This paper discusses about research for developing human-like robots. To make the robot walk like a human on inclined surface, it is currently being developed into two major parts, namely the mechanical system and the equilibrium motion control system. In this mechanical system, it discusses the relationship of all human parts that are modeled on each joint and link to the robot. The analysis used in modeling this mechanical system is dynamic walking and Dynamic Step for robot on the inclined surface . Whereas for motion control systems on inclined surface, Online Motion Stabilization and Online Posture Stabilization analysis is used. Planning balance movements is used for each joint to make the robot walk stable in inclined surface. Balance system planning is made based on input data obtained from sensor readings from the position of the robot. Then the triple inverse pendulum approach can be used which can be solved by simulating the movement from the feet and body . The Walking Simulation Result have success for dt = 20 ms. It means that the distances and joint values won`t be updated any faster that every 20 ms .

This work proposes building knowledge for gesture 3D Modeling Javanese Dance by using motion capture technique from the original dancer. The capturing process will record all the rotation value of the dancing motion that represent by each skeleton. A sequence of data will created by system. For the result, we made skeleton of 3D model and get the data gesture using motion capture to build an interactive learning media of traditional Javanese Dance.

Walking on uneven surface with balanced manner is the key of the humanoid robot. Many essential parameters of the human walking can be captured with seven links planar biped robot. Hence, in this work kinematics, dynamic modeling and trajectory planning of a seven links planar biped robot with six joints, walking on stair with different level ground in the sagital plane. In this paper, the discussion is concerned to control kinematics for dynamic up and down stairs of the humanoid robot with Full-body kinematics based on Zero Moment Point (ZMP) to analyze stability of the bipedal robot. We define that stair configuration is already known. Dynamic of stair climbing is more unstable than dynamic walking on the ground because it needs an additional vertical motion and has different step length of walking. On this kinematics, center of the robot position of mass is adjusted by the upper body of the robot.Trajectory planning based on the behaviour human walking. The validity of the proposed method is confirmed by simulation, using geometry analysis equation and a uniques strategy for ascending and descending stairs. Furthermore Full-body kinematics for analysis has a good result on the simulation experiment with accuracy 100 percent. Position vector from Full-body kinematics will be used to complete the dynamic system model of T-Flow humanoid robot.

The important thing that should be consist on delivery drone is landing speed and dropping object with smoothly. For the two cables and two motor pulley system, balancing control are use to balancing the cable that carrying the gripper, while the speed on landing system are controlled. The main advantage to build the system are using balancing PID controller with cable length input and speed control to makes the pulley automatically landing and pulling the object. The object can be land smoothly with speed control, and the cable will be in stable parallel position when the pulley are rotating with balancing control. To detect the object height, we use the proximity sensor and calibrating with rotary encoder. In this paper, we have installed the speed and balancing control on the two cables pulley-gripper system for delivery drone. The final result, the pulley can be land the box smoothly from 4 - 5 meters distance and stable the cable distance with error less than 2 cm respectively.

A robot is a tool that has been developed rapidly today. One type of robot is a Quadruped robot. The problem that often arises in this 4-legged robot is when carrying out an action to be able to walk in the inclined plane or slope on the rule that has been set in the Indonesian Fire Extinguisher Robot Contest referring to the Fire, Fighting Robot Contest Trinity, USA. Kinematic inverses and normal gait patterns such as crawl gait can be used to make the robot balance the body when on a certain slope. But this method alone will result in robot movements less flexible and can accelerate the damage to each servo motor due to unbalanced robot load and causes too much time to act. This paper implements PID control that uses its current attitude as the feedback in balancing the robot on the slope. IMU (Measurement Unit Inertia) is used as the robot attitude sensor which provide the roll, pitch, and yaw Euler angle data of the robot. Then the pitch data from this sensor will be processed to adjust the change on the z axis for each front leg and the rear leg and thus the robot can adapt to run on a slope.

Legged robot has an increasing attention from researchers in this recent year in the form of humanoid or animaloid robot. One of the animaloid robot type is quadruped. this paper will discuss about crawling gait planning that will be proposed on a Quadruped robot. This gait is expected to be able to maintain the balance of the robot pitch and roll angle movement when walking. The trajectory planning used in this case is linear translation and sinusoidal shaped gait trajectory. In this study, there are no obstacles and just walk on a flat terrain. This study focuses on the gait trajectory generation and timing adjustment to minimize the rolling and pitching movement of the robot while walking. This study will not only show the simulation, but also the implementation results of the crawling-gait planning to the robot.

The defense on food today is mostly depend on agriculture. However, it is predicted that on 2050, the food production from agriculture will reduce and be replaced by aquaculture. Indonesia may take the advantage from this situation. Since it has the second longest of its coastline in the world, Indonesia has a potential to be number one for fishery production from aquaculture field. Therefore, survival rate of the creature inside the pond must be very high. One of the factors that influence survival rate of creature in the pond is water quality, which is influenced by physical, biological and chemical properties. In this study, we deal with biological content in the pond, of which several bio-organism live in. Four type of planktons are taken as samples i.e., Chlorella Vulgaris, Thalasiosira Sp., Skeletonema Sp. and Skeletonema Costatum. Several plankton contents, 0%. 5%, 10%, 25% and 50% are prepared. This sample is then observed under digital microscope and RGB LED. The result from digital microscope and RGB LED are then plotted and taken into formulation model. From this model, four types of plankton are possible to be classified.

