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: Pengendalian gerak mobil dengan penerapan fuzzy inference system
Abstrak: The driver assistance system is a complex mobile robot system which was designed and built by european car producers to help drivers to control a car. The system makes a car able to sense its surroundings with the aid of various electronic sensors while mechanical actuators were used to move it around. It can make cars to stop automatically within the distance to the obstacles around and reduced car accidents. This paper presents a miniature of a driver assistance system which was designed and built on 1:10 scale R/C car. The fuzzy car adapts fuzzy inference system as its control system. Fuzzy inference system helps to simplify a complex driver assistance system by generating the control system from human experience and it allows to build a complex system easily. The fuzzy inference system is embedded on a micro-controller. The micro-controller control the fuzzy car by giving the instructions to the mechanical actuators. Fuzzy car could sense the distance and the track line with the aid of various electronic sensors. The design consisted of two main sections : software analysis for the fuzzy system with the programs which were integrated to the electronic components and electronic analysis which aid fuzzy system to take control of the mechanical actuators. In this paper it is shown that the fuzzy car moves through the track by line detection using proximity sensors and accelerated by object distance detection using sonar sensors. Fuzzy car can move and accelerate automatically by guiding those sensors detection. The result of this research shows a complex control system can be built simply by using fuzzy inference sytem.
Keyword: Driver assistance system, Fuzzy car, Fuzzy inference system, Sensors, Bogor Agricultural University, Institut Pertanian Bogor, IPB

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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