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robot dalam mencapai formasi tertentu +dan dapat mempertahankan formasi tersebut ketika bermanuver menuju arah yang diinginkan. +Pengembangan kendali formasi dilakukan dari berbagai strategi \kutip{Guanghua2013}, yaitu +\textit{leader-follower} \kutip{6889491}, +berdasarkan tingkah laku dengan \textit{Fuzzy-Logic} \kutip{ELFERIK2016117}, +struktur virtual \kutip{YOSHIOKA20085149}. + +Dari berbagai pengembangan tersebut dapat ambil garis besar menjadi 3 bagian \kutip{OH2015424}, +yaitu berdasarkan posisi, perpindahan, dan jarak. +Ketiga bagian tersebut tertuju pada jawaban dari pertanyaan, "variable apa yang digunakan +sebagai sensor" dan "variable apa yang aktif dikendalikan oleh sistem multi-robot untuk +mencapai formasi yang diinginkan". +Dikususkan pada kendali formasi berdasarkan jarak, +Variable yang dikendalikan pada meteode ini adalah variabel jarak antar agent yang terhubung, +Koordinat yang digunakan tidak mengacu pada koordinat global. +Shingga pada penerapannya, formasi berdasarkan jarak menggunakan sensor yang lebih sedikit. +Namun salah satu permasalahan pada metode tersebut adalah penerapan model yang lebih nyata. + +Pengembangan formasi berdasarkan jarak telah dikembangkan menggunakan teori \textit{graph} +pada single dan double integrator \kutip{Oh2014} +dan menerapkannya pada simpel model dengan kendali \textit{Proportional-Integral} \kutip{Rozenheck2015}. +Akan tetapi pada penerapan kendali nya, +pengukuran jarak antar tetangga diperoleh dari selisih koordinat global robot dan tetangganya. +Sedangkan dalam praktiknya robot hanya bisa mengukur jarak dan tidak mengetahui koordinat +dari robot tetangga. + +Pada penelitian ini akan dikembangkan sebuah algoritma untuk mengetahui koordinat tetangga +berdasarkan informasi sensor jarak sehingga hasil pencarian koordinat tersebut dapat +digunakan pada kendali formasi berdasarkan jarak. +Percobaan akan menggunakan model robot holonomic dengan harapan menjadi langkah awal +mengembangkan kendali formasi 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ditemukan dengang mengubah koordinat polar menjadi koordinat kartesian. -Koordinat polar membutuhkan panjang $d_a$, dan sudut $\alpha$. -Panjang $d_a$ adalah variable yang didapat dari sensor yang memberikan nilai jarak dari robot $A$ ke robot $B$, -akan tetapi untuk mendapatkan koordinat polar, pengukuran sudu $\alpha$ tidak tersedia. -Algoritama yang ditawarkan memanfaatkan hukum \textit{cosinus} pada segitiga untuk mendapatkan sudut tersebut. +\subsection{Kendali Robot Holonomic} -\begin{figure} - \centering - \includegraphics[scale=.5]{BAB3/img/estimate_coordinate.png} - \caption{Strategi Penentuan Koordinat} - \label{fig:strategiPenentuanKoordinat} -\end{figure} - -Dapat diperhatikan pada gambar~\ref{fig:strategiPenentuanKoordinat} untuk gambaran strateginya. -Robot $B \in \tetangga_A$, adalah tetangga dari robot $A$. -Pertama-tama, sebelum robot $A$ bergerak, disimpan terlebih dahulu nilai $d_a$, -atau dinotasikan dengan $d_a[k]$ sebagai jarak sebelum bergerak. -Lalu robot $A$ berjalan secara random kesegala arah dengan jarak $l_a$. -Disimpan kembali nilai jara $d_a$, atau dinotasikan dengan $d_a[k+1]$. -Setalah itu dapat ditentukan sudut $\alpha[k+1]$ +Berikut