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As a maritime country, shrimp commodity production in Indonesia is very high and continues to increase. However, because shrimp is a perishable food, we need a detection device. This is because conventional methods that are widely used by the community in detecting freshness of shrimp are only based on the smell. Of course, this is a problem when shrimp are packed in closed containers. In this paper, a method for detecting shrimp is proposed using the Melastoma malabathricum L. - based label indicator. The high content of flavonoids in the extracts allows the changing the colour of the label from red to grey due to the interaction between the label with the OH- group that arises from the shrimp spoilage process. The colour that appears on the label indicator will correlate with the level of shrimp freshness. By increasing detection effectiveness, the classification is performed using the nearest-neighbours algorithm, which is equipped with an image processing mechanism in the form of colour quantization. There are four classifications used to express the quality of shrimp, namely "acceptable," "just acceptable," "unacceptable," and "more unacceptable." The accuracy of applying this method is 71.9%, with the majority of detection errors occurring in the "acceptable" class. Based on these results, it can be stated that the label indicators prepared in this study are very promising to be developed into intelligent packaging components.

The most popular filtering method used for solving a Simultaneous Localization and Mapping is the Extended Kalman Filter. Essentially, it requires prior stochastic knowledge both the process and measurement noise statistic. In order to avoid this requirement, these noise statistics have been defined at the beginning and kept to be fixed for the whole process. Indeed, it will satisfy the desired robustness in the case of simulation. Oppositely, due to the continuous uncertainty affected by the dynamic system under time integration, this manner is strongly not recommended. The reason is, improperly defined noise will not only degrade the filter performance but also might lead the filter to divergence condition. For this reason, there has been a strong manner well-termed as an adaptive-based strategy that commonly used to equip the classical filter for having an ability to approximate the noise statistic. Of course, by knowing the closely responsive noise statistic, the robustness and accuracy of an EKF can increase. However, most of the existed Adaptive-EKF only considered that the process and measurement noise statistic are characteristically zero-mean and responsive covariances. Accordingly, the robustness of EKF can still be enhanced. This paper presents a proposed method named as a MAPAEKF-SLAM algorithm used for solving the SLAM problem of a mobile robot, Turtlebot2. Sequentially, a classical EKF was estimated using Maximum a Posteriori. However, due to the existence of unobserved value, EKF was also smoothed one time based on the fixed-interval smoothing method. This smoothing step aims to keep-up the derivation process under MAP creation. Realistically, this proposed method was simulated and compared to the conventional one. Finally, it has been showing better accuracy in terms of Root Mean Square Error (RMSE) of both Estimated Map Coordinate (EMC) and Estimated Path Coordinate (EPC).

In this paper, the Waterway Algorithm (WA) is used for Active Power Loss Reduction and improvement of Static Voltage Stability Margin Index. The design of the Waterway Algorithm (WA) is imitated from nature and the whole waterway process which involves the flow of streams and rivers into the sea in the natural world. The proposed Waterway Algorithm (WA) algorithm has been tested on standard IEEE 30 bus test system and simulation results show clearly about the superior performance of the proposed algorithm in reducing the real power loss and upgrading the Static Voltage Stability Margin Index.

Audio watermarking adalah mekanisme penyembunyian data pada audio. Metode penyembunyian data yang digunakan dalam penulisan ini adalah Lifting Wavelet Transform (LWT), Fast Fourier Transform (FFT), Centroid dan Quantization Index Modulation (QIM). Langkah pertama adalah host audio tersegmentasi menjadi beberapa frame. Kemudian sub-band terpilih diubah oleh FFT dengan mengubah domain sub-band dari waktu ke frekuensi. Proses centroid digunakan untuk menemukan titik pusat frekuensi untuk lokasi penyisipan untuk mendapatkan output yang lebih stabil. Proses penyematan dilakukan dengan QIM. Kinerja watermarking oleh parameter yang disesuaikan memperoleh nilai imperceptibility dengan Signal to Noise Ratio (SNR) > 21 dB, Mean Opinion Score (MOS)> 3.8 dengan kapasitas = 86.13 bps. Selain itu, untuk sebagian besar file audio terwatermark yang diserang, metode ini tahan terhadap beberapa serangan seperti Low Pass Filter (LPF) dengan fco> 6 kHz, Band Pass Filter (BPF) dengan fco 50 Hz - 6 kHz, Linear Speed Change (LSC) dan MP4 Compression dengan Bit Error Rate (BER) kurang dari 20%. Kata kunci: FFT, subband, LWT, Centroid, Audio Watermarking, QIM ABSTRACT Audio watermarking is a mechanism for hiding data on audio. Data hiding methods used in this paper are Lifting Wavelet Transform (LWT), Fast Fourier Transform (FFT), Centroid and Quantization Index Modulation (QIM). The first step is to segment host audio into several frames, then the selected sub-band is changed by the FFT by changing the sub-band domain from time to frequency. The centroid process is used to find the center of frequency for the insertion location to get a more stable output. The embedding process is done by QIM. The watermarking performance by adjusted parameters obtains the imperceptibility value with Signal to Noise Ratio (SNR)> 21 dB, Mean Opinion Score (MOS)> 3.8 with a capacity = 86.13 bps. In addition, for most of attacked watermarked audio files, this method is resistant to several attacks such as Low Pass Filter (LPF) with fco> 6 kHz, Band Pass Filter (BPF) with fco 50 Hz - 6 kHz, Linear Speed Change (LSC) and MP4 Compression with Bit Error Rate (BER) less than 20%. Keywords: FFT, subband, LWT, Centroid, Audio Watermarking, QIM

