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This paper discussed the method of navigation and robot formation in a swarm using the Local Positioning System (LPS) which was applied to the mobile robot's differential steering platform. Navigation and formation of robots in swarm robotics could run well because of the presence of robot position coordinates. In the outdoor application of coordinates, the position of the robot could be obtained easily using the Global Positioning System (GPS), but GPS had drawbacks in indoor applications. In indoor use, signals from satellites were difficult to obtain and inaccurate for use with relatively short distances. In coordinate research, positioning used LPS which was built using Bluetooth Low Energy (BLE). LPS with BLE was successfully built with simple resources and at a low price but had optimal performance. The LPS accuracy built with BLE and the regression algorithm had an error of 4.33% on the X-axis, and 2.67% on the Y-axis. The robot formation utilized a combination of proximity sensors and position coordinates obtained from LPS. The proximity sensor served to detect obstacles that hold the robot towards a predetermined target. The combination of navigation algorithms and swarm formation robotics was proven to be faster at finding targets compared to a single robot.

Improving efficiency and quality in farming activities is important reason of developing technology to support agriculture. Technology in agriculture such as image processing, Internet of Things (IoT), Artificial Intelligence, Big Data, and Artificial Lighting gives increasing trends. Artificial lighting technology has high impact to support agriculture in an area that has low sun light intensity such as in rainy season. Farmer has a difficulty to cultivating plant especially in early stage in rainy season. This problem happen because of the intensity of sun light is very minimum. Artificial lighting is a technology to solve early stage cultivating problem in rainy season. This technology can support agriculture for cultivating plant with minimum sun light. Artificial lighting contains light emitting diode (LED) that is laid out as an array. This research goal is to make an artificial lighting prototype to support early stage cultivating. Pakcoy is a plant that used to observe artificial lighting impact for early stage Pakcoy cultivation. This research shows Pakcoy plant placed in the prototype gives significant growth compared with a plant which placed in low light room. Pakcoy plant in artificial lighting gives 2 4 leaves, the height is 1.5 5cm, and from 18 seeds 10 is grow. This research can conclude that artificial lighting prototype can support early stage Pakcoy cultivation.

Heart rate abnormalities can lead to many cardiovascular diseases such as heart arrythmia, heart failure, heart valve disease and many more. Some cardiovascular disease can cause death. Abnormalities signal feature can be seen using electrocardiogram. Electrocardiogram is an electric signal record from heart activity. Normal heart and abnormal heart have a different electrocardiogram signal pattern. This research is aim to detect abnormality from heart rate using electrocardiogram abnormality signal feature. Abnormality signal pattern can be used to classify normal and abnormal heart rate. Abnormality feature consists of P signal condition, R signal condition, P R interval rate, and double R interval. Electrocardiogram data that used in this study is obtain from MIT-BIH Arrythmia database. 20 electrocardiogram data have been used to see detection and classification performance while classifying normal and abnormal heart rate. Research result shows that feature based has 90.00% in accuracy, 90.00%in precision, and 90.00% in sensitivity while classify normal and abnormal heart rate. Research result can conclude that abnormality feature can be used to classify normal and abnormal heart rate. This method can be used for embedded system device that has limitation in memory and size.

Wireless communication applications in the future require high data rate and efficient spectrum services. To be able to provide a high bit rate we can use plural modulation or multicarrier. The use of FBMC OQAM modulation aims to provide increased performance compared to the previous modulation, namely OFDM, this is due to the use of FBMC with its orthogonality properties and the use of OQAM which has a stronger advantage over the dispersion effect and has a high data rate. To get the information signal issued, ZF (Zero Forcing) equalization is used. Simulation results show that FBMC OQAM with ZF can reduce BER from 0.4275 at SNR 0 dB to 0.01231 at SNR 25 dB. Whereas the OQAM without ZF FBMC has a BER value of 0.513 at SNR 0 dB to 0.5212 at SNR 25 dB. This shows that the FBMC OQAM using ZF has a lower BER value than the FBMC OQAM without ZF. Keywords : FBMC, OQAM, ZF, SNR, BER Abstrak Aplikasi komunikasi nirkabel di masa depan menuntut pelayanan data rate yang tinggi dan spektrum yang efisien. Untuk dapat menyediakan laju bit yang tinggi dapat menggunakan modulasi jamak atau multicarrier. Penggunaan modulasi FBMC OQAM bertujuan memberikan peningkatan unjukkerja dibandingkan dengan modulasi sebelumnya yakni OFDM, hal ini karena penggunaan FBMC dengan sifat orthogonalitasnya dan penggunaan OQAM yang memiliki keunggulan lebih kuat terhadap efek dispersi serta memiliki kecepatan data yang tinggi. Untuk mendapatkan sinyal informasi yang dikirimkan, digunakan ekualisasi ZF (Zero Forcing). Hasil simulasi menunjukkan FBMC OQAM dengan ZF dapat menurunkan BER dari nilai 0,4275 pada SNR 0 dB menjadi 0,01231 pada SNR 25 dB. Sedangkan pada FBMC OQAM tanpa ZF memiliki nilai BER 0,513 pada SNR 0 dB menjadi 0,5212 pada SNR 25 dB. Hal ini menunjukkan bahwa FBMC OQAM menggunakan ZF mempunyai nilai BER yang lebih rendah dibandingkan FBMC OQAM tanpa ZF. Kata Kunci : FBMC, OQAM, ZF, SNR, BER

