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: 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: 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