Judul: Pengembangan Algoritme Battery-Recharge Scheduling untuk Swarm-UAV pada Skenario Persistent Monitoring dalam Indoor Farming
Abstrak: Sektor pertanian di Indonesia saat ini tengah mengalami perkembangan menuju smart farming 4.0. Salah satu konsep smart farming adalah indoor farming. Persistent monitoring pada indoor farming sangat penting dilakukan untuk menjaga lingkungan yang aman sebagai tempat pertumbuhan tanaman. Pada umumnya, berbagai sensor statis digunakan untuk menjamin persistent monitoring pada indoor farming. Namun, sensor statis dapat mengalami kerusakan dan perbaikannya memerlukan waktu. Hal ini akan mengganggu proses persistent monitoring. Pada penelitian ini, swarm-UAV Crazyflie digunakan untuk menggantikan sensor-sensor statis yang rusak, sementara sensor-sensor tersebut diperbaiki. Penelitian ini bertujuan untuk mengembangkan algoritme Ant Colony Optimization (ACO) dan Cloud-Based Drone Navigation (CBDN) dalam melakukan penjadwalan pengisian daya pada Crazyflie agar dapat menggantikan sensor rusak untuk sementara waktu. Hasilnya, algoritme hasil modifikasi yang diusulkan dapat mengalokasikan Crazyflie ke wilayah task tertentu dan melakukan battery-recharge scheduling dengan meminimumkan total travel time., The agricultural sector in Indonesia is currently going towards smart farming 4.0. One of the smart farming concepts is indoor farming. Persistent monitoring in indoor farming is very important to maintain a safe environment as a place for plants to grow. In general, various static sensors are used to guarantee persistent monitoring in indoor farming. However, the static sensors can be broken and to repair it will take time. This will interfere with the persistent monitoring process. In this study, Crazyflie swarm-UAV is used to replace the broken static sensors, while the sensors were repaired. This study aims to develop Ant Colony Optimization (ACO) and Cloud-Based Drone Navigation (CBDN) algorithms to perform charging scheduling task on Crazyflie in order to temporarily replace the broken sensors. As a result, the proposed modified algorithm can allocate the Crazyflie to certain task areas and perform battery-recharge scheduling by minimizing the total travel time.
Keyword: ACO, CBDN, penjadwalan pengisian daya, persistent monitoring

Judul: Development of Multi-UAV Coordination System Using Cloud Based Drone Navigation for Fertilizing Agricultural Land
Abstrak: Pemupukan lahan pertanian di Indonesia masih menggunakan alat konvensional dan membutuhkan sumber daya yang tinggi. Sistem multi-UAV dapat digunakan untuk efisiensi waktu, biaya, dan tenaga pada sektor pertanian. Keterbatasan baterai dan lamanya durasi pengisian daya masih menjadi masalah dalam penggunaan sistem multi-UAV. Penggunaan sistem multi-UAV tanpa mempertimbangkan pengisian daya dengan baik dapat mengakibatkan antrian panjang UAV pada charging station. Cloud Based Drone Navigation (CBDN) dapat digunakan untuk koordinasi multi-UAV agar UAV dapat memilih jalur penerbangan terbaik agar tidak terjadi antrian panjang di charging station. Pada penelitian ini CBDN akan dievaluasi kinerjanya dan dibandingkan dengan algoritme Shortest Flight Time (SFT) dan Individual Reservation Navigation System (IRN). Parameter yang akan dievaluasi adalah waktu yang diperlukan oleh seluruh UAV untuk menyelesaikan seluruh tugasnya (total travel time)., Fertilizing agricultural land in Indonesia still uses conventional tools and requires high resources. multi-UAV systems can be used for time, cost, and labor efficiency in the agricultural sector. Battery limitations and the long duration of charging are still a problem in using the multi-UAV system. Using the multi-UAV system without considering charging properly can result in long queues of UAVs at the charging station. Cloud Based Drone Navigation (CBDN) can be used for multi-UAV coordination so that the UAV can choose the best flight path to avoid long queues at the charging station. In this study, the performance of CBDN will be evaluated and compared with the Shortest Flight Time (SFT) and Individual Reservation Navigation System (IRN) systems. The parameter to be evaluated is the time required by all UAVs to complete all their tasks (total travel time).
Keyword: CBDN, multi-UAV, agriculture, charging, fertilization

Judul: Penggunaan Teorema Homeomorphy 2-Manifold dan Teorema Euler Poincare pada Torus 𝑇�� dan Simplicial Complex 𝐾��
Abstrak: Two dimensional topological spaces are said to be homeomorphic if they have the same topological invariant, where one of topological invariant used is an Euler characteristic. Homeomorphy 2-Manifold’s Theorem and Euler Poincare’s Theorem are used to distinguish two topological spaces. Homeomorphy 2-Manifold’s Theorem uses Euler characteristic to identify two dimensional topological spaces. Euler Poincare’s Theorem is an alternative way to find Euler characteristic with Betti number, which is topological invariant as well. The objective of this paper is to investigate the homeomorphism of torus 𝑇����� and simplicial complex 𝐾�����. Topological space torus and simplicial complex 𝐾����� have the same Euler characteristic, which is two. Based on Homeomorphy 2-Manifold’s Theorem topological space torus 𝑇����� and simplicial complex 𝐾����� is homeomorphic.
Keyword: simplicial, torus, Euler, homeomorphism, topology