10 research outputs found
DESAIN DAN IMPLEMENTASI BEHAVIOR CLONING SEBAGAI LANE KEEPING ASSIST KENDARAAN OTONOM SATU PENUMPANG
No full textKendaraan otonom semakin diminati, dengan pasar yang terus berkembang serta dukungan regulasi dari pemerintah global maupun Indonesia yang mendorong kemajuan teknologi ini. Namun, biaya pengembangan kendaraan otonom tetap menjadi tantangan utama. Metode imitation learning mengurangi kebutuhan pemrograman manual yang kompleks dan pemodelan yang rumit, sehingga membantu menekan biaya pengembangan secara keseluruhan. Penelitian ini mengimplementasikan imitation learning untuk lane keeping assist pada kendaraan otonom berpenumpang tunggal dalam lingkungan bebas hambatan menggunakan simulasi ROS dan kendaraan O-SEATER dengan sistem penggerak diferensial. Model dikembangkan dengan kombinasi Convolutional Neural Networks (CNN) dan Fully Connected Networks (FCN) untuk mengekstraksi fitur data masukan berupa gambar dari kamera depan. Model ini dirancang untuk memprediksi angular velocity kendaraan, yang secara langsung mengontrol arah pergerakan berdasarkan kondisi lingkungan. Pendekatan Behavior cloning digunakan untuk memahami dan mereplikasi perilaku pengemudi berdasarkan data historis yang diperoleh dari simulasi dan pengujian dunia nyata. Hasil eksperimen menunjukkan bahwa model ini mampu mencapai performa yang cukup baik, dengan pengujian Mean Squared Error (MSE) yang mendekati nol. Penelitian ini membuktikan bahwa pendekatan Behavior cloning berbasis CNN dan FCN dapat diterapkan untuk lane keeping assist pada kendaraan otonom, dengan hasil yang baik dalam simulasi maupun pengujian pada kondisi pagi, siang, dan sore.
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Autonomous vehicles are becoming increasingly popular, with a growing market and regulatory support from both global and Indonesian governments driving advancements in this technology. However, the high development costs of autonomous vehicles remain a significant challenge. The imitation learning method reduces the need for complex manual programming and modeling, thereby lowering overall development costs. This study implements imitation learning for lane keeping assist in a single-passenger autonomous vehicle within an obstaclefree environment using ROS simulation and the O-SEATER vehicle with a differential drive steering system. The model is developed using a combination of Convolutional Neural Networks (CNN) and Fully Connected Networks (FCN) to extract features from input data in the form of front camera images. The model is designed to predict the vehicle's angular velocity, directly controlling its direction of movement based on environmental conditions. The Behavior cloning approach is employed to understand and replicate driver behavior based on historical data collected from simulations and real-world testing. Experimental results show that the model achieves satisfactory performance, with a Mean Squared Error (MSE) close to zero. This study demonstrates that the Behavior cloning approach based on CNN and FCN can be effectively applied for lane keeping assist in autonomous vehicles, yielding favorable results in simulations and testing under morning, afternoon, and evening conditions
Tomb of Gubah Kh Sulaiman who spread Islamic knowledge on earth in Sedulang Setudung
No full textIn general, Islam came to the archipelago because it was brought by traders from various countries who had embraced Islam first. Like the Islamic heritage belonging to KH Sulaiman Bin Abdurrahman Delamat where he came to Pangkalan Balai to spread Islam and left traces of heritage that became cultural heritage and many pilgrims came to pay Nazar and he was a hero of independence in Sumatra. The author uses a qualitative research method that is produced from interviews and direct documentation by conducting observations at the location of the tomb located on Jalan Kelurahan Kendodong Raye,Banyuasine, Banyuasin III District, Banyuasin Regency 111. There are two results that will be discussed by the researcher, namely the first background of KH Sulaiman bin KH Abdurrahman Delamat and the spreader of Islamic religious knowledge in Pangkalan BalaiIn general, Islam came to the archipelago because it was brought by traders from various countries who had embraced Islam first. Like the Islamic heritage belonging to KH Sulaiman Bin Abdurrahman Delamat where he came to Pangkalan Balai to spread Islam and left traces of heritage that became cultural heritage and many pilgrims came to pay Nazar and he was a hero of independence in Sumatra. The author uses a qualitative research method that is produced from interviews and direct documentation by conducting observations at the location of the tomb located on Jalan Kelurahan Kendodong Raye,Banyuasine, Banyuasin III District, Banyuasin Regency 111. There are two results that will be discussed by the researcher, namely the first background of KH Sulaiman bin KH Abdurrahman Delamat and the spreader of Islamic religious knowledge in Pangkalan Bala
