This research aims to develop an algorithm for the precision vertical landing process on a quadcopter using GPS sensors and computer vision. This research consists of 2 main parts: GPS-based control used by the quadcopter to return to the home area and computer vision-based control in the form of ArUco marker detection, which is used by the quadcopter in order to land precisely. Detection of the ArUco marker that is used goes through 2 stages: the application of threshold and ratio and the process of calculating the black and white area, which can then be searched for four corners of the marker. The algorithm designed works well on the Webots simulation program with mid-computer specifications. The ArUco marker detection process is fast and reliable, so it does not overload the processor unit so that the simulation process can run well. From 30 tests with different initial positions, the average error of the landing position of the quadcopter at coordinate X is 0.02 meters, and coordinates Y is 0.03 meters. All test results show that the quadcopter can land inside the landing pad area without any parts coming out.

Smoking is one of the main risk factors of several chronic diseases such as lung cancer, upper respiratory tract cancer, heart disease, stroke, bronchitis, emphysema and others, even smoking can cause death. Cigarette smoke inhaled by passive smoking is the main cause of lung cancer in people who are not smokers. The risk of lung cancer increases by 20-30% in non-smokers but always surrounded by cigarette smoke, compared to non-smokers who are not exposed to smoke. This study aims to develop a smart device to filter cigarette smoke so that the air released from this device is free from the dangers of cigarette smoke. The materials used in this device as a cigarette smoke filter are activated charcoal and aloe vera, the pores of the charcoal open and can become adsorbents. This device uses fuzzy logic as a control method that can provide decisions that resemble human decisions. Arduino is used to adjust the fan rotation in absorb cigarette smoke and the LCD to display the level of cigarette smoke.