init untuk artikel
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// See https://go.microsoft.com/fwlink/?LinkId=733558
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// for the documentation about the tasks.json format
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"version": "2.0.0",
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"tasks": [
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{
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"label": "Compile thesis",
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"type": "shell",
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"command": "latexmk -pdf thesis.tex article.tex && latexmk -pdf -c thesis.tex article.tex"
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}
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]
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}
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%-----------------------------------------------------------------------------%
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\section{Latar Belakang}
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%-----------------------------------------------------------------------------%
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Kendali formasi adalah topik penelitian kendali multi-robot untuk memecahkan permasalahan koordinasi pergerakan (\kutip{Parker2003}).
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Kendali formasi adalah topik penelitian kendali multi-robot untuk memecahkan permasalahan koordinasi pergerakan (\kutipLs{Parker2003}).
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Kendali formasi bertujuan untuk mengendalikan sekelompok robot dalam mencapai formasi tertentu
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dan dapat mempertahankan formasi tersebut ketika bermanuver menuju arah yang diinginkan.
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Pengembangan kendali formasi dilakukan dari sisi algoritma strategi (\kutip{Guanghua2013}).
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Pengembangan kendali formasi dilakukan dari sisi algoritma strategi (\kutipLs{Guanghua2013}).
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Seperti pengembangan yang dilakukan oleh \kutip{6889491} menggunakan strategi \textit{leader-follower}.
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Strateginya adalah ditentukan salah satu dari sekolompok robot untuk dijadikan pemimpin.
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Lalu menggunakan informasi pemimpin, robot lainnya bergerak mencapai formasi yang dinginkan.
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@ -21,7 +21,7 @@ Lalu tingkah laku robot tersebut dikendalikan menggunakan metode \textit{Fuzzy-L
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Pengembangan setrategi juga dilakukan oleh \kutip{YOSHIOKA20085149} menggunakan strategi struktur virtual,
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dimana sekelompok robot diformasikan dan dimodelkan menjadi satu kesatuan robot lalu robot bekerja untuk mencapai formasi tersebut.
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Secara garis besar kendali formasi dikategorikan menjadi 3 bagian (\kutip{OH2015424}),
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Secara garis besar kendali formasi dikategorikan menjadi 3 bagian (\kutipLs{OH2015424}),
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yaitu berdasarkan posisi, perpindahan, dan jarak.
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Ketiga bagian tersebut tertuju pada jawaban dari pertanyaan, "variable apa yang digunakan
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sebagai sensor" dan "variable apa yang aktif dikendalikan oleh sistem multi-robot untuk
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@ -27,7 +27,7 @@ Agar robot bergerak kesegala arah, ketiga aktuator harus dikendalikan untuk meng
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\caption{}
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% \label{fig:adnr1}
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\end{subfigure}
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\caption{(a) Geometri Robot (\kutip{CORREIA20127}) (b) Grafik Gaya Robot}
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\caption{(a) Geometri Robot (\kutipLs{CORREIA20127}) (b) Grafik Gaya Robot}
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\end{figure}
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Kinematika robot dapat dirumuskan menjadi
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@ -67,7 +67,7 @@ $F_w = \begin{bmatrix} F_{w1} & F_{w2} & F_{w3} \end{bmatrix}^T$
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F_R & = AF_w \label{eq:gaya_robot}
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\end{align}
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Dalam kasus robot, \textit{power} yang dihasilkan oleh setiap roda sama dengan \textit{power} dari robot itu sendiri
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(\kutip{Hacene2019}).
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(\kutipLs{Hacene2019}).
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Dengan menggunakan persamaan~\eqref{eq:gaya_robot} akan menghasilkan persamaan kinematika robot menggunakan 3 roda
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\textit{omniwheel} \begin{align}
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P_{w} & = P_{R} \nonumber \\
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@ -358,7 +358,7 @@ Untuk diterapkan dalam komputer, dapat mengikuti algoritme~\ref{algo:eEuler}.
