This paper presented a parallel robotic manipulator having combined DOF, i.e., one translational and two rotational DOF, called PRoM-120. PRoM-120 is constructed by using 2PRU/PRS kinematic chains (KCs) and arranged in an asymmetric configuration. The objective of the research is to determine the workspace and to evaluate the performance of PRoM-120 for three cases based on the numerical values of its kinematic constants. The workspace is calculated by applying the discretization method. The inverse kinematic solution, direct singularity, inverse singularity, and actuators limit are taken as the significant factor to determine the workspace. Meanwhile, the performance of PRoM-120 is evaluated by applying conditioning index and transmission based index. It shows the conditioning index cannot be used for PRoM-120, or parallel manipulator having combined DOF. Assessing the performance of PRoM-120 using transmission based index exposes only less than 20% of the workspace be in the good transmission workspace.
The national electrification ratio is only 72.95%. As many as 27.05% of the territory in Indonesia has not been reached by electricity with various obstacles, one of which is because of the remote location so that access is difficult. One of the efforts to overcome the electricity problem is to take advantage of the potential energy sources around people's residences. One potential that might be used is a water energy source with low head and discharge. Ideally, this is done by using a generator system that uses a propeller type turbine. The difficulty of making propeller turbines is especially in the manufacture of housings and turbine blades. In this research, an attempt is made to simplify the turbine housing and turbine blades so that they are easy to manufacture. The design is made for Head (H) : 5 m Water flow (Q) : 0.11 m3/s Viscosity (ρ) : 998 kg/m3 Gravity (g) : 9.81 m/s2 Assumed hydraulic efficiency (ηh) : 0 ,80 Power (P) : 4,37 kW, Angle of attack (180o-β∞) 16o, Glide angle 55o, Thickness of inner blade(λ) 2,16o, Thickness of outer blade(δ) 2o. Simplification of the turbine housing is carried out by making the turbine housing from pipe iron and the simplification of the turbine blade is carried out by making turbine blades by eliminating the aerodynamic cross section of the blades, so that the blades can be made of steel plates without casting as is treated in aerodynamic sections. To see the effect of aerodynamic and non-aerodynamic cross-sectional shapes on efficiency, an efficiency test will be carried out.
The World of Education is so dynamic especially its development from year to year. This is coupled with the continuous development of technology, the exchange of information needs each other primarily in its participation to advance intellectual competitiveness in academia. Taking education in other countries is one of the efforts to develop desired knowledge and needed. Obtaining education in other countries is certainly not easy, there are various kinds of differences in ways of communicating and cultural differences in the countries they visit from their countries of origin. This study aims to determine the cross-cultural communication of Thailand's students at the Universitas Muhammadiyah Sidoarja. This research is a qualitative descriptive study. The technique of determining informants using purposive sampling technique, the number of informants in this study amounted to 5 informants. Data collection techniques through interviews, observation and documentation. The results of this study indicate that the cross-cultural communication of Thailand students at the Muhammadiyah Sidoarjo University has been effective. Thailand students who have not recently lived in Indonesia sometimes find it difficult to learn Indonesian. The informants have good competence in adjusting when communicating with people of different cultures.
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