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This study aims to design a Quadruped robot control on a new medium-sized Quadruped robot design called Kancil, which has 4 arms with 2 freedoms (4 x 2-DOF) with an overall weight of 5kg. ANFIS here is used as a balance regulator for the movement of the robot legs and CPG-VDP as a periodic drive system. The MIMO ANFIS structure is designed with two inputs and four outputs which are used to control the shoulder movements of the Quadruped robot, to maintain body balance so as not to fall. Input data for the gyro sensor tilt is -45 degrees to 45 degrees, studied in the ANFIS machine. The ANFIS output is then simulated using the V-REP simulator software, by converting the output data into a leg path so that it can be simulated. From the test results, the robot can pass through obstacles while walking down 30 degrees and 45 degrees in a balanced state and not falling.

This paper proposes three robot leg swing trajectory models as a test of periodic balanced motion on a new medium-sized four-legged robot design called "Kancil-V2", which has 4 arms with 2 freedoms (4 x 2-DOF) with an overall weight of 5kg. The robot is tested by using all three algorithm swing trajectory models. From the simulation results, the proposed robot can run well on a flat surface while maintaining its balance. Testing of robot movement is carried out by moving the robot forward a few seconds, then backward so that the sequence of the swing trajectory model can be determined which can return to its closest starting point, namely: first is the Parabola model with a distance of -0.1259, second is the Xin Jin model with a distance of 0.5473 and the third is the Triangular distribution model with a distance of 0.5322.

Data are the main demand of today's modern era. However, the cryptanalysis attack can compromise the security of any data. Consequently, unauthorized peoples can take the data. The reason is Cryptography is currently only based on the results of the same encryption. In reducing cryptanalysis attacks, this paper discusses data security using dynamic encryption. Cryptosystem in this paper uses a modified of AES 256-bit. Procedure to generate dynamic encryption by giving a character (salt) to plain text. Salt formed from the result of a Linear Congruential Generator (LCG) algorithm. Then a combination of salt and plain text will merge with the algorithm of One Time Pad (OTP). The advantage of this method is, can be used on two different systems, in addition to dynamic encryption results. The tests conducted in this paper shows that the percentage of NIST Tool Suite Test, the successful result is 72.5% from eight parameters that tested.

Tujuan adanya diciptakannya aplikasi ini adalaha untuk memberikan solusi dari permasalahan tersebut, yaitu membuat aplikasi pembelajaran tentang pengenalan perangkat jaringan komputer beserta topologi jaringannya dengan menggunakan teknologi Augmented Reality, agar dapat memberikan nuansa baru dan dapat mengurangi rasa bosen dalam belajar. Aplikasi yang diberi nama “PengajAR” adalah teknologi yang dapat menvisualisasikan gambar 3 dimensi kedalam virtual reality (penglihatan virtual). Marker yang terdapat pada masing masing perangkat bergambar akan ditangkap oleh kamera mobile device yang kemudian diproses untuk menampilkan animasi 3D modeling pada layar secara realtime. PengajAR menyajikan pengetahuan tentang fungsi perangkat jaringan seperti Router, Hub, Lan Tester, Access Point, karakteristik topologi Star, Mesh, Ring, dan Bus, selain itu aplikasi PengajAR menyediakan fitur Kuis untuk latihan soal seputar materi dasar perangkat jaringan komputer, dan dilengkapi dengan fitur Minigame yang memberikan latihan cara merancang model jaringan kabel dan wireless, serta terdapat fitur setting nomor IP (Internet Protocol). Pengujian yang dilakukan adalah dengan menggunakan metode Study Field, didemonstrasikan langsung ke siswa SMK (end user) yang akan mencoba aplikasi ini, Para siswa- siswi diberikan beberapa tugas untuk merancang jaringan, dan diakhir acara siswa-siswi diminta untuk mengisi kuisioner sebagai penilaian atas perangkat lunak yang telah mereka gunakan. Hasil luaran yang diharapkan dari kontribusi media pembelajaran ini adalah dapat membantu mereview materi sebesar 40 % yang telah diajarkan oleh guru, serta membantu untuk memvisualisasikan cara kerja topologi jaringan komputer sebesar 45%, dan secara keseluruhan aplikasi ini sangat sesuaidengan materi komputer dan jaringan.Kata Kunci: Augmented Reality, Marker, Topologi Jaringan, Internet Protocol

