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NO and CO. In WSN, node system is constrained to a limited power supply, so that the node system has a lifetime. To doing lifetime maximization, power management scheme is required and sensor nodes should use energy efficiently. This paper proposes dynamic sleep scheduling using Time Category-Fuzzy Logic (TimeFuzzy) Scheduling as a reference for calculating time interval for sleep and activated node system to support power management scheme. This research contributed in power management design to be applied to the WSN system to reduce energy expenditure. From the test result in real hardware node system, it can be seen that Time-Fuzzy Scheduling is better in terms of using the battery and it is better in terms of energy consumption too because it is more efficient 51.85% when it is compared with Fuzzy Scheduling, it is more efficient 68.81% when it is compared with Standard Scheduling and it is more efficient 85.03% when compared with No Scheduling.

This paper presents algorithm ingenerating trajectory for sealant process using captured image. Cartesian robot as autosealant in manufacturing process has increased productivity, reduces human error and saves time. But, different sealant path in many engine models means not only different trajectory but also different program. Therefore robot with detection ability to generate its own trajectory is needed. This paper describes best lighting technique in capturing image and applies edge detection in trajectory generation as the solution. The algorithm comprises image capturing, Canny edge detection, integral projection in localizing outer most edge, scanning coordinates, and generating vector direction codes. The experiment results show that the best technique is diffuse lighting at 10 Cd. The developed method gives connected point to point trajectory which forms seala nt path with a point to next point distance is equal to 90° motor rotation. Directional movement for point to point trajectory is controlled by generated codes which are ready to be sent by serial communication to robot controller as instruction for motor s which actuate axes X and Y directions.

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