<p><em>Legged robots have attracted the attention of researchers because of their superior adaptation to complex environments compared to wheeled robots. Legged robots are divided into 2 (two) legged Humanoid robots, 4 (four) legged robots, 6 (six) legged robots, and other robots with more legs. Legged robots are robots that can be more adaptable to the terrain compared to wheeled robots in the case of their use in land exploration activities. Although functionally legged robots are more superior, legged robots have their own problems, namely motion control which is more complicated than wheeled robots, therefore the right method is needed to be implemented on the robot.. In this research discusses a 4 (four) legged robot designed in order to move using the inverse kinematic equation on the legs and the body of the robot which is integrated with the MPU6050 gyroscope sensor based on the Hybrid Fuzzy-PID control system. The purpose of this research is to develop a Fuzzy-PID control system that stabilizes the setpoint position in the 4 (four) legged Robot movement system. Fuzzy PID is a combination of PID control and fuzzy logic, where PID control is used to stabilize the system and fuzzy logic is used to improve the system performance. In this research, the Fuzzy-PID control system is developed using the Mamdani (Min-Max) method. The system is later tested by observing the robot's movement response to changes in the gyroscope sensor values. The results obtained were able to get an average output error up to 0.173333% during the response test to the pitch axis of -15°, but in several tests also get the response results that have a considerable error rate is up to 27.31% during the response test to the roll axis of -5°. From the test results of hybrid Fuzzy-PID control, it is obtained that the robot is able to make movements or responses to its stable point by giving reference to the x (roll), y (pitch) and z (yaw) axes where it can be analyzed that the response to the x (roll) and y (pitch) axes will affect the angle of the tibia and femur servo joints, while the response to the z (yaw) axis will affect the angle of the coxa joint servo.</em></p><p> </p><p class="IndexTerms"><strong>Keywords</strong>: IMUs (Inertial Measurement Units), Gyroscope, Inverse Kinematics, Hybrid Fuzzy-PID.</p><p class="IndexTerms"> </p><p class="Abstract" align="center"><strong><span lang="EN-ID">ABSTRAK </span></strong></p><p class="Abstract"><span lang="IN">Robot berkaki telah menarik perhatian para peneliti karena adaptasinya unggul terhadap lingkungan yang kompleks dibanding robot beroda. Robot berkaki dibagi menjadi robot </span><span lang="IN">Humanoid</span><span lang="IN"> berkaki 2(dua), robot berkaki 4(empat), robot berkaki 6(enam), dan lainnya yang berkaki lebih banyak.</span><span lang="EN-ID">Robot berkaki adalah robot yang lebih adaptif terhadap medan tempuh dibandingka robot beroda dalam kasus penggunaannya pada kegiatan eksplorasi daratan. Walaupun secara fungsional robot berkaki lebih unggul, robot berkaki memiliki permasalahan sendiri, yaitu kontrol gerak yang lebih kompleks dibanding robot beroda, maka dari itu dibutuhkan metode yang tepat untuk diterapkan pada robot. Pada penelitian ini membahas tentang robot berkaki 4(empat) yang dirancang untuk dapat bergerak dengan menggunakan persamaan inverse kinematic pada kaki maupun badan robot yang diintegrasikan dengan sensor </span><span lang="EN-ID">gyroscope</span><span lang="EN-ID"> MPU6050 berbasis sistem kendali </span><span lang="EN-ID">Hybrid Fuzzy-PID</span><span lang="EN-ID">.Tujuan dari penelitian ini adalah mengembangkan sistem kontrol Fuzzy-PID untuk menstabilkan posisi setpoint pada sistem pergerakan Robot berkaki 4(empat). Fuzzy PID adalah gabungan dari kontrol PID dan logika fuzzy, dimana kontrol PID digunakan untuk menstabilkan sistem dan logika fuzzy digunakan untuk memperbaiki performa sistem. Pada penelitian ini sistem kontrol Fuzzy-PID dikembangkan dengan menggunakan metode Mamdani (Min-Max). Sistem ini kemudian diuji dengan mengamati respon pergerakan robot terhadap perubahan nilai sensor </span><span lang="EN-ID">gyroscope</span><span lang="EN-ID">. Dimana diperoleh hasil mampu memperoleh rata-rata kesalahan hasil keluarannya sampai dengan 0.173333% pada saat pengujian respon terhadap sumbu pitch -15</span><span lang="IN">°</span><span lang="EN-ID">, namun dibeberapa pengujian juga mendapa tkan hasil respon yang memiliki tingkat kesalahan yang cukup besar sampai dengan 27.31% pada saat pengujian respon terhadap sumbu roll -5°</span><span>. </span><span lang="EN-ID">Dari hasil pengujian kendali </span><span lang="EN-ID">hybrid Fuzzy-PID</span><span lang="EN-ID"> diperoleh hasil robot mampu melakukan pergerakan atau respon untuk menuju titik stabilnya dengan pemberian acuan terhadap sumbu x(roll), y(pitch) dan z(yaw) dimana dapat dianalisa bahwa respon terhadap sumbu x(roll) dan y(pitch) akan mempengaruhi sudut servo sendi tibia dan femur, sedangkan respon terhadap sumbu z(yaw) akan mempengaruhi sudut servo sendi coxa.</span></p>

