Rancang Bangun Pengendalian Robot Lengan 4 DOF dengan GUI (Graphical User Interface) Berbasis Arduino Uno

Teknologi robot mengalami suatu kemajuan yang sangat pesat pada saat ini. Robot yang canggih telah menggantikan peralatan-peralatan manual yang membutuhkan banyak tenaga manusia, salah satunya yaitu penggunaan robot lengan. Robot lengan yang dibuat ini merupakan bagian dari robot dengan skala prototype untuk kegiatan praktikum yang dapat menggantikan maupun meringankan kerja manusia secara langsung. Dalam Kenyataannya sering didapatkan kendala bagaimana cara mengontrol atau mengendalikan suatu alat dengan mudah untuk diopersikan. Dalam tugas akhir ini dirancang sebuah robot lengan 4 DOF (Degree Of Freedom) yang memiliki sistem yang mudah dikendalikan berupa sistem robot lengan yang secara keseluruhan dikendalikan melalui aplikasi interface dengan GUI (Graphical User Interface) yang dibangun dengan bahasa pemrograman Java pada PC (Personal Computer). Mikrokontroler Arduino Uno sebagai pengendali utama yang terkoneksi via USB (Universal Serial Bus) dengan PC. Pada komunikasi interface antara aplikasi program pengendali dengan mikrokontroler Arduino Uno terjadi proses pengiriman (Tx) dan penerima (Rx) data serial yang berupa data byte. Data byte yang dikirim oleh slider pengendali akan menentukan lebar pulsa sinyal PWM (Pulse Width Modulation) pada setiap motor servo sehingga pergerakan robot sesuai dengan pergeseran slider. Program aplikasi slider pengendali ini memiliki dua mode, yaitu mode kendali per-slider dan mode kendali sekaligus kirim. Berdasarkan hasil pengujian sinkronisasi gerak antara robot lengan dan slider pengendali didapatkan hasil bahwa semakin besar nilai derajat pergeseran slider maka lebar pulsa sinyal PWM semakin melebar dan tegangan keluaran dari pin mikrokontroler Arduino Uno semakin besar dengan nilai rata-rata tegangan yang dihasilkan sebesar 115,03 mV. Robot dalam keadaan standby hanya membutuhkan daya sebesar 0,9 Watt dan saat beroperasi membutuhkan daya sebesar 3,94 Watt. Nilai rata-rata sudut dan selisih sudut ideal dengan yang dihasilkan base yaitu 97,17° dengan selisih 7,17°, link 1 yaitu 73,64° dengan selisih 3,64°, link 2 yaitu 90,24° dengan selisih 0,24°, link 3 yaitu 96,8° dengan selisih 6,8° dan end-effector sesuai perancangan dengan selisih 0. Sudut yang terbentuk dari manipulator robot hanya hampir mendekati sudut yang sebenarnya dikehendaki (sudut ideal) dikarenakan permasalahan dalam perancangan serta pembuatan mekaniknya. Penulis memberikan pembatasan rentang slider pengendali agar mekanik robot tidak patah dan menghindari kerusakan pada motor servo. Hasil pengujian menyimpulkan bahwa robot bisa bersinkronisasi dengan aplikasi pengendali serta dapat digunakan dalam kegiatan praktikum

Analisis dan Perancangan Sistem Informasi Akuntansi Penjualan dan Persediaan

Article purpose was to make computerized system useable for running the company operational and the activity always needs information. The data collecting method were done by literature study, field study, and documentation study. Analysis and design method consisted of four phase, which were investigation system, analysis system, design system, and implementation system. The result from observation was the company needs transaction recording system that computerized so every selling or buying transaction of foreign currency can directly update the inventory. The conclusion is that the up-to-date selling and inventory information can help manager in making decision

ANALISIS EFISIENSI PEMASARAN JERUK

The aims of this study were: To find out l) Citrus marketing channels. The location of the research was carried out intentionally in Selorejo Village. Random Sampling Method for farmers and to determine respondents from marketing institutions using snow ball sampling. The data analysis method used in this research is to use descriptive analysis method to identify a description of the functions of marketing channels. The results of this study indicate that, in Selorejo Village there are three marketing channels of the three existing marketing channels, the most efficient marketing channel is marketing channel III. it can be seen that the smallest margin on channel III is Rp. 4.750/kg. and channel II of Rp. 4.757 / kg, channel I of 4.917 / kg. The share of efficient farmers in channel III is 64.15%, it can be seen from the largest share in channel III, while channel II is 63.12%, and channel I is 62.70%