Lego merupakan sebuah mainan yang berbentuk kotak, segitiga, persegi panjang, dan lingkaran yang memiliki panjang, lebar, dan tinggi. Lego juga memiliki aneka warna yang dapat disusun sesuai dengan kombinasi yang berbeda dan sangat populer diseluruh dunia terutama bagi anak - anak. Penelitian ini bertujuan untuk mengembangkan aplikasi interaktif kamera Leap Motion untuk penyusunan lego tiga dimensi. Interaktif Lego ini dapat mendeteksi gerakan gerak tangan, jari dan benda sebagai data masukan ke kamera dan dapat menyusun setiap lego sesuai dengan keinginan pengguna. Sistem lego tiga dimensi dibuat dengan 3DUnity. Metode tracking dibangun dengan memanfaatkan pustaka yang disediakan oleh perusahaan Leap Motion dengan metode skeletal tracking. Pembangunan aplikasi ini menggunakan model skeletal 3D dapat menyusun Lego dengan klasifikasi gesture sehingga permainan tampak lebih interaktif pada komputer dengan gerakan tangan atau jari di udara. Fitur-fitur interaktif pada aplikasi seperti grab, motion, put, gesture dan touch dapat dijalankan sesuai tahap pengujian. Hand Model Visual Graphic pada sistem dapat menjangkau area interaksi bermain antara 15 cm hingga 35 cm diatas Leap Motion dan mencapai jangkauan sempurna pada 25 cm hingga 35 cm, sedangakan didepan dan dibelakang Leap Motion jangkauan terdapat pada 15cm hingga 35 cm dan mencapai jangkauan sempurna pada 20 cm hingga 35 cm. Sistem memiliki hasil pengujian ‘Main CPU’ dengan nilai dibawah 20 ms. Peneliti juga menguji sistem aplikasi ini pada beberapa pengguna dengan hasil prosentase dari pengujian grafis 80% dengan hasil baik, dan pengujian gameplay 70% dengan hasil baik.Kata kunci: 3D Unity, Leap Motion, Lego 3 Dimensi, Skeletal Tracking

Ticket system on the shopping mall and offices have a way to write it by the manual and automatic way. Most of the systems in use are by manual rather than automatic. With the problem, the manual system will be replaced with an automatic system that can recognize the number on the license plate. One method used to detect the plate and number that can be used is the method of finding contour. Finding contour can locate the number plate by detecting the rectangular shape of an image. This method is very important to be able to detect the number plate because there are many forms contained in the vehicle. Segmentation is used to recognize the characters on the car number plate using integral projection. Integral projection can separate the characters contained on the car number plate to facilitate processing on character recognition. The successful use of this method is 98%. errors are usually caused by the faded car plate colors

Brain hemorrhage is a serious category of head injury that can have a fatal impact on brain function and performance. But sometimes the identification of cerebral hemorrhage can not be known immediately. So far, the identification of cerebral hemorrhage is done through CT Scan image observation that requires special skills. Therefore we need a certain method that can segment the CT Scan image quickly and automated. The goal is to obtain the image segmentation of brain bleeding more quickly and accurately. So patients with cerebral hemorrhage can immediately obtain medical treatment in accordance with the needs. The preprocessing process of CT Scan image starts from the preprocessing phase of the CT Scan image using color filtering, erosion and dilation methods. This stage is done to clarify the cerebral hemorrhage and eliminate the noise contained in the image. Then performed watershed and cropping segmentation to separate the skull bones of the skull with brain tissue. The next step is to improve the image quality using median filtering. Then the image is again segmented using the threshold method to separate the image of cerebral hemorrhage as the observed object. Last performed the calculation of area and volume percentage of bleeding in the brain. From the system test obtained the calculation of brain area has an average error of 1.13%. As for the test calculation of the area of bleeding has an average error of 11.17%.