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\begin{figure}
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\centering
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\includegraphics[scale=.5]{BAB2/img/equler_explicit.png}
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\caption[]{Area stabilitas metode explicit euler(\kutip{Fabien2009}).}
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\caption[]{Area stabilitas metode explicit euler(\kutipLs{Fabien2009}).}
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\label{fig:explicit_euler}
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\end{figure}
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Properti dari stabilitas metode Euler dapat diperoleh dengan mendefinisikan persamaan differensial secara general $\dot{x}=\alpha x$,dimana $\alpha$ adalah bilangan complex
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% informasi mengenai fakultas dan program studi
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\bo{
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FAKULTAS \Fakultas\\
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PROGRAM STUDI \Program \\
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TEKNIK {\Jurusan} KONSENTRASI TEKNIK \\ \Program \\
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\Kota \\
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\bulanTahun
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}
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% Journal Article
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% LaTeX Template
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% Version 1.4 (15/5/16)
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%
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% This template has been downloaded from:
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% http://www.LaTeXTemplates.com
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%
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% Original author:
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% Frits Wenneker (http://www.howtotex.com) with extensive modifications by
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% Vel (vel@LaTeXTemplates.com)
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%
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% License:
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% CC BY-NC-SA 3.0 (http://creativecommons.org/licenses/by-nc-sa/3.0/)
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%
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%----------------------------------------------------------------------------------------
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% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
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%----------------------------------------------------------------------------------------
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\documentclass[twoside,twocolumn]{article}
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\usepackage{blindtext} % Package to generate dummy text throughout this template
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\usepackage[sc]{mathpazo} % Use the Palatino font
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\usepackage[T1]{fontenc} % Use 8-bit encoding that has 256 glyphs
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\linespread{1.05} % Line spacing - Palatino needs more space between lines
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\usepackage{microtype} % Slightly tweak font spacing for aesthetics
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\usepackage[english]{babel} % Language hyphenation and typographical rules
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\usepackage[hmarginratio=1:1,top=32mm,columnsep=20pt]{geometry} % Document margins
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\usepackage[hang, small,labelfont=bf,up,textfont=it,up]{caption} % Custom captions under/above floats in tables or figures
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\usepackage{booktabs} % Horizontal rules in tables
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\usepackage{lettrine} % The lettrine is the first enlarged letter at the beginning of the text
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\usepackage{enumitem} % Customized lists
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\setlist[itemize]{noitemsep} % Make itemize lists more compact
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\usepackage{abstract} % Allows abstract customization
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\renewcommand{\abstractnamefont}{\normalfont\bfseries} % Set the "Abstract" text to bold
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\renewcommand{\abstracttextfont}{\normalfont\small\itshape} % Set the abstract itself to small italic text
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\usepackage{titlesec} % Allows customization of titles
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\renewcommand\thesection{\Roman{section}} % Roman numerals for the sections
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\renewcommand\thesubsection{\roman{subsection}} % roman numerals for subsections
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\titleformat{\section}[block]{\large\scshape\centering}{\thesection.}{1em}{} % Change the look of the section titles
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\titleformat{\subsection}[block]{\large}{\thesubsection.}{1em}{} % Change the look of the section titles
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\usepackage{fancyhdr} % Headers and footers
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\pagestyle{fancy} % All pages have headers and footers
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\fancyhead{} % Blank out the default header
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\fancyfoot{} % Blank out the default footer
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\fancyhead[C]{Running title $\bullet$ May 2016 $\bullet$ Vol. XXI, No. 1} % Custom header text
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\fancyfoot[RO,LE]{\thepage} % Custom footer text
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\usepackage{titling} % Customizing the title section
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\usepackage{hyperref} % For hyperlinks in the PDF
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%----------------------------------------------------------------------------------------
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% TITLE SECTION
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%----------------------------------------------------------------------------------------
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\setlength{\droptitle}{-4\baselineskip} % Move the title up
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\pretitle{\begin{center}\Huge\bfseries} % Article title formatting
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\posttitle{\end{center}} % Article title closing formatting
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\title{Article Title} % Article title
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\author{%
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\textsc{John Smith}\thanks{A thank you or further information} \\[1ex] % Your name
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\normalsize University of California \\ % Your institution
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\normalsize \href{mailto:john@smith.com}{john@smith.com} % Your email address
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%\and % Uncomment if 2 authors are required, duplicate these 4 lines if more
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%\textsc{Jane Smith}\thanks{Corresponding author} \\[1ex] % Second author's name
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%\normalsize University of Utah \\ % Second author's institution
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%\normalsize \href{mailto:jane@smith.com}{jane@smith.com} % Second author's email address
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}
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\date{\today} % Leave empty to omit a date
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\renewcommand{\maketitlehookd}{%
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\begin{abstract}
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\noindent \blindtext % Dummy abstract text - replace \blindtext with your abstract text
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\end{abstract}
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}
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%----------------------------------------------------------------------------------------
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\begin{document}
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% Print the title
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\maketitle
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%----------------------------------------------------------------------------------------
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% ARTICLE CONTENTS
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%----------------------------------------------------------------------------------------
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\section{Introduction}
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\lettrine[nindent=0em,lines=3]{L} orem ipsum dolor sit amet, consectetur adipiscing elit.
