Judul: Modifikasi Manipulator Tipe Silinder untuk Robot Bioproduksi dalam Greenhouse.
Abstrak: Manipulator berfungsi untuk menjangkau target dalam koordinat tiga dimensi. Tujuan dari penelitian ini yaitu memodifikasi mekanisme link horizontal pada manipulator agar lebih fleksibel dalam menjangkau target dan merubah sistem interface ke Arduino Mega 2650. Penelitian ini meliputi modifikasi prototipe, pembuatan logika pemrograman, serta pengujian manipulator hasil modifikasi dengan menggunakan variasi pembebanan dan kecepatan motor listrik. Hasil pengujian menunjukkan dapat menjangkau target dalam koordinat tiga dimensi dengan jangkauan maksimum 722,2 mm ke arah sumbu x positif, 800 mm ke arah sumbu x negatif, 800 mm ke arah sumbu y positif dan 506 mm ke arah sumbu y negatif. Sedangkan jangkauan maksimum dan minimum manipulator pada sumbu z adalah 1104 mm dan 321 mm. Hasil penelitian terbaik terdapat pada kecepatan motor 130 pwm dan pembebanan 200 gram (118,4 derajat per detik pada motor DC joint 2, dan 233,0 derajat per detik pada motor DC joint 3). Error yang didapatkan sebesar 11,40 mm pada sumbu x, 11,10 mm pada sumbu y, dan 9,80 mm pada sumbu z. Error pada manipulator disebabkan karena tidak adanya sistem pengereman pada motor listrik sehingga terjadi momen gaya yang mengakibatkan simpangan pada sudut joint 2 dan joint 3.
Keyword: greenhouse, manipulator, modifikasi, robot bioproduksi

Judul: Cartesian Type Manipulator Design For Automatic  Crop Image Recording in Greenhouse
Abstrak: Meningkatnya populasi penduduk Indonesia mendorong sektor pertanian untuk meningkatkan produktivitas industri pertanian, salah satu cara untuk mengatasinya adalah pengoptimalan penggunaan sumber daya untuk mendapatkan hasil maksimal atau biasa disebut pertanian presisi. Pertanian presisi dapat dilakukan dengan sistem monitoring tanaman secara tepat dan akurat. Teknologi yang sesuai untuk sistem ini adalah plant phenotyping, namun pengembangan teknologi ini masih sedikit dilakukan di Indonesia dan salah satu penyebabnya adalah dataset masih diambil secara manual dengan jumlah terbatas. Tujuan penelitian ini adalah merancang bangun manipulator kartesian untuk merekam gambar tanaman hidroponik secara otomatis di dalam greenhouse. Tahapan penelitian terdiri dari perancangan fungsional dan struktural, desain 3D, analisis desain, pabrikasi prototipe, uji fungsional dan struktural, dan uji kinerja. Mekanisme robot adalah bekerja otomatis dan mampu menangkap dan menyimpan gambar sesuai posisi penangkapan gambar. Struktural robot dibuat menyesuaikan bak apung hidroponik. Desain 3D dianalisis menggunakan SolidWorks dengan mensimulasikan beban gaya untuk mengetahui tingkat keamanan manipulator. Berdasarkan analisis desain yang dilakukan pada rangka manipulator didapatkan tegangan von mises maksimum sebesar 13,783 MPa, displacement maksimum sebesar 1,081 mm, dan safety factors minimum sebesar 6,869 sehingga rangka dikategorikan aman secara teknis. Raspberry dijadikan sebagai otak utama robot untuk menggerakkan end-effector dengan motor stepper Nema 17HS4401 yang diatur oleh driver A4988. Berikutnya manipulator robot diuji fungsional dan kinerjanya, hasil menunjukkan bahwa step delay 0,0010 detik menghasilkan performa kerja paling baik dengan error posisi -0,076cm pada sumbu Y dan -0,380cm pada sumbu X, slip pulley rata-rata 0,576%, kecepatan gerak translasi 8,965 cm/detik, sudut kemiringan 88,22°, dan performa sinkronisasi paling baik. Manipulator robot kartesian berhasil dibuat dengan kemampuan bekerja otomatis dan mampu menangkap gambar tanaman pada 15 posisi dengan webcam yang digerakkan oleh motor stepper., The increasing population of Indonesia's population encourages the agricultural sector to increase the productivity of the agricultural industry, one way to overcome this is to optimize the use of resources to get maximum results or precision agriculture. Precision agriculture can be done with a precise and accurate plant monitoring system. The technology for this system is plant phenotyping, but the development of this technology is still minimum in Indonesia and one of the reasons is the dataset for training still taken manually