Nirmala Nirmala, Nirmala
Swiss German University

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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.v9i1.864

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 simulations parameters to provide a more realistic performance.Key words: framework; mobile robot; behavior, modeling; simulation
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 | Full PDF (1844.129 KB) | 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 simulations parameters to provide a more realistic performance.
Adsorpsi Ion Tembaga (Cu) Dan Ion Besi (Fe) Dengan Menggunakan Arang Hayati (Biocharcoal) Kulit Pisang Raja (Musa sapientum) Nirmala, Nirmala; Tiwow, Vanny M. A.; Suherman, Suherman
Jurnal Akademika Kimia Vol 4, No 4 (2015)
Publisher : Universitas Tadulako

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (363.233 KB) | DOI: 10.22487/j24775185.2015.v4.i4.7870

Abstract

This study determine the contact time, pH, and the optimum concentration of the solution of copper (Cu) and iron (Fe) from skin the plantain (musa sapientum). Advances in the industry today resulted in many human activities that caused increasing impact of the pollution on surrounding of the environment. Environmental pollution by heavy metals being a serious problem along with increasing the use of heavy metals in the industry. The method used in this study was a laboratory experiment using colorimeter. The results showed that the adsorption of copper and iron on the plantain bark influence a time variation of Cu and Fe occurred in the 60 minute and 30 minute (99.64% and 99.54%); variation of pH for Cu and Fe occurrs in pH 4 and pH 3 (99.62% and 99.58%) and variation of concentration for Cu and Fe occurred at 20 ppm and 1 ppm (80.74% and 96.81%), respectively.
HUBUNGAN PENGETAHUAN, DUKUNGAN SUAMI DAN DUKUNGAN TENAGA KESEHATAN DENGAN KUNJUNGAN ANTENATAL CARE DI PUSKESMAS KOTABUMI UDIK LAMPUNG UTARA TAHUN 2014 Nirmala, Nirmala; Sari, Lolita; Ekasari, Fitri
JURNAL DUNIA KESMAS Vol 3, No 2 (2014): Volume 3 Nomor 2
Publisher : Fakultas Kesehatan Masyarakat Universitas Malahayati

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Abstract

Kunjungan Antenatal Care adalah kunjungan ibu hamil ke bidan atau dokter sedinimungkin semenjak dirinya merasa hamil untuk mendapatkan pelayanan asuhanantenatal. Ketidaksesuaian jumlah kunjungan ANC selama kehamilan, menyebabkanmasalah dan komplikasi dalam kehamilan masih berlanjut yang menyebabkan tingginyaangka kematian ibu. Berdasarkan data dari Kemkes RI tahun 2013, cakupan kunjunganibu hamil K4 di Indonesia adalah 87,37%. Dimana hasil survey yang dilakukan diPuskesmas Kotabumi udik Lampung Utara tahun 2013 terdapat 304 (73%) orang ibuhamil yang melakukan kunjungan K1 dan 211 (51%) orang ibu hamil yang melakukankunjungan K4. Tujuan penelitian ini adalah untuk mengetahui hubungan pengetahuan,dukungan suami dan dukungan tenaga kesehatan dengan kunjungan antenatal care diPuskesmas Kotabumi Udik Lampung Utara tahun 2014.Desain yang digunakan dalam penelitian ini adalah observasional analitik denganmenggunakan pendekatan Cross Sectional. Populasi dalam penelitian ini adalah semuaibu hamil trimester III yang berkunjung di Puskesmas Kotabumi Udik Lampung Utarapada bulan Januari dan Februari tahun 2014 yang berjumlah 49 orang, sedangkansampel yang di ambil adalah total populasi sebanyak 49 orang. Analisis bivariat dalampenelitian ini menggunakan Uji Chi Square.Hasil penelitian diperoleh p-value 0,008 yang berarti ada hubungan pengetahuandengan kunjungan ANC, p-value 0,000 yang berarti ada hubungan dukungan suamidengan kunjungan ANC dan p-value 0,004 yang berarti ada hubungan dukungan tenagakesehatan dengan kunjungan ANC.Saran penelitian ini yaitu diharapkan hasil penelitian ini dapat menambah wawasandan pengetahuan tentang hubungan pengetahuan, dukungan suami dan dukungantenaga kesehatan dengan kunjungan ANC bagi institusi pendidikan, objek penelitian, bagipeneliti dan masyarakat.Kata kunci : Pengetahuan, Dukungan Suami, Dukungan Tenaga Kesehatan
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.