Sistem Lokalisasi Sumber Panas Pada Nano Quadcopter Berbasis Thermal Sensor Array

Pambudi, Egar (2023) Sistem Lokalisasi Sumber Panas Pada Nano Quadcopter Berbasis Thermal Sensor Array. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pengunaan drone pada ruangan tertutup atau indoor menjadi semakin banyak setiap harinya. Kini, nano quadcopter banyak digunakan untuk aplikasi dalam ruangan karena ukuran drone yang semakin kecil dan dapat terbang dengan kecepatan rendah. Di sisi lain, penggunaan sensor suhu kini semakin marak digunakan. Perkembangan teknologi MEMS terkini memunculkan berbagai sensor baru untuk melakukan pengukuran dan pencitraan termal. Untuk itu, diusulkan suatu sistem lokalisasi sumber panas menggunakan thermal sensor array menggunakan indoor nano quadcopter. Dalam penelitian ini, sistem tersebut dirancang menggunakan sensor AMG8833 yang dipasangkan pada platform Crazyflie 2.1. Sensor tersebut digunakan untuk mendeteksi sumber panas sebagai input untuk arah terbang nano quadcopter. Nano quadcopter mendapatkan estimasi lokasi sumber panas dengan bergerak mendekat dan mengirimkankan perkiraan posisi sumber panas tersebut. Penelitian dilakukan pada ruangan indoor dengan suhu terkontrol dan aman sesuai dengan batasan kemampuan drone. Uji coba dilakukan dengan mendeteksi sumber panas tunggal pada tiga titik berbeda. Dari hasil penelitian ini, didapatkan error sebesar 24.76 cm pada sumbu x, 19.55 cm pada sumbu y, 2.59 cm pada sumbu z, dan 35.22 cm pada bidang Euclidean. Akurasi dipengaruhi oleh batas intensitas suhu dan luas sumber panas yang ditangkap dan drifting.
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The use of drones in closed or indoor spaces is becoming more and more common every time. Now, the nano quadcopter is widely used for indoor applications due to the smaller size of the drone and the ability to fly at low speeds. On the other hand, the use of temperature sensors is now increasingly being used. Recent developments in MEMS technology have led to new sensors for measuring and thermal imaging. For this reason, a heat source localization system is proposed using a thermal sensor array using an indoor nano quadcopter. In this research, the system is designed using the AMG8833 sensor attached to the Crazyflie 2.1 platform. The sensor is used to detect a heat source as input for nano quadcopter’s flight direction. Nano quadcopter gets an estimate of the location of the heat source by moving closer and sending the estimated position of the heat source. The research was conducted in an indoor room with controlled and safe temperatures in accordance with the limitations of drone capabilities. The trial was carried out by detecting a single heat source at three different points. From the results of this study, an error of 24.76 cm on the x-axis, 19.55 cm on the y-axis, 2.59 cm on the z-axis, and 35.22 cm on the Euclid plane was obtained. Error is affected by the temperature intensity limit and the area of the captured and drifting heat source.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Nano Quadcopter, Sumber Panas, Thermal Sensor Array, Heat Source, Nano Quadcopter, Thermal Sensor Array
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7871.674 Detectors. Sensors T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7878 Electronic instruments
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Egar Pambudi
Date Deposited:	31 Jan 2023 01:19
Last Modified:	31 Jan 2023 01:19
URI:	http://repository.its.ac.id/id/eprint/95848

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