<pre><em>Gout is the final metabolite of purines. Purines are part of the nucleic acids found in the nuclei of body cells. Increased gout can cause rheumatic pain in the joint area and is often associated with extreme pain for those exposed to the disease. Doctors need to monitor so that they can assist patients in monitoring and treatment. Gout detection devices are only available in hospitals, clinics, health centers, laboratories, and equipment that was previously portable but could not be controlled directly by a doctor. The purpose of this study is to help make it easier for doctors to monitor patients with gout remotely or telemedicine via the internet. The research method uses blood to determine gout levels using the Internet of Things. Data acquisition is carried out with a resistance sensor (Authocheck) which is processed by the Arduino microcontroller. The processed data is then sent to the ESP8266 web server via WiFi. The use of the Internet of Things as a data transmission method for online use does not require human-to-human interaction. The sensor resistance value in the analog range obtained is 441.03 to 782.32 with a sensor voltage of 1.91 to 3.82 volts. The measured gout level is between 4 mg/dL and 8 mg/dL. The percentage of measured data with an average accuracy of 95.74% and an average error rate of 4.26% for the seven test data. Data is displayed directly on the device's LCD screen and on a web server that sends data from the ESP8266.</em><em></em></pre><pre><em> </em></pre><p><strong><em>Keywords:</em></strong><strong><em> </em></strong><em>gout</em><em>, Internet of Thing</em><em>s</em><em>, resistance</em><em> sensor</em><em> (</em><em>A</em><em>utocheck</em><em>), telemedicine,</em><em> </em><em>web server</em></p><p><em> </em></p><p align="center"><strong>ABSTRAK</strong></p><p>Asam urat merupakan metabolit akhir dari purin. Purin adalah bagian dari asam nukleat yang ditemukan dalam inti sel tubuh. Asam urat yang meningkat dapat menyebabkan nyeri rematik di area persendian dan sering dikaitkan dengan rasa sakit yang luar biasa bagi yang terpapar penyakit. Dokter perlu memantau agar dapat membantu pasien dalam pemantauan dan pengobatan. Alat pendeteksi asam urat hanya terdapat di rumah sakit, klinik, puskesmas, laboratorium dan alat-alat yang sebelumnya <em>portable</em> namun tidak dapat dikontrol langsung oleh dokter. Tujuan dari penelitian ini membantu memudahkan dokter untuk memantau pasien dengan penyakit asam urat secara jarak jauh atau <em>telemedicine</em> melalui internet. Metode penelitian menggunakan darah untuk menentukan kadar asam urat menggunakan <em>Internet of Things</em>. Akuisisi data dilakukan dengan sensor resistansi (<em>Authocheck</em>) yang diproses oleh mikrokontroler Arduino. Data yang telah diproses kemudian dikirim ke web server ESP8266 melalui  WiFi. Penggunaan <em>Internet of Things</em> sebagai metode transmisi data untuk penggunaan secara <em>online</em> tidak memerlukan interaksi manusia ke  manusia. Nilai  resistansi sensor pada rentang analog yang diperoleh adalah 441,03 hingga 782,32 dengan tegangan sensor 1,91 hingga 3,82 volt. Kadar asam urat yang diukur adalah antara 4 mg/dL dan 8 mg/dL. Persentase data terukur dengan akurasi rata-rata 95,74% dan rata-rata tingkat kesalahan  4,26% untuk tujuh data uji. Data ditampilkan langsung di layar LCD perangkat dan di <em>web server</em> yang mengirimkan data dari ESP8266.</p>

Setiap rumah diharapkan mampu membangkitkan energi alternatif yang dapat dapat digunakan untuk melayani beban sehari-hari. Salah satu cara yang dapat diterapkan adalah setiap rumah memasang Solar Home System (SHS). Instalasi dan perancangan SHS perlu dikenalkan kepada masyarakat umum salahsatunya guru agar memiliki pengetahuan tentang Pembangkit Listrik Tenaga Surya  (PLTS). Masyarakat perlu diberi pelatihan bagaimana cara merancang dan menginstalasi SHS di rumah masing-masing. Pelatihan ini akan diberikan kepada Guru SDIT MTA Semanggi sesuai permintaan dari kepala sekolah.Permasalahan yang dihadapi mitra adalah kurangnya pengetahuan Masyarakat terutama Guru SDIT MTA Semanggi tentang (1) Bagaimana proses konversi energi dari energi matahari menjadi energi listrik, (2) Bagaimana energi matahari tersebut bisa dimanfaatkan untuk rumah tangga atau SHS, (3)Bagaimana cara merakit atau menginstal peralatan supaya terbentuk SHS. Solusi yang ditawarkan untuk menyelesaikan permasalahan mitra adalah memberikan pelatihan kepada Guru SDIT MTA Semanggi tentang bagaimana melakukan instalasi SHS PLTS sebagai sumber energi alternatif skala rumah tangga. Pelatihan dilaksanakan dengan waktu selama 3 jam pada Hari Selasa, 12 Oktober 2021Pelatihan diikuti oleh 13 Guru SDIT MTA Semanggi.  Hasil pelaksanaan pengabdian terlihat dari hasil pre test dan post test.  Hasil pretest menunjukkan bahwa dari 13 SDIT MTA Semanggi yang diberikan tidak ada yang mendapatkan nilai 100. Setelah dilakukan pelatihan, rata-rata menjawab benar sebanyak 10 Guru. Hal ini menunjukkan bahwa pemahaman Guru mengalami peningkatan sebanyak 90%, sehingga dapat diartikan setelah dilakukan pelatihan banyak Guru yang paham tentang SHS PLTS.              K

