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"This paper presents trajectory shaping of a surface-to-surface missile attacking a fixed with terminal impact angleconstraint. The missile must hit the target from above, subject to the missile dynamics and path constraints. Theproblem is reinterpreted using optimal control theory resulting in the formulation of minimum integrated altitude. Theformulation entails nonlinear, two-dimensional missile flight dynamics, boundary conditions and path constraints. Thegeneric shape of optimal trajectory is: level flight, climbing, diving; this combination of the three flight phases is calledthe bunt manoeuvre. The numerical solution of optimal control problem is solved by a direct collocation method. Thecomputational results is used to reveal the structure of optimal solution which is composed of several arcs, each ofwhich can be identified by the corresponding manoeuvre executed and constraints active."

"ABSTRAKQuadcopter merupakan wahana dengan model matematik yang sangat komplek. Konfigurasi quadotor ada konfigurasi plus dan konfigurasi silang X . Konfigurasi Silang X lebih banyak diaplikasikan karena kemudahan pada saat memasang payload. Pengoperasian Quadcopter di dalam ruangan tidak bisa menggunakan GPS untuk estimasi posisi sehingga perlu sensor lain, penggunaan kamera optik di luar wahana bisa dilakukan tetapi perlu komputasi yang berat. Sehingga penggunaan sensor akselerometer dan optical flow sensor dipilih untuk estimasi posisi quadcopter karena terpasang onboard dan harganya murah low-cost . Pada penelitian ini akan dilakukan desain kendali penjejakan trayektori untuk quadcopter konfigurasi Silang X dengan sensor akselerometer dan optical flow sensor untuk estimasi posisi dalam ruangan tertutup. Kendali yang dipilih yaitu Proporsional dengan umpan balik posisi dan PID untuk kecepatan. Desain kendali dilakukan dengan simulasi dan diimplementasikan dengan quadcopter secara riil dengan prosesor kendali penjejakan menggunakan Pixhawk sebagai prosesor kendali attitiude dan prosesor Raspberry Pi untuk kendali trayektori. Dari hasil simulasi, penjejakan trayektori quadcopter mampu mengikuti trayektori berupa garis linier, bentuk kotak dan pola U dengan waktu tunda sekitar 1 detik dengan nilai PID untuk translasi arah X dan Y yang sama yaitu NavX=1 , NavY = 1 Kp= 0.9, Ki= 0.08 dan Kd = 0.001. Dari hasil implementasi riil Quadcopter mampu mengikuti trayektori linier, bentuk kotak dan pola U dengan waktu tunda sekitar 1 detik dengan nilai NavX =1, NavY = 1, Kp = 0.9, Ki = 0.08 dan Kd = 0.001. Dari hasil ini dapat diketahui penjejakan trayektori dapat di implementasikan pada Quadcopter diruangan tertutup.

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ABSTRACTQuadcopter is a vehicle with a very complex mathematical model. The quadotor has plus and cross configuration X . Cross Configuration X will provide convenience for install the payload. GPS can not be used to estimate the position in an enclosed, optical cameras can estimate the position but need heavy computing. So the use of accelerometer and optical flow sensors are chosen to estimate the quadcopter position because it is installed onboard and low cost. In this research, will be designed trajectory tracking controls for cross configuration X quadcopter with accelerometer and optical flow sensor for indoor position estimation. The selected control is Proportional for position and PID for speed control. The control design is performed by simulation and implemented on a real quadcopter. Pixhawk Processors used for attitiude control and Raspberry Pi processors used for trajectory control. The simulation results show that the trajectory tracking able to directing the quadcopter to follow Line trajectory, Square trajectory, Circle trajectory and U shape trajectory with delay time 1 second. The PID parameters for this tracking Kp 0.9, Ki 0.08, Kd 0.. In the implementation, the trayektory tracking is able to directing the quadcopter to follow Line trajectory, Square trajectory, Circle trajectory and U Shape trajectory. This delay time for real implementation is 1 second. The PID parameters is Kp 0.9, Ki 0.1, Kd 0.01. From the result, the controls able to implemented for quadcopter in the indoor."

"ABSTRAKBeberapa makanan yang diproduksi di area kampung oleh pengusaha berbasis rumah atau orang-orang yang berkumpul untuk usaha industri rumah tangga industri makanan dalam negeri. Proses produksi dan distribusi makanan akan menciptakan sebuah rute yang menimbulkan adanya area pusat. Proses dari makanan tersebut memiliki trajektori yang areanya sampai berada di luar wilayah kampung. Kisaran proses makanan direpresentasikan oleh teori spasial trajektori untuk melihat proses produksi makanan dan menunjukkan sistem spasial yang merupakan bagian dari mobilitas makanan. Observasi terhadap rute makanan dilakukan dengan memperhatikan flow, network, dan motion yang menggunakan metode sintaksis ruang. Hasil dari penelitian dengan menggunakan metode sintaksis ruang akan menunjukkan trajektori spasial dari sebuah produk yang melebihi area kampung yang dapat menjadikannya area pusat yang penting.

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ABSTRACTFoods produced in the kampung area by home base entrepreneurs or people who gather for home industry food domestic industry. Food production and distribution process creates a route that generates a hub. The processing of this food has a trajectory that is beyond the local territory in a kampung. The range of food processes are represented by a theory of spatial trajectories to see the process of food production and show the spatial system which is a part of food mobility. Observation of food routes is carried out by paying attention to flow, network, and motion using space syntax methods. The results of this research using space syntax methods will show spatial trajectory of the product exceed beyond kampung area, which makes it an important hub. "

"The book focuses on the orbital dynamics and mission trajectory (transfer or target trajectory) design of low-energy flight in the context of modern astrodynamics. It investigates various topics that either offer new methods for solving classical problems or address emerging problems that have yet to be studied, including low-thrust transfer trajectory design using the virtual gravity field method; transfer in the three-body system using invariant manifolds; formation flying under space-borne artificial magnetic fields; and the orbital dynamics of highly irregular asteroids. It also features an extensive study of the orbital dynamics in the vicinity of contact binary asteroids, including the 1:1 ground-track resonance, the equilibrium points and their stability, and the third-order analytical solution of orbital motion in the vicinity of the non-collinear equilibrium point."

"The results presented in this book are a product of research conducted by the author independently and in collaboration with other researchers in the field. In this light, this work encompasses the most recent collection of various concepts of regularity and nonsmooth analysis into one monograph. The first part of the book attempts to present an accessible and thorough introduction to nonsmooth analysis theory. Main concepts and some useful results are stated and illustrated through examples and exercises. The second part gathers the most prominent and recent results of various regularity concepts of sets, functions, and set-valued mappings in nonsmooth analysis. The third and final section contains six different application, with comments in relation to the existing literature."

"This book deals with nonsmooth structures arising within the optimization setting. It considers four optimization problems, namely, mathematical programs with complementarity constraints, general semi-infinite programming problems, mathematical programs with vanishing constraints and bilevel optimization. The author uses the topological approach and topological invariants of corresponding feasible sets are investigated. Moreover, the critical point theory in the sense of Morse is presented and parametric and stability issues are considered. The material progresses systematically and establishes a comprehensive theory for a rather broad class of optimization problems tailored to their particular type of nonsmoothness."