Coronavirus disease (COVID-19) is a disease that disrupts the respiratory tract and infects many people. However, until now, there is still no cure. Therefore a robot service is proposed to minimize direct contact between nurses and patients who are equipped with PPE (Personal Protective Equipment). Robot Service is a robot carrying logistics for patients in the Isolation Room. The robot is expected to be able to help medical personnel work and reduce the risk of medical personnel being exposed to the virus while in the Isolation Room. This robot has a feature to rotate and move along the hospital hallway, using either automatic or normal mode. This robot is also equipped with an Omni infrared camera that can see the environmental conditions around the robot so that it can make it easier for operators to run this robot with a Wi-Fi communication system. With this robot, medical workers can deliver the needs of patients without having to meet face to face, so that the risk of being exposed to the virus can be reduced. Keywords: Coronavirus, Hospital, Medical Personnel, Robot Abstrak Coronavirus disease (COVID-19) is a disease that disrupts the respiratory tract and infects many people. However, until now, there is still no cure. Therefore a robot service is proposed to minimize direct contact between nurses and patients who are equipped with PPE (Personal Protective Equipment). Robot Service is a robot carrying logistics for patients in the Isolation Room. The robot is expected to be able to help medical personnel work and reduce the risk of medical personnel being exposed to the virus while in the Isolation Room. This robot has a feature to rotate and move along the hospital hallway, using either automatic or normal mode. This robot is also equipped with an Omni infrared camera that can see the environmental conditions around the robot so that it can make it easier for operators to run this robot with a Wi-Fi communication system. With this robot, medical workers can deliver the needs of patients without having to meet face to face, so that the risk of being exposed to the virus can be reduced. Kata Kunci: Coronavirus, Hospital, Medical Personnel, Robot

Signature is one of the biometrics that are widely used for important document authentication and verification. The existence of a signature as a form of validation and approval in important documents is mandatory. Along in current sophisticated technological developments, signing can be done using digital media such as cellphones or other media. The ability of the system that can be identify a person signature is important. This research aims to implement the Laplacian edge detection method and Euclidean distance to identify a person signature. The total image that used is 20 signatures from 5 different people while 15 signatures as data training image and 5 signatures as a data test image. The result of this research indicate that Laplacian edge detection method and Euclidean distance have an accuracy of 94% with 1 neighbor, with 2 neighbor has an accuracy of 60% and has an accuracy of 74% with 3 neighbor. Keywords : signature, Laplacian edge detection and Euclidean distance Abstrak Tanda tangan adalah salah satu biometrik yang banyak digunakan untuk autentikasi dan verifikasi dokumen penting. Keberadaan tanda tangan sebagai bentuk pengesahan dan persetujuan dalam dokumen-dokumen penting adalah hal yang wajib. Seiring perkembangan teknologi saat ini, proses penandatanganan dapat dilakukan dalam media digital seperti handphone maupun media lainnya. Kemampuan sistem untuk mengidentifikasi tanda tangan seseorang menjadi penting karena banyak pemalsuan yang terjadi. Penelitian ini bertujuan untuk mengimplementasikan metode deteksi tepi Laplacian dan jarak Euclidean untuk mengidentifikasi tanda tangan seseorang. Total citra yang digunakan yaitu 20 tanda tangan dari 10 orang yang berbeda dimana 15 tanda tangan sebagai data citra latih dan 5 tanda tangan sebagai data citra uji. Hasil penelitian ini menunjukkan bahwa metode deteksi tepi Laplacian dan jarak Euclidean memiliki akurasi sebesar 94% dengan 1 ketetanggaan, dengan 2 ketetanggaan memiliki akurasi sebesar 60%, dan memiliki akurasi sebesar 74% dengan 3 ketetanggaan. Kata Kunci : tanda tangan, deteksi tepi Laplacian dan jarak Euclidean