DAFTAR ISI
HALAMAN SAMPUL ................................................................................. HALAMAN JUDUL .................................................................................... HALAMAN PENGESAHAN ....................................................................... HALAMAN PERNYATAAN....................................................................... HALAMAN MOTTO ................................................................................... HALAMAN PERSEMBAHAN .................................................................... KATA PENGANTAR .................................................................................. DAFTAR ISI ................................................................................................ DAFTAR GAMBAR .................................................................................... DAFTAR TABEL ........................................................................................ INTISARI ..................................................................................................... ABSTRACT .................................................................................................
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BAB I.
PENDAHULUAN ..................................................................... 1.1. Latar Belakang ..................................................................... 1.1.1. Perumusan Masalah ................................................... 1.1.2. Manfaat Penelitian..................................................... 1.2. Tujuan Penelitian ................................................................. 1.3. Batasan Penelitian ................................................................ 1.4. Sistematika Penulisan ..........................................................
1 1 2 2 3 4 5
BAB II.
LANDASAN TEORI ................................................................ 2.1. Tinjauan Pustaka .................................................................. 2.2. Dasar Teori .......................................................................... 2.2.1. Sistem Koordinat Geografi ........................................ 2.2.2. Navigasi Darat .......................................................... 2.2.3. Azimuth .................................................................... 2.2.4. Formula Haversine .................................................... 2.2.5. Global Positioning System (GPS) ............................... 2.2.5.1. Sekilas tentang GPS ....................................... 2.2.5.2. Bagian-bagian GPS ........................................ 2.2.5.3. Cara kerja GPS ............................................... 2.2.5.4. Perhitungan Triangulasi ................................. 2.2.5.5. Format kalimat GPS NMEA-0813 .................. 2.2.5.6. Format koordinat GPS .................................... 2.2.5.7. Akurasi GPS .................................................. 2.2.6. GPS receiver ............................................................. 2.2.7. Hipotermia ................................................................ 2.2.8. Pengukuran Suhu Tubuh ........................................... 2.2.9. Hukum Pergeseran Wien ........................................... 2.3.0. Gelombang Inframerah .............................................. 2.3.1. Sensor Suhu MLX90614 ........................................... 2.3.2. Field Of View (FOV) .................................................
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2.3.3. 2.3.4. 2.3.5. 2.3.6. 2.3.7. 2.3.8.
BAB III.
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Gas Karbon Monoksida (CO) .................................... DT-SENSE Carbon Monoxide Sensor ....................... Arduino Pro Mini 328 (5V/16MHz) .......................... Sensor Kompas HMC5883L ...................................... LCD TFT 2.2”........................................................... Adafruit GFX Graphics Library ................................ 2.3.8.1. Sistem koordinat ............................................ 2.3.8.2. Pixel ............................................................... 2.3.8.3. Garis .............................................................. 2.3.8.4. Persegi ........................................................... 2.3.8.5. Lingkaran ....................................................... 2.3.8.6. Persegi yang dibulatkan .................................. 2.3.8.7. Segitiga .......................................................... 2.3.8.8. Membersihkan atau mengisi layar .................. 2.3.9. Koordinat Kutub dan Koordinat Kartesius ................. 2.4.0. Inter Integrated Circuit (I2C)..................................... 2.4.1. Baterai Lithium Ion (Li-ion) ...................................... 2.4.2. DC-DC converter (step-up) ....................................... 2.4.3. Keypad ...................................................................... 2.4.4. Buzzer ....................................................................... 2.4.5. Audio Jack TRRS 3.5mm ..........................................
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METODOLOGI PENELITIAN ............................................... 3.1. Metode Penelitian ................................................................ 3.2. Bahan Penelitian .................................................................. 3.3. Alat Penelitian ..................................................................... 3.4. Perancangan Sistem ............................................................. 3.4.1. Perancangan perangkat keras ...................................... 3.4.1.1. Shield board .................................................. 3.4.1.2. Keypad shield ................................................ 3.4.1.3. Desain casing sensor MLX90614 .................. 3.4.1.4. Desain casing alat .......................................... 3.4.2. Perancangan perangkat lunak ..................................... 3.4.2.1. Transfer data dengan tipe data integer dan float .......................................................................... 3.4.2.2. Akses tulis dan baca tipe data float pada EEPROM Arduino ..................................................... 3.4.2.3. Perancangan animasi jarum kompas .............. 3.4.2.4. Perancangan animasi navigasi ....................... 3.4.2.5. Perancangan tampilan (display) ..................... 3.5. Pengambilan Data ............................................................... 3.5.1. Pengambilan data sensor HMC5883L ........................ 3.5.2. Pengambilan data GPS receiver ................................. 3.5.3. Pengambilan data sensor MQ-7 ................................. 3.5.4. Pengambilan data sensor MLX90614 ........................ 3.6. Implementasi Perangkat Keras .............................................