adalah model dari robot holonomic dalam bentuk \textit{state-space} \kutip{CORREIA20127}. +Dimana robot menggunakan tiga buah motor yang dihubungkan pada \textit{omniwheel} sehingga robot +dapat bergerak kesegala arah. \begin{align} - d_a[k]^2 & = d_a[k+1]^2 + l_a^2 + 2 d_a[k+1] l_a \cos{(\alpha[k+1])} \\ - \alpha[k+1] & = cos^{-1}\Bigg( \frac{l_a^2 + d_a[k+1]^2 -d_a[k]^2}{2d_a[k+1]l_a} \Bigg) + \dot{x}(t) & = A_r x(t) + B_r u(t) + K_rsgn(x(t)) \label{eq:ss1} \\ + y(t) & = Cx(t) \label{eq:ss2} +\end{align} +Vector +$u(t) = \begin{bmatrix} + u_1(t) & u_1(t) & u(2)(t) + \end{bmatrix}^T$ +adalah masukan model bersatuan $volt$ dengan batasan $-6 \leq u_i(t) \leq 6$ pada tegangan motor robot. +Vector $y(t) = x(t) = \begin{bmatrix} + v(t) & v_n(t) & w(t) + \end{bmatrix}^T$ +adalah kecepatan robot yang akan diperoleh dari sensor percepatan, +dimana $v(t)$ adalah kecepatan pada sumbu $x$, +$v_n(t)$ adalah kecepatan pada sumbu $y$, dan +$w(t)$ adalah kecepatan rotasi dari frame robot. +Matrix $A_r \in \mathbb{R}^{3\times 3}$ dan $B_r \in \mathbb{R}^{3 \times 3}$ adalah parameter fisik robot berdasarkan +yang diperoleh dari identifikasi secara persamaan fisika. +Matrix $K_r \in \mathbb{R}^{3 \times 3}$ adalah parameter \textit{friction} dari robot yang diestimasi dari +hasil percobaan. + +Kendali dari robot akan menggunakan dua mode \textit{state-feedback}. +\textbf{Mode satu}, bertujuan untuk mencapai kecepatan robot yang diinginkan. +Untuk mencapai tujuan tersebut akan menggunakan persamaan kendali sebagai berikut +\begin{equation} + \begin{split} + u_{c1}(t) &= -K^c_1 x(t) + N^c_1 r^c_1 \\ + r^c_1 &= \begin{bmatrix} + v^*(t) & v_n^*(t) & w^*(t) + \end{bmatrix}^T + \end{split} + \label{eq:kendali_kecepatan} +\end{equation} +Dimana $r^c_1$ , $K^c_1 \in \mathbb{R} ^ {3 \times 3}$ dan $N^c_1 \in \mathbb{R} ^ {3 \times 3}$ +adalah setpoint kendali mode satu, konstanta yang diperoleh dari optimasi +persamaan \textit{Riccati} terhadap matrix $A_r$ dan $B_r$, +dan kostanta yang diperoleh dari \textit{inverse state-space} pada keadaan \textit{steady state}. +\begin{equation*} + N^c_1 = -[ C(A_r - B_rK^c_1)^{-1}B_r ] ^{-1} +\end{equation*} +Dengan menggabungkan persamaan~\eqref{eq:ss1} dengan persamaan~\eqref{eq:kendali_kecepatan} +akan mendapatkan persamaan \textit{state-space} robot yang baru +\begin{align} + \begin{split} + \dot{x}(t) & = (A_r - B_r K^c_1) x(t)+B_r N^c_1 r^c_1 + K_r sgn(x(t)) \\ + & = A_c x(t) + B_c r^c_1 + K_r sgn(x(t)) + \end{split} + \label{eq:ss_kendali_kecepatan} +\end{align} +\textbf{Mode dua}, bertujuan untuk mencapai titik koordinat tertentu +berdasarkan koordinat frame robot. Untuk mencapai tujuan tersebut +akan dimodifikasi persamaan~\eqref{eq:ss1} dengan menambah state koordinat frame robot +menjadi $y_{c2}(t) = x_{c2}(t) = \begin{bmatrix} + x_r(t) & y_r(t) & \theta_r(t) & v(t) & v_n(t) & w(t) + \end{bmatrix}^T$, $ + A_{c2} = \begin{bmatrix} + 0 & I \\ + 0 & A_r \\ + \end{bmatrix} \in \mathbb{R}^{6 \times 6} +$, +$B_{c2} = \begin{bmatrix} + 0 \\ B_r + \end{bmatrix} \in \mathbb{R} ^ {6 \times 3} $, +$K_{c2}(x) = \begin{bmatrix} + 0 & 0 \\ + 0 & K_rsgn(x) \\ + \end{bmatrix} \in \mathbb{R} ^ {6 \times 3} $. +Berikut adalah state space model untuk kendali mode