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A Study on Bipedal and Mobile Robot Behavior Through Modeling and Simulation Nirmala, Nirmala; Tanaya, Prianggada Indra; Sinaga, Maralo
CommIT (Communication and Information Technology) Journal Vol 9, No 1 (2015): CommIT Vol. 9 No. 1 Tahun 2015
Publisher : Bina Nusantara University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21512/commit.v9i1.1647

Abstract

The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structure and its task capability is performed. The stepwise procedure to robot behavior study is explained. Behavior cases study are experimented to bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV) developed at our institution. The experimentation are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is performed by comparing the simulation result and the real robot execution. The simulation gives a more idealistic behavior execution rather than realistic one. Adjustments are performed to fine tuning simulation's parameters to provide a more realistic performance.
ESTIMATOR KERNEL PADA REGRESI NONPARAMETRIK MENGGUNAKAN PENDEKATAN FUNGSI KERNEL GAUSSIAN Alwi, Wahidah; Sauddin, Adnan; Nirmala, Nirmala
Teknosains Vol 13 No 2 (2019): JULI
Publisher : Fakultas Sains dan Teknologi Universitas Islam Negeri Alauddin Makassar

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24252/teknosains.v13i2.9642

Abstract

The study by using the data to model a state (variable) in the statistical analysis usually requires certain assumptions in order to use the analysis results in accordance with the actual situation. This study uses a nonparametric procedure to estimate a function in which the function does not lead to a certain model of a particular function. The main problem of regression analysis is to determine the shape estimation. One approach that can be used to determine  is a kernel estimator with a Gaussian kernel approach. The data used is data that the percentage of women aged 15-49 who have been married according to the last birth attendants in South Sulawesi with the gynecologist predictor variables (), general practitioners (), midwives (), and the response variable () the number of women who have been married according to the last birth attendants. Methods GCV (Generalized Cross Validation) is used to obtain optimal bandwidth that is at ,  and = 25 with value GCV is . The optimum value is the maximum value of the percentage of women aged  who have been married according to the last birth attendants in South Sulawesi.
THE EFFECT OF WHOLE BRAIN TEACHING METHOD TOWARD STUDENTS VOCABULARY ACHIEVEMENT OF SEVENTH GRADE AT SMP NEGERI 17 KEC. KEP. MASALOKA RAYA Nirmala, Nirmala; Nggawu, La Ode; Fatmawati, Wa Ode
Journal of Teaching of English Vol 5, No 2 (2020): Journal of Teaching of English
Publisher : Universitas Halu Oleo

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (194.699 KB) | DOI: 10.36709/jte.v5i2.13607

Abstract

The researcher investigated the effect of whole brain teaching method toward students vocabulary achievement at SMPN 17 Kec. Kep Masaloka Raya. The design of the research was pre-experimental design. The population of the research were all the seventh grade students of SMPN 17 Kec. Kep. Masalaoka Raya. In taking sample the researcher using purposive sampling then the researcher chose class VII A of SMPN 17 Kec. Kep. Masaloka Raya which are consist of 28 students. The research used three kinds of vocabulary instrument. The instrument were fill the blank, match word, and rearrange word. The vocabularies test consist of 10 items each test. The test complied by the researcher based on the material in English book in the seventh grade, entitled Ring of The bells. In this research, quantitative data was collected and analyzed by using paired sample t test in SPSS 16.0. the result of the analysis show that the probability value (p) was lower than alpha value (α) at the level significant 95% (0.000 ˂ 0.05). This finding result justified that there was significant differences between students vocabulary score on pretest and post-test or there was significant effect of applying whole brain teaching method toward student vocabulary achievement at seventh grade of SMPN 17 Kec. Kep. Masaloka Raya after treatment. The result prove that the hypothesis of the research was accepted H1 but H0 was rejected.
Evaluasi Daya Dukung Lingkungan Berbasis Kemampuan Lahan Di Kecamatan Kulisusu Utara Kabupaten Buton Utara Nirmala, Nirmala; Usman, Ida; Karim, Jufri
JAGAT (Jurnal Geografi Aplikasi dan Teknologi) Vol 4, No 2 (2020): JAGAT (Jurnal Geografi Aplikasi dan Teknologi)
Publisher : Universitas Halu Oleo

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33772/jagat.v4i2.15336

Abstract

Abstrak: Jumlah penduduk yang terus meningkat dan aktivitas pembangunan yang dilakukan menyebabkan kawasan lindung menjadi kawasan budidaya di Kecamatan Kulisusu Utara. Tujuan penelitian ini, yaitu: (1) mengetahui karakteristik lahan ; (2) mengetahui daya dukung lingkungan berbasis kemampuan lahan; (3) mengevaluasi daya dukung lingkungan berbasis kemampuan lahan. Metode penelitian ini yaitu: (1) pendekatan keruangan dengan melakukan analisis Sitem Informasi Geografi (SIG); (2) Overlay peta daya dukung lingkungan dan peta kemampuan lahan; (3) melakukan evaluasi daya dukung lingkungan terhadap kemampuan lahan. Hasil penelitian ini adalah: (1) wilayah Kecamatan Kulisusu Utara memiliki tanah tekstur lempung berdebu (sedang) seluas 9.790 ha, tekstur debu (sedang) seluas 15.882 ha, tekstur lempung liat berdebu (agak halus) seluas 16.448 ha dan tekstur lempung (sedang) seluas 3.422 ha. Kedalaman efektivitas berkisar antara <25 cm sampai 90 cm. Seluas 27.158 ha lahan tidak pernah terkena banjir, sedangkan 18.385 ha merupakan lahan yang jarang terjadi banjir. Kondisi drainase baik, tidak ada/sedikit kerikil atau batuan, serta tidak ada erosi hingga terjadi erosi >75% pada beberapa unit lahan; (2) kemampuan lahan di Kecamatan Kulisusu Utara terdiri dari Kelas II t l k  seluas 290 ha, kelas III t seluas 19.174 ha, kelas III t l seluas 16.297 ha, kelas IVl seluas 7.989 ha, kelas Vl seluas 1.642 ha, kelas VI l seluas 99 ha; (3) seluas 40.741,23 ha memiliki daya dukung yang sesuai terhadap kemampuan lahan, sedangkan seluas 4.748,77 ha memiliki daya dukung yang tidak sesuai terhadap kemampuan  lahan.Kata Kunci: Kemampuan Lahan, Daya Dukung Lingkungan