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: Study on dry fractionation behaviour and crystallization kinetics of coconut oil
Abstrak: Dry fractionation of oils consists of two stages, namely crystallization to produce solid crystals in a liquid matrices and filtration to separate the crystals formed from a liquid matrix. Changes that occur at the molecular level during the crystallisation process such as nucleation, crystall growth and changes in the phase behavior (folymorphism, solid-solutions). The overall changes at the molecular level is highly influenced by the treatment at the physical level in the form of heat removal. Methods of cooling (crystallization temperature, cooling rate and duration of the crystallization is applied) will largely determine the success of coconut oil fractionation process. This research aims to study the typical fractionation method for coconut oil at pilot plant scale (120 kg) and identify the conditions and essential requirements that must be managed and maintained in a dry fractionation stages of coconut oil; establish the crucial cooling systems in the dry fractionation of coconut oil as a guide in designing practical coconut oil fractionation; establish an effective cooling procedure to produce coconut oil fractions with a high content of MCT; determine the effect of cooling rate and crystallization temperature on the composition and profile of TAG, the kinetics of crystallization and melting properties of coconut oil fractionation products ; determine the relationship (model equations) between the parameters of fractionation with cooling procedure during the crystallization process, to predict the TAG composition, physical and thermal-mechanical properties of fractions produced. Coconut oil is dominant with lauric (C12:O), miristic (C14:0) and caprilic (C8:0)acid which composed the main trilaurin (LaLaLa), caprodilaurin (CaLaLa) and dilauromiristin (LaLaM) TAG. The content of lauric, miristic and caprilic acid in coconut oil are 51.73; 15.57 and 10.61%, respectively; while LaLaLa, CaLaLa and LaLaM TAG are 20.43; 16.23 and 15.38%, respectively. Coconut oil contains medium chain trigliserides (MCT) of 53.71%, trisaturated (St3) of 82.54%, disaturated (St2U) of 14:24%, monosaturated (StU2) of 3:22% and the proportion of high/low-melting TAG (S/L) by 49.25%. Coconut oil has a high SFC at low temperatures and a sharp decline to a temperature of 25 °C and then constant up to a temperature of about 30 ºC. Coconut oil’s SFC with about 32% was measured in temperature interval 21-22 °C, indicating that coconut oil has a good spreadibility at ambient temperature for countries that have 4 seasons. Coconut oil has SMP ranged between 24.5-26.2 °C, the water content of 0.021% and a free fatty acid content of 0.018%. Our study showed that there were three distinct cooling regimes critical to crystallization process, i.e. initial cooling, critical cooling and crystallization regime. Initial cooling was cooling from certain temperature that the oil has been rejuvenated and there was no more crystalized TAG (in this study rejuvenation was done at 70 oC for 10 minutes) to the onzet of oil crystallization temperature. For coconut oil the onzet of crystallization temperature was found at 29 oC. Critical cooling was cooling from the onzet of crystallization temperature (29 °C) to crystallization temperature. We predicted that during the critical cooling regime the crystal nucleation process was intensively occured (propagation). Crystallization regime was cooling to keep the oil temperature
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