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In this paper, a lab-scale reactor designed to simulate the operations of the North Water Saline Wastewater Treatment Plant (SWWTP) located in Delfzijl, The Netherlands, was constructed and assessed. Unlike conventional municipal wastewater treatment facilities, this industrial plant deals with wastewater containing stubborn chemicals that are difficult to break down, along with a high ratio of chemical oxygen demand (COD) to nitrogen and elevated sodium chloride levels. Furthermore, its treatment process diverges from standard industrial setups by employing an aerobic process preceding the anaerobic phase. The proposed lab-scale reactors were proven stable and effective in mimicking the conditions of the studied industrial SWWTP, particularly in the presence of abundant glycerol, a factor not explored in similar lab-scale models. Throughout the experiment, the removal of COD (specifically glycerol) and nitrogen were monitored, alongside changes in the microbial community within both reactors. The data enabled us to examine the proliferation of microbial populations within the sludge. The results indicated the complete removal of glycerol and ammonia from the system, with some residual nitrate detected in the effluent. The soluble COD decreased in the first reactor (R1) to approximately 50% of the influent and reduced further to less than 100 mg/L in the second reactor (R2), while nitrogen was majorly removed in the R1. By the experiment’s conclusion, Actinomycetales was identified as the dominant order in the anaerobic reactor (sometimes even exceeding 70% of the population), which is known for its utilization of glycerol as a carbon source and its tolerance to high salt concentrations in the influent. Conversely, the aerobic reactor was predominantly inhabited by the order Flavobacteriales, which correlates with ammonia concentration.

Kemajuan teknologi dibidang robotika membuat banyak kegiatan manusia yang dapat dilakukan secara otomatis oleh robot. Salah satu kegiatan yang dapat dilakukan oleh robot adalah proses pemotongan rumput menggunakan autonomous mobile robot yang mampu berperilaku secara mandiri. Penelitian ini bertujuan untuk merancang sebuah sistem navigasi robot pemotong rumput yang dapat melakukan tugasnya secara mandiri dalam memotong rumput. Sensor yang digunakan pada penelitian ini yaitu rotary encoder dan sensor ultrasonik. Pengujian sensor rotary encoder pada gerak lurus didapatkan tingkat keakkuratan dengan rata-rata error sebesar 4.07% , pada gerak rotasi ke kanan dengan rata-rata error sebesar 4.03% dan gerak rotasi ke kiri dengan error rata-rata 5.05%. Pengujian sensor ultrasonik dengan range jarak 5cm didapatkan tingkat keakuratan dengan error rata-rata sebesar 1.08%. Pengujian pemotongan rumput dilakukan dengan jumlah dan posisi halangan yang berbeda. Pada pengujian pertama dengan 1 halangan didapatkan tingkat akurasi dengan error terbesar sebesar 5 cm dan menyisakan rumput ±10%. Pengujian kedua dilakukan dengan dua halangan dan didapatkan tingkat akurasi dengan error terbesar sebesar 6 cm dan menyisakan rumput ± 20%. Pengujian ketiga dilakukan dengan dua halangan namun dengan posisi yang berbeda dari sebelumnya. Pada pengujian ketiga didapatkan tingkat akurasi dengan error terbesar sebesar 4 cm dan juga menyisakan rumput ±20%.

Telecommunications and robotics technology is being developed to assist and facilitate the work of a human. In the field of telecommunications particularly smartphone has reached the planting of operating systems like android until planting sensors such as an accelerometer, gyro, proximity, etc. We would like to take advantage of the accelerometer sensor on a smartphone as robot control. We will compare the use of Sugeno Fuzzy Logic and Mamdani Fuzzy Logic to determine the best control method. The basic components of the robot are the Bluetooth module HC-05 as a medium of communication with the android, arduino as the control system and actuators such as DC motors drive the rear wheels to adjust the speed of the robot, and servo motor drives the front wheels to adjust the degree of turn robot. In robot’s movement test, 4 of 8 trials or approximately 50% stated better Sugeno Fuzzy Logic than Mamdani Fuzzy Logic in terms of linearity. In robot's controller response test, for Sugeno Fuzzy Logic method the average delay is 0.41 seconds, and for Mamdani Fuzzy Logic method the average delay is 10.80 seconds.