Development of Android-Based Mobile Learning: Answering the Challenges of the Industrial Revolution 4.0

Economic Learning in the Social Sciences Department at Al-Kautsar High School in Bandar Lampung is more teacher-oriented. The use of media is only limited to the use of powerpoint. In addition, the low percentage of KKM achievement (minimum completeness criteria) of students in several daily tests. Learning that uses mobile learning media is an alternative learning to increase student academic achievement in formative and summative tests as well. This development research aims to produce products that is mobile learning android-based in economic learning in order to answer the challenges of the industrial revolution 4.0. This study uses the Research and Development method with the ADDIE model (analysis, design, development, implementation and evaluation). The results of the study show that mobile learning has a significant influence on student academic achievement. Keywords: mobile learning, academic achievement, android, economic learning. DOI: 10.7176/JEP/10-14-03 Publication date:May 31st 201

Learning Obstacle dalam Soal Pemecahan Masalah Matematis Siswa pada Pembelajaran Materi Bangun Ruang Sisi Datar

Penelitian ini dimaksudkan untuk mengidentifikasi hambatan belajar yang dihadapi oleh siswa pada materi bangun ruang sisi datar. Data dipenelitian ini diperoleh melalui tes dan wawancara. Metode penelitian yang digunakan adalah metode kualitatif dengan pendekatan studi kasus. Penelitian ini melibatkan 28 siswa kelas VIII di salah satu SMPN di Kabupaten Deli Serdang, Sumatera Utara. Hambatan belajar yang ditemukan dalam penelitian ini bersifat ontogenik dan epistemologis. Hambatan ontogenik merupakan hambatan belajar yang muncul terkait dengan perkembangan kemampuan berpikir siswa. Hambatan belajar ini bisa diakibatkan oleh ketidaksesuaian pembelajaran atau pengetahuan yang hendak dikonstruksikan oleh siswa dengan kemampuan berpikirnya. Sedangkan hambatan epistemologis merupakan hambatan yang terjadi akibat keterbatasan pemahaman konsep yang dimiliki oleh siswa. Siswa hanya memahami konsep secara parsial, sehingga siswa mengalami kesulitan saat dihadapkan pada konteks yang berbeda

KESALAHAN SISWA MENYELESAIKAN SOAL CERITA MATEMATIKA BERDASARKAN SKEMA FONG: SYSTEMATIC LITERATURE REVIEW

This study aims to conduct a literature review on student error analysis in solving mathematical word problems using the Fong schema model across all levels of education. The study utilized the SLR (Systematic Literature Review) method to collect data by identifying and examining all relevant articles published between 2013 and 2023. A search of the Google Scholar database using Harzing's Publish or Perish application yielded 21 articles that met the review theme criteria. The results of this research reveal fluctuations in the number of studies conducted over the past ten years. Based on the research criteria, most studies were conducted on junior high school students, particularly on the topic of solid geometry, with the majority of research subjects coming from Java Island. Common student errors found include procedural mistakes and incomplete conclusions, which are essential to consider in mathematics learning

