This paper proposed an algorithm to evaluate hole properties automatically. The proposed algorithm analyzes probe path, reference data, measurement data, and tolerance data to evaluate hole properties based on tolerance data ISO 2768. The proposed algorithms was verified experimentally by implementing to holes evaluation software which is developed by phyton programming. A 3D product model with two different hole was designed to validate the proposed algorithm. according to the experiment result, proposed algorithm can evaluate hole properties properly with quality control sheet format as output. Then, the proposed algorithm experiment is compared with manual evaluation.

This paper develops and analyzes a set of arm and hand mechanical system of the T-FLoW Humanoid Robot, which consists of a 7 Degree of Freedom (DoF) Arm and a 6 Degree of Freedom (DoF) Hand. With Kinematic calculations, mathematical modeling of the arm can be obtained using rotational matrices and translational matrices based on the rotational frame at each joint of the robotic arm and hand. Forward Kinematic (FK) analysis requires a combination of homogeneous matrices obtained from the rotation frame of each joint and the distance of each joints. From the results of Forward Kinematic, it can be used as a robot modeling in Matlab visualization by comparing robot’s hand and arm model on V-REP so that the original pose of the arm and hand of the Humanoid T-FLoW robot can be known.

Humanoid robots are robots that resemble humans. ERISA robot is a robot made by EEPIS participating in the KRI robot competition in the humanoid dancing robot division. This robot has a mission to walk and dancing in predetermined game field zones. While dance, the walking-trajectory may drift outside the desired zone since there is no feedback for the robot to correct its trajectory. In this research, a VL53L0X rangefinder sensor and an IMU MPU6050 sensor are deployed in the system to measure the robot position against the fence installed in the game field. The sensor is mounted on the side sole in one of the robot legs. The sensor will give the relative distance from the robot to the fence and its absolute heading angle. The footstep distance will be calculated using odometry by using the robot steps and its angle heading. By using walking-trajectory control the robot can move in the desired trajectory relative to the fence, which is used as the guardrail, while the robot walks to the target zone in the game field.

APIs are critical for digital transformation as well as the establishment and development of new business models. They are the foundation of application economics which allows for quicker, better, and less expensive development. In security perspective, OWASP released its first API security report in 2019 which finally differentiate the security risk categories between API and web application. In recent years, there have been many incidents of cyber attacks related to API, while the implementation of the API itself is growing in popularity among organizations. Therefore, the need to understand APIs from a security perspective should be taken seriously and considered as an integral part of the software development life cycle. In this research, we proposed an API security learning environment called Vulnerable Academic Information System (VAIS) based on the OWASP API Security Risks with containerization deployment plan and gamification technique to provide a fun yet challenging environment for people in understanding the API security in a legal environment.

This paper proposed an algorithm to recognize intersection cylindrical feature, especially counterbore and countersink geometry. The proposed algorithm analyzes 3D solid drawing in term STEP format to find intersection cylindrical feature based on a specific properties of counterbore and countersink geometry. The proposed algorithms was verified experimentally by implementing to holes inspector (HECTOR) software. A 3D product model with five different hole was designed to validate the proposed algorithm. according to the experiment result, counterbore and countersink on the 3D specimen product is properly recognized by the proposed algorithm.

The global data footprint doubles every few years. Organizations struggle to gain meaningful insights from the rapidly growing volumes of data to use this ever-increasing data. Organizations need to manage capacity placement and data governance requirements with speed and flexibility, and minimal costs to reduce capital expenditure. One of the limitations is that traditional storage still has a customer’s need to spend on capital expenditure. The customer needs to pay more every year for maintenance. Many companies consider moving internal data out of their data centers or migrating their data into the cloud. And also, this cloud technology can make the customer no need to worry about the scalability of their resource. Furthermore, the customer only needs to pay for what the customer use on the cloud. Unfortunately, until now, a user does not have many options to deploy object storage solutions across on-premise data centers and the cloud with high–performance capabilities. Storage Gateway is a hybrid cloud storage service that can give users access from their on-premises to virtually cloud storage with unlimited scalability. This Storage Gateway can connect between cloud storage and on-premises site seamlessly. This gateway system can interact with cloud storage services more simply while boosting performance and reducing cost. This paper aims to study the influence of the implementation and optimization of Storage Gateway as a heterogeneous integrator between premise and cloud storage. Also, the Network factor is using optimized by CDN Enabled to reduce upload latency between on-premise to Bucket. Tests are carried out using direct measurement methods to measures Throughput, Latency, and cost-efficiency.