satu. +\begin{equation*} + \begin{split} + \dot{x}_{c2}(t) & = A_{c2} x_{c2}(t) + B_{c2} u_{c2}(t) + K_{c2}(x_{c2}(t)) \\ + y_{c2}(t) & = C_{c2} x_{c2}(t) \\ + \end{split} +\end{equation*} +Dimana $u_{c2}(t)$ adalah persamaan kendali mode dua. +\begin{equation} + \begin{split} + u_{c2} (t) &= -K^c_2 x_{c2}(t) + N^c_2 r^c_2 \\ + r^c_2 &= \begin{bmatrix} + x_r^*(t) & y_r^*(t) & \theta_r^*(t) & v^*(t) & v_n^*(t) & w^*(t) + \end{bmatrix}^T + \end{split} +\end{equation} +Dimana $r^c_2$, $K^c_2 \in \mathbb{R} ^ {3 \times 6}$ dan $N^c_2 \in \mathbb{R} ^ {3 \times 6}$ +adalah setpoint kendali mode dua dan kostanta yang diperoleh dari cara yang sama pada mode satu +menggunakan matrix model yang dimodifikasi. + +\subsection{Kendali Formasi Berdasarkan Jarak} +Dinotasikan $n \triangleq | \simpul |$ sebagai jumlah dari node +dan $m \triangleq | \sisi |$ sebagai jumlah dari sisinya. +Dinotasikan $p = \begin{bmatrix} x_1^T & \dots & x_n^T \end{bmatrix}^T \in \mathbb{R}^{3n}$, +dimana $x_i \in \mathbb{R}^3$ dan $x_i \neq x_j$ untuk semua $i \neq j$. +Dinotasikan vektor posisi relatif $ e_k \triangleq x_j - x_i$ dan semua vector sisi +$e=\begin{bmatrix}e_1^t & \dots & e_m^T\end{bmatrix} \in \mathbb{R}^{3m}$. +didefinisikan fungsi \textit{Jacobian} sisi \kutip{Rozenheck2015}), +\begin{align} + R(p) & \triangleq diag(e_i^T)(E^T \otimes I_2) \in \mathbb{R}^{m\times 3n} \nonumber \\ +\end{align} +Dimana $E \in \mathbb{R}^{n\times m}$, adalah matrik \textit{incidence} $\{0,\pm 1\}$ dimana +baris matrik mengindikasikan simpulnya dan kolomnya sebagai sisinya dan +$diag(A_i) \triangleq blkdiag\{A_1, \dots, A_n\} \in \mathbb{R}^{np \times nq}$ +Orde kendali formasi yang digunakan adalah orde dua +Mengadopsi persamaan potensial, didefinisi persamaan \kutip{Oh2014}. +\begin{align} + \Phi(e) & = \frac{1}{2} \sum_{i \in \simpul }||v_i||^2 + \frac{1}{2} \sum_{k=1}^{m} \big( ||e_k||^2 - d_k^2 \big)^2 +\end{align} +Lalu kendali formasi menggunakan persamaan~\eqref{eq:ss_kendali_kecepatan} sebagai modelnya +diberikan \textit{negative gradient} dari fungsi potensial dan +konstanta \textit{proportional} \kutip{Rozenheck2015} +\begin{equation} + \begin{split} + \dot{p} & = A_f p(t) + B_f\frac{\partial \Phi(e)}{\partial v} \\ + & = A_f p(t) + B_fv(t) \\ + \dot{v} & = -C \Big( \frac{\partial \Phi(e)}{\partial v} + \frac{\partial \Phi(e)}{\partial p} \Big) \\ + & = -k_{p1}v(t) + R(p(t))^Tk_{p2}(R(p(t))p(t) - d )) \\ + \end{split} + \label{eq:dynmState} +\end{equation} +Dimana $A_f \in \mathbb{R}^{3n \times 3n}$ dan $B_f \in \mathbb{R}^{3n \times 3n}$ adalah +matrix diagonal dari $A_c$ dan $B_c$. + +\subsection{Algoritma Cosinus} +Robot $B_i \in \tetangga_A$, adalah tetangga dari robot $A$ . +$d_i[k]$ adalah jarak yang diperoleh dari sensor. +Dalam strategi (Gambar~\ref{fig:strategiPenentuanKoordinat}) ini diperlukan perpindahan robot $A$ ke $ A' = (0, l_a)$. +Perpindahan tersebut akan menghasilkan jarak $d_i[k+1]$. +Dari perbedaan tersebut akan didapatkan sudut $\alpha_i^\circ$. +\begin{align} + \alpha_i^\circ & = 180^\circ \pm cos^{-1}\Bigg( \frac{l_a^2 + d_i[k+1]^2 -d_i[k]^2}{2 d_i[k+1] l_a} \Bigg).\nonumber \\ + & = 180^\circ \pm \zeta_i^a \label{eq:algo_getAngle} \end{align} -Sebelum $\alpha[k+1]$ digunakan, jarak $d_a[k+1]$ dan $d_a[k]$ berpengaruh dalam penentuan koordinat. -Sehingga diperlukan sedikit algoritma +Dari persamaan~\eqref{eq:algo_getAngle} akan didapat koordinat tetangga. \begin{align} - \alpha_i= - \begin{cases} - \alpha[k+1] & ,d_a[k+1] > d_a[k] \\ - 180-\alpha[k+1] & ,d_a[k+1] < d_a[k] - \end{cases}.\label{eq:init_relatif_koordinat} -\end{align} - -Strategi pada gambar~\ref{fig:strategiPenentuanKoordinat} hanya berlaku apabila target ukur berhenti. Apabila dinotasikan koordinat $(x_B^A, y_B^A)$ adalah koordinat relatif robot $B$ terhadap $A$, -maka $(\dot{x}_B^A, \dot{y}_B^A)$ adalah notasi kecepatan koordinat dari robot B. -Dengan menggunakan persamaan~\eqref{eq:kinematika_robot} untuk menyelesaikan koordinat dalam -keadaan robot $B$ bergerak, yaitu mengirimkan informasi kecepatan koordinatnya -ke robot $A$. Lalu robot $A$ dapat mengkalkulasi koordinat relatif dengan persamaan berikut -\begin{align} - \alpha[k+1] & = \alpha[k]+tan^{-1} \Big[ \frac{\dot{x}_B^A}{\dot{y}_B^A} \Big] -\end{align} -dimana kondisi inisial adalah $\alpha[k] = \alpha_i$ diperoleh dari hasil strategi pada persamaan~\eqref{eq:init_relatif_koordinat}. -Dengan memanfaatkan kedua strategi tersebut dapat digunakan untuk -mengkalkulasi koordinat robot $B$ relatif terhadap robot $A$ -\begin{align} - x_B^A = \begin{bmatrix} - x_B = d_a[k]\cos \alpha[k] \\ - y_B = d_a[k]\sin \alpha[k] + x_{B_i}^A = \begin{bmatrix} + x_{B_i} = d_i[k+1]\cos \alpha_i^\circ \\ + y_{B_i} = d_i[k+1]\sin \alpha_i^\circ \end{bmatrix} + \label{eq:algo_koordinat_tetangga} \end{align} -Dalam strategi ini akan terjadi ketidak akuratan dalam pengukuran apabila target ukur -berada pada sudut $90^\circ$. -Akan tetapi, \kutip{Cao2007} sudah menjelaskan mengenai kriteria posisi agent ketika dalam kondisi inisial. -Yaitu semua agent tidak berada pada kondisi sejajar secara koordinat global. +Untuk memvalidasi apakah koordinat telah sesuai dapat menggunakan nilai jarak pada sensor +dibandingkan dengan jarak dari hasil koordinat persamaan~\eqref{eq:algo_koordinat_tetangga}. +Akan tetapi hasil validasi tersebut akan mengalami bias dikarenakan +sudut $\zeta_i^a$ adalah sudut segitiga $\angle{AA'B_1}$ atau $\angle{AA'B_2}$. +Oleh karena itu pada persamaan~\eqref{eq:algo_getAngle} terdapat operasi $\pm$ +dimana operasi tersebut akan dilakukan berdasarkan letak kuadran $B_i$. +\begin{align} + \alpha_i^\circ & = + \begin{cases} + 180^\circ - \zeta_i^a, & \text{Kuadran \RN{1},\RN{2}} \\ + 180^\circ + \zeta_i^a, & \text{Kuadran \RN{3},\RN{4}} \\ + \end{cases}. + \label{eq:algo_getAngle2} +\end{align} +Diperlukan satu langkah lagi untuk menentukan kejadian pada +persamaan~\eqref{eq:algo_getAngle2}(Gambar~\ref{fig:strategiPenentuanKoordinat2}). +Langkah 2 adalah langkah pengujian dari hasil koordinat yang telah dikalkulasi +dan membandingkannya dengan nilai yang didapat dari sensor. +Apabila terdapat perbedaan maka kejadian pada persamaan~\eqref{eq:algo_getAngle2} +diubah ke kejadian selanjutnya. -\begin{algorithm} - \DontPrintSemicolon - \KwInput{ - Integer $l_a>0$, - $\tetangga_i=getConnectionRobot()$, } - \KwOutput{$x_i^j$} - - \If{isInisilised() == false}{ - \tcc{inisialisasi} - \tcc{getRandomDirection() akan mengembalikan sudur random antara 0 - 360} - $dir = getRandomDirection()$\; - $d_{before} = getDistanceFromSensor(\tetangga_i)$\; - $r = \begin{bmatrix} - l_a \cos(dir) \\ - l_a \sin(dir) - \end{bmatrix}$\; - - \tcc{Menjalankan robot hingga mencapai setpoint} - \While{isSetpointReached()}{ - $runRobotToSetpoint(r)$\; - } - - \tcc{Mengambil jarak setelah robot mencapai setpoint} - $d_{after} = getDistanceFromSensor(\tetangga_i)$\; - - \tcc{Mengkalkulasi sudut} - $ang = cos^{-1}\Bigg[ \frac{l_a^2 + d_{after}^2 -d_{before}^2}{2d_{before}l_a} \Bigg]$\; - } - \Else{ - \tcc{mendapatkan infromasi state dari tetangga} - $\begin{bmatrix} - \dot{x}_B^A \\ \dot{y}_B^A - \end{bmatrix} = getState()$ \; - $ang = \alpha[k]+tan^{-1} \Big[ \frac{\dot{x}_B^A}{\dot{y}_B^A} \Big]$ \; - } - - \If{$d_{before}blx-bibtex.def biblatex.def standard.bbx - authoryear.bbx - authoryear-icomp.bbx - authoryear-icomp.cbx + numeric.bbx + numeric.cbx biblatex.cfg english.lbx diff --git a/article.tex b/article.tex index 5b52f74..94a489d 100644 --- a/article.tex +++ b/article.tex @@ -35,11 +35,12 @@ \pretitle{\begin{center}\Huge\bfseries} % Article title formatting \posttitle{\end{center}} % Article title closing formatting -\title{Article Title} % Article title +\title{\Large\Judul} % Article title \author{% -\textsc{John Smith}\thanks{A thank you or further information} \\[1ex] % Your name -\normalsize University of California \\ % Your institution -\normalsize \href{mailto:john@smith.com}{john@smith.com} % Your email address +\textsc{\Penulis} \\[1ex] % Your name +%\thanks{A thank you or further information} \\[1ex] % Your name +\normalsize \NamaUni \\ % Your institution +% \normalsize \href{mailto:john@smith.com}{john@smith.com} % Your email address %\and % Uncomment if 2 authors are required, duplicate these 4 lines if more %\textsc{Jane Smith}\thanks{Corresponding author} \\[1ex] % Second author's name %\normalsize University of Utah \\ % Second author's institution @@ -48,7 +49,16 @@ \date{\today} % Leave empty to omit a date \renewcommand{\maketitlehookd}{% \begin{abstract} -\noindent \blindtext % Dummy abstract text - replace \blindtext with your abstract text +% \noindent \blindtext % Dummy abstract text - replace \blindtext with your abstract text +Penelitian ini ditujukan untuk mengembangkan algoritma kendali formasi berdasarkan jarak +pada multi mobile robot dimana setiap robot hanya bisa mendeteksi tetangganya saja. +Kendali formasi berdasarkan jarak diterapkan pada model holonomic mobile robot +menggunakan \textit{omniwheel}. +Algoritma \textit{cosinus} digunakan untuk menemukan koordinat tetangga +pada kondisi awal. +Hasil percobaan dibuktikan secara grafik dari perbandingan menggunakan algoritma dan tidak, bahwa +penerapan algoritma dapat mendeteksi koordinat tetangga pada kondisi awal +dan tidak mempengaruhi kendali formasi. \end{abstract} } @@ -62,82 +72,17 @@ %---------------------------------------------------------------------------------------- % ARTICLE CONTENTS %---------------------------------------------------------------------------------------- - -\section{Pendahuluan} - -\lettrine[nindent=0em,lines=3]{L} orem ipsum dolor sit amet, consectetur adipiscing elit. -\include{BAB1/art_pendahuluan} -% \blindtext % Dummy text -% \blindtext % Dummy text - -%------------------------------------------------ - -\section{Metode} -\include{BAB4/art_metode} -% Maecenas sed ultricies felis. Sed imperdiet dictum arcu a egestas. -% \begin{itemize} -% \item