with a limited amount. The purpose of this research is to build a Cartesian manipulator to automatically record images of hydroponic plants inside greenhouse. The research stages consisted of functional and structural design, 3D design, design analysis, prototype fabrication, functional and structural tests, and performance tests. The robot mechanism works automatically and is capable of capturing and storing images according to the position of the image capture. The robotic structure is made according to the hydroponic floating tub. The 3D design is analyzed using SolidWorks by simulating force loads to determine the safety level of the manipulator. Based on the design analysis carried out on the manipulator frame, the von mises stress maximum obtained is of 13,783 MPa, displacement a maximum of 1,081 mm, and safety factors minimum of 6,869 so that the frame is categorized as technically safe. Raspberry pi are used as the main brain of the robot to move end-effector with motor stepper Nema
Keyword: greenhouse, manipulator kartesian, perekaman gambar otomatis, tanaman hidroponik

Judul: Thermal Characteristics and Dynamics of Tropical Cyclone over Western North Pacific Ocean: A Case Study of Typhoon Songda (Chedeng) 2011
Abstrak: The frequent occasion of Tropical Cyclone (TC) over Western North Pacific (WNP) Ocean lies from 10˚N to 26˚N and 121˚E to 170˚E. Sources of TC development come from warm ocean temperature where latent heat is released during condensation processes and subsequently concentrated in the boundary layer. Relative humidity at 850-700 hPa is responsible to produce the most intense storm. Meanwhile, weak vertical wind shear between 850-200 hPa is one of the dynamical factors that lead to the development of TC. Pressure level of 850-200 hPa is chosen to minimize the thermodynamic effect in the lower troposphere. Typhoon Songda (Chedeng in the Philippines) or TSC lasted from May 18th to 30th, 2011 and strengthened into powerful Super Typhoon stage between May 24th and 27th. Long curving track and the exhibition of all sequences of TC life cycle, TSC is then considered as an ideal case of TC. The objective of the study with case of TSC is to investigate the role of thermal characteristics and dynamics on TC intensity. The research is carried out by using Advanced Research of Weather Research and Forecasting model (WRF ARW model) version 3.3. Two domains are employed in the model. The first domain situate from 02˚N to 40˚N and 118˚E to 149˚E and cover spatial resolution () of 33.1 km. The second domain situate from 09˚N to 27˚N and 119˚E to 132˚E with of 11 km. Timestep of the model () is 120 seconds. The model is supported by the following physical parameterization, i.e., Yonsei University Scheme (YSU) in the boundary layer, Kain-Fritsch scheme (KF) in the cumulus, and WRF Single-Moment 3-class scheme in the microphysics. Initial meteorological condition prior to the formation of the cyclone is generated using WRF ARW standard-release model. Sensitivity of the model output is obtained from a selected single-parameter change scenarios, namely, 10 % to 20 % decrease and increase of wind shear initial data at 850-200 hPa, and by 10 % to 20 % decrease of relative humidity initial data at 850-700 hPa. The result showed that the negative correlations between wind shear and intensity are found in wind shear scenarios. Wind shears of 10 ms-1 which lead to strengthening of the wind intensity in the early period of Typhoon development are found in wind shear scenarios. The effect of wind shear changes on wind intensity is statistically significant in the 20 % wind shear scenarios. During mature stage, weak wind intensity occurred when wind shear increase as given in the WRF standard-release and the 20 % decreasing scenario. Different situation is found in the 20 % increasing scenario where wind shear tend to weak and lead to strong wind intensity at this stage. Meanwhile, the reduction of moisture supply at 850-700 hPa resulting from 20 % decreasing relative humidity play a major role in the weakening of wind intensity and reduces mechanical energy of the cycle process as much as 300 J kg-1.
Keyword: