Judul: Pengembangan Sistem Koordinasi Multi-UAV Surveillance Lahan Pertanian dengan Pendekatan Lloyd Algorithm dan Voronoi Diagram
Abstrak: Pemantauan lahan pertanian perlu dilakukan oleh petani dalam memberikan hasil panen dan produktivitas yang maksimal. Semakin luas lahan pertanian, maka semakin besar tenaga yang dibutuhkan untuk memantau area lahan pertanian. Penggunaan teknologi multi-Unmanned Aerial Vehicle (UAV) dapat digunakan untuk memantau lahan pertanian. Titik penempatan dan cakupan area multi-UAV ditampilkan menggunakan Voronoi Diagram. Voronoi Diagram adalah sebuah algoritme yang dapat digunakan untuk membuat partisi terhadap bidang dengan menempatkan garis tepi di antara UAV yang berdekatan. Garis tepi yang saling berhubungan akan membentuk poligon yang mengandung tepat satu UAV. Voronoi Diagram diterapkan pada posisi akhir multi-UAV yang sudah diperhitungkan menggunakan algoritme modifikasi Lloyd Algorithm. Lloyd Algorithm merupakan salah satu algoritme clustering yang mampu menentukan lokasi titik-titik centroid yang optimal di suatu klaster. Lloyd Algorithm dapat diterapkan dalam sistem koordinasi multi-UAV dalam melakukan surveillance lahan pertanian. UAV direpresentasikan sebagai titik centroid dan lahan pertanian sebagai mission space dari algoritme. Hasil pengujian menunjukkan bahwa pengembangan algoritme Lloyd Algorithm dapat memberikan solusi penempatan posisi multi-UAV yang lebih optimal dengan mempertimbangkan persentase jumlah area cakupan dan penggunaan sumber daya.
Keyword: coordination system, Lloyd Algorithm, multi-Unmanned Aerial Vehicle, surveillance, Voronoi Diagram

Judul: Multi-UAV Coordination for Monitoring Paddy Fields using Ant Colony Optimization (ACO) and 2-Opt Algorithms
Abstrak: Penelitian ini mengembangkan algoritme koordinasi multi-UAV untuk pemantauan lahan sawah menggunakan algoritme Ant Colony Optimization (ACO) dan 2-opt. Dalam penelitian ini, citra satelit Sentinel-2 berupa citra sawah digunakan sebagai lingkungan simulasi untuk sistem multi-UAV. Setelah algoritme koordinasi multi-UAV dikembangkan, pengujian dilakukan untuk melihat performa algoritme dari segi jarak optimum dan waktu komputasi. Hasil menunjukkan bahwa rata-rata jarak lintasan UAV yang diperoleh dengan algoritme yang dikembangkan menurun sebesar 2% dibandingkan dengan hanya menggunakan algoritme ACO. Hasil penelitian menunjukkan bahwa penggunaan algoritme 2-opt tidak meningkatkan waktu komputasi secara signifikan. Selain itu, hasil penelitian juga menunjukkan bahwa algoritme ACO dan 2-opt yang dikembangkan dalam beberapa kasus yang diujikan dapat menghasilkan lintasan yang lebih pendek daripada algoritme ACO saja., This study developed a multi-UAV coordination algorithm for monitoring paddy fields using Ant Colony Optimization (ACO) and 2-opt algorithms. In this study, Sentinel-2 satellite images in the form of paddy fields were used as a simulation environment for multi-UAV system. After the multi-UAV coordination algorithm was developed, tests were carried out to see the performance of the algorithm in terms of optimum distance and computational time. Results show that the average UAV trajectory distance obtained with the developed algorithm decreased by 2% compared to the original ACO algorithm alone. Results showed that the use of 2-opt algorithm did not significantly increase the computational time. In addition, the results also show that the ACO and 2-opt algorithms developed in several tested cases can provide a shorter trajectory than the ACO algorithm alone.
Keyword: Ant Colony Optimization, citra Sentinel-2, multi-UAV, pemantauan, 2-opt

Judul: Peran nikotin dosis rendah terhadap profil glukosa darah dan insulin serta perubahan jaringan pankreas dan hati monyet ekor panjang (Macaca fascicularis) obes
Abstrak: Study of low dose nicotine intervention and its effect on blood and cellular level of obese cynomolgus monkeys has never been reported. The aims of this study were to evaluate the role of low dose nicotine on the profile of blood glucose, insulin level and cellular level alteration of pancreatic and hepatic tissue of obese cynomolgus monkey. Fourteen adult (aged 6–8 years) males cynomolgus monkeys grouped based on their Body Mass Index (BMI) into preobese (BMI=23.65–25.00) and obese (BMI ≥ 26.00) were used. Animals were grouped into four groups subsequently preobese with nicotine (pOb+), obese with nicotine (Ob+), preobese without nicotine (pOb-) and obese without nicotine (Ob-). Nicotine groups were fed with high fat diet mixed with nicotine dose 0.75 mg/kg body weight/day for three months and other groups without nicotine were fed monkey chow as control. Blood samples were collected every month for glucose analysis and insulin analysis at the end of study before necropsy was performed. Pancreatic and hepatic tissues were processed histologically and stained with hematoxylin-eosin and immunohistochemical method. The results showed that blood glucose significantly decreased (P<0.05) on the nicotine group, 28.37% (preobes) and 33.72% (obes) based on treatment duration compared to control group. Based on color intensity of granules cytoplasm of insulin producing cells or immunoreactive β-cells showed that non nicotine group were more reactive than those with nicotine group. As a conclusion, there was positive effect of low dose nicotine in maintaining the blood glucose level in normal range by stimulation of islet cells proliferation to maintain the production of insulin in the pancreatic islet. Nicotine low dose also affect to the hepatic parenchymal tissue that showed moderate level of hydrophic and fat degeneration, and necrosis. However, there were found hepatic cell regeneration.
Keyword: