. The results show that every family supports its members to become circular migrant workers. In addition to the limited employment opportunities in the area of origin, the main reason for becoming a circular migrant worker is to meet economic needs and improve family welfare. The money earned at this time was bought in the form of milling machines and chainsaws, as well as pets to raise. Actually, this method has good potential to advance the business sector in the area of origin. Therefore, local governments in villages or sub-districts are advised to form microfinance institutions to manage some of their funds and as savings or investments for business financing. Business actors can be encouraged through the formation of an economic community initiated by the Ministry of Social Affairs through the local Social Service. The contribution of this research to the wider community is to provide an overview of circular migrant workers in the organization and form of their work. Financial management and any impacts that occur both personally and as a community in society.Keywords: Circular Migrant Workers; Family Social Welfare.Abstrak: Penelitian tentang migran sirkuler dan peningkatan kesejahteraan sosial keluarganya telah dilakukan di Desa Ngemboh Kecamatan Ujungpangkah Kabupaten Gresik. Penelitian ini melibatkan 30 responden yang berasal dari 30 keluarga yang anggotanya merupakan pekerja  migran sirkuler. Data dikumpulkan melalui wawancara, observasi, dan telaah dokumen, kemudian dianalisis secara deskriptif dan kualitatif. Hasilnya menunjukkan bahwa setiap keluarga mendukung anggotanya menjadi pekerja migran sirkuler. Selain terbatasnya kesempatan kerja di daerah asal, alasan utama menjadi pekerja migran sirkuler adalah untuk memenuhi kebutuhan ekonomi dan meningkatkan kesejahteraan keluarga. Uang yang diperoleh saat ini dibelikan dalam bentuk mesin giling dan gergaji mesin, serta hewan peliharaan untuk diternak. Sebenarnya cara ini memiliki potensi yang baik untuk memajukan sektor bisnis di daerah asal. Oleh karena itu, pemerintah daerah di desa atau kecamatan disarankan untuk membentuk lembaga keuangan mikro untuk mengelola sebagian dana mereka dan sebagai tabungan atau investasi untuk pembiayaan usaha. Pelaku usaha dapat digalakkan melalui pembentukan masyarakat ekonomi yang diinisiasi oleh Kementerian Sosial melalui Dinas Sosial setempat. Kontribusi penelitian ini bagi masyarakat luas adalah untuk memberikan gambaran terkait pekerja migran sirkular dalam mengatur dan bentuk dari pekerjaan mereka. Pengelolaan keuangan serta dampak apa saja yang terjadi baik secara pribadi maupun secara komunitas dalam masyarakat.Kata Kunci: Pekerja Migran Sirkuler; Kesejahteraan Sosial Keluarga

Analisis Pengaruh Pembiayaan Bank Syariah, Belanja Pemerintah dan Pertumbuhan Ekonomi terhadap Tingkat Kemiskinan di Kota Ternate

Tujuan studi ini untuk menguji apakah ada korelasi signifikan antara pembiayaan bank syariah, belanja pemerintah fungsi pendidikan dan kesehatan, dan pertumbuhan ekonomi terhadap tingkat kemiskinan di Kota Ternate. Observasi dimulai tahun 2011 hingga 2019. Hasil estimasi dengan menggunakan metode OLS membuktikan bahawa ada korelasi negatif dan signifikan pada variabel IBF (Pembiayaan Bank Syariah) dan BP (Belanja Pemerintah Fungsi Pendidikan). Untuk variabel BK (Belanja Pemerintah Fungsi Kesehatan) meskipun memiliki korelasi negatif, namun belum signifikan mereduksi kemiskinan. Hasil berbeda terjadi pada pertumbuhan ekonomi (G) yang secara teoritis akan menciptakan kesempatan kerja baru, secara empiris tidak memberikan manfaat langsung kepada kaum miskin, justru menambah jumlah orang miskin baru