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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) IAES International Journal of Robotics and Automation (IJRA) International Journal of Applied Power Engineering (IJAPE) Jurnal Sains dan Teknologi Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Jurnal Teknologi Informasi dan Ilmu Komputer ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika IJIET (International Journal of Indonesian Education and Teaching) Aktual : Jurnal Pengabdian Kepada Masyarakat Journal of Fuzzy Systems and Control (JFSC)

Fahmizal, Fahmizal

Universitas Gadjah Mada

Author-ID : 1115249

Automotive Engineering Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Environmental Science Public Health

Published : 21 Documents Claim Missing Document

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Kinematika dan Antarmuka Robot SCARA Serpent MAYUB, AFRIZAL; SYAHRONI, IVAN; FAHMIZAL, FAHMIZAL; ARROFIQ, MUHAMMAD
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 8, No 3: Published September 2020
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v8i3.561

ABSTRAKPenelitian ini menyajikan kendali pergerakan posisi dari robot SCARA SerpentÂ menggunakan persamaan kinematika dan antarmuka berbasis Processing IDE.Â Antarmuka bertujuan untuk memudahkan dalam pengendalian robot SCARAÂ Serpent dan mendapatkan data koordinat objek. Data ini digunakan sebagaiÂ masukan persamaan kinematika balik untuk menentukan besar sudut tiap joint.Â Untuk mendapatkan hasil pergerakan robot SCARA Serpent yang baik, kendaliÂ Proporsional, Integral, Differensial (PID) diterapkan dalam mengendalikan posisiÂ setiap joint-nya. Pada pengujian, robot SCARA Serpent diuiji dengan tigaÂ pengujian, yaitu pengujian sudut joint, pengujian koordinat end-effector, danÂ pengujian kendali PID. Dari hasil pengujian, sistem dapat berjalan dengan baik.Â Hasil parameter kendali PID diperoleh dengan tuning secara eksperimental denganÂ parameter Kp=5.5, Ki=0.001 dan Kd=10 untuk sudut joint shoulder pada robotÂ SCARA Serpent menuju error steady state bernilai nol.Kata kunci: SCARA Serpent, Kