Pub Date : 2022-07-30DOI: 10.52435/complete.v2i1.205
Yosefine Triwidyastuti, Fikri Santoso Harjowinoto, Musayyanah, Pauladie Susanto, Harianto
Saat ini penerapan teknologi komunikasi LoRa sedang mengalami peningkatan di segala bidang, karena LoRa mempunyai keunggulan daya rendah dan jangkauan jauh. Namun pada umumnya, penerapan tersebut hanya menganalisis unjuk kerja transmisi data LoRa pada kondisi node pemancar dan penerima yang diam di tempat. Oleh karena itu, penelitian ini secara khusus membahas penerapan transmisi data LoRa pada node yang bergerak untuk mengetahui pengaruh kecepatan gerak node terhadap unjuk kerja transmisi data LoRa. Satu buah transmitter node yang terus-menerus mengirimkan paket data akan digerakkan pada suatu lintasan lurus menjauh dari sebuah receiver node yang diam. Kemudian pada receiver node, nilai packet loss dan throughput dari semua paket dihitung untuk mengukur unjuk kerja transmisi data. Berdasarkan hasil perhitungan rata-rata dari semua percobaan, nilai kecepatan node yang tinggi pada percobaan lintasan lurus menghasilkan nilai packet loss yang semakin rendah dan nilai throughput yang semakin besar.
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Pub Date : 2022-07-30DOI: 10.52435/complete.v2i1.203
Anhar Risnumawan
Humanoid robot is a robot whose overall appearance is formed based on the human body and can interact with equipment and the environment created by humans. The robot's balance becomes fundamental in carrying out various tasks in designing humanoid robots. To deal with this, the adjustment of the humanoid robot movement is crucial in this work, research related to the virtual visualization of robots. Virtual robot visualization can be done by creating a simulator that contains dynamic parameters, including the physics of the robot. With the simulation containing dynamic parameters, the humanoid robot movement can be tried many times until the robot movement is robust. Applying the URDF (Unified Robot Description Format) model to the Gazebo simulator, which is supported by the ROS (Robot Operating System) framework, can make a simulator with dynamic parameters mimicking a real environment. In order to make a robust robot motion, feedback is needed in position and torque to find out the difference between simulation and reality. On the other hand, simulations can be done without cost or risk and, most importantly, mimic the actual robot soccer environment.
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