Judul: Pengendalian gerak mobil dengan penerapan fuzzy inference system
Abstrak: The driver assistance system is a complex mobile robot system which was designed and built by european car producers to help drivers to control a car. The system makes a car able to sense its surroundings with the aid of various electronic sensors while mechanical actuators were used to move it around. It can make cars to stop automatically within the distance to the obstacles around and reduced car accidents. This paper presents a miniature of a driver assistance system which was designed and built on 1:10 scale R/C car. The fuzzy car adapts fuzzy inference system as its control system. Fuzzy inference system helps to simplify a complex driver assistance system by generating the control system from human experience and it allows to build a complex system easily. The fuzzy inference system is embedded on a micro-controller. The micro-controller control the fuzzy car by giving the instructions to the mechanical actuators. Fuzzy car could sense the distance and the track line with the aid of various electronic sensors. The design consisted of two main sections : software analysis for the fuzzy system with the programs which were integrated to the electronic components and electronic analysis which aid fuzzy system to take control of the mechanical actuators. In this paper it is shown that the fuzzy car moves through the track by line detection using proximity sensors and accelerated by object distance detection using sonar sensors. Fuzzy car can move and accelerate automatically by guiding those sensors detection. The result of this research shows a complex control system can be built simply by using fuzzy inference sytem.
Keyword: Driver assistance system, Fuzzy car, Fuzzy inference system, Sensors, Bogor Agricultural University, Institut Pertanian Bogor, IPB

Judul: Perancangan dan implementasi logika Fuzzy pada Mikrokontroler ATMega16 untuk robot penghindar halangan
Abstrak: Robot was created to relieve human tasks. One of them is an obstacle avoidance robot. This robot has an ability to avoid obstacles and to move around autonomously in accordance with the rules embedded in it. In this study, fuzzy logic is implemented on the microcontroller ATMega16 in obstacle avoidance robot system design for easing in defining the object's position and accelerating the speed based on distance objects. This robot system is capable of handling three inputs and two outputs. Input is accepted as the value of the distance through the three ultrasonic sensors and the outputs are the speed and the angle of the robot turns. The output of fuzzy system is displayed on the LCD character 16x2. In the decision taking, Mamdani fuzzy modeling was used because it is intuitive. This system consists of ATMega16 microcontroller as hardware and CodeVision AVR as the compiler and downloader of the program into ATMega16 microcontroller and Matlab as the fuzzy simulation program. In the test, the results of fuzzy in Matlab are compared to the human expert opinion. The result of the fuzzy in Matlab can be accepted by the human expert. In the experiment, the results of fuzzy in Matlab are compared to the embedded systems. For the speed test, it produces 0.44% of average error with 99.56% accuracy rate. For the steering angle, it produces 0.22% of average error with 99.56% accuracy rate. The average fuzzy execution time of each rule in the microcontroller is 0.184441 ms. The fastest execution time is in rule 1, that is when three input sensors are in the close range. The longest time is in rule 27, that is when three input sensors are the far range.
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Judul: Mercury Toxicity and It’s Effect on Histopathology Change of Nile Tilapia (Oreochromis niloticus).
Abstrak: Nile tilapia (Oreochromis niloticus) is one of fish species that oportunity to contaminated with mercury. The effects of pollutants can damage living organisms organs and can cause death. The effects caused mercury had acute or chronic character. The aims of this study are to determine threshold and acute toxicity of mercury chloride (HgCl2) of Nile tilapia (Oreochromis niloticus), to assess the effect of mercury chloride (HgCl2) on several biometric parameters (survival, growth rate of average daily weighted, liver condition, bile and reproductive variability of Nile tilapia (Oreochromis niloticus), assess the level of damage to the histological structure of the gills, liver and kidney of Nile tilapia (Oreochromis niloticus) caused mercury chloride (HgCl2) exposure. This study was conducted from February to June 2013. Nile Tilapia (Oreochromis niloticus) were used in this study were female with average weight 20 grams or 11-13 cm length range. Toxicant materials used in this study was mercury chloride (HgCl2). Fish were reared in each aquarium 60x40x30 containing 48 liters of water. This study consists of three stages: a preliminary test, acute test, and sub-chronic test. To determine the changes in biometric condition of tilapia approximated by measuring the survival rate (SR), the growth rate of average daily weight , the content of mercury in the fish organs, hepatosomatic index (HSI), the relative bile volume (VER), gonadal soamtic index (IKG), fecundity and oocit diameter, tissue damage caused by mercury in fish organs by making histological preparations stained with hematoxylin and eosin. The median lethal concentration (96 hr, LC50) of Mercury Chloride was calculated as 1,64 mgL--1.The survival rate was highest in the control treatment (46,67 %) . Mercury chloride with concentration 0.196 mgL--1 show significant effect to changes HSI and relative bile volume, and oocyte diameter of Nile tilapia (p < 0,05). Mercury chloride with a concentration of 0,164 mgL-1 and 0,196 mgL-1 have not a significant effect on the growth rate of weight, gonadal somatic index and fecundity of Nile tilapia (p > 0,05). Mercury chloride cause damage to gills (hyperplasia, hypertrophy, proliferation and neukrosis), liver (hyperplasia, hemorhage, shrinkage of hepatocytes, proliferation and neukrosis) and kidney (hyperplasia, hemorrhage, shrinkage of the glomerulus, proliferation and neukrosis).
Keyword: Nile tilapia, Hepatosomatic indexs (HSI), histopathology