Pengelolahan Arsip Akta Jual Beli Studi Kasus Pada Arsip Wilayah Kecamataan Jagakarsa Yang Dikelola Oleh Suku Dinas Perpustakan Dan Kearsipan Kota Administrasi Jakarta Selatan
No full textix, 85 hlm.; 26 c
OPTIMIZATION OF LASER CUTTING ENGRAVING PERFORMANCE WITH ACRYLIC MATERIAL USING THE TAGUCHI METHOD APPROACH
No full textToday's laser cutting machining process is often utilized in large industries as well as individual and student scientific projects. Acrylic is one of the materials whose processing involves a lot of laser cutting, but currently many laser cutting, especially low power ones, are not optimally optimized. In this study, the author wants to optimize laser cutting with 6.5 Watt power using the Taguchi optimization method on solid black acrylic material with a thickness of 3 mm, with reference to the surface roughness value of the workpiece after being subjected to the laser cutting process using the Ra unit. The control factors included are laser distance, laser power, cutting speed and cooling time. The experimental process was carried out 27 times with replication of measurements 2 times. The best result from the experiment was the roughness measurement value of 0.782 µm while the mean roughness value was 2.271 µm. After conducting the experiment, it is known that the best results are obtained with a laser distance factor of 20.6mm, cutting speed of 70 mm/min, laser power of 6.5 watts and cooling time of 10 s. Meanwhile, the effect of factors on the surface roughness results is the laser distance 27%, cutting speed 40.9%, laser power 18.9% and cooling time 7.05%. After calibrating the laser cutting, the cutting accuracy increased from ± 1mm to ± 0.4 mm or an increase of 60%, with an average final dimension measurement of 24.87 mm
Production of Bio hydrocarbons from Vegetable Oils and Animal Fats Using Magnesium Oxide as Catalyst
No full textBio hydrocarbons are renewable fuels that can be produced through the catalytic deoxygenation of fatty acids, resulting in compositions like gasoline, kerosene, and diesel fractions derived from petroleum. The objective of this study is to generate gasoline, kerosene, and diesel from vegetable oils and animal fats using an MgO catalyst synthesized through the calcination of Mg-citrate. The characterization of the MgO catalyst, employing Fourier Transform Infrared (FTIR), X-Ray Diffraction (XRD) and Brunauer-Emmett-Teller (BET) surface adsorption method, revealed the presence of crystalline MgO and showed that mesoporous MgO with average pore size of 15.52 nm and exhibiting a surface area of 35.68 m2 g-1. The MgO catalyst was utilized in the deoxygenation reaction of palm oil, palm wax, and chicken fat, leading to the production of bio hydrocarbons with paraffin and olefin compositions like those found in gasoline, kerosene, and diesel derived from petroleum. Gas Chromatography-Mass Spectroscopy (GCMS) analysis of the liquid product demonstrated that the highest quantity of gasoline was derived from palm wax, followed by palm oil and chicken fat. Palm wax exhibits promising potential as a raw material for gasoline production through the deoxygenation reaction, specifically through decarboxylation and decarbonylation processes facilitated by the MgO catalyst
Application Of Smooth Corn Oil As A Raw Material For Biodiesel
No full textEnergy is needed in carrying out economic activities, both for consumption and production activities in various economic sectors[1]–[5]. Energy use in Indonesia is still dominated by the use of non-renewable energy[6]–[8]. However, the increasing population in Indonesia can enable increased energy use[9]–[11]. The increased use of non-renewable energy can have an impact on depleting resource reserves [12], [13]. The need for fuel and LPG in the last 5 years has always increased[14]–[16]. The average annual increase in fuel and LPG consumption is 3% and 5% with consumption in 2019 of 75 KL and 7.8 MT. To meet these needs, it is obtained from domestic production and partly from imports [17]. In RUEN, the government has actually targeted that by 2025 there will be no more fuel imports[18].
