Judul: Pendugaan Ketenggelaman Terrestrial Robotic Vehicle (TRV) Melalui Pendekatan Jejak Kaki Manusia
Abstrak: Terrestrial Robotic Vehicles (TRVs) are necessary to be developed to support agricultural activities in Indonesia. TRVs development requires special consideration on the characteristics of the soil physical and mechanical properties related to its effect on TRV mobility. One of the detrimental effect in mobility is sinkage. Sinkage estimation has been successfully used to large vehicles is a Bekker's model (Bekker 1962 in Meirion-Griffith and Spenko 2011) however appliying Bekker model to smaller vehicles can be problematic. This model has little accuracy when used on small vehicles. This research proposes sinkage estimation model for TRV using a simpler method, that is using water capacity, bulk density and human foot pressure parameters. The proposed model of sinkage is zksa= -15.21 + 0.318Pskn + 2.615ka0-5 - 59.85ρ0-5 for female subjects and zkdc = -18.597 + 0.190Pkr + 1.919ka0-5 - 36.235ρ0-5 for male subjects however the verification results showed both models have a low accuracy, therefore both models needs to be improved.
Keyword: Bogor Agricultural University (IPB), water capacity, TRVs, sinkage, pressure, human footprints

Judul: Sinkage prediction of Terrestrial Robotic Vehicle (TRV) using plate sinkage test
Abstrak: Plate sinkage tests method have been performed by many researchers to assess the sinkage of conventional off-road vehicles, one of it is Bekker’s model. The need of sinkage prediction for Terrestrial Robotic Vehicles (TRV) is necessary, hence the objectives of this study was to determine sinkage prediction for TRV based on plate sinkage test method. The methodology used in this study was the measurement of sinkage of several plates with different area and contact shape ratio on a terrain with different physical and mechanical properties. The plate sinkage test’s results were compared with the observed sinkage of TRV in static and dynamic states. Microsoft Excel and SPSS 17 software were employed to process and analyze data. The results showed that linear regression models of plate sinkage tests with the highest coefficient of determination is the model plate sinkage tests Z’5. The test plate sinkage model is Z’5= -7.903 + 0.100 P + 0.303 KA for soil types CL (clay loam) with a moisture content content of 29.43%, up 32.29% and bulk density g/cm3 1.06 g/cm3 until 1.18 g/cm3.
Keyword: Terrestrial Robotic Vehicle,, soil characteristics, sinkage prediction model for TRV, plate sinkage test

Judul: Sintesis Flavon dari Fenol dan Benzoil Klorida
Abstrak: Flavone is a class of flavonoid, commonly found in plants with wide bioactivity spectrum. A widely used flavone synthesis route is through acidcatalyzed oxidative cyclization of β-diketone. In this study, unsubstituted flavone had been synthesized via 5-step from phenol, with 22% yield and successfully increased the yield of previous study on Fries rearrangement of phenyl acetate and benzoylation of o-HAP steps. Phenol was acetylated resulting 93% phenyl acetate. AlCl3-catalyzed Fries rearrangement in 1.5 hour and at 120 °C converted phenyl acetate into o-hydroxyacetophenone (o-HAP) with 40% yield. AlCl3 as catalyst produced o-HAP with higher and reproducible yield compared with BF3·Et2O and ZnCl2. Benzoylation of o-HAP followed by Baker-Venkataraman rearrangement of the ester product using KOH in dried pyridine produced β-diketone 1-(2- hydroxyphenyl)-3-phenylpropane-1,3-dione. The yield of ester and β-diketone were 71% and 85%, respectively. Finally, oxidative cyclization of β-diketone with sulphuric acid as catalyst produced 99% of flavone. The flavone product had been characterized spectroscopically and its melting point as well.
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