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66 67 68 71 74 81 81 82 82 83 83
3.6.1. Implemntasi shield board .......................................... 3.6.2. Implementasi keypad shield ...................................... 3.6.3. Implementasi casing sensor MLX90614 .................... 3.6.4. Implementasi casing alat ........................................... 3.7. Implementasi Perangkat Lunak ............................................ 3.7.1. Implementasi tampilan alat ........................................ 3.7.2. Implementasi animasi navigasi .................................. 3.7.3. Implementasi animasi jarum kompas ......................... 3.8. Implementasi Alat ................................................................
BAB IV.
83 84 84 85 85 85 90 91 91
HASIL DAN PEMBAHASAN.................................................. 92 4.1. Pengujian Sensor HMC5883L .............................................. 92 4.1.1. Pengujian kompas 1 .................................................. 93 4.1.2. Pengujian kompas 2 .................................................. 93 4.1.3. Pengujian kompas 3 .................................................. 94 4.1.4. Analisa pengujian sensor HMC5883L ....................... 95 4.2. Pengujian GPS receiver ....................................................... 96 4.2.1. Pengujian waktu untuk mencapai status fix ................. 97 4.2.1.1. Analisa pengujian waktu untuk mencapai status fix...................................................................... 97 4.2.2. Pengujian GPS receiver saat status fix ........................ 98 4.2.2.1. Pengujian koordinat ....................................... 98 4.2.2.2. Analisa pengujian koordinat .......................... 99 4.2.2.3. Pengujian ketinggian ..................................... 99 4.2.2.4. Analisa pengujian ketinggian......................... 100 4.2.2.5. Pengujian posisi 3D terhadap perubahan cuaca .......................................................................... 100 4.2.2.6. Analisa pengujian posisi 3D terhadap perubahan cuaca .......................................................................... 101 4.2.2.7. Pengujian jarak ............................................. 101 4.2.2.8. Analisa pengujian jarak ................................. 102 4.2.2.9. Pengujian azimuth ......................................... 103 4.2.3.10. Analisa pengujian azimuth............................ 103 4.3. Pengujian Navigasi .............................................................. 104 4.3.1. Analisa pengujian navigasi ......................................... 105 4.4. Pengujian sensor MQ-7 ........................................................ 105 4.4.1. Analisa pengujian sensor MQ-7.................................. 110 4.4.1.1. Analisa karakteristik sensor MQ-7................. 110 4.4.1.2. Analisa pengujian sensor MQ-7 dan respon sistem ......................................................................... 111 4.5. Pengujian sensor MLX90614 ............................................... 112 4.5.1. Pengujian suhu tubuh ................................................. 112 4.5.1.1. Analisa pengujian suhu tubuh ........................ 113 4.5.2. Pengujian suhu lingkungan ......................................... 114 4.5.2.1. Analisa pengujian suhu lingkungan ............... 114
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4.6. Pengujian catu daya ............................................................. 115 4.6.1. Analisa pengujian catu daya ....................................... 116 4.7. Pembahasan Sistem .............................................................. 116
BAB V.
