On ground stereo vision system is used for autonomous hovering and landing of a quadrotor Micro Aerial Vehicle (MAV). This kind of system has an advantage to support embedded vision system for autonomous hovering and landing, since an embedded vision system occasionally gives inaccurate distance calculation due to either vibration problem or unknown geometry of the landing target. Color based object tracking by using Continuously Adaptive Mean Shift (CAMSHIFT) algorithm was examined. Nonlinear model of quad-rotor MAV and a PID controller were used for autonomous hovering and landing. The result shows that the Camshift based object tracking algorithm has good performance. Additionally, the comparison between the stereo vision system based and GPS based autonomous hovering of a quad-rotor MAV shows that stereo vision system has better performance. The accuracy of the stereo vision system is about 1 meter in the longitudinal and lateral direction when the quad-rotor flies in 6 meters of altitude. In the same experimental condition, the GPS based system accuracy is about 3 meters. Additionally, experiment on autonomous landing gives a reliable result.

The aim of this research is to know the influence of problem based learning model assist with interactive simulation to concept comprehension and science generic skill of student. Data analysis used is t-test, by comparing the quarrel of mean from the result of pre-test and posttest. From t-test calculation in concept comprehension and science generic skill, the result is t count > t table , it means Ha accepted and Ho failed. In addition, concept comprehension and science generic skill score average in experimental class is higher. So, problem based learning model assist with interactive simulation is better to improve concept comprehension and science generic skill of student.ABSTRAK:Penelitian ini adalah penelitian pre-eksperimental dengan desain penelitian One group pretestposttest design . Penelitian ini bertujuan untuk mengetahuiefektifitas model pembelajaran perubahan konseptual untuk mengatasi miskonsepsi fisika pada siswa kelas X SMAN 1 Praya Barat tahun pelajaran 2012/013. Populasi penelitian ini adalah seluruh siswa kelas X SMAN 1 Praya Barat dan sampelnya adalah kelas X.6 yang diambil dengan menggunakan teknik purposive sampling. Data miskonsepsi dianalisis menggunakan nilai gain dan gain yang dinormalisasi. Diperoleh nilai gain (G) 18,6 % dan N-gain 0,48 dengan kriteria sedang. Hal ini menunjukkan bahwa keefektifan Model Pembelajaran Perubahan Konseptual Untuk Mengatasi Miskonsepsi Fisiska Siswa Kelas X SMAN 1 Praya Barat tergolong sedang.Kata kunci: Problem based learning model, interactive simulation, concept comprehension, science generic skill.

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