787 research outputs found
Dynamic Modelling and Adaptive Traction Control for Mobile Robots
Mobile robots have received a great deal of research in recent years. A
significant amount of research has been published in many aspects related to
mobile robots. Most of the research is devoted to design and develop some
control techniques for robot motion and path planning. A large number of
researchers have used kinematic models to develop motion control strategy for
mobile robots. Their argument and assumption that these models are valid if the
robot has low speed, low acceleration and light load. However, dynamic
modelling of mobile robots is very important as they are designed to travel at
higher speed and perform heavy duty work. This paper presents and discusses a
new approach to develop a dynamic model and control strategy for wheeled mobile
robot which I modelled as a rigid body that roles on two wheels and a castor.
The motion control strategy consists of two levels. The first level is dealing
with the dynamic of the system and denoted as Low level controller. The second
level is developed to take care of path planning and trajectory generation
Analisis FTIR Dan Minimum Loss Pada Kaca Tellurite-Bismuth-Zinc-Plumbum Untuk Aplikasi Fiber Optik Infrared
Peneltian ini bertujuan menganalisis spektrum Fourier Transform Infra Red (FTIR) dan menentukan minimum loss dari kaca Tellurite-Bismuth-Zinc-Plumbum (TBZP) yang dipengaruhi oleh variasi (PbO). Kaca TBZP difabrikasi dengan teknik melt quenching dengan komposisi 55TeO2–2Bi2O3–[43-x]ZnO–xPbO (%mol) dengan x=2, 3, 4, 5. Hasil uji spektrum Fourier Transform Infra Red (FTIR) menunjukkan pita absorbsi terbesar berada pada panjang gelombang lebih dari 620nm. Absorbansi tersebut lebih diakibatkan oleh adanya transisi vibrasi pada daerah infrared. Minimum loss pada kaca TBZP diprediksikan secara teoritis melalui fitting data infrared edge dengan kurva Rayleigh scattering. Minimum loss kaca TBZP sebasar 2,94 dB/km hingga 2,35 dB/km pada λ=5534,2nm hingga 5821,2nm. Nilai minimum loss menurun seiring pertambahan konsentrasi ion Pb2+ dalam kaca TBZP. Sifat tersebut menjadikan kaca ini sebagai kandidat yang baik untuk aplikasi yang menggunakan gelombang infrared seperti fiber optik infrared. The aims of this research were to analyze the spectrum of Fourier Transform Infra Red (FTIR) and determine the minimum loss of Tellurite-Bismuth-Zinc-Plumbum (TBZP) based glass which affected by the variation of (PbO). The TBZP glass has been fabricated by melt quenching technique with composition 55TeO2–2Bi2O3–[43-x]ZnO–xPbO (mol%) with x=2, 3, 4, 5. Fourier Transform Infra Red (FTIR) spectra test results showed that the greatest absorption bands were at wavelengths over 620nm. Vibrational transition has the reason behind the absorbance in the infrared region. Minimum loss on glass TBZP theoretically was predicted by fitted data from the infrared edge and rayleigh scattering curve. The minimum loss of TBZP was of the range 2,94 dB/km to 2,35 dB/km at λ=5534,2nm to 5821,2nm. The minimum loss of TBZP glass decreases as the Pb2+ content in glass increases. This makes these glasses are good candidate for IR-application such as infrared optical fiber
The Incidence of Repeat Breeding in Dairy Cows Under Tropical Condition
The objective of this study was to investigate the incidence of repeat breeding in dairy cows under tropical condition. This was a preliminary study conducted in Sinjai Regency, Indonesia. A total of 82 Holstein Friesian lactating cows from five dairy farmer groups were used in the present study. Of the 82 cows, 75.6% eventually became pregnant after repeated inseminations (AI). The incidence of repeat breeding in this area was very high (62%). Days in milk (DIM) at first AI, first AI conception rate, and calving to conception interval were 62.5±19.3 days, 0%, and 202.8±150.0 days, respectively. There was no difference in DIM at first AI between repeat breeders and normal fertility cows (60.4±15.2 days vs 68.3±28.6 days). However, normal fertility cows required only 123.3±52.9 days to conceive and 2.4±0.8 inseminations per pregnancy, whereas repeat breeders required significantly more days to conceive (222.9±134.1 days) and more inseminations per pregnancy (4.8±0.9). In conclusion, repeat breeder dairy cows under tropical condition had very poor and reduced reproductive performance
Perancangan Bangunan Tradisional Sunda sebagai Pendekatan Kearifan Lokal, Ramah Lingkungan dan Hemat Energi
Permasalahan krisis lingkungan dan krisis energi (listrik, BBM) yang diiringi dengan semakin menyusutnya ruang terbuka hijau, pemborosan energi, pemborosan bahan bangunan , mendorong berbagai kalangan (arsitek,arsitek lanskap, desainer interior, produsen bahan bangunan, dan lain-lain) untuk berpikir ulang tentang paradigma membangun rumah berkelanjutan dan ramah lingkungan. Perwujudan desain bangunan tersebut sebenarnya sudah dilakukan sejak jaman dahulu, seperti mendirikan rumah panggung yang bertujuan supaya tidak lembab dan nyaman, perwujutanya adalah disebut dengan bangunan tradisional. Bangunan tradisional merupakan bangunan dibuat oleh masyarakat di daerah yang banyak menyimpan berbagai kelebihan, salah satu contohnya bangunan tradisional di Kampung Kranggan. Proses pembangunan dan teknik pembangunannya umumnya sederhana dan bahkan tidak terlalu memperhatikan aspek-aspek desain yang hemat energi. Tetapi didalam operasionalnya, bangunan ini justru lebih hemat dibandingkan dengan bangunan-bangunan modern yang dibangun diperkotaan dengan bantuan arsitek. Salah satu penyebab hal ini adalah adanya sistematisasi sistem bangunan tradisional, yang mencakup struktur, utilitas, interior, dan envelope-nya. Hal inilah yang dicoba diungkapkan ditulisan ini dengan dengan menguraikan keberadaan sistem perancangan bangunan tradisional melalui metode penelitian diskriptif dengan survey langsung dan membandingkan antara kampung tradisional di Jawa Barat, yaitu Kampung Bojong Koneng yang ada di Sentul, Bogor dengan Kampung Kranggan yang ada di Pondok Gede, Bekasi. Kampung Kranggan merupakan salah satu kampung tradisional sunda yang masih hidup diantara megapolitan Jabodetabek. Maka penelitian ini bertujuan untuk mewujudkan perancangan bangunan yang berkelanjutan dan ramah lingkungan hemat energi, yang berakar dari arsitektur tradisional. Sehingga nantinya permasalahan krisis lingkungan dan krisis energi bisa teratasi
Penilaian Lima Tugas Keluarga Pada Keluarga Dengan Anggota Keluarga Menderita TB Paru Di WIlayah Kerja BP-4 Magelang
Tuberculosis is one of the contagion diseases which is high of painfulness number and its death. The role of family is very needed to efficacy of medication of tuberculosis. The reason is that family represents the elementary system in sociaty where healthy behaviour and treatment of health is arraged. Moreover family takes charge of especial start and coordinates service given by the nurse as health professional.This research aims to investigate how family applies five family's duties in the field of health. This research utilises qualitative study with the approach of fenomenology. Data collecting method was an interview and observation. Participant of this research was the family who has one of the family member suffering from tuberculosis with positif BTA and lives in Magelang.The result of ressearch shows that family recognise tuberculosis after contact with health facility. Then, the decision is taken by family to find out the medication for the member. The family provide caring for the member such as giving the nutrition, preventing the infection. The low economic status influence providing the nutrition. Workload of the family also can affect in improving health environment. Health facility especially expence is the family choice in caring for member with tuberculosis
Implementasi Rencana Strategis Badan Pemberdayaan Masyarakat Dan Desa Dalam Upaya Pengembangan Badan USAha Milik Desa Di Kabupaten Kotawaringin Barat
The development of village-owned enterprises (BUMDes) currently is one of the flagship programs of the central government and became policy in an effort to build rural areas. In West Kotawaringin Regency, the implementation of the policy beyond the performance indicators that have been set in the strategic plan and the Village Community Empowerment Board (BPMD) of West Kotawaringin Regency, because 'BUM Desa development program' has not been specifically addressed in the strategic plan BPMD. The results of this study indicate that the implementation of a policy that goes well, the need for cooperation between the two parties, the parties implementing policies that can translate a policy to operations in the field, and the target group policy, demonstrated by their attitude in accepting a policy
Penerapan sistem informasi penatausahaan hasil hutan (SI-PUHH) online terhadap peredaran kayu Ilegal di Kalimantan Tengah
Perubahan kebijakan pengelolaan hutan dengan pengaplikasian sistem informasi penatausahaan hasil hutan (SI-PUHH) online diduga berdampak pada kasus – kasus penjualan atau pun peredaran kayu secara illegal. Penelitian ini bertujuan untuk mengkaji penerapan sistem SI-PUHH online terhadap peredaran kayu ilegal yang terjadi di Kalimantan Tengah dan perubahan kebijakan pemerintah dalam implementasi SI-PUHH online. Penelitian ini menggunakan metode deskriptif dengan teknik review data sekunder. Hasil penelitian menunjukkan bahwa penerapan sistem informasi penatausahaan hasil hutan (SI-PUHH) online masih belum mampu mengurangi kasus peredaran kayu ilegal yang terjadi meskipun karena masih terdapat kekurangan pada sistem yang mengakibatkan masih terjadinya kasus peredaran kayu ilegal. Perubahan kebijakan pemerintah dalam implementasi SI-PUHH online yaitu terjadi pada sistem akses yang dilakukan
Strategi Stabilisasi Kinerja Pasar Cengkeh Nasional / Stabilitation Strategy of National Clove Market Performance
Clove (Syzigium aromaticum L. Marr. and Perr.) is one of the main raw materials in the kretek cigarette industry. The development of the clove market performance experienced ups and downs in the last four decades. The demand for clove almost consistently grew, while the production fluctuate in the short term and tends to increased in the last ten years. This review is aimed to analyze the market performance stabilization strategy through the development of national program and supply management policies. The analytical framework used in developing the strategy are (1) the analysis of the situation, (2) analysis of strategies for achieving the desired situation, and (3) analysis of the policies needed to accelerate the realization of the situation. Clove market situation that occurs at this time shows nearly balanced, in which the demand for cigarette industry can almost be met from national production in the long term. Therefore, the strategies are to encourage national production by pushing plant productivity through intensification and rehabilitation of existing plants. Area extention will naturally happen if the situation of balance between demand and supply maintainedin the long term. Price fluctuations that occur because of their short-term fluctuations in the production of each year handled through supply chain management. Therefore technical policy, institutional and financial required to facilitate the access of farmers to acquire bank financing such schemes to harvest and post-harvest financing and implementation of warehouse receipt system to provide alternatives to farmers when the price fall
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