A good and feasible centrifuge is needed in the world of health, therefore a digital tachometer is needed to calibrate a centrifuge. Digital tachometer is a measuring instrument used to measure the rotation speed of a motor. This tachometer will be tested to function by being compared to using Digital Laser Photo Tachometer. This tachometer will display the number of rotations per minute of a motor according to the speed setting on the centrifuge using the output of this E18-D80NK sensor which will later be processed by the Arduino Nano. As for this feature charger and data storage mode, so that user can save the data of measurement results on SD Card, and beside that user can also be a way of charging when after usage or before usage. At testing the tool used point settings 1000, 2000, 3000, 4000, 5000, and 12000 RPM. Based on the measurement results of centrifuge using tachometer module and comparison tachometer have average percentage of error varying at each setting point. The smallest error 0.8% at the setting Point 3000 RPM, while the largest error 4.9% at the setting point 1000 RPM. The Tacometer error value on this Centrifuge measurement is still within the tolerance limit of ± 10%

<p>An incubator is a place designed to maintain a certain temperature condition. Incubators are often found in hospitals and farms. In hospitals, the Incubator functions to warm newborns, or premature babies. On farms, this incubator is usually used for egg hatchers and as a place for newly hatched chicks. Incubators are usually in the form of a room or box (box) of a certain size. In this research will be designed a prototype to modify the infant incubator by adding sensors to regulate the temperature and control using a Arduino microcontroller. This incubator has a measurement system and temperature regulation using LM35 sensors, heaters and fans as actuators that can cool the incubator room with Arduino as controlling. Temperature setting will be monitored by LABVIEW. In the Arduino system a program can be set up that can adjust the temperature . The temperature required by the premature baby, so that it can maintain the stability of the temperature. If the temperature in the incubator is smaller than the temperature setting, the heater will turn on and the fan speed will decrease to increase the temperature according to the settings entered. If the temperature in the incubator is greater than the temperature setting entered, the heater will turn off. The results showed that the linear regression value between the temperature values with the ADC value of y = 0.4883x with a determination coefficient of 1, while the linear regression value between the temperature with a voltage value of y = 99.481x with a coefficient of 0.9984.<br />Keywords: Infant Incubator, temperature sensor, LM35.</p>

<p><strong>D</strong>esign of Smart Home Automatic Control with Communications Via Bluetooth HC-05-Based Microcontroller Arduino and Android, will provide all the comfort, safety, security and energy savings, which takes place automatically and programmed via microcontroller, the house or building. Design of Smart Home Automatic with Control Communications Via Bluetooth HC-05-Based Microcontroller Arduino and Android is intended for automatic control processes.</p><p>The system consists of seven sensors, keypad password for security doors, HC-05 Bluetooth GSM alarm application and device control applications aktuaktor, and aktuaktor buzzer, dc motors, lights, fans and fan dc exhausting. Among these sensors is a PIR sensor to detect theft, sensor MQ6 to detect leakage of LPG gas and smoke from fires, sensor HC-SR04 ultrasonic for automatic garage doors, fire sensors to detect a fire, the sensor LM35 to detect the temperature of the room, when the room temperature is hot the fan will be on automatically, when the cold room temperature will shut off the fan and LDR sensor to detect the intensity of light during the day which turn the lights off automatically and vice versa, thus saving energy. Homeowners can also control lights and monitoring sensors with android phones that are connected with communication via Bluetooth HC-05 microcontroller arduino, and can receive GSM alarm application sensors such as calling and sms.</p><p>Test results are used UART communication data transmission between the microcontroller serial monitor monitor has an error of 0 % . HC - 05 Bluetooth can accept orders at the farthest distance of 11 meters . The fire sensor can work well when the fire was 1-10 cm . Sensor HC - SR04 is already working with an error rate of 0.3 %, so the accuracy of this tool by 100 % - 0.3 % = 99.7 % .</p><p><strong>Keywords :</strong> Security Door , Bluetooth HC - 05 , Microcontroller Arduino and Android , Application Control and Application GSM alarm.</p>