To reduce dependence on fossil energy, biodiesel can be used as alternative energy. Biodiesel is renewable energy, which is considered the most feasible for replacing fuel oil [19]. Biodiesel can be produced from micro and macroalgae, animal fats, vegetable oils, food plants, and lignocellulosic materials [20]. Vegetable oil is the main raw material for biodiesel derived from plant extracts [21]. One of the efforts to utilize the results of vegetable oil is the development of corn biodiesel[22]–[24]. Corn oil is a triglyceride composed of glycerol and vegetable fatty acids, while the rest is non-oil materials such as ash, dyes, or wax [1], [25].
In this discussion, of course, we will discuss the use of refined corn oil as a raw material for biodiesel. This discussion will explain technical matters, starting from the definition of biodiesel to the process of corn oil as a raw material for biodiesel. Of course, this is a development from the previous discussion.
So the issues that will be discussed regarding, what affects the cetane number and oxidation stabilization on the physical and chemical properties of biodiesel, as well as how to process corn oil into fuel.
This discussion aims to determine the factors that affect the cetane number and oxidation stabilization on the physical and chemical properties of biodiesel, as well as to find out how to process corn oil into fuel.
The benefits derived from this discussion are order to be able to find out the factors that influence the cetane number and oxidation stabilization on the physical and chemical properties of biodiesel, enrich previous theoretical studies, especially those related to the processing of corn oil as fuel, as well as information material for further research in the development of corn oil as a fuel source.
Avoiding that the delimitation is not too broad, then in this study, there are several factors that need attention. Factors that need to be considered are: paying attention to the number of requirements needed before producing biodiesel, understanding the raw materials that will be needed for production, and ensuring in advance that the biodiesel produced is really suitable for use
Keyword : Biodiesel; Corn Oil; Fosil Energy; Energy; Plant Extracts
Author E-Mail : [email protected]
Penggunaan Minyak Jagung Halus Sebagai Bahan Baku Biodiesel
No full textEnergy is needed in carrying out economic activities, both for consumption and production activities in various economic sectors[1]–[5]. Energy use in Indonesia is still dominated by the use of non-renewable energy[6]–[8]. However, the increasing population in Indonesia can enable increased energy use[9]–[11]. The increased use of non-renewable energy can have an impact on depleting resource reserves [12], [13]. The need for fuel and LPG in the last 5 years has always increased[14]–[16]. The average annual increase in fuel and LPG consumption is 3% and 5% with consumption in 2019 of 75 KL and 7.8 MT. To meet these needs, it is obtained from domestic production and partly from imports [17]. In RUEN, the government has actually targeted that by 2025 there will be no more fuel imports[18].
To reduce dependence on fossil energy, biodiesel can be used as alternative energy. Biodiesel is renewable energy, which is considered the most feasible for replacing fuel oil [19]. Biodiesel can be produced from micro and macroalgae, animal fats, vegetable oils, food plants, and lignocellulosic materials [20]. Vegetable oil is the main raw material for biodiesel derived from plant extracts [21]. One of the efforts to utilize the results of vegetable oil is the development of corn biodiesel[22]–[24]. Corn oil is a triglyceride composed of glycerol and vegetable fatty acids, while the rest is non-oil materials such as ash, dyes, or wax [1], [25].
