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All Journal International Journal of Artificial Intelligence and Robotics (IJAIR) Jurnal Pengabdian kepada Masyarakat
Affiani Machmudah
Universitas Airlangga
Agriculture, Biological Sciences & Forestry Humanities Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Electrical & Electronics Engineering Environmental Science Languange, Linguistic, Communication & Media Public Health Social Sciences Other

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Bezier Curve Collision-Free Route Planning Using Meta-Heuristic Optimization Machmudah, Affiani; Parman, Setyamartana
International Journal of Artificial Intelligence & Robotics (IJAIR) Vol. 3 No. 1 (2021): IJAIR : May
Publisher : Informatics Department-Universitas Dr. Soetomo

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (652.198 KB) | DOI: 10.25139/ijair.v3i1.3821

Abstract

A collision-free route is very important for achieving sustainability in a manufacturing process and vehicle robot trajectories that commonly operate in a hazardous environment surrounded by obstacles. This paper presents a collision avoidance algorithm using a Bezier curve as a route path. The route planning is modeled as an optimization problem with the objective optimization is to minimize the route length considering an avoiding collision constraint. The collision-avoidance algorithm based on curve point analysis is developed incorporating metaheuristic optimizations, namely a Genetic Algorithm (GA) and a Grey Wolf Optimizer (GWO). In the collision avoidance algorithm, checking of curve point's position is important to evaluate the individual fitness value. The curve points are analyzed in such a way so that only the paths which are outside the obstacle area are selected. In this case, besides the minimum length as a fitness function, the constraint is the position of curve points from an obstacle. With the help of meta-heuristic optimization, the developed collision avoidance algorithm has been applied successfully to different types of obstacle geometries. The optimization problem is converted to the maximization problem so that the highest fitness value is used to measure the performance of the GA and GWO. In general, results show that the GWO outperforms the GA, where it exhibits the highest fitness value. However, the GA has shown better performance for the narrow passage problem than that of the GWO. Thus, for future research, implementing the hybrid technique combining the GA and the GWO to solve the advanced path planning is essential.
SOSIALISASI PARAMETER KUALITAS AIR DAN PELATIHAN PENGGUNAAN DAN PERAWATAN FILTER AIR DI DESA JATIPRAHU KECAMATAN KARANGAN KABUPATEN TRENGGALEK Aisyah Dewi Muthi’ah; Gunawan Setia Prihandana; Chandrawati Putri Wulandari; Shofa Aulia Aldhama; Affiani Machmudah; Hanifah Nurroidah; Miftachul Jannah; Mohammad Sandiasri Suprapto; Prasasti Ikrar Luhur
J-ABDI: Jurnal Pengabdian kepada Masyarakat Vol. 1 No. 5: Oktober 2021
Publisher : Bajang Institute

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Abstract

Air merupakan kebutuhan vital bagi kehidupan manusia, yang jika gagal dipenuhi maka akan muncul kerawanan kesehatan maupun sosial. Minimnya akses air bersih utamanya di daerah pelosok Indonesia membuat masyarakat terpaksa menggunakan air dengan kualitas yang kurang memenuhi standar kesehatan. Permasalahan umum yang ditemui adalah tingginya kandungan zat besi (Fe), mangan (Mn), atau zat kapur, sehingga masyarakat harus membeli air bersih untuk konsumsi sehari-hari. Salah satu daerah yang memiliki air dengan kandungan kapur yang tinggi adalah Desa Jatiprahu Kabupaten trenggalek. Program pengabdian kepada masyarakat ini bertujuan meningkatkan kesadaran akan pentingnya air bersih dan menyediakan filter air untuk menjamin akses tersedianya air bersih untuk kebutuhan rumah tangga, terutama di daerah-daerah yang memiliki kualitas air tanah atau air permukaan yang tidak memenuhi standar kesehatan. Sistem penyaring air yang akan disediakan memiliki kemampuan untuk mereduksi kandungan zat kapur dan juga mampu menjernihkan air.
Co-Authors Aisyah Dewi Muthi’ah Aldhama, Shofa Aulia Chandrawati Putri Wulandari Gunawan Setia Prihandana Hanifah Nurroidah Miftachul Jannah Mohammad Sandiasri Suprapto Parman, Setyamartana Prasasti Ikrar Luhur