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: Natural Formaldehyde Content during the Decline Process of Rainbow Runner Fish (Elagatis bipinnulata) at Chilling Temperature Storage
Abstrak: Kandungan formaldehida pada ikan dapat terbentuk secara alami melalui pemecahan substrat Trimetilamin Oksidase (TMAO) melalui proses enzimatis. Tujuan penelitian ini menentukan kandungan formaldehida alami selama proses kemunduran mutu ikan sunglir (Elagatis bipinnulata) pada penyimpanan suhu chilling selama 14 hari dengan waktu pengamatan 2 hari sekali. Analisis yang dilakukan yaitu uji organoleptik, pH, total volatile base (TVB), trimetilamina (TMA), formaldehida alami dan Dimetilamina (DMA). Uji organoleptik menunjukkan semua parameter mengalami kemunduran mutu selama penyimpanan 14 hari. Nilai pH ikan sunglir turun pada hari ke-2 dan terus meningkat hingga hari penyimpanan ke-14. Nilai TVB dan TMA ikan sunglir pada penyimpanan awal sebesar 5,131 mgN/100 g dan 0 mgN/100 g dan terus meningkat selama penyimpanan. Kadar formaldehida alami pada ikan sunglir terdeteksi diawal sebesar 1,64 ppm dengan nilai tertinggi pada penyimpanan hari ke-12 dengan nilai sebesar 9,82 ppm. Kadar DMA pada hari penyimpanan ke-0 sebesar 1,05 ppm dan terus meningkat hingga 7,32 ppm. Korelasi nilai formaldehida alami terhadap parameter kemunduran mutu yaitu organoleptik, pH, TVB, TMA dan DMA sangat kuat., Formaldehyde in fish can be formed naturally through the breakdown of the TMAO substrate through an enzymatic process. This study determined the natural formaldehyde content during the process of declining quality of Rainbow runner fish (Elagatis bipinnulata) at chilling temperature storage for 14 days with an observation time of every two days. The analysis carried out were organoleptic tests, pH, total volatile base (TVB), trimethylamine (TMA), natural formaldehyde, and dimethylamine (DMA). The Organoleptic test showed that all parameters experienced a deterioration in quality during 14 days of storage. The pH value of rainbow runner fish decreased on the 2nd day and continued to increase until the 14th day of storage. The TVB and TMA values of rainbow runner fish on initial storage value of 5,131 mgN/100 g and 0 mgN/100 g and continued to increase during storage. The level of natural formaldehyde in rainbow runner fish was detected at the beginning at 1,64 ppm and continued to increase during storage, with the highest value of 9,82 ppm. The DMA level on the 0th day of storage was 1,05 ppm and continued to increase until 7,32 ppm. The correlation of natural formaldehyde values with quality deterioration parameters, namely organoleptic, pH, TVB, TMA, and DMA, is robust.
Keyword: chilling temperature, deterioration, natural formaldehyde, rainbow runner fish

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.
Keyword: