Rancang Bangun Trajectory Tracking Posisi Pada Prototipe Pengusir Burung Pemakan Padi Menggunakan Laser Berbasis Jaringan Syaraf Tiruan

Yulianto, Falentin Tri (2021) Rancang Bangun Trajectory Tracking Posisi Pada Prototipe Pengusir Burung Pemakan Padi Menggunakan Laser Berbasis Jaringan Syaraf Tiruan. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Burung pemakan padi merupakan salah satu hama tanaman padi yang dapat membuat penurunan panen padi. Pengusiran burung dapat mengurangi dampak kerusakan pada tanaman yang disebabkan oleh burung. Salah satu metode pengusiran adalah menggunakan laser. Penggunaan laser saat siang hari efektif jika laser diarahkan ke burung. Laser diarahkan ke posisi burung berdasarkan input lokasi dari burung. Tugas akhir ini mengimplementasikan Jaringan Syaraf Tiruan (JST) untuk menghitung kinematika balik sistem. Kinetika balik sistem selanjutnya digunakan untuk menyusun trajectory antara 2 titik pada lintasan. Peta lintasan laser yang dihasilkan dengan mencari jalur terpendek dari titik titik posisi burung yang dideteksi menggunakan kamera. Pengujian dilakukan secara terpisah (pengujian tiap subsistem) dan terintegrasi. Pengujian terintegrasi dilakukan dengan meletakkan target objek pengganti burung pada koordinat yang diketahui dengan jumlah 3 titik, 4 titik, dan 5 titik. Hasil pengujian trajectory tracking posisi dengan input posisi burung secara terpisah didapatkan error rata-rata sebesar ±28,42 mm, sedangkan pengujian terintegrasi dengan input posisi objek menggunakan sensor kamera didapatkan error rata-rata sebesar ±60,32 mm ================================================================================================ Rice-eating birds are one of the pests of rice plants that can reduce rice yields. Repelling birds can reduce the impact of damage to crops caused by birds. One method of expulsion is to use a laser. The use of a laser during the day is effective if the laser is aimed at the bird. The laser is aimed at the bird's position based on the location input from the bird. This final project implements an Artificial Neural Network (ANN) to calculate the inverse kinematics of the system. The inverse kinetics of the system is then used to construct a trajectory between 2 points on the path. The laser trajectory map is generated by finding the shortest path from the bird position points detected by the camera. Tests are carried out separately (testing each subsystem) and integrated. Integrated testing is carried out by placing the target object as a substitute for birds at known coordinates with a total of 3 points, 4 points, and 5 points. The results of the trajectory tracking position test with the input of the bird's position separately obtained an average error of ±28.42 mm, while the integrated test with the input of the image location using the camera sensor obtained an average error of ±60.32 mm.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Jaringan Syaraf Tiruan, Kinematika balik, Pengusir Burung, Trajectory Tracking Posisi,Bird Scarecrows, Inverse Kinematics, Artificial Neural Network, Position Trajectory Tracking
Subjects: T Technology > TA Engineering (General). Civil engineering (General) > TA1637 Image processing--Digital techniques
T Technology > TA Engineering (General). Civil engineering (General) > TA167.5 Neurotechnology. Neuroadaptive systems
T Technology > TA Engineering (General). Civil engineering (General) > TA593.35 Instruments, cameras, etc.
Divisions: Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User: Falentin Tri Yulianto
Date Deposited: 27 Aug 2021 06:03
Last Modified: 27 Aug 2021 06:03
URI: https://repository.its.ac.id/id/eprint/89788

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