Judul: Perancangan dan implementasi logika Fuzzy pada Mikrokontroler ATMega16 untuk robot penghindar halangan
Abstrak: Robot was created to relieve human tasks. One of them is an obstacle avoidance robot. This robot has an ability to avoid obstacles and to move around autonomously in accordance with the rules embedded in it. In this study, fuzzy logic is implemented on the microcontroller ATMega16 in obstacle avoidance robot system design for easing in defining the object's position and accelerating the speed based on distance objects. This robot system is capable of handling three inputs and two outputs. Input is accepted as the value of the distance through the three ultrasonic sensors and the outputs are the speed and the angle of the robot turns. The output of fuzzy system is displayed on the LCD character 16x2. In the decision taking, Mamdani fuzzy modeling was used because it is intuitive. This system consists of ATMega16 microcontroller as hardware and CodeVision AVR as the compiler and downloader of the program into ATMega16 microcontroller and Matlab as the fuzzy simulation program. In the test, the results of fuzzy in Matlab are compared to the human expert opinion. The result of the fuzzy in Matlab can be accepted by the human expert. In the experiment, the results of fuzzy in Matlab are compared to the embedded systems. For the speed test, it produces 0.44% of average error with 99.56% accuracy rate. For the steering angle, it produces 0.22% of average error with 99.56% accuracy rate. The average fuzzy execution time of each rule in the microcontroller is 0.184441 ms. The fastest execution time is in rule 1, that is when three input sensors are in the close range. The longest time is in rule 27, that is when three input sensors are the far range.
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Judul: Pengembangan Program Pengolahan Citra Real-time untuk Deteksi Rintangan pada Traktor Tanpa Awak
Abstrak: Obstacle detection sensor is an important task for development of autonomous vehicles in recognizing its environment. An examination of various research studies on autonomous vehicles/robots shows that there are only five to six different types of effective obstacle detection sensors. These sensors ranged in price from inexpensive to very expensive. Each of them has their own unique advantages and disadvantages for different applications. If a sensor can be effectively used to create accurate maps for the vehicle environment then applying of such sensor on detection of obstacles in farming environment would be possible. The sensors were consisted of CCD camera, Ultrasonic sensors, Scanning laser, 3D Scanning lasers, and Millimeter wave radar. The purpose of this research was to develop the algorithm of real-time image processing that will be used as obstacles avoidance for unmanned tractor. The equipments in this research were divided into two catagories, including hardware and software platforms. The hardware consisted of Yanmar Tractor EF453T types, Acer Aspire 2930 with Express card slot, CCD camera, cctv lens, express card d/34 to fire wire IEEE 1394A Adapter, fire wire cable, tripleks wood, red pointer laser<5mW, LM 7805, resistor 82 ohm, capacitor 100 μF, luxmeter, and akrilik. While the software consisted of Visual C#, Sharp Develop 3.2 version, and Paint Shop Pro 6 version. The procedure used in present study consisted of the following steps, such as identifying a problem through observation, designing a system for obstacle detection system of unmanned tractor, fabrication of obstacle detection system, capturing the RGB (Red, Green, Blue) values in both static, and dynamic conditions, testing the calibration and validation of optical camera, functional testing, testing the static and real-time performances on unmanned tractor. Image processing techniques such as threshold, erotion, and dilation has achieved successfully to get perfect binary image. The white drop in binary image was then used to detect potential obstacle. Our system is capable to recognize an obstacle in tractor path so that it could give a motion command such as advance, turn left, turn right, or stop. For instance, if the tractor detects the obstacle at less than 7 m then the system would give the command to turn left if the obstacle located in right tractor path. In contrast, it would command to turn right if the obstacle position located in the left tractor path. In case of the obstacle is located at throughout the tractor path, the system would give a command to stop. However, if there is an obstacle in the path tractor, but its range is more than 7 m, the system would give the tractor command to advance. The speed of the vehicle in outdoor application of real-time obstacle avoidance system 0.5 m/s and required 1.3 second for one data processing. This system worked perfectly in 500-200 lux (06.15-08.00 am in normal condition). This system can read the range of obstacle with an accurate up to 81.6% for obstacle in range 2 m, 77.1% in 3 m, 71.5% in 4 m, 69.5% in 5 m, 68% in 6 m, and 48.4% in 7 m. The more obstacle
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Judul: Babesiosis pada kuda
Abstrak: Babesiosis pada kuda adalah penyakit menular yang di- sebabkan oleh Babesia caballi dan Babesia equi, yaitu pa- rasit protozoa perusak sel darah yang termasuk dalam genus Babesia. B. equi diduga oleh beberapa ahli termasuk dalam genus Theileria. Karena itu klasifikasi genus Babesia di- bicarakan dan siklus hidup B. caballi dan B. equi diulas. Kuda pada semua umur dapat terserang oleh dua parasite tersebut di atas. Tetapi kuda-kuda yang sudah dewasa (tua) lebih rentan jika dibandingkan dengan kuda-kuda yang masih muda. Kasus-kasus yang paling sering dijumpai adalah kasus-kasus yang bersifat akut walaupun kasus-kasus yang bersifat perakut, subakut dan kronik kadang-kadang terlihat. Serangan oleh parasit Babesia biasanya menyebabkan kerusаkan sel darah merah yang hebat sehingga kuda-kuda yang terserang menderita anemia hebat yang dapat menyebabkan kematian bila tidak segera diobati. Untuk mengatasi hal tersebut perlu dilakukan diagnosis yang tepat dan sedini mungkin. Diagnosis dapat dilakukan dengan cara memeriksa gejala-gejala klinik, preparat ulas darah, inokulasi hewan lain dan dengan mengadakan pemeriksaan secara serologik. Gejala-gejala klinik babesiosis pada kuda yang bersifat akut yang paling sering terlihat, ialah : nafsu makan menurun/hilang, lesu, bulu suram dan tidak mau bergerak. Kuda yang dilepaskan di padang rumput akan mengasingkan diri dan jalan sempoyongan. Faeces yang keluar berwarna cok- lat gelap, diselaputi lendir yang berwarna kekuningan dan urimenya berwarna merah tua. Temperatur tubuh meningkat menjadi 39.5 - 41°C dan pulsus meningkat. Terlihat dispnoe, perdarahan petechi pada mukosa membrana nictitans dan conjunctiva yang lebih pucat dari normal dan juga icteris. Kasus-kasus yang bersifat subakut gejala-gejalanya lebih ringan, tetapi bila tidak segera diobati maka gejala- gejala tersebut secara cepat menjadi hebat. Persendian lutut dan persendian gelang puyuh membengkak dan padanya ter- lihat oedema. Pada abdomen, dada dan kepala juga dapat di- temukan oedema. Gejala-gejala klinik yang terlihat pada kasus kronik adalah penurunan kondisi tubuh kuda secara progresif walaupun diberi makan yang banyak. Perubahan temperatur tidak jelas, nafsu makan berubah-ubah, icterus tidak jelas dan anemia mungkin hanya dapat dideteksi dengan menghitung sel darah merah dan kadar hematocrit…dst
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