Judul: Sistem Navigasi pada Robot Pemadam Api Menggunakan Wall Following dan Logika Fuzzy
Abstrak: A robot needs a good navigation to complete its task. One way to provide navigation capabilities on robots is artificial intelligence. Navigation capabilities using artificial intelligence may be associated with the ability to accept input from a range of sensors. However, inputs from the environment are uncertain so that a simple modeling is not sufficiently representative. Fuzzy logic is expected to overcome these uncertainties. This research aims to develop the navigation system on a fire-fighter robot using wall following algorithms and fuzzy logic. The system is simulated on KRPAI 2013 environment where the robot is expected to move by following the wall, extinguishing the fire, and returning to home. It is shown that the robot has successfully completed the mission on KRPAI 2013 with a success rate of 87.5%.
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Judul: Analisis Kinerja Algoritme Wall-Following pada Variasi Tingkat Ketidakpastian Pembacaan Sensor Jarak Robot (Studi Kasus: Kontes Robot Pemadam Api Indonesia-Divisi Robot Berkaki).
Abstrak: Wall-following adalah salah satu metode navigasi yang digunakan untuk menyusuri kontur dinding. Penelitian ini menganalisis perilaku algoritme wallfollowing standar pada variasi tingkat ketidakpastian pembacaan sensor jarak robot berkaki. Simulator yang digunakan adalah Virtual Robot Experimentation Platform. Bentuk alur dinding yang dibangun menyerupai huruf S. Lebar robot yang digunakan 0.50 meter dan lebar lorong dinding 0.75 meter. Algoritme wallfollowing diintegrasikan pada robot dan diberikan nilai galat yang diperoleh dari fungsi distribusi normal acak. Simulasi menunjukkan bahwa untuk ukuran robot dan dinding yang ditetapkan, nilai maksimum deviasi standar yang masih dapat ditoleransi adalah 0.18 meter. Nilai tersebut setara dengan nilai galat 0.11 meter dalam Kontes Robot Pemadam Api Indonesia. Semakin besar nilai deviasi standar galat, maka semakin besar panjang gesekan antara robot dengan dinding. Namun, nilai galat tidak selalu berpengaruh buruk terhadap total waktu simulasi dan jarak tempuh robot.
Keyword: galat, ketidakpastian, navigasi, wall-following

Judul: Enhancement of photon absorbtion on BaxSr1-xTiO3 thin films semiconductor using photonic crystals.
Abstrak: In this research, has been conducted BaxSr1-xTiO3 (BST) thin films manufacturing for mole fraction x = 0.25, 0.35, 0.45, and 0.55; and concentration of 1 molar using chemical solution depositon (CSD) method. The materials, which are used in this research, are barium acetate [Ba(CH3COO)2, 99%], strontium acetate [Sr(CH3COO)2, 99%], titanium isopropoxide [Ti(C12O4H28), 97.999%], gallium trioxide [Ga2O3], 2-methoxyethanol [H3COOCH2CH2OH, 99%] and 1 x 1 cm of transparent conductive oxide (TCO) glass as substrate. Two BST thin films are made that for BST thin films which are doped by 10% galium (BGST) as p-type layer and pure BST solution as n-type. BST solution is made by reacting barium acetate [Ba(CH3COO)2, 99%], strontium acetate [Sr(CH3COO)2, 99%] and titanium isopropoxide [Ti(C12O4H28)] into 2-methoxyethanol solvent [H3COOCH2CH2OH, 99%] in accordance with mass gram for each x value. While, BGST solution is made in the same way as BST solution, plus adding gallium at 10% of the mass of BST. Once all materials are reacted, then vibrated using ultrasonic for 90 minutes, and followed by coating BGST / BST on the TCO substrate. Once the layer is formed, then annealed for 15 hours at temperature of 500 °C with increasing rate of 1.67 oC/minute. Characterizations of BST thin films with or without photonic crystals include the absorbance and transmittance in the visible light spectrum, as well as the electrical photoconductivity characterizations. From BST thin films without photonic crystals indicate that our thin films have light absorption area on almost the entire range of the visible light spectrum even to the infrared range with absorption value over than 67.6%, in addition, it can be seen that the maximum absorbance of BST thin films for all mole fractions lie in blue to green light spectrum region, 457 nm ≤ λ ≤ 570 nm and the minimum in yellow to red light spectrum region, 570 nm ≤ λ ≤ 678 nm. The largest absorbance is found at x = 0.25 with average absorbance value of 92.04% and maximum and minimum absorbance peaks at wavelength of 500.89 and 657.72 nm, respectively. At x = 0.35, average absorbance value decreased to 83.55% with maximum and minimum peaks at 505.73 and 613.68 nm, respectively. Then increased to 91.16% at x = 0.45 with maximum and minimum peaks at 506.04 and 618.56 nm, respectively. At x = 0.55, average absorbance value decreased to 80.12% with maximum and minimum peaks at 507.85 and 608.79 nm, respectively. Moreover, it can be seen that the addition of barium mole fraction leads to wider maximum absorbance or minimum transmittance peaks and narrower minimum absorbance or maximum transmittance peaks in the same range of the green and blue & red light spectrums, respectively. BST thin films with photonic crystals show increasing in absorption for all x values in the range of 3.04 into 13.33%. At x = 0.25, average absorbance percentage increased 3.96% from 92.4 into 95.68%, for x = 0.35 average percentage increased 7.07% into 89.45 from 83.55%. Furthermore, average absorbance of BST thin films at x = 0.45 increased 3.04% from 91.16 into 93.93% and x = 0.55 has
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