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: 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.
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