Agricultural and agro-industrial wastes, which are mostly in the form of lignocelluloses, basically have no economic value may be even be considered of negative value because they still need further treatment. Lignocelluloses consist of hemicelluloses, celluloses, and lignin. Celluloses are the biggest component and can be transformed into energy sources, paper, single-cell protein, glucose, and sorbitol (Putarau 1969; Coral et al. 2002). One of the goals in biotechnological development is to open the way to utilize microbes in waste bioconversion. Microbe used to treat cellulose-containing wastes could produce extra-cellular enzymes that were able to degrade cellulose material into their smaller components (Bedford and Partridge 2001). The potency of utilizing cellulase is varied. However, there are some constraints in producing it such as the unavailability of superior microbial strains and a lack of knowledge in enzyme production technology. On the other hand, experts from developed countries acknowledge that countries rich in biodiversity, including Indonesia, are a potential source of microbes for bioprocessing (Fox 1994). Cellulase is usually produced by bacteria and fungi. At present, fungi are usually needed in producing cellulase and for the bioconversion process to improve animal feed quality, but there is a constraint arising from the increase of crude fiber content due to the presence of hyphae which is counted as crude fiber (Coral et al. 2002). One of the alternatives is using forest litter decomposer bacteria i.e. Bacillus spp. Bacillus spp. have the biggest number of bacteria, can be found in almost every location, and when chemically tested, they were the most active out of seven genera of bacteria (Jusfah et al. 1995; Yusuf 2000). Litter is organic material residue from dead plants that can be found on the earth's surface or buried in its soil minerals. The speed of the litter decaying process by decomposer

This paper presents the design, implementation and validation of real-time visual servoing tracking control for a ball and plate system. The position of the ball is measured with a machine vision system. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA) device to meet realtime constraints. A detailed dynamic model of the system is derived for the simulation study.By neglecting the high-order coupling terms, the ball and plate system model is simplified into two decoupled ball and beam systems, and an approximate inputoutput feedback linearization approach is then used to design the controller for trajectory tracking. The designed control law is implemented on a digital signal processor (DSP). The validity of the performance of the developed control system is investigated through simulation and experimental studies. Experimental results show that the designed system functions well with reasonable agreement with simulations.

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Penelitian ini bertujuan untuk mengurangi kandungan garam dan meningkatkan kandungan nutrisi rumput laut Turbinaria murayana yang direndam dalam aliran air sungai sebelum digunakan sebagai bahan pakan ternak unggas. Materi yang digunakan yaitu rumput laut jenis Turbinaria murayana yang diambil dari Pantai Sungai Nipah Kabupaten Pesisir Selatan secara acak pada 5 lokasi yang berbeda, kemudian dikomposit sebagai sampel penelitian. Penelitian menggunakan Rancangan Acak Lengkap (RAL) dengan 5 perlakuan, masing-masing perlakuan diulang 5 kali. Perlakuan berupa lama perendaman dalam aliran air sungai yaitu 0, 1, 3, 5, dan 7 jam. Hasil penelitian menunjukkan bahwa perendaman rumput laut Turbinaria murayana dalam aliran air sungai berpengaruh sangat nyata (P≤0,01) terhadap kadar garam, serat kasar, protein kasar, dan bahan kering. Penurunan kadar garam terbaik terdapat pada perlakuan perendaman selama 3 jam dengan penurunan kadar garam dari 14,4% menjadi 0,76% dan mengandung 13,75% serat kasar, 6,36% protein kasar, serta 17,5% bahan kering.