ABSTRAKRobot berkaki enam (hexapod) memiliki kelebihan dibanding robot beroda dalam hal kemampuannya melewati daerah tidak rata. Pada penelitian ini, mobilitas pergerakan hexapod akan diuji untuk mengetahui performanya dalam melewati balok dan tangga. Supaya dapat bereaksi dengan cepat, maka arsitektur behavior based akan digunakan pada hexapod. Aplikasi navigasi otonom dipilih untuk menunjukkan bahwa arsitektur tersebut berjalan dengan baik. Dari hasil simulasi nampak bahwa behavior based hexapod robot memiliki mobilitas yang baik (mampu melewati halangan setinggi maksimal 10 cm) dan dapat menyelesaikan tugasnya untuk menghindari halangan dan menemukan sumber cahaya.
Kata kunci: mobilitas, hexapod robot, behavior based architecture, sistem navigasi otonom
ABSTRACTSix legged robot (hexapod) has advantage over wheeled robot in its capability to walk over rough terrain. In this paper, hexapod mobility will be tested in order to measure its performance in walk through beam and stair. Behavior based architecture will be used in hexpod, so it can react quickly. Autonomous navigation application has been chosen here in order to prove that the architecture is running well. From simulation result, it can be seen that behavior based hexapod robot has good mobility (it can walk through obstacle that has 10 cm height) and it can accomplish its task to avoid the obstacles and find the light source.
Keywords: mobility, hexapod robot, behavior based architecture, autonomous navigation system
PENDAHULUANRobot beroda merupakan jenis robot yang banyak digunakan dalam berbagai aplikasi karena kecepatannya dalam melintasi bidang yang rata, dan kemudahan dalam desain dan implementasi. Namun dalam dunia nyata sering terdapat kondisi bidang tidak rata, sehingga digunakan robot berkaki. Keuntungan robot ini ialah mampu bergerak di daerah yang halus ataupun kasar, memanjat tangga, menghindar, dan melangkah di atas halangan [1].
Introduction: The Mallampati score and thyromental distance (TMD) are frequently used to identify challenging laryngoscopies, but their reliability in predicting difficulty is uncertain. This study aims to assess the effectiveness of using the ratio of height to thyromental distance (RHTMD) in predicting difficult visualization of the larynx (DVL) when compared to the Mallampati score and TMD.Method: To achieve this goal, 277 patients who received general anesthesia during elective surgery were evaluated using the Mallampati score, TMD, and RHTMD. The Cormack and Lehane (CL) classification was used to grade the laryngeal view, with CL grade 3 and 4 indicating difficult visualization. The study then determined and compared the area under the curve (AUC), sensitivity, and specificity for each airway predictor.Results: The AUC of RHTMD (85.5%) was better than TMD (82.7%) and significantly better than the Mallampati score (61.4%).Conclusion: RHTMD is more accurate in predicting difficult laryngoscopy than both the Mallampati score and TMD.
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