The following topics are dealt with: mobile robots; Internet; learning (artificial intelligence); object detection; cameras; position control; image segmentation; computer aided instruction; feature extraction; wireless sensor networks.

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.

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.

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.

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.

The use of 3D Professional Camera to create a 3D video is still rarely used due to the high price of the camera. Mostly, people produce 3D movies using two 2D cameras which are set precisely the same by arranging the camera one by one. Using the 3D camera makes the setting is much easier. The 3D Professional Camera provides convenience with the two lenses that have been connected so that the camera settings also become one. However, the technique of making movies using 3D Professional Camera needs to be studied furthermore. This paper presents the experiments to gain the optimum setting for 3D Professional Camera in making a short movie. The configuration will result the 3D effects on the movie.

The real-time operating system (RTOS) is a software that contains the resources of a hardware device, and provides the facility to run the application in real-time by doing the task according to the given deadline. FLoWRTOS is a RTOS running on an embedded system device, which is being built by the EEPIS Robotics Research Center (ER2C) on the ARM Cortex-M4 platform of the i.MX6SoloX processor. In contrast to the real-time operating system in general, FLoWRTOS performs task scheduling based on deadline priority, this allows performance of FLoWRTOS to be optimized in the absence of an idle time of all the scheduled tasks. Tests were conducted to evaluate the performance of FLoWRTOS, and also on the implementation of FLoWRTOS on a plant, which is the head system of T-FLoW robot. The result shows that FLoWRTOS can run many tasks with a condition that the CPU utilization is less than equal to 0.8. And if the CPU utilization approaches less than equal to 1, at a certain time it will cause the task to run past the deadline because FLoWRTOS is still non-preemptive.

Zero moment point (ZMP) is a mathematical formulation to find a point that causes equilibrium of action and reaction momentum (momentum equal to zero). ZMP can be approached using Single Linear Inverted Pendulum Model (SLIPM). In this paper will explain the modeling of walking trajectory based on the mathematical formulation in SLIPM on the “T-FLoW” humanoid robot. In the SLIPM mathematical equation has 2 main components which are position vector of Center of Mass (CoM) and Acceleration (Linear) of CoM. From these two main compositions, there will be two types of walking trajectory models to be used and implemented in the “T-FLoW” humanoid robot. The first walking locomotion analysis is walking trajectory model the position vector of CoM is dominant. The second walking locomotion analysis is walking trajectory model when the acceleration in CoM is dominant. The results of these two walking trajectory models are for modeling and establishing a control system for robot stability based on dynamic characteristic on both walking trajectory models in the next research.

In this paper, present a vehicle actuator response using a hybrid control and make the vehicle has electronic stability program. Electronic Stability Program (ESP) is an automatic stability control systems on vehicles. Where the system works to avoid understeer and oversteer conditions when the vehicle is turning. Understeer is a condition where the vehicle more difficult to turn, this is because the front wheels tend to slip so that the vehicle will be more difficult to turn. Oversteer is a condition in which the vehicle is easier to turn, this is because the rear wheel tends to slip so that the vehicle will be easier to turn. Understeer and oversteer conditions often occur when turn or when a vehicle suddenly turn to avoid another vehicle. The control system designed for controlling vehicle is Fuzzy and PID-AFC. Fuzzy is for the high level control and PID-AFC is for low level control. Fuzzy processed a wheel speed, steering angle and IMU data. And PID-AFC receive set points value for wheel deceleration and acceleration from Fuzzy output. PID-AFC control the speed of left and right rear wheels when slip occurs. With this control the vehicle is expected to have a fast response and resistant to slip that happened. The test has successfully compared between PID and PID - AFC when running the motor. Without control, steady state error reaches 27.1%. When using PID steady state error only 1.7% with oscillation 12 times, when there is disturbance PID takes 1.4 seconds to return to setpoint. When using PID-AFC steady state error is only 1.7% with oscillation only 5 times and when any disturbance PID-AFC takes only 1.1 seconds to return to setpoint.