Judul: Development of Collision Avoidance Method in Mapping Problems on Turtlebot using LiDAR Sensor
Abstrak: Permasalahan yang muncul dalam pengoperasian robot adalah permasalahan pemetaan (mapping) lingkungan yang belum diketahui dan penghindaran tabrakan (collision avoidance). Salah satu metode mapping adalah Simultaneous Localization and Mapping (SLAM) yang menggunakan informasi dari sensor LiDAR. Dalam hal penghindaran tabrakan dan perencanaan perjalanan, algoritme yang banyak digunakan adalah Bug 1 Algorithm dan Bug 2 Algorithm. Penelitian ini bertujuan untuk mengembangkan dan mengimplementasikan Bug 1 dan Bug 2 Algorithm untuk melakukan penghindaran rintangan dan mengintegrasikannya dengan metode SLAM pada Turtlebot. Implementasi kedua algoritme dilakukan dengan simulasi menggunakan Robot Operating System (ROS) untuk menguji kemampuan Turtlebot melakukan mapping dan mencapai target. Pengujian dilakukan menggunakan empat model lingkungan. Berdasarkan hasil pengujian, disimpulkan bahwa Bug 1 Algorithm memiliki kinerja lebih baik dalam melakukan mapping dibandingkan Bug 2 Algorithm. Hal ini ditunjukkan dengan nilai persentase coverage mapping Bug 1 Algorithm sebesar 77.77%, sedangkan Bug 2 Algorithm sebesar 52.77%. Namun, Bug 2 Algorithm dapat melakukan penghindaran tabrakan dan mencapai target lebih baik dibandingkan Bug 1 Algorithm yang ditunjukkan dengan nilai persentase keberhasilan Turtlebot sebesar 100%. Selain itu, Turtlebot yang menggunakan Bug 1 Algorithm dapat mencapai target dalam waktu rata – rata 21 menit 1 detik sedangkan menggunakan Bug 2 Algorithm memerlukan waktu rata – rata 5 menit 50 detik., Problems that arise in operation robot are mapping unknown environment and collision avoidance problem. One mapping method is Simultaneous Localization and Mapping (SLAM) which uses information from LiDAR sensor. In terms of collision avoidance and path planning, most widely used algorithms are Bug 1 Algorithm and Bug 2 Algorithm. The purpose of this study is to develop and implement Bug 1 and Bug 2 Algorithms to avoid obstacles and integrate them with SLAM method on Turtlebot. The implementation of two algorithms is carried out by simulation using Robot Operating System (ROS) to test Turtlebot's ability to map and reach target. Tests were carried out using four environmental models. Based on test results, it is concluded that Bug 1 Algorithm had better performance in mapping than Bug 2 Algorithm. This is indicated by percentage value of coverage mapping of Bug 1 Algorithm is 77.77%, while Bug 2 Algorithm is 52.77%. However, Bug 2 Algorithm can do collision avoidance and reach target better than Bug 1 Algorithm which is indicated by Turtlebot success percentage value is 100%. In addition, Turtlebot using Bug 1 Algorithm can reach target in average of 21 minutes 1 second while using Bug 2 Algorithm it takes average of 5 minutes 50 seconds.
Keyword: collision avoidance, mapping, turtlebot, bug 1 algorithm, bug 2 algorithm

Judul: Koordinasi Gerak dan Navigasi Hexapod dengan Algoritme Tripod gait, Wall Following, dan Logika Fuzzy
Abstrak: Robot is a tool that can interact with its environment and perform certain functions in accordance with a program that is embedded in it. To function properly, the robot needs to interact with its environment (sense), process the information (think), and give some responses (act). This study aims to integrate the three major functions in an hexapod fire-fighting robot. Input from the environment is obtained from range sensor. These inputs are then processed with a wall-following navigation algorithms and fuzzy logic to determine the direction or angle of motion. This angle is then implemented by the robot’s legs into some movement coordination by using tripod gait algorithm. This study has successfully integrate the algorithm of sensor data acquisition (sense), wallfollowing and fuzzy logic navigation system (think), and tripod gait coodination system (respon). The robot was tested in an environment in accordance with the provisions of KRPAI 2014, and it can move without hitting against the wall.
Keyword: sensor, robot, navigation, hexapod

Judul: Konsumsi Pangan dan Status Gizi Ibu Hamil di Kecamatan Danurejan, Kodya Yogyakarta, Daerah Istimewa Yogyakarta
Abstrak: Hasil penelitian menunjukkan bahwa rata-rata konsumsi energi per orang per hari adalah 1 525 Kalori, konsumsi protein 45,l g, konsumsi zat besi 12,8 mg dan konsumsi vitamin A 2 264 SI. Rata-rata kecukupan energi per orang per hari adalah 2 213 Kalori, kecukupan protein 75,6 g, kecukupan zat besi 29,O mg dan kecukupan vitamin A 4 500 SI.
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