In this discussion, of course, we will discuss the use of refined corn oil as a raw material for biodiesel. This discussion will explain technical matters, starting from the definition of biodiesel to the process of corn oil as a raw material for biodiesel. Of course, this is a development from the previous discussion.
So the issues that will be discussed regarding, what affects the cetane number and oxidation stabilization on the physical and chemical properties of biodiesel, as well as how to process corn oil into fuel.
This discussion aims to determine the factors that affect the cetane number and oxidation stabilization on the physical and chemical properties of biodiesel, as well as to find out how to process corn oil into fuel.
The benefits derived from this discussion are order to be able to find out the factors that influence the cetane number and oxidation stabilization on the physical and chemical properties of biodiesel, enrich previous theoretical studies, especially those related to the processing of corn oil as fuel, as well as information material for further research in the development of corn oil as a fuel source.
Avoiding that the delimitation is not too broad, then in this study, there are several factors that need attention. Factors that need to be considered are: paying attention to the number of requirements needed before producing biodiesel, understanding the raw materials that will be needed for production, and ensuring in advance that the biodiesel produced is really suitable for use
Keyword : Biodiesel; Corn Oil; Fosil Energy; Energy; Plant Extracts
Author E-Mail : [email protected]
Kewenangan Antara Bawaslu Dan Aparat Penegak Hukum Dalam Penanganan Tindak Pidana Pemilu
No full textPenelitian ini bertujuan untuk menganalisis pengaturan kewenangan antara Badan Pengawas Pemilu (Bawaslu) dan aparat penegak hukum dalam menindak tindak pidana pemilu, serta implikasinya terhadap kepastian hukum. Metode yang digunakan adalah penelitian normatif dan deskriptif analitis dengan pendekatan kualitatif. Hasil penelitian menunjukkan bahwa terdapat ketidakjelasan dalam pembagian kewenangan antara Bawaslu dan aparat penegak hukum, yang mengakibatkan terjadinya tumpang tindih fungsi dan tanggung jawab. Hal ini berpotensi mengurangi efektivitas penegakan hukum dan menurunkan kepercayaan masyarakat terhadap proses pemilu. Penelitian ini merekomendasikan perlunya pengaturan regulasi yang lebih jelas mengenai kewenangan masing-masing lembaga, peningkatan mekanisme koordinasi, serta penerapan prinsip transparansi dan akuntabilitas. Dengan demikian, diharapkan pengaturan kewenangan yang efektif akan meningkatkan integritas pemilu dan memperkuat demokrasi di Indonesia. Penelitian ini memberikan kontribusi signifikan bagi pengembangan sistem pemilu yang lebih adil dan akuntabel, serta menawarkan solusi untuk tantangan yang dihadapi dalam penegakan hukum pemilu
Kata kunci: Bawaslu, Pemilu, Tindak Pidana
Abstract
This study aims to analyze the arrangement of authority between the Election Supervisory Body (Bawaslu) and law enforcement officers in prosecuting election crimes, as well as its implications for legal certainty. The method used is normative and descriptive analytical research with a qualitative approach. The results of the study indicate that there is a lack of clarity in the division of authority between Bawaslu and law enforcement officers, which results in overlapping functions and responsibilities. This has the potential to reduce the effectiveness of law enforcement and reduce public trust in the election process. This study recommends the need for clearer regulations regarding the authority of each institution, improved coordination mechanisms, and the application of transparency and accountability principles. Thus, it is hoped that effective regulation of authority will improve election integrity and strengthen democracy in Indonesia. This study makes a significant contribution to the development of a fairer and more accountable election system, and offers solutions to the challenges faced in enforcing election law.