PENGARUH FEED RATE DAN SPINDEL SPEED TERHADAP KEKASARAN PERMUKAAN THERMOPLASTIC NYLON MENGGUNAKAN CNC VMC 750

Nowadays, working with production machines is very much needed in the manufacturing industry. The surface roughness produced by the machining process determines the quality of the workpiece components. Surface roughness can be influenced by factors, namely, feeding speed, cutting speed, and depth of cut so that these factors greatly affect the surface quality. Several conclusions can be drawn: Variations in Feed Rate and Spindle Speed ​​dosnt have an influence on the level or value of the surface roughness of the Nylon specimen. the smoothest or best is at Fr 400 mm SS 1910 rpm with a roughness value of 1.377 µm and the roughest at Fr 800 mm SS 636 rpm with a roughness value of 4.114 µm. at Fr 400,600,800 mm, SS 1910 rpm produces an average roughness of 1,505 m , At 400,600,800 mm, SS 1273 rpm produces an average roughness of 1,968 µm, At 400,600,800 mm ,SS 636 produces an average roughness of 3,301 µm.Pengerjaan mesin produksi saat ini sangat diminati dalam manufaktur. Kekasaran permukaan yang dihasilkan oleh proses pemesinan menentukan kualitas komponen benda kerja. Kekasaran permukaan dapat dipengaruhi oleh faktor-faktor seperti kecepatan pemakanan, kecepatan potong, dan kedalaman potong, yang memiliki dampak signifikan terhadap kualitas permukaan (Dobes et al., 2017). Untuk benda kerja dengan kekasaran permukaan tinggi yang dapat mempercepat proses keausan. Pengukuran kekasaran permukaan  diperlukan untuk menentukan kualitas benda kerja, karena gesekan antara permukaan memperlambat proses keausan. Penelitian ini sangat bermanfaat karena secara langsung mempengaruhi kualitas  produk dan efisiensi proses dari proses pemesinan. Berdasarkan serangkaian pengujian yang telah dilakukan terhadap Spesimen Thermoplastic Nylon setelah proses pemakanan dengan variasi Feed rate dan Spindel Speed. Dapat diambil beberapa kesimpulan:Variasi Feed rate dan Spindel Speed memiliki pengaruh terhadap tingkat atau nilai kekasaran permukaan spesimen Nylon. kekasaran permukaan benda kerja Thermoplastic Nylon yang sudah dilakukan pemakanan pada mesin CNC VMC 750 dari variasi Feed Rate dan Spindel speed, pada penelitian ini yang paling halus atau baik adalah pada Fr 400mm SS 1910rpm  dengan nilai kekasarannya adalah 1,377µm dan yang paling kasar pada Fr 800mm SS 636rpm dengan nilai kekasarannya adalah 4,114µm. pada Fr 400,600,800mm, SS 1910rpm menghasilkan kekasaran rata-rata 1,505 µm , Pada 400,600,800mm, SS 1273rpm menghasilkankekasaran rata-rata1,968µm,Pada 400,600,800mm ,SS 636 menghasilkan kekasaran rata-rata 3,301 µm Kata Kunci : Kekasaran, Nylon Termoplastik, Penggilingan CNC, Pemotong Parameter HSS   &nbsp

Analisis Pendapatan Petani Kelapa Sawit Rakyat di Kecamatan Sungai Apit Kabupaten Siak

The research aims to (1) figure out and analyze the level of nett income from the oil palm small holders in Sungai Apit Sub-district Siak Regency, (2) figure out and analyze the comparizon of efficiency level towards the oil palm small holders in Category I and Category II in Sungai Apit Sub-district and Siak Regency, and (3) figure out the problems faced by the independent oil palm small holders. The survey method was used in the research, and the sampling method was purpossive sampling method. 15 respondents as the sample were taken from Category I, and 15 other respondents as the sample were taken from Category II. The result has shown that the oil palm farming run by both of Categories are profitable, with the average of nett income from the small holders in Category I was Rp. 15.611.225,23/ha/year and the average of nett income from the small holders in Category II was Rp.22.340.469,82/ha/year. The average score of RCR for the small holders in Category I was Rp 2.42, while the small holders in Category II was Rp 2.49. From the t test it was obtained that the t score was smaller than from the table. It meant that the nett income earned by the oil palm small holders in Category I was not significantly different than the nett income of the oil palm small holders in Category II. The problems that were faced by the oil palm small holders were the lack of guidance, production facilities, and pest

Nematic-Isotropic Spinodal Decomposition Kinetics of Rod-like Viruses

We investigate spinodal decomposition kinetics of an initially nematic dispersion of rod-like viruses (fd virus). Quench experiments are performed from a flow-stabilized homogeneous nematic state at high shear rate into the two-phase isotropic-nematic coexistence region at zero shear rate. We present experimental evidence that spinodal decomposition is driven by orientational diffusion, in accordance with a very recent theory.Comment: 17 pages, 6 figures, accepted in Phys. Rev.

Skin microvascular reactivity in children and adolescents with type 1 diabetes in relation to levels of physical activity and aerobic fitness

No studies to date have evaluated the relationship between exercise and microvascular function in youth with type 1 diabetes mellitus (T1DM). Twenty-nine complication free children and adolescents with T1DM were assessed for skin microvascular reactivity, aerobic fitness (VO2peak) and physical activity. VO2peak but not physical activity was significantly and independently associated with maximal hyperemia of the skin microcirculation (p < .01). No significant associations were found between venoarteriolar reflex (VAR) vasoconstriction and VO2peak or physical activity. Aerobic fitness may be an important indicator or mediator of effective microvascular endothelial function in youth with T1DM