Detection and tracking of a moving target in a crowded area using camera surveillance is still an open topic that to be resolved. Determining a single target instance known among other objects in the room becomes a problem. We propose a color-based human tracking algorithm by considering the correlation distance from the color histogram used as the target selection. Furthermore, we also create a new dataset based on the INRIA dataset to minimize the detection area. Then, we apply the HOG extraction feature to the human detection system. We apply the Recall-Precision curve to evaluate the performance. The accuracy and precision rate has increased by 10 times. Experimental results are also provided in performance metrics to prove the reliability of our proposed method.

Spatial data could be sectoral data or city spatial planning data. Province government manage sectoral data, whereas local government manages city spatial planning. To management spatial data, local government can't access sectoral data in the provincial government. It has happened because there is no procedure to integrate their data. Each region/city also has their different map version so, that allows overlapping. This is because each local government hasn't reference in solving spatial, land, or development problems. Therefore a One Map Policy was formed, is becoming an important point that should be considered to be realized. This paper presents a new automatic WebGIS framework to integrate sectoral data and city spatial planning for support One Map Policy. This system using REST API Geoserver technology. This technology is carried out automatically with a web browser. In this case, Every local government can manage and access this system. In carrying out the process, each data must be in accordance with the Standard Operating Procedure (SOP) of the application system. Each local government will upload data using a web browser and the system will work automatically. After the data is successfully stored, the system also automatically processes the Geoserver until a layer is formed. The formed layer is ready to be displayed to WebGIS using Web Map Service. With REST API technology, it will help to manage the creation of a spatial and information system more efficient. The experiment result shows that this system can integrate the data between local government and provincial government. And it can use as a reference in the process of managing spatial data and information in the local government of East Java Province to support One Map Policy.

Utilization of wireless sensor network technology can improve the anticipation of the occurrence of fire hazards in the smart home; this is done by replacing the human task in monitoring the situation around the home by using multiple sensors which can directly interact with the environment. The goal of this paper is building the early fire detection systems on smart home-based wireless sensor network monitoring. Sensors are used to detect the level of fire danger include temperature sensors, humidity, carbon monoxide, and smoke. The system use fuzzy logic inference systems to process the data from the four sensors in order to improve the reliability and accuracy of the information provided for the system that will give warning to users. Based on the results obtained, the system has been able to give an alarm warning to users appropriately. The proposed system also implement sleep scheduling method in the system which can improve the delivery efficiency of data packets and can reduce battery resource usage.

This paper discusses how to monitor the operation of guest OS on the virtualization environment. There are several forensic applications which are useful for analyzing events that run on operating systems specifically memory, CPU, and I/O. We use the LibVMI library to create a new plugin for Drakvuf in order to detect Hang on a guest OS that runs on top of the Xen Hypervisor. The experiment shows that libVMI able to monitor the state of the guest OS. However, the a problem arises when LibVMI start to detect the hang condition. The EPT violation occurs during hang monitoring process.

A network switch is an important network device on a computer network, the role of a switch can determine the good and bad of a network service. In a data center, sometimes it has several switch devices with different capabilities (diversity). For this reason, we need a strategy to carry out the effectiveness of using switch devices on computer networks. One way that can be done to realize this is by choosing the right partner between switches and hosts. The matching theory makes it possible to overcome this problem. In this study, it was simulated using the Stable Marriage Problem (SMP) method. The initial state to determine the ranking of pairs is done by using several attributes that are owned by each switch and host such as interfaces, services on the host, and data traffic on the device. Simulations are performed on mininet using Software-defined networking (SDN).

To date, malware caused by botnet activities is one of the most serious cybersecurity threats faced by internet communities. Researchers have proposed data-mining-based IDS as an alternative solution to misuse-based IDS and anomaly-based IDS to detect botnet activities. In this paper, we propose a new method that improves IDS performance to detect botnets. Our method combines two statistical methods, namely low variance filter and Pearson correlation filter, in the feature-selection process. To prove our method can increase the performance of a data-mining-based IDS, we use accuracy and computational time as parameters. A benchmark intrusion dataset (ISCX2017) is used to evaluate our work. Thus, our method reduces the number of features to be processed by the IDS from 77 to 15. Although the number of features decreases, it does not significantly change the accuracy. The computational time is decreased from 71 seconds to 5.6 seconds.

The three-dimensional approach in face identification technology had gained prominent significance as the state-of-the-art breakthrough due to its ability to address the currently developing issues of identification technology (illumination, deformation and pose variance). Consequently, this trend is also followed by rapid development of the three-dimensional face identification architectures in which some of them, namely Microsoft Kinect and Intel RealSense, have become somewhat today's standard because of its popularity. However, these architectures may not be the most accessible to all due to its limited customisation nature being a commercial product. This research aims to propose an architecture as an alternative to the pre-existing ones which allows user to fully customise the RGB-D data by involving open source components, and serving as a less power demanding architecture. The architecture integrates Microsoft LifeCam and Structure Sensor as the input components and other open source libraries which are OpenCV and Point Cloud Library (PCL). The result shows that the proposed architecture can successfully perform the intended tasks such as extracting face RGB-D data and selecting out region of interest in the face area.

Smart home is a concept in which all electronic equipment in a home can be monitored and controlled remotely. The main problem in the implementation of a smart home is a relatively expensive cost, the lack of centralized control system so that most nodes in a smart home will work independently and connectivity to the internet must always be there to activate a smart home because each node connected to the server on the internet. In this paper, we will present a smart home system using Arduino as node and raspberry pi as controller (local server) for smart home node, in this system also enable smart home can be accessed locally (intranet) and internet.