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\blindtext % Dummy text
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\blindtext % Dummy text
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%------------------------------------------------
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\section{Methods}
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Maecenas sed ultricies felis. Sed imperdiet dictum arcu a egestas.
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\begin{itemize}
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\item Donec dolor arcu, rutrum id molestie in, viverra sed diam
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\item Curabitur feugiat
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\item turpis sed auctor facilisis
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\item arcu eros accumsan lorem, at posuere mi diam sit amet tortor
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\item Fusce fermentum, mi sit amet euismod rutrum
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\item sem lorem molestie diam, iaculis aliquet sapien tortor non nisi
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\item Pellentesque bibendum pretium aliquet
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\end{itemize}
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\blindtext % Dummy text
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Text requiring further explanation\footnote{Example footnote}.
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%------------------------------------------------
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\section{Results}
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\begin{table}
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\caption{Example table}
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\centering
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\begin{tabular}{llr}
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\toprule
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\multicolumn{2}{c}{Name} \\
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\cmidrule(r){1-2}
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First name & Last Name & Grade \\
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\midrule
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John & Doe & $7.5$ \\
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Richard & Miles & $2$ \\
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\bottomrule
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\end{tabular}
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\end{table}
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\blindtext % Dummy text
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\begin{equation}
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\label{eq:emc}
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e = mc^2
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\end{equation}
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\blindtext % Dummy text
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%------------------------------------------------
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\section{Discussion}
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\subsection{Subsection One}
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A statement requiring citation \cite{Figueredo:2009dg}.
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\blindtext % Dummy text
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\subsection{Subsection Two}
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\blindtext % Dummy text
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%----------------------------------------------------------------------------------------
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% REFERENCE LIST
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%----------------------------------------------------------------------------------------
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\begin{thebibliography}{99} % Bibliography - this is intentionally simple in this template
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\bibitem[Figueredo and Wolf, 2009]{Figueredo:2009dg}
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Figueredo, A.~J. and Wolf, P. S.~A. (2009).
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\newblock Assortative pairing and life history strategy - a cross-cultural
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study.
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\newblock {\em Human Nature}, 20:317--330.
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\end{thebibliography}
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%----------------------------------------------------------------------------------------
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\end{document}
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\Var{\Judul}{Kendali Formasi Berdasarkan Jarak Menggunakan Algoritma Cosinus Pada Mobile Robot}
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%
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% Tulis kembali judul laporan namun dengan bahasa Ingris
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\var{\judulInggris}{Formation Control Purely Distance-Based Using Cosinus Algoritm For 2nd-Orde System}
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\var{\judulInggris}{Formation Control Distance-Based Using Cosinus Algoritm For Multi Mobile-Robot}
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%
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% Tipe laporan, dapat berisi Skripsi, Tugas Akhir, Thesis, atau Disertasi
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% PACKAGES AND THEMES
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%----------------------------------------------------------------------------------------
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% \documentclass{beamer}
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\documentclass{beamer}
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% \documentclass[notes]{beamer} % print frame + notes
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% \documentclass[notes=only]{beamer} % only notes
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% To make presentation in handout mode including note :
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\documentclass[handout]{beamer}
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\usepackage{pgfpages}
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\mode<handout>{%
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\pgfpagesuselayout{4 on 1}[a4paper,border shrink=5mm]
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\setbeameroption{show notes}
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}
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% \documentclass[handout]{beamer}
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% \usepackage{pgfpages}
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% \mode<handout>{%
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% \pgfpagesuselayout{4 on 1}[a4paper,border shrink=5mm]
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% \setbeameroption{show notes}
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% }
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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\mode<presentation> {
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@Comment{$ biblatex control file $}
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@Comment{$ biblatex version 2.9 $}
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Do not modify this file!
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This is an auxiliary file used by the 'biblatex' package.
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This file may safely be deleted. It will be recreated as
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required.
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@Comment{$ biblatex bcf format version 3.7 $}
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% Do not modify this file!
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%
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% This is an auxiliary file used by the 'biblatex' package.
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% This file may safely be deleted. It will be recreated as
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% required.
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@Control{biblatex-control,
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options = {2.9:0:0:1:0:1:1:0:0:1:0:2:3:1:79:+:nyt},
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options = {3.7:0:0:1:0:1:1:0:0:1:0:2:3:1:3:1:0:0:3:1:79:+:+:nyt},
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}
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