Judul: Rancang Bangun Sistem Komunikasi Data Lokasi Robot Beroda dan Server Berbasis Wi-Fi Menggunakan Modul ESP8266
Abstrak: Robot beroda merupakan salah satu jenis robot yang banyak dikembangkan. Sistem komunikasi data antara robot dan server banyak diterapkan pada sistem kerjasama antar-robot, ketika robot memerlukan informasi terkait robot lainnya. Penelitian ini mengembangkan sistem komunikasi data nirkabel berbasis Wi-Fi menggunakan modul ESP8266. Data diambil menggunakan modul GPS Ublox Neo 6MV2 yang terhubung dengan satelit lalu dikirim dan disimpan di server untuk kemudian digunakan sesuai kebutuhan. Selanjutnya, pengiriman data dari server ke robot disimulasikan dengan pengiriman balasan oleh server bahwa data sudah diterima. Selanjutnya robot akan merespon balasan dari server tersebut dengan menyalakan light emitting diode (LED) sebagai notifikasi. Hasil dari penelitian ini adalah sistem komunikasi data secara real time dengan menggunakan modul ESP8266 berhasil diimplementasikan dengan interval pengiriman data sebesar 33.29ms dan tingkat keberhasilan pengiriman data keseluruhan sebesar 100%.
Keyword: ESP8266, komunikasi data, real time

Judul: Lokalisasi Berbasis Video Real-time untuk Sistem Kontrol pada Robot Beroda
Abstrak: Robot beroda merupakan robot yang dapat bergerak menggunakan roda bermotor. Salah satu permasalahan dalam pengembangan robot beroda adalah lokalisasi. Lokalisasi diperlukan untuk mendapatkan informasi posisi robot dalam suatu sistem koordinat absolut. Saat ini lokalisasi menggunakan sensor GPS pada robot beroda masih belum memenuhi harapan. Keterlambatan update sinyal mengakibatkan hilangnya informasi sinyal kontrol sehingga terjadi bias. Implementasi model menggunakan sensor GPS pada sistem kontrol robot beroda masih menghasilkan nilai error yang tinggi dan akurasi yang rendah. Untuk mengatasi permasalahan ini, dikembangkan lokalisasi berbasis video real-time menggunakan kamera Raspberry Pi untuk meningkatkan sistem kontrol pada robot beroda. Penelitian ini menggunakan robot Parallax. Penelitian ini berhasil menguji lokalisasi posisi centroid dan arah hadap robot dengan error kurang dari satu sentimeter dan lima derajat dari posisi aktual. Rata-rata error posisi centroid robot pada sumbu-x sebesar 0,856 ± 0,248 cm, sumbu-y sebesar 0,613 ± 0,060 cm dan sudut arah hadap sebesar 2,415 ± 0,949°. Hasil penelitian ini diharapkan dapat membantu pengembangan navigasi pada robot beroda serta meningkatkan akurasi sistem kontrol dengan lokalisasi kamera secara real-time., Wheeled robot is a robot that can move using motorized wheels. One of the problems in the development of wheeled robots is localization. Localization is needed to obtain robot position information in an absolute coordinate system. Currently localization using GPS on wheeled robots still doesn't meet expectations. Delay in signal updates result in loss of control signal information resulting in bias. The implementation of the model using the GPS sensor on the wheeled robot control system still produces high error values and low accuracy. To overcome this problem, real-time video-based localization was developed using a Raspberry Pi camera to improve the control system for wheeled robots. This study uses a Parallax robot. This study succeeded in testing the localization of the centroid position and the direction of the robot with an error of less than 1 cm and 5°. The average error of the robot's centroid position on the x-axis is 0.856 ± 0.248 cm, the y-axis is 0.613 ± 0.060 cm and the angle is 2.415 ± 0.949°. The results of this research are expected to help the development of navigation on wheeled robots and improve the accuracy of the control system with real-time camera localization.
Keyword: camera, image processing, localization, real-time video, wheeled robot

Judul: Pemurnian dan karakterisasi protein inhibitor RNA helikase virus hepatitis C
Abstrak: Hepatitis C virus (HCV) infection is the second most common chronic viral infection in the world with global prevalence. This infection is contribution to chronic hepatitis and liver cirrhosis, often leading to hepatocellular carcinoma. There is no effective drug and vaccine available against HCV. The current standard treatment, a combination of pegylated interferon-α with ribavirin, is limited by its suboptimal response rate in a significant patient population, side effects, and affordability. Therefore, development of effective drug is needed. One approach to find out the candidate of antiviral drug is to discover the inhibitor of enzyme that essential for virus replication, such as RNA helicase. Streptomyces chartreusis 5-095 produce the inhibitor of HCV RNA helicase. The aim of this study was to purify the protein inhibitor which has inhibition activity against ATPase activity of RNA helicase HCV from S. chartreusis 5-095. The supernatant of culture S. chartreusis 5-095 exhibited high inhibiton activity against ATPase activity of RNA helicase HCV (approximately 72%) at 10 days of incubation. The extracellular protein inhibitor was partially purified by procedures of precipitation with ammonium sulfate to 65% saturation and gel filtration (Sephadex G50) using methanol water solution (4:6) as an eluen. The purity of protein inhibitor was monitored by SDS PAGE. The protein inhibitor showed a relative molecular mass were estimated to be 14 kDa and increased the purity 23,08 fold than those of the crude protein. The specific activity and IC50 after purification were 13,1338 U/mg and 0,0767 mg/mL, respectively. The activity of purified protein inhibitor showed its stability over pH range from 5-8 and optimum at pH 7,4. The inhibition activity showed its stability up to 70% at temperature 100 oC. The purified protein inhibitor relatively stable its activity at storage in the range of -20 oC to room temperature for 35 days.
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