Development of Small Quadrotor Autonomous Control System

Gilar B. Raharja,Kim Gyu Beom,A. Budiyono,K. J. Yoon 한국항공우주학회 2010 한국항공우주학회 학술발표회 논문집 Vol.2010 No.11

This paper discuss about development of control system of mini quadrotor in Konkuk University for indoor application. The attitude control system consists of stability augmentation system as the inner loop control. The inner loop control satisfied experimentally by proportional-derivative controller, this is used for support the flight test to validate the modeling. In this paper we introduce the mathematical model for simulation and design the optimal control on the outer loop control. To perform experimental test, basic electronics hardware are developed in a simple configuration; AVR ?controller used as the embedded controller, low-cost 100Hz AHRS for the inertial sensing, built on X-UFO quadrotor airframe. It results an automatic hovering ability.

Design of an Autonomous Hover Control System for a Small Quadrotor

Gilar B. Raharja,Kim Gyu Beom,K. J. Yoon 한국항공우주학회 2010 International Journal of Aeronautical and Space Sc Vol.11 No.4

This paper discusses the development of the control system of a mini quadrotor in Konkuk University for indoor applications. The attitude control system consists of a stability augmentation system, which acts as the inner loop control, and a modern control approach based on modeling will be implemented as the outer loop. The inner loop control was experimentally satisfied by a proportional-derivative controller; this was used to support the flight test in order to validate the modeling. This paper introduces the mathematical model for the simulation and design of the optimal control on the outer loop control. To perform the experimental tests, basic electronic hardware was developed using simple configurations; a microcontroller used as the embedded controller, a low-cost 100 Hz inertial sensors used for the inertial sensing, infra-red sensors were employed for horizontal ranging, an ultrasonic sensor was used for ground ranging and a high performance propeller system built on an quadrotor airframe was also employed. The results acquired from this compilation of hardware produced an automatic hovering ability of the system with ground control system support for the monitoring and fail-safe system.

Migration and Economic Inequality in Indonesia: Longitudinal Data Analysis

Imamudin YULIADI,Sigit Satria RAHARJA 한국유통과학회 2020 The Journal of Asian Finance, Economics and Busine Vol.7 No.11

This study aimed to explain the factors that influenced an individual’s decision to migrate. The method of analysis in this study was the estimation of the probit regression model with data from the Indonesian Family Life Survey (IFLS-5), which covered 30,000 individuals from 13 provinces in Indonesia. Data from IFLS-5 were longitudinal data, meaning that the study was looking for data consistently to get reliable data from respondents. The research variables to determine the individual’s decision to migrate were education level, income level, employment status, marital status, land ownership status, health quality, gender, residence status, and poverty status. Individual decision to migrate as a dependent variable was placed as a dummy variable. The results showed that the level of education, income level, employment status, marital status, land ownership status, health quality, and poverty status significantly influenced an individual’s decision to migrate. Meanwhile, gender and residence status did not significantly affect an individual’s decision to migrate. This research recommends that it is necessary to pursue a policy of economic equality between regions because economic factors are the main trigger for an individual’s decision to migrate. Policies to overcome economic disparities among regions will reduce the individual’s decision to migrate.

Riau Malay food culture in Pekanbaru, Riau Indonesia: commodification, authenticity, and sustainability in a global business era

Annisa Mardatillah,Sam’un Jaja Raharja,Bambang Hermanto,Tety Herawaty 한국식품연구원 2019 Journal of Ethnic Foods Vol.6 No.-

The purpose of this research is to provide an in-depth analysis of the commodification, authenticity, and sustainability of culinary legacy as an instance of intangible cultural legacy, as well as how to subsequently compete with excellence and sustainability in the midst of a modern, global era of business without the loss of authenticity value. Herein is revealed the application of true local culture amid commercialization and modernization, differentiating between the authenticity and that which is out-of-sorts with local identity. The controversy of contextualization, the discussion of what is necessary, and the commodification of traditional food, namely the traditional foods of Riau Malay, to respond to the demand of a global market, are areas of interest in this study, as well as how the traditional foods of Riau Malay may compete with excellence and sustainability in a global market while retaining its authenticity values. The methodology used in this research is qualitative phenomenological; the interviews were carried out from the informants who were cultural figures of Riau Malay, social figures, and business actors in the traditional Riau Malay food industry with resulting evidence that confirms the necessity of heritage value of traditional Riau Malay foods, commodification in the area of globalization, without necessitating any loss of authenticity elements. The cultural heritage of traditional Riau Malay foods is introduced in two different types, cake pastry and main course savory dishes, and divided into two categories, everyday cuisine and cuisine for ceremonies or rituals. Riau Malay natives have customs and culture involved in the preparation and processing; presentation and consumption of the food may also be seen in the efforts in preparing such a traditional menu. The findings of this study are expected to contribute to the literature and research interest in food culture.

Real-time hardware simulation of a small-scale helicopter dynamics

Budiyono, Agus,Putro, Idris E.,Yoon, K.,Raharja, Gilar B.,Kim, G.B. Emerald Group Publishing Limited 2010 Aircraft engineering and aerospace technology Vol.82 No.6

<B>Purpose</B> - The purpose of this paper is to develop a real-time simulation environment for the validation of controller for an autonomous small-scale helicopter. <B>Design/methodology/approach</B> - The real-time simulation platform is developed based on the nonlinear model of a series of small-scale helicopters. Dynamics of small-scale helicopter is analyzed through simulation. The controller is designed based on the extracted linear model. <B>Findings</B> - The model-based linear controller can be effectively designed and tested using real-time simulation platform. The hover controller is demonstrated to be robust against wind disturbance. <B>Research limitations/implications</B> - To use the real-time simulation environment to test and validate controllers for small-scale helicopters, basic helicopter parameters need to be measured, calculated or estimated. <B>Practical implications</B> - The real-time simulation environment can be used generically to test and validate controllers for small-scale helicopters. <B>Originality/value</B> - The paper presents the design and development of a low-cost hardware in the loop simulation environment using xPC target critical for validating controllers for small-scale helicopters.

The Relationship Between Corporate Innovation and Corporate Governance: Empirical Evidence from Indonesia

Mohamad Rahmawan ARIFIN,Bayu Sindhu RAHARJA,Arif NUGROHO,Frank ALIGARH 한국유통과학회 2022 The Journal of Asian Finance, Economics and Busine Vol.9 No.3

The current study is at the forefront of examining the theory of principal-agent framework and financing constraints to explain the level of corporate innovation. To boost the firm’s level of innovation, this study uses corporate governance and corporate performance as driving factors. The study’s secondary goal is to give information on the parallel relationship between corporate governance and the level of corporate innovation. This study used a two-step least square (TSLS) regression analysis to examine such a simultaneous association using secondary data from Indonesian listed businesses from 2000 to 2021, which totaled around 1,910 observations. This study uses the Principal Component Analysis (PCA) tool to test cumulative variances of potential corporate governance indicators such as the total commissioner of the firm (TCOM), total independent commissioner of the firm (INDPCOM), the proportion of institutional ownership (INSOWN), total female commissioner (FEMCOM), CEO duality (CEODUAL), and type of the firm (SOE). As a result, PCA reveals that four of these variables, omitting CEODUAL and SOE, were a corporate governance construct. Furthermore, the study discovered that the amount of firm innovation and corporate governance are related.