Judul: Natural Formaldehyde Content and Deterioration of the  Quality of Scad Fish During Chilling Temperature Storage
Abstrak: Ikan layang merupakan ikan ekonomis tinggi yang banyak digemari masyarakat. Formaldehida pada ikan dapat terbentuk secara alami melalui pemecahan TMAO menjadi formaldehida dan DMA. Penelitian bertujuan menentukan kandungan formaldehida alami dan kaitannya terhadap kemunduran mutu ikan layang selama penyimpanan suhu chilling. Analisis yang dilakukan meliputi uji organoleptik, pH, total volatile base (TVB), trimetilamina (TMA), formaldehida (FA), dan dimetilamina (DMA) setiap 2 hari sekali. Uji organoleptik ikan layang menunjukkan penurunan selama penyimpanan. Nilai pH menurun dihari ke-2 dan terus meningkat setelah penyimpanan hari ke-8 hingga hari terakhir. Nilai TVB dan TMA ikan layang di hari ke-0 sebesar 5,44 mgN/100g dan 0,78 mgN/100g, kemudian meningkat hingga penyimpanan hari terakhir. Kandungan FA sudah terbentuk di awal penyimpanan dengan nilai tertinggi yaitu 10,21 ppm pada penyimpanan hari ke-10. Kadar DMA tertinggi terlihat pada penyimpanan hari ke-14 sebesar 9,29 ppm. Formaldehida alami memiliki korelasi yang tinggi dan cukup tinggi dengan parameter kemunduran mutu seperti pH, TVB, TMA, dan DMA., Scad fish is a high economic fish that is very popular with the public. Formaldehyde in fish can be formed naturally through the breakdown of TMAO into formaldehyde and DMA. The study aimed to determine the natural formaldehyde content and its relationship to the deterioration of the quality of scad fish during chilling temperature storage. The analysis includes an organoleptic test, pH, total volatile base (TVB), trimethylamine (TMA), formaldehyde (FA), and dimethylamine (DMA) every 2 days. The organoleptic test of scad showed a decrease during storage. The pH value decreased on the 2nd day and continued to increase after the 8th day of storage until the last day. The TVB and TMA values of scad fish on day 0 were 5.44 mgN/100g and 0.78 mgN/100g, then increased until the last day of storage. FA content was formed at the beginning of storage with the highest value of 10.21 ppm on the 10th day of storage. The highest DMA level was seen on the 14th day of storage at 9.29 ppm. Natural formaldehyde has a high and quite high correlation with quality deterioration parameters such as pH, TVB, TMA, and DMA.
Keyword: chilling temperature, formaldehyde, quality deterioration, scad fish

Judul: Correlation of Natural Formaldehyde Value with Quality Deterioration Parameters of Layur Fish (Trichiurus Lepturus) During Chilling Temperature Storage
Abstrak: Pembentukan formaldehida (FA) secara alami dapat berlangsung selama proses kemunduran mutu ikan. Salah satu penanganan yang tepat untuk mempertahankan penurunan mutu ikan yaitu dengan penyimpanan suhu chilling. Ikan layur merupakan ikan komersial penting yang menjadi salah satu komoditas ekspor Indonesia. Penelitian ini bertujuan menentukan kadar FA dan korelasinya terhadap parameter kemunduran mutu ikan layur (Trichiurus lepturus) dengan kondisi penyimpanan suhu chilling. Pengamatan dilakukan setiap 2 hari selama 14 hari penyimpanan. Parameter yang diamati adalah organoleptik, morfometrik, proporsi bagian tubuh, komposisi kimia, pH, total volatile base (TVB), trimetilamina (TMA), formaldehida (FA) dan dimetilamina (DMA). Batas aman konsumsi ikan layur direkomendasikan sebelum hari ke-8. Formaldehida alami terdeteksi sejak hari ke-0, cenderung meningkat hingga akhir penyimpanan serta didapatkan nilai tertinggi pada hari ke-10 dan 12 sebesar 9,50 ppm. Nilai FA berkorelasi tinggi terhadap nilai TVB, TMA, tekstur organoleptik (negatif), serta cukup terhadap nilai pH dan DMA., The formation of formaldehyde (FA) naturally can take place during the process of deterioration of fish quality. One of the proper handling to maintain the decline in fish quality is by chilling temperature storage. Hairtail is an important commercial fish which is one of Indonesia's export commodities. This study aims to determine the level of FA and the correlation to the parameters of the deterioration of the quality of hairtail (Trichiurus lepturus) with chilling temperature storage conditions. Observations were made every 2 days for 14 days of storage. Parameters observed were organoleptic, morphometric, proportion of body parts, chemical composition, pH, total volatile base (TVB), trimethylamine (TMA), formaldehyde (FA) and dimethylamine (DMA). The limit of acceptance of hairtail by organoleptic and analysis of pH value is recommended before the 8th day. Natural formaldehyde was detected since day 0, tends to increase until the end of storage and the highest value was obtained on day 10 and 12 of 9.50 ppm. FA values were highly correlated with TVB, TMA, and organoleptic texture (negative) values and moderately correlated with pH and DMA values.
Keyword: chilling, formaldehida alami, ikan layur, kemunduran mutu

Judul: Implementasi Inverse Kinematics untuk Koordinasi Gerak Robot Berkaki Enam
Abstrak: Six legged robot, or hexapod, is a kind of legged robots with static stability. The robot has many variants of leg movements. This should be taken into consideration by the robot designer. The research is to adopt a leg movement algorithm named inverse kinematics. Inverse kinematics is used to find each leg angle required to produce certain position of the end-effector. The experiments show that pulse width input can move the robot faster than that with end-effector displacement distance input. However, the distance input is more flexible due to its simplicity such that the user can input the desired end-effector displacement distance without relying on the pre-determined distances. The inverse kinematics algorithm has been developed, although it is not able to avoid or circumvent the barriers.
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