Development of Path Planning Algorithm of Centipede Inspired Wheeled Robot in Presence of Static and Moving Obstacles Using ModifiedCritical-SnakeBug Algorithm

<p>Path planning for a movable robot in real life situation has been widely cultivated and become research interest for last few decades. Biomimetic robots have increased attraction for their capability to develop various kind of walking in order to navigate in different environment. To meet this requirement of natural insect locomotion has enabled the development of composite tiny robots. Almost all insect-scale legged robots take motivation from stiff-body hexapods; though, a different distinctive organism we find in nature is centipede, distinguished by its numerous legs and pliable body. This uniqueness is anticipated to present performance benefits to build robot of the said type in terms of swiftness, steadiness, toughness, and adaptation ability.</p>This paper proposes a local path planning algorithm of multiple rake centipede inspired robot namely ModifiedCritical-SnakeBug(MCSB) algorithm. Algorithm tries to avoid static and dynamic obstacle both. The results demonstrate the capability of the algorithm.

PERAN ORANGTUA DALAM MEMPERSIAPKAN REMAJA PUTRI MENGHADAPI MENARCHE DI KELURAHAN KADIREJO KECAMATAN KARANGANOM KABUPATEN KLATEN

ABSTRAK Remaja putri membutuhkan persiapan fisik atau mental dalam menghadapi menarche. Mereka membutuhkan informasi yang benar dan lengkap dari kedua orang tua tentang haid sangat banyak, sehingga mereka bisa mempersiapkan diri dalam menghadapi menarche dengan baik. Tujuan dari penelitian ini adalah untuk mendeskripsikan peran orang tua dalam mempersiapkan remaja putri dalam menghadapi menarche di Desa Kadirejo Kecamatan Karanganom Kabupaten Klaten. Penelitian ini merupakan penelitian kualitatif dengan menggunakan pendekatan fenomenologis. Populasi dalam penelitian ini adalah 90 orang tua yang memiliki remaja putri berusia 9-12 tahun yang belum pernah menstruasi di Desa Kadirejo Kecamatan Karanganom Kabupaten Klaten. Sampel purposive digunakan untuk mengambil sampel. Ada 5 sampel dalam penelitian ini. Data dikumpulkan dengan metode wawancara mendalam. Menstruasi adalah hasil darah dari vagina wanita yang selalu dialami mereka setiap bulan. Hal itu adalah perubahan normal yang terjadi pada remaja putri yang sedang menghadapi masa dewasa. Gejala menstruasi adalah kaku, nyeri payudara, keputihan, pusing, jerawat, dan juga perubahan mood. Faktor-faktor yang mempengaruhi kesiapan remaja putri dalam menghadapi menarche adalah usia, kesiapan mental, informasi, dan lingkungan. Hal yang harus dijelaskan kepada remaja putri berkaitan dengan menstruasi adalah tentang menstruasi, bagaimana melakukan kebersihan diri, terjadi perubahan, dan pola yang perlu dijaga setelah mengalami menstruasi. Peran orang tua dalam mempersiapkan remaja putri dalam menghadapi menarche adalah sebagai pendidik, teman, panutan, pengendali, dan pendukung mereka. Peran orang tua dalam mempersiapkan remaja putri dalam menghadapi menarche cukup baik. Orang tua telah memberikan informasi yang cukup tentang menstruasi kepada remaja putri mereka. Kata kunci: peran orang tua, kesiapan, menarche. ABSTRACT Female teenagers need either physical or mental preparation in facing menarche. They need the right and complete information from both parents about menstruation very much, so they can prepare themselves in facing menarche well. The purpose of this research was to describe parents’ roles in preparing female teenagers in facing menarche in Kadirejo Village Karanganom Sub-District Klaten. This research was a qualitative research using phenomenological approach. The population in this research were 90 parents having female teenagers of age 9-12 years old who had not had menstruation in Kadirejo Village Karanganom Sub-District Klaten. A purposive sampling was used to take the samples. There were 5 samples in this research. The data were collected by in-depth interview method. Menstruation was the outcome of blood from women’s vagina which was always experienced by them every month. It was a normal change which happened to female teenagers who were facing the adulthood. Menstruation symptoms were stiff body, breast pain, leucorrhoea, dizzy, pimples, and also mood changing. The factors affecting the female teenagers’ readiness in facing menarche were age, mental readiness, information, and environment. Things should be explained to female teenagers related to menstruation are about menstruation, how to do personal hygiene, changes happen, and patterns needed to be kept after getting menstruation. Parents’ roles in preparing female teenagers in facing menarche were as educator, friend, role model, controller, and supporter to them. Parents’ roles in preparing female teenagers in facing menarche were good enough. Parents had given enough information about menstruation to their female teenagers. Keywords: parents’ roles, readiness, menarche.