AbstrakSalah satu cara pentautan citra udara dapat menggunakan algoritme SURF (Speeded Up Robust Features Kata kunci-FLANN, RANSAC, eliminasi keypoint, radius minimal Abstract One of the algorithm for aerial image stitching system is SURF (Speeded Up Robust Features). It is a robust algorithm which is invariant to image

117 Flutter phenomena is a critical phenomenon that can be dangerous for aircraft. When an aircraft fly faster until reach flutter speed, the structure will become unstable. Therefore, it is important to conduct preliminary analysis of flutter speed to ensure the safety of Pilot. Wind tunnel test is necessary to be conducted to validate numerical analysis results. This research consist of NASTRAN software analysis of half wing model of N219 aircraft for ground vibration test. The prediction of flutter speed which is obtained from software analysis is similar with the wind tunnel test result. It is found that the modus parameter of structure like natural frequency, modus of vibration and damping ratio can be used on the parameter analysis as a new analysis method. flutter speed, ground vibration, natural frequency, damping ratio. Fenomena flutter merupakan salah satu fenomena yang kritis dan dapat membahayakan pesawat. Ketika, pesawat terbang semakin cepat dan mencapai kecepatan flutter, maka akan terjadi ketidakstabilan struktur. Oleh sebab itu, untuk menjamin keselamatan Pilot saat uji terbang, perlu dilakukan analisis awal pada kecepatan flutter. Uji terowongan angin selalu dilakukan untuk memvalidasi hasil dari analisis numerikal. Penelitian ini meliputi analisis program NASTRAN pada model separuh sayap pesawat N219 saat uji getaran di tanah. Prediksi kecepatan flutter secara analisis hampir sama dengan hasil uji terowongan angin. Parameter modus struktur yang ditemukan, seperti frekuensi natural, modus getar dan rasio redaman, dapat digunakan untuk analisis parameter flutter sebagai metoda analisis baru.

Abstrak Kp = 2,93, Ki = 2,808 and Kd = 0, elevators Kp = 2,02, Ki = 1,731 and Kd = 0 and rudder Kp = 1,35, Ki = 0,9 and Kd = 0. Robust method using ISE (Integral Squared Error)

In unmanned aerial operations, the ground control station duties as a monitoring and command station so that operators on land can send mission orders, monitor the mission's course and monitor the condition of the UAV during the mission. It is necessary to have a GCS system capable of connecting with UAV that not limited with control transmitter range.This research develops GCS system using internet network and web server based. the system consists of two units, namely flying units and GCS units. The flying unit consists of Raspberry pi, modem, webcam, ADAHRS module and quadrotor with MultiWii controller. on the GCS unit consists of Raspberry pi connected on the internet network with 10Mbps download speed and 1.5Mbps upload.The GCS system can display aircraft conditions, stream video and perform command controls. Configure streaming video for delay time of no more than one second with 240x144 pixel resolution, 256kbps maximum bitrate and 5 fps framerate. This configuration runs at a 1.1 Mbps upload speed with a percentage of 93.83% bitrate compression. Aircraft condition data sent to GCS is optimal if internet bandwidth exceeds the bitrate of streaming video used on the system

AbstrakPada penelitian ini telah diterapkan sebuah sistem kendali Proporsional-Integral-Derivatif (PID) pada antena pendeteksi koordinat posisi pesawat udara tanpa awak. Sistem kendali PID pada antena pendeteksi digunakan pada kendali gerak horizontal dan vertikal. Nilai acuan kendali PID untuk gerak horizontal adalah sudut azimuth antara antena dan UAV. Sudut tersebut didapatkan dari metode azimuth antara dua buah titik koordinat. Nilai acuan kendali PID untuk gerak vertikal adalah sudut elevasi yang didapat dari metode Haversine Formula dan Sinus Trigonemetri antara jarak dua titik koordinat terhadap ketinggian UAV. Metode tuning PID yang digunakan untuk memperoleh konstanta pengendali PID adalah metode Ziegler-Nichols dengan metode osilasi dan tabel penalaran sistem kendali Ziegler-Nichols.Hasil yang diperoleh dari penelitian ini berupa penerapan sistem kendali PID berdasarkan metode Ziegler-Nichols. Sistem kendali berdasarkan tabel penalaran Ziegler-Nichols divariasikan tiga jenis sistem kendali yaitu P, PI, dan PID. Sistem kendali PD juga diterapkan berdasarkan tabel penalaran Ziegler-Nichols dengan  pengendali integral diatur bernilai 0. Sistem kendali yang memiliki respon paling baik adalah sistem kendali PD dengan nilai Kp = 11,375 dan Kd = 0,372531 untuk kendali azimuth sedangkan kendali elevasi pada nilai Kp = 3,41 dan Kd = 0,111464. Respon yang dihasilkan kendali azimuth sebesar 0,32 detik dan kendali elevasi sebesar 0,34 detik. Kata kunci—PID, Antena Pendeteksi, Servo, UAV  Abstract In this project has been implemented a PID control system on antenna tracker of unmanned aerial vehicle coordinates. PID control system on antena tracker to be used on horizontal and vertikal motion control. The setpoint of PID controller for horizontal motion is azimuth’s angle between antenna and UAV. The angle produced by azimuth’s method between two coordinates. The setpoint of PID controller for vertical motion is elevasi’s angle that produced by haversine-formula’s method and Sinus Trigonometry between distance two coordinates toward altitude of UAV. Tuning of PID controller was calculated by Ziegler-Nichols’s method with oscillation’s method and reasoning table of Ziegler-Nichols.The result from this project is implementation PID control system with Ziegler-Nichols’s method. There ara 3 variations in Ziegler-Nichols’s table, that are P, PI, and PID control system. The PD control system also implemented with integral’s control set on 0. The control system that has a good response is PD control system with Kp = 11,375 and Kd = 0,372531 on azimuth’s control whereas elevasi’s control with Kp = 3,41 and Kd = 0,111464. Response that produced by azimuth’s control is 0,32 second and elevasi’s control is 0,34 second. Keywords—PID, Antenna Tracker, Servo, UAV