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Abstrak :
ABSTRAK
Sistem bilateral teleoperation 4 kanal dengan beda referensi gerak antara manipulator robot master dan manipulator robot slave membutuhkan sebuah metode transformasi untuk mengubah masing-masing referensi gerak kedua robot agar sesuai dengan tipe pengendali yang digunakan pada kedua robot. Robot master mempunyai referensi gerak berupa posisi koordinat ruang kartesian dari ujung lengan manipulatornya sedangkan robot slave mempunyai referensi gerak berupa kecepatan sudut untuk aktuator-aktuator pada manipulatornya. Pengendali pada robot master menggunakan task space control sedangkan pengendali pada robot slave menggunakan joint velocity space control. Untuk menciptakan sistem bilateral teleoperation 4 kanal diperlukan sebuah metode untuk mentransformasikan torsi dari masing – masing aktuator robot. Transformasi torsi diaplikasikan sebagai fungsi dari perpindahan ujung lengan manipulator untuk robot master dan sebagai fungsi dari perubahan sudut sendi pertama manipulator untuk robot slave. Pada skripsi ini metode transformasi referensi gerak yang dirancang menghasilkan perbedaan nilai terbesar antara referensi robot master dan referensi umpan balik robot slave sebesar 1,147 milimeter untuk gerak robot maju dan 0,859 milimeter untuk gerak robot mundur.

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ABSTRACT
A 4 channels bilateral teleoperation system with different input references for both master motion and slave motion need a method for transforming their input references. This transformation is needed in order to make these references suitable with controllers that is used by both robots. A position in Cartesian space that represent a position of their end effectors is used as a motion reference for master robot while angular velocity is used as motion reference for slave robot. These different input references will lead to the difference of controller types that are used by both robots. Master robot uses task space control while slave robot uses joint velocity space control. To make a 4 channels bilateral teleoperation system, a method for transforming torque from robot’s actuators is needed. Torque transformation is applied as a function of end effector displacement for master manipulators and is applied as a function of angular displacement of manipulator’s first link for slave manipulators. In this undergraduate thesis, a transformation method that is designed could produce a maximum of difference value among peer manipulators of both robots at about 1.147 millimeters for forward motion and about 0.859 millimeters for backward motion.

Abstrak :
The BER performance of trellis coded (TC) 8PSK with 2-branch selection (SC) and maximal ratio combining (MRC) diversities on mobile satellite communication system, which channel characterized by Nakagami fading channel is investigated. The special case of 2 branch SC and MRC diversities on independent and spatially correlated Nakagami fading are analyzed in detail, It is shown that the BER performance of TC 8PSK with diversity is better than that system without diversity, and the BER performance of system with diversity increases with increasing the Nakagami fading parameter m. Although the correlation between branches causes signal-to-noise ratio (SNR) loss relative to uncorrelated fading case for 2 branches SC and MRC diversities, the SC and MRC diversities can lead the diversity gain, that is, the improvement of BER performance of TC 8PSK with diversity is obtained over the TC 8PSK without diversity. In addition, the effect of antenna separation which causes cross correlation between the fading signals envelops on the performance of TC 8PSK with 2 branch SC and MRC diversities is also considered.