In this modern era development occurs so rapidly in the gaming world. Boxing Game is a fighting game genre that uses techniques jab, cross and survival techniques as a blocking action in the game. To perform these actions in the game, use the Wii Remote as a controller, is the swinging motion resembles the original of boxing techniques. The action will be matched using Euclidean Distance with the respective data movement. If it has met the criteria of a gesture, it will be visualized in the form of the action game players. Beginner mode using random to enemy AI that causes different enemy responses to the actions of the player. While the amateur and professional mode, using probabilities with different delay variable value. Motion detection using the orientation sensor produces success percentage of 64% for block loop movement. While the percentage of success for right cross motion detection is 76% and the left jab gesture is 72%.

Biometric is crucial in improving security. Many cases of crime to identify the perpetrators can be identified by biometrics, which are difficult to identify with other technologies. Research on biometric focus on the physical characteristics of a human being or human behavior. The way humans walk is one of human behavior that has uniqueness, the uniqueness of these patterns can be used to gender identification. In this study proposes a variety of features to identify gender based gait. These features are taken from the skeleton provided by kinect camera. There are four features are measured, there are three features of gait were recorded from the side that is the width of the foot when walking, the width of the swing arm and high ankle when lifted from the floor. The last feature is the width between 2 feet (from left ankle to right ankle) were taken from the front of the camera. Result, these features to 80% can be used to identify gender of a person.

In the psychology, there are four fundamental personality types of human: sanguine, choleric, melancholic, and phlegmatic. One way to know the human fundamental personality is based on test, and one kind of test is Grapho test (handwriting test). In this study has been conducted detection of the human fundamental personality using combination of some face features: the eyes, lips, and nose (without test). Those features are obtained from facial image. Distance between two corners of the eyes, high of eyes, ratio of the mouth width and nose, the width ratio of two eyes, and thickness of lower lip have been used as feature extractions. By using artificial neural network (backpropagation) and based on such feature extractions, the fundamental personality is detected. Related to the experimental results, system can detect the human fundamental personality for the same input image data with training average 85.5%. The identification result for the different input image data with training is average 42.5%, this condition occurred caused by identification of personality for choleric and phlegmatic was less than 50%.

This study aims to perform a simple lips feature recognition using lips angle detection. This feature detection starts from the search area of the face using skin segmentation continues to find the area of the lips by anthropometry human face in general. Then from the lips area to be searched its use lips angle detection algorithm to determine the coordinates of the corner of his mouth by the Lowest grayscale value combined with integral projections. Testing feature detection using 11 human faces, each doing four different expressions performed in real time. Four expressions are normal conditions, a thin smile, big smile and stare representing the possibilities of impending noise to ensure the accuracy of the lips features detection system. From the test results Obtained an average percentage of success of the system to normal conditions of 77.9%, a thin smile 91.68%, 95.97% and a wide smile.

This paper refers to the problems that arise in everyday life, where most people still have problems in distinguishing between real money or fake money, especially blind persons. This paper will be studied how to make a portable tool that can read the signs visible on the money and then provide feedback in the form of sound. Ultraviolet rays will be used to emit visible image that is on the currency, then the image will be captured by the webcam as an optical sensor. A Single-Board Computer based Raspberry Pi is used to process the data that is captured by the sensor, then Single-Board Computer used to process data sent by the sensor, then the data is converted into histograms and compared with a sample using a histogram comparison, after comparison of data obtained later Single-Board Computer provides signals such as voice if the money is genuine or counterfeit, along with the amount. The tool is able to read and authenticity nominal money effectively, the results of the experiment resulting error value is less than 5%.