Donec dolor arcu, rutrum id molestie in, viverra sed diam -% \item Curabitur feugiat -% \item turpis sed auctor facilisis -% \item arcu eros accumsan lorem, at posuere mi diam sit amet tortor -% \item Fusce fermentum, mi sit amet euismod rutrum -% \item sem lorem molestie diam, iaculis aliquet sapien tortor non nisi -% \item Pellentesque bibendum pretium aliquet -% \end{itemize} -% \blindtext % Dummy text - -% Text requiring further explanation\footnote{Example footnote}. - -%------------------------------------------------ - -\section{Hasil} -\include{BAB5/art_hasil} - -% \begin{table} -% \caption{Example table} -% \centering -% \begin{tabular}{llr} -% \toprule -% \multicolumn{2}{c}{Name} \\ -% \cmidrule(r){1-2} -% First name & Last Name & Grade \\ -% \midrule -% John & Doe & $7.5$ \\ -% Richard & Miles & $2$ \\ -% \bottomrule -% \end{tabular} -% \end{table} - -% \blindtext % Dummy text - -% \begin{equation} -% \label{eq:emc} -% e = mc^2 -% \end{equation} - -% \blindtext % Dummy text - -%------------------------------------------------ - -\section{Diskusi} -\include{BAB5/art_diskusi} - -% \subsection{Subsection One} - -% A statement requiring citation \cite{Figueredo:2009dg}. -% \blindtext % Dummy text - -% \subsection{Subsection Two} - -% \blindtext % Dummy text +\input{BAB1/art_pendahuluan} +\input{BAB4/art_metode} +\input{BAB5/art_hasil} +% \input{BAB5/art_diskusi} %---------------------------------------------------------------------------------------- % REFERENCE LIST %---------------------------------------------------------------------------------------- - \renewcommand{\bibname}{\mybibname} \section{\bibname} -\printbibliography[title=\bibname] +\printbibliography[heading=none] %---------------------------------------------------------------------------------------- diff --git a/indent.log b/indent.log new file mode 100644 index 0000000..4d39852 --- /dev/null +++ b/indent.log @@ -0,0 +1,25 @@ +INFO: latexindent version 3.8.1, 2020-05-05, a script to indent .tex files + latexindent lives here: /usr/share/texlive/texmf-dist/scripts/latexindent/ + Wed Mar 17 13:44:15 2021 + Filename: /home/a2nr/Documents/-p-formation-control/BAB5/__latexindent_temp.tex +INFO: Processing switches: + -y|--yaml: YAML settings specified via command line + -c|--cruft: cruft directory +INFO: Directory for backup files and /home/a2nr/Documents/-p-formation-control//indent.log: /home/a2nr/Documents/-p-formation-control/ +INFO: YAML settings read: defaultSettings.yaml + Reading defaultSettings.yaml from /usr/share/texlive/texmf-dist/scripts/latexindent/defaultSettings.yaml +INFO: YAML settings read: indentconfig.yaml or .indentconfig.yaml + Home directory is /home/a2nr (didn't find either indentconfig.yaml or .indentconfig.yaml) + To specify user settings you would put indentconfig.yaml here: /home/a2nr/indentconfig.yaml + Alternatively, you can use the hidden file .indentconfig.yaml as: /home/a2nr/.indentconfig.yaml +INFO: YAML settings read: -y switch + Updating masterSettings with defaultIndent: +INFO: Phase 1: searching for objects +INFO: Phase 2: finding surrounding indentation +INFO: Phase 3: indenting objects +INFO: Phase 4: final indentation check +INFO: Output routine: + Not outputting to file; see -w and -o switches for