Audio watermarking adalah teknik memasukkan informasi ke dalam file audio dan untuk melindungi hak cipta data digital dari distribusi ilegal. Makalah ini memperkenalkan audio stereo watermarking berdasarkan Quantization Index Modulation (QIM) dengan teknik gabungan Discrete Cosine Transform (DCT) - QRCartesian Polar Transform (CPT). Host audio dibagi menjadi beberapa frame, selanjutnya setiap frame ditransformasi oleh DCT, kemudian output DCT diuraikan menjadi matriks orthogonal dan matriks segitiga menggunakan metode QR. Selanjutnya, CPT mengubah dua koefisien kartesian dari matriks segitiga (R) pada posisi (1,1) dan (2,2) menjadi koefisien polar. Setelah itu, penyisipan dilakukan pada koefisien polar oleh QIM. Hasil simulasi menunjukkan bahwa imperseptibilitas audio terwatermark berkualitas baik dengan Signal to Noise Ratio (SNR)> 20, Mean Opinion Score (MOS)> 4 dan tahan terhadap serangan seperti Low Pass Filter (LPF) dan Band Pass Filter (BPF) dengan cut off 25-6k, resampling, Linear Speed Change (LSC) dan MP3 Compression dengan rate diatas 64 kbps.Kata kunci: Audio Watermarking, CPT, DCT, QIM, QR ABSTRACTAudio watermarking is a technique for inserting information into an audio file and to protect the copyright of digital data from illegal distribution. This paper introduces a stereo audio watermarking based on Quantization Index Modulation (QIM) with combined technique Discrete Cosine Transform (DCT) – QR – Cartesian Polar Transform (CPT). Each frame of a host audio is transformed by DCT, then DCT output is decomposed using QR method. Next, CPT transform two cartesian coefficients from triangular matrix (R) in position (1,1) and (2,2) to polar coefficients. After that, embedding is executed on polar coefficients by QIM. The simulation result shows that the imperceptibility is good with Signal to Noise Ratio (SNR)>20, Mean Opinion Score (MOS)>4 and it is robust against attacks such as Low Pass Filter (LPF) and Band Pass Filter (BPF) with cut off 25-6k, Resampling, Linear Speed Change and MP3 Compression with rate 64 kbps and above. Keywords: Audio Watermarking, CPT, DCT, QIM, QR

Many people think that mathematics is a scary subject especially among children. Therefore, mathematics should be taught with a good and fun way. One of the good and fun approaches is through games. The development of internet technology has offered a wide range of facility, especially on websites that provide online math games. One of them is free online game “Bead on String”. This paper is intended to describe the connection of free online game “Beads on String”, with the materials of the integer division with a remainder and no remainder that is taught at school. The result of the analysis to free online games “Bead on String” indicates that the game can be used to build an understanding of learning concepts “Pembagian bilangan bulat bersisa dan tak bersisa (Integer division with a remainder and no remainder)”. ظنّ كثير من الناس أن الرياضيّات علم صعبٌ ومخيف، وخاصة الصغار. بهذا لابد أن يُدرّس هذا العلم بطريقة جيّدة ومريحة. وأحد المداخل لتدريس هذا العلم عن طريق الألعاب. وبتطوّر تكنولوجيا الشبكة الدولية توجد هناك الوسائل وخاصة موجودة في المواقع على الانترنيت المُعدّة لألعاب الرياضيّات. ومن هذه الألعاب يسمّى ب " Bead on String”". حاولت هذه المقالة عرض العلاقة بين لعب " Bead on String”" أون لين المجّاني وبين عدد صحيح ذي بقية وعدد صحيح ليس له بقية التي تُدرّس في المدارس. دلّت نتائج البحث على أن هذا النوع من اللعب يُمكن استخدامه لبناء الفهم عن مفهوم التعليم عن " تقسيم العدد الصحيح ذي بقية والعدد الصحيح ليس له بقية "