Keywords: Bawaslu, Election, Law Enforcement
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Pemberdayaan Masyarakat Berbasis Edukasi, Literasi Digital, dan Penguatan Sosial di Desa
No full textProgram Pengabdian ini bertujuan untuk meningkatkan kualitas hidup masyarakat di RT 13 Desa Sumberejo melalui edukasi, literasi digital, dan penguatan sosial. Kegiatan ini meliputi pendidikan formal seperti les mata pelajaran, mengajar mengaji, serta kegiatan sosial berupa bakti sosial dan perlombaan olahraga serta kreativitas. Inovasi teknologi seperti pemberian teknologi running teks dan pembuatan tong sampah digunakan untuk meningkatkan komunikasi publik dan pengelolaan lingkungan. Implementasi program ini diharapkan mampu memperkuat kapasitas masyarakat dalam aspek pendidikan, kesehatan, digitalisasi, dan sosial, sekaligus menumbuhkan rasa kebersamaan dan nasionalisme. Hasil kegiatan menunjukkan adanya peningkatan kesadaran, partisipasi aktif, dan kreativitas warga, serta terciptanya lingkungan yang bersih, sehat, dan maju secara sosial dan teknologi. Program ini menunjukkan bahwa pemberdayaan masyarakat berbasis teknologi dan kolaborasi efektif dapat menciptakan desa yang mandiri dan berkelanjutan.
This Community Service Program aims to improve the quality of life of the community in RT 13, Sumberejo Village through education, digital literacy, and social empowerment. These activities include formal education such as tutoring subjects, teaching the Quran, as well as social activities such as community service and sports competitions and creativity. Technological innovations such as the provision of running text technology and the creation of trash cans are used to improve public communication and environmental management. The implementation of this program is expected to strengthen community capacity in the aspects of education, health, digitalization, and society, while also fostering a sense of togetherness and nationalism. The results of the activities show an increase in awareness, active participation, and creativity of residents, as well as the creation of a clean, healthy, and socially and technologically advanced environment. This program demonstrates that technology-based community empowerment and effective collaboration can create independent and sustainable villages
Global burden of peripheral artery disease and its risk factors, 1990–2019: a systematic analysis for the Global Burden of Disease Study 2019
No full textBackground: Peripheral artery disease is a growing public health problem. We aimed to estimate the global disease burden of peripheral artery disease, its risk factors, and temporospatial trends to inform policy and public measures. Methods: Data on peripheral artery disease were modelled using the Global Burden of Disease, Injuries, and Risk Factors Study (GBD) 2019 database. Prevalence, disability-adjusted life years (DALYs), and mortality estimates of peripheral artery disease were extracted from GBD 2019. Total DALYs and age-standardised DALY rate of peripheral artery disease attributed to modifiable risk factors were also assessed. Findings: In 2019, the number of people aged 40 years and older with peripheral artery disease was 113 million (95% uncertainty interval [UI] 99·2–128·4), with a global prevalence of 1·52% (95% UI 1·33–1·72), of which 42·6% was in countries with low to middle Socio-demographic Index (SDI). The global prevalence of peripheral artery disease was higher in older people, (14·91% [12·41–17·87] in those aged 80–84 years), and was generally higher in females than in males. Globally, the total number of DALYs attributable to modifiable risk factors in 2019 accounted for 69·4% (64·2–74·3) of total peripheral artery disease DALYs. The prevalence of peripheral artery disease was highest in countries with high SDI and lowest in countries with low SDI, whereas DALY and mortality rates showed U-shaped curves, with the highest burden in the high and low SDI quintiles. Interpretation: The total number of people with peripheral artery disease has increased globally from 1990 to 2019. Despite the lower prevalence of peripheral artery disease in males and low-income countries, these groups showed similar DALY rates to females and higher-income countries, highlighting disproportionate burden in these groups. Modifiable risk factors were responsible for around 70% of the global peripheral artery disease burden. Public measures could mitigate the burden of peripheral artery disease by modifying risk factors. Funding: Bill & Melinda Gates Foundation. © 2023 The Author(s). Published by Elsevier Ltd. This is an Open Access article under the CC BY 4.0 licens
