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All Journal Jurnal Asiimetrik: Jurnal Ilmiah Rekayasa Dan Inovasi Multidiciplinary Output Research for Actual and International Issue (Morfai Journal)
Suparno
Universitas Cenderawasih
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IOT-BASED MOBILE MANIPULATOR PROTOTYPE USING ESP 32 AND ESP 8266 Rosalina N Revassy; Suparno; Dwi Ramadhana
Multidiciplinary Output Research For Actual and International Issue (MORFAI) Vol. 5 No. 6 (2025): Multidiciplinary Output Research For Actual and International Issue
Publisher : RADJA PUBLIKA

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5281/zenodo.18722496

Abstract

This research focuses on the design and implementation of an Arduino-based mobile robot equipped with an ESP32 camera. The primary goal is to develop a mobile manipulator prototype that can be controlled remotely via a mobile or web application. This project also aims to identify the required electronic components, understand their integration with the ESP32 module, and evaluate the ESP32's advantages over the Arduino Uno. The method used is a development research approach, involving literature review on robotics, Arduino programming, and image processing with the ESP32-CAM and ESP8266. The research stages include system design, component selection, mechanical design, and electronic circuit design. Programming code development is carried out iteratively, starting with basic functions such as motor movement and image capture, to more complex functions such as simple object recognition. Testing of the mobile manipulator prototype demonstrates that the hardware and software developed are functional. The robot is capable of motion control, image transmission from the ESP32-CAM to a smartphone, and the ESP8266 can transport light objects. However, there are several challenges, such as overheating of the ESP32-CAM and ESP8266 modules, as well as potential malfunctions in the SG90 servo motor and DC gearbox motor.
Analysis of Voltage Drop and Power Loss Calculations inthe Edelweiss Feeder of PT PLN (Persero) Abepura Customer Service Unit Ekawati Margaretha Ohee; Dultudes Mangopo; Suparno; Oktavianus Kati; Rombe Allo; Semuel Boron Membala; Allo Sarira Pongsapan
Jurnal ASIIMETRIK Jurnal Ilmiah Rekayasa & Inovasi Volume 8 Number 2 (2026)
Publisher : Fakultas Teknik Universitas Pancasila

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35814/asiimetrik.v8i2.9965

Abstract

This study evaluates the performance of the 20 kV Edelweiss feeder by analysing transformer loading, voltage drop, and technical power losses in a radial distribution network. The analysis is based on a bus-by-bus electrical model derived from feeder topology, conductor impedance, load current, power factor, and segment length data. Voltage profiles and technical losses are quantified using established three-phase power flow relationships based on Ohm’s law and Kirchhoff’s current law, enabling the assessment of cumulative voltage drop and loss propagation along the feeder. The results show that the feeder maintains a highly stable voltage profile, with a total voltage drop of 41.422 V, equivalent to approximately 0.207% of the nominal 20 kV voltage. Total active and reactive power losses are 7.3103 kW and 4.7821 kVAR, respectively, with more than 96% of these losses concentrated in Bus 2 and Bus 3. The findings demonstrate that technical losses are governed primarily by current accumulation, electrical distance, and topological position within the radial network rather than by conductor length alone. This study contributes a feeder-level understanding of how upstream current aggregation shapes voltage-drop and loss distribution, providing empirical evidence for identifying critical segments in medium-voltage radial distribution systems .
Co-Authors Allo Sarira Pongsapan Dultudes Mangopo Dwi Ramadhana Ekawati Margaretha Ohee Oktavianus Kati Rombe Allo Rosalina N Revassy Semuel Boron Membala