Judul: Model Formal Sistem Perencanaan Gerak Mobile Robot
Abstrak: Perencanaan gerak (motion planning) merupakan salah satu masalah sulit yang sering dihadapi dalam pengembangan mobile robot. Perencanaan gerak yang baik dapat menghasilkan gerak yang optimal dan memenuhi safety requirement (goal/tujuan) yang diinginkan. Misalnya, robot aman dari tabrakan dengan dinding penghalang, trayektori terpendek, dan pergerakan yang akurat. Pada penelitian ini, lingkungan robot merupakan lingkungan robot pada Kontes Robot Cerdas Indonesia (sering disingkat KRCI) 2007 fire fighter. Pertama safety requirement diformulasikan ke dalam bahasa formal linear temporal logic. Setelah safety requirement diformulasikan, strategi penyelesaian masalah disusun agar safety requirement dipenuhi. Kemudian lingkungan robot dibagi menjadi dua daerah, free configuration space dan forbidden configuration space. Free configuration space didekomposisi menjadi daerah-daerah berbentuk segitiga sehingga lingkungan robot menjadi lebih sederhana. Trayektori terpendek dicari dengan manual lalu dimodelkan dengan menggunakan software NuSMV. Model yang telah dibuat diverifikasi dengan tool model checking NuSMV. Hasil yang diperoleh dalam penelitian ini adalah suatu sistem perencanaan gerak mobile robot yang telah diverifikasi dengan NuSMV.
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Judul: autonomous mobile robot menggunakan metode formal logika temporal linear
Abstrak: Logika temporal linear (LTL) dikontruksi dari formulasi logika tingkah laku sistem yang diharapkan dari waktu ke waktu secara linear. Dengan demikian jika pada bagian atau waktu tertentu terjadi kesalahan pada sistem, kesalahan itu dapat segera diantisipasi. Dalam hal ini penggunaan perencanaan logika temporal linear tidak hanya digunakan pada autonomous mobile robot untuk mencapai sebuah tujuan atau menghindari rintangan, tetapi juga untuk perangkaian, perluasan atau penugasan sementara (temporal ordering) pada sebuah rangkaian tugas yang berbeda dalam satu waktu. Dalam LTL untuk menghasilkan lintasan robot dilakukan tiga tahap tahap aktivitas, yaitu pendefinisan abstraksi diskrit pergerakan robot, perencanaan logika temporal menggunakan model checking, dan implementasi kontinu rencana diskret (continuous implementations of discrete plan).
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Judul: Enhancement of photon absorbtion on BaxSr1-xTiO3 thin films semiconductor using photonic crystals.
Abstrak: In this research, has been conducted BaxSr1-xTiO3 (BST) thin films manufacturing for mole fraction x = 0.25, 0.35, 0.45, and 0.55; and concentration of 1 molar using chemical solution depositon (CSD) method. The materials, which are used in this research, are barium acetate [Ba(CH3COO)2, 99%], strontium acetate [Sr(CH3COO)2, 99%], titanium isopropoxide [Ti(C12O4H28), 97.999%], gallium trioxide [Ga2O3], 2-methoxyethanol [H3COOCH2CH2OH, 99%] and 1 x 1 cm of transparent conductive oxide (TCO) glass as substrate. Two BST thin films are made that for BST thin films which are doped by 10% galium (BGST) as p-type layer and pure BST solution as n-type. BST solution is made by reacting barium acetate [Ba(CH3COO)2, 99%], strontium acetate [Sr(CH3COO)2, 99%] and titanium isopropoxide [Ti(C12O4H28)] into 2-methoxyethanol solvent [H3COOCH2CH2OH, 99%] in accordance with mass gram for each x value. While, BGST solution is made in the same way as BST solution, plus adding gallium at 10% of the mass of BST. Once all materials are reacted, then vibrated using ultrasonic for 90 minutes, and followed by coating BGST / BST on the TCO substrate. Once the layer is formed, then annealed for 15 hours at temperature of 500 °C with increasing rate of 1.67 oC/minute. Characterizations of BST thin films with or without photonic crystals include the absorbance and transmittance in the visible light spectrum, as well as the electrical photoconductivity characterizations. From BST thin films without photonic crystals indicate that our thin films have light absorption area on almost the entire range of the visible light spectrum even to the infrared range with absorption value over than 67.6%, in addition, it can be seen that the maximum absorbance of BST thin films for all mole fractions lie in blue to green light spectrum region, 457 nm ≤ λ ≤ 570 nm and the minimum in yellow to red light spectrum region, 570 nm ≤ λ ≤ 678 nm. The largest absorbance is found at x = 0.25 with average absorbance value of 92.04% and maximum and minimum absorbance peaks at wavelength of 500.89 and 657.72 nm, respectively. At x = 0.35, average absorbance value decreased to 83.55% with maximum and minimum peaks at 505.73 and 613.68 nm, respectively. Then increased to 91.16% at x = 0.45 with maximum and minimum peaks at 506.04 and 618.56 nm, respectively. At x = 0.55, average absorbance value decreased to 80.12% with maximum and minimum peaks at 507.85 and 608.79 nm, respectively. Moreover, it can be seen that the addition of barium mole fraction leads to wider maximum absorbance or minimum transmittance peaks and narrower minimum absorbance or maximum transmittance peaks in the same range of the green and blue & red light spectrums, respectively. BST thin films with photonic crystals show increasing in absorption for all x values in the range of 3.04 into 13.33%. At x = 0.25, average absorbance percentage increased 3.96% from 92.4 into 95.68%, for x = 0.35 average percentage increased 7.07% into 89.45 from 83.55%. Furthermore, average absorbance of BST thin films at x = 0.45 increased 3.04% from 91.16 into 93.93% and x = 0.55 has
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