more options. + -------------- +INFO: Please direct all communication/issues to: + https://github.com/cmhughes/latexindent.pl diff --git a/uithesis.sty b/uithesis.sty index 87b86b4..e793eee 100644 --- a/uithesis.sty +++ b/uithesis.sty @@ -36,10 +36,8 @@ \linespread{1.05} % Line spacing - Palatino needs more space between lines \usepackage{microtype} % Slightly tweak font spacing for aesthetics - \usepackage[english]{babel} % Language hyphenation and typographical rules \usepackage[hmarginratio=1:1,top=32mm,columnsep=20pt]{geometry} % Document margins - \usepackage[hang, small,labelfont=bf,up,textfont=it,up]{caption} % Custom captions under/above floats in tables or figures \usepackage{booktabs} % Horizontal rules in tables \usepackage{lettrine} % The lettrine is the first enlarged letter at the beginning of the text @@ -67,6 +65,8 @@ \usepackage{titling} % Customizing the title section % \usepackage{hyperref} % For hyperlinks in the PDF + \usepackage{multicol} + } { @@ -218,7 +218,20 @@ % % Menggunakan biblatex untuk referensi % -\usepackage[backend=bibtex, style=authoryear-icomp,autocite=inline]{biblatex} +\@ifclassloaded{article} +{ + \usepackage[backend=bibtex,autocite=inline]{biblatex} +} +{ + +} +\@ifclassloaded{report} +{ + \usepackage[backend=bibtex, style=authoryear-icomp,autocite=inline]{biblatex} +} +{ + +} % % Digunakan untuk menghasilkan tabel pseudocode % @@ -254,10 +267,6 @@ round-mode = places, round-precision = 2, } -% -% Digunakan untuk penulisan formula pada caption gambar -% -\usepackage{caption} \usepackage{gantt} %-----------------------------------------------------------------------------% @@ -354,7 +363,8 @@ \pagestyle{fancy} % All pages have headers and footers \fancyhead{} % Blank out the default header \fancyfoot{} % Blank out the default footer - \fancyhead[C]{Running title $\bullet$ May 2016 $\bullet$ Vol. XXI, No. 1} % Custom header text + % \fancyhead[C]{Running title $\bullet$ May 2016 $\bullet$ Vol. XXI, No. 1} % Custom header text + \fancyhead{} \fancyfoot[RO,LE]{\thepage} % Custom footer tex } { @@ -396,6 +406,28 @@ \end{axis} \end{tikzpicture} } +% Parameter : 1 -> no marks / only marks +% 2 -> label untuk sumbu x +% 3 -> label untuk sumbu y +% 4 -> lagend entries = {plota , plotb, plot c} +% 5 -> \addplot +% table[x=,y=}; +\newcommand{\dataMultiGraph}[5][no marks]{ + \begin{tikzpicture} + %%https://www.latex-tutorial.com/tutorials/pgfplots/ + \begin{axis}[ + width=\linewidth, % Scale the plot to \linewidth + grid=major, % Display a grid + grid style={dashed,gray!30}, % Set the style + xlabel=#2, % Set the labels + ylabel=#3, + #1, + legend entries = {#4} + ] + #5 + \end{axis} + \end{tikzpicture} +} % % Mengganti .et.al pada sitasi dengan dkk @@ -474,7 +506,22 @@ \newcommand{\daftaIsi}{\phantomsection \tableofcontents} \newcommand{\daftarGambar}{\phantomsection \listoffigures} \newcommand{\daftarTabel}{\phantomsection \listoftables} -\newcommand{\kutip}[1]{\citeauthor*{#1}\space(\citeyear{#1})} +\@ifclassloaded{report} +{ + \newcommand{\kutip}[1]{\citeauthor*{#1}\space(\citeyear{#1})} +} +{ + +} + +\@ifclassloaded{article} +{ + \newcommand{\kutip}[1]{\cite{#1}} +} +{ + +} + \newcommand{\kutipLs}[1]{\citeauthor*{#1},\citeyear{#1}} \newcommand{\kutipLsHal}[2]{\citeauthor*{#1}, \citeyear{#1}, #2}