KESIMPULAN ......................................................................... 123 5.1. Kesimpulan .......................................................................... 123 5.2. Saran.................................................................................... 123
DAFTAR PUSTAKA ................................................................................... 124 LAMPIRAN ................................................................................................. 126
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DAFTAR GAMBAR
Gambar 2.1 Gambar 2.2 Gambar 2.3 Gambar 2.4 Gambar 2.5 Gambar 2.6 Gambar 2.7 Gambar 2.8 Gambar 2.9 Gambar 2.10 Gambar 2.11 Gambar 2.12 Gambar 2.13 Gambar 2.14 Gambar 2.15 Gambar 2.16 Gambar 2.17 Gambar 2.18 Gambar 2.19 Gambar 2.20 Gambar 2.21 Gambar 2.22 Gambar 2.23 Gambar 2.24 Gambar 2.25 Gambar 2.26 Gambar 2.27 Gambar 2.28 Gambar 2.29 Gambar 2.30 Gambar 2.31 Gambar 2.32 Gambar 2.33 Gambar 2.34 Gambar 2.35 Gambar 2.36 Gambar 2.37 Gambar 2.38 Gambar 3.1 Gambar 3.2 Gambar 3.3 Gambar 3.4
Koordinat geografi ................................................................. Azimuth ................................................................................. Konstelasi satelit GPS ............................................................ Proses triangulasi 2D ............................................................. Proses triangulasi 3D ............................................................. Adafruit Ultimate GPS ........................................................... Informasi yang diberikan Adafruit Ultimate GPS ................... Pengukuran suhu tubuh melalui membran timpani ................. Gelombang inframerah .......................................................... Adafruit MLX90614 .............................................................. Tampak bawah MLX90614.................................................... Field Of View ......................................................................... Modul DT-SENSE Gas Sensor............................................... Grafik karakteristik sensitivitas MQ-7 terhadap gas CO dan beberapa jenis gas lainnya ...................................................... Grafik hubungan MQ-7 terhadap suhu dan humiditas ............. Skematik sensor MQ-7 ........................................................... Arduino Pro Mini ................................................................... Arduino Pro Mini 328 pinout ................................................. Sensor kompas HMC5883L ................................................... Adafruit 2.2” 18 bit TFT LCD Display................................... Pixel ...................................................................................... Line ....................................................................................... Rectangle ............................................................................... Circle..................................................................................... Round Rectangle .................................................................... Triangle ................................................................................. Koordinat Kutub .................................................................... Koordinat Kartesius ............................................................... Hubungan koordinat kutub dan koordinat kartesius ................ I2C wiring .............................................................................. I2C start and stop ................................................................... Byte pertama setelah start condition ....................................... I2C complete data transfer ..................................................... Baterai lithium ion 1800mAH ................................................ Modul step-up ........................................................................ Matriks keypad ...................................................................... Buzzer .................................................................................... Audio jack TRRS ................................................................... Diagram blok sistem .............................................................. Skematik alat ......................................................................... Skematik keypad .................................................................... Desain casing sensor MLX90614 ........................................... xiii
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Gambar 3.5 Gambar 3.6 Gambar 3.7 Gambar 3.8 Gambar 3.9 Gambar 3.10 Gambar 3.11 Gambar 3.12 Gambar 3.13 Gambar 3.14 Gambar 3.15 Gambar 3.16 Gambar 3.17 Gambar 3.18 Gambar 3.19 Gambar 3.20 Gambar 3.21 Gambar 3.22 Gambar 3.23 Gambar 3.24 Gambar 3.25 Gambar 3.26 Gambar 3.27 Gambar 3.28 Gambar 3.29 Gambar 3.30 Gambar 3.31 Gambar 3.32 Gambar 3.33 Gambar 3.34 Gambar 3.35 Gambar 3.36 Gambar 3.37 Gambar 3.38 Gambar 3.39 Gambar 3.40 Gambar 3.41 Gambar 4.1 Gambar 4.2 Gambar 4.3 Gambar 4.4 Gambar 4.5 Gambar 4.6 Gambar 4.7 Gambar 4.8 Gambar 4.9
Desain lapisan bawah dan lapisan atas ................................... Desain lapisan tengah/dinding ................................................ Desain casing alat tampak samping ........................................ Arduino IDE 1.6.0 ................................................................. Desain area animasi kompas .................................................. Desain segitiga sama kaki ...................................................... Desain animasi jarum kompas ................................................ Desain area animasi navigasi.................................................. Desain segitiga besar.............................................................. Desain segitiga kecil .............................................................. Desain animasi navigasi ......................................................... State utama (main display) ..................................................... Substate pada fitur GPS ......................................................... Substate pada fitur waypoint .................................................. FSM untuk input koordinat .................................................... Shield board........................................................................... Keypad shield ........................................................................ Casing sensor MLX90614 ..................................................... Casing alat ............................................................................. Tampilan state 0 (Main display) ............................................. Tampilan state 1 (Choose GPS).............................................. Tampilan state 2 (Choose Compass)....................................... Tampilan state 3 (Choose Toxic Gas) ..................................... Tampilan state 4 (Choose Temperature) ................................. Tampilan state 1.1 (GPS display) ........................................... Tampilan state 1.2 (Choose Position) ..................................... Tampilan state 1.2.1 (Position display) .................................. Tampilan state 1.3 (Choose Waypoint) ................................... Tampilan state 1.3.1 (Waypoint display)................................. Tampilan state 1.4 (Choose Navigation)................................. Tampilan state 1.4.1 (Navigation display) .............................. Tampilan state 2.0 (Compass display) .................................... Tampilan state 3.0 (Toxic Gas display) .................................. Tampilan state 4.0 (Temperature display) .............................. Animasi navigasi ................................................................... Animasi kompas .................................................................... Bentuk fisik alat ..................................................................... Simulasi magviewer ............................................................... Interferensi medan magnet ..................................................... Pengujian heading kompas..................................................... Grafik pengujian heading kompas .......................................... Pengujian koordinat ............................................................... Pengujian ketinggian .............................................................. Pengujian navigasi ................................................................. Pengujian sensor MQ-7 .......................................................... Grafik ppm CO vs Rs/Ro .......................................................
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Gambar 4.10 Termometer badan ................................................................. 113
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DAFTAR TABEL Tabel 2.1 Tabel 2.2 Tabel 2.3 Tabel 2.4 Tabel 2.5 Tabel 2.6 Tabel 2.7 Tabel 2.8 Tabel 2.9 Tabel 2.10 Tabel 2.11 Tabel 2.12 Tabel 2.13 Tabel 3.1 Tabel 3.2 Tabel 3.3 Tabel 3.4 Tabel 3.5 Tabel 3.6 Tabel 4.1 Tabel 4.2 Tabel 4.3 Tabel 4.4 Tabel 4.5 Tabel 4.6 Tabel 4.7 Tabel 4.8 Tabel 4.9 Tabel 4.10 Tabel 4.11 Tabel 4.12 Tabel 4.13 Tabel 4.14 Tabel 4.15 Tabel 4.16 Tabel 4.17 Tabel 4.18 Tabel 4.19 Tabel 4.20
Penelitian terdahulu yang dijadikan referensi ............................. Jenis kalimat NMEA-0813 ........................................................ Format data GGA ...................................................................... Format data GPRMC ................................................................. Spesifikasi Adafruit Ultimate GPS ............................................. Klasifikasi hipotermia................................................................ Lokasi pengukuran suhu tubuh .................................................. Pertimbangan pemilihan lokasi pengukuran suhu tubuh ............. Deskripsi pin MLX90614 .......................................................... Spesifikasi MLX90614 .............................................................. Dampak karbon monoksida (CO) bagi manusia ......................... Spesifikasi Arduino Pro Mini 328 – 5V/16MHz ........................ Tabel spesifikasi sensor HMC5883L ......................................... Bahan penelitian ........................................................................ Alat penelitian ........................................................................... Fungsi lubang pada lapisan tengah ............................................. Kode program transfer data float via I2C .................................... Kode program write EEPROM .................................................. Kode program read EEPROM ................................................... Hasil pengujian heading kompas ............................................... Hasil pengujian waktu untuk mencapai status fix ....................... Hasil pengujian koordinat .......................................................... Hasil pengujian ketinggian ........................................................ Hasil pengujian posisi 3D .......................................................... Hasil pengujian jarak ................................................................. Hasil pengujian jarak ................................................................. Hasil pengujian azimuth ............................................................ Hasil pengujian navigasi ............................................................ Hasil pengujian ADC sensor MQ-7 ........................................... Hasil perhitungan Vout, Rs dan Rs/Ro ....................................... Hasil pengujian konsentrasi gas CO ........................................... Hasil pengujian respon sistem terhadap konsentrasi gas CO....... Hasil analisa karakteristik sensor MQ-7 ..................................... Hasil pengujian suhu tubuh ........................................................ Hasil pengujian respon sistem terhadap perubahan suhu ............ Hasil pengujian respon sistem berupa notifier ............................ Hasil pengujian suhu lingkungan ............................................... Hasil pengujian modul step-up ................................................... Hasil pengujian daya tahan baterai .............................................
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