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Robotic arms have been used in various processes such as for moving goods, welding, assembling, and painting. In the case of welding and painting, it is necessary to move the end-effector robot accurately and smoothly to follow the specified trajectory. In robotic arm control, 2 things are important to be analyzed and implemented in controlling the motion of the robotic arm, namely inverse kinematic and trajectory planning. In this study, the inverse kinematic and trajectory planning algorithms are implemented to the robotic arm controller in the form of an Arduino Mega 2560 microcontroller. The inverse kinematic solution uses geometric and algebraic analytical methods. while the trajectory planning method is using LSPB (Linear Segment Parabolic Blend) Trajectory in Cartesian Space. Data retrieval is done by giving 2 input coordinates of the desired position and orientation, then the data in the form of the joint angle value will be measured using a rotary encoder as an angle sensor. Furthermore, the joint angle measurement value is converted in cartesian coordinates to get the end-effector position. Data analysis is done by comparing the data value of each joint angle with the calculated value so that the error value appears. The results showed that the inverse kinematic and trajectory planning algorithms were successfully applied to the 6-DOF robotic arm to perform straight-flat welding movements. Inverse kinematic testing on both input coordinates, the average error value for joints 2, 3, and 5 is 1.82º, 1.26º, and 2.08º. Meanwhile, the average error of the end-effector position at the x and z coordinates is 2.08 mm and 12.9 mm, respectively. Then for the trajectory planning test, the error value for the end-effector position in the x and z coordinates is 2.25 mm and 10.7 mm.

Indonesia to be the world's second-largest contributor of plastic waste in the oceans. Every resident in Indonesia can produce 0,52 kg/person/day of waste. Efforts to overcome the problem of waste by processing it into Pellets, which contain calories from 2,800 to 3,300 kcal/kg using the peuyeumisasi method, so that they can use for co-firing in PLTU. Trial for direct co-firing coal and RDF Pellet from Klungkung Bali, will be carry out on Circulating Fluidized Bed Combustion (CFBC) boiler. The goal of study to analyze the feasibility for co-firing with SWOT analysis. The SWOT analysis questionnaire was compiled based on internal and external factors, which was carried out through the study of literature and document. After the questionnaire was compiled, the questionnaire was given to respondents who collected 10 people, selected based on factors of relevance and understanding of the issues discussed. The results of the questionnaire show the main indicators, which are divided into 2 parts, internal factors consisting of strengths, weaknesses and external factors consisting of opportunities and threats. Then implemented in the SWOT matrix, to get the best strategy and whether the decision is feasible or not. The results is feasible to be implemented in the PLTU MSW, withinternal factor value of 3,03 or rounded to 3 (strong) and an external factor value of 2,6 or rounded to 3 (strong). Several strategies are designed to use the strength to take advantage of opportunities, reduce weaknesses and threats. ABSTRAKIndonesia berada pada peringkat ke dua di dunia penyumbang sampah plastik ke laut. Setiap penduduk di Indonesia dapat menghasilkan sampah sebanyak 0,52 kg/jiwa/hari. Upaya mengatasi permasalahan sampah dengan mengolahnya menjadi Pellet yang mengandung kalori 2800-3300 kcal/kg menggunakan metode peuyeumisasi, sehingga bisa dimanfaatkan PLTU untuk dicampur dengan batubara (co-firing). Uji coba direct co-firing batubara dan Pellet sampah dari Klungkung Bali akan dilakukan pada boiler tipe Circulating Fluidized Bed Combustion (CFBC). Penelitian ini bertujuan menganalisa kelayakan cofiring Pellet sampah dan batubara dengan pendekatan analisis SWOT. Kuesioner analisis SWOT disusun berdasarkan identifikasi faktor internal, dan eksternal yang dalam penelitian ini dilakukan melalui studi pustaka terhadap dokumen dan literatur terkait. Setelah kuesioner disusun, kuesioner diberikan kepada responden yang berjumlah 10 orang, dipilih berdasarkan faktor keterkaitan serta pemahaman terhadap masalah yang diteliti. Hasil kuesioner menunjukkan penilaian terhadap indikator-indikator utama, yang terbagi ke dalam 2 bagian, yaitu : faktor internal berupa strengths (kekuatan), weakness (kelemahan) serta faktor eksternal berupa opportunities (peluang) dan threats (ancaman). Kemudian diimplementasikan dalam matriks SWOT, untuk mendapatkan strategi terbaik serta keputusan layak atau tidaknya. Hasilnya adalah layak diimpelmentasikan pada PLTU MSW, dengan nilai fakot internal 3,03 atau atau dibulatkan menjadi 3 (kuat) dan nilai faktor e...

Liquid Lead-Bismuth Eutectic (LBE) has been proposed as one of the coolant for the Generation IV nuclear reactor. However, the oxygen should be controlled adequately to suppress the corrosion rate of the LBE. A device called oxygen sensor made of zirconia as solid electrolyte has been used to monitor the oxygen concentration online in order to control the oxygen concentration. The principle of this sensor is based on electrochemistry method where the difference oxygen activitiy between reference electrode (RE) and working electrode (in liquid LBE) can make potential difference. The potential difference is measured by electrometer and can be converted into oxygen concentration based on Nernst equation. Iron (Fe)/Magnetite (Fe3O4) was used as material for RE in this study. Measurement of oxygen concentration was conducted at 450 - 600°C for the static condition of LBE and around 390°C for the dynamic condition of flowing LBE. The oxygen concentration for both two experiment conditions were set in oxygen saturated condition of Pb-Bi. The oxygen sensor based on zirconia solid electrolyte with Fe/Fe3O4 as RE can measured the oxygen concentration in liquid LBE. The results showed that the measurement was agreed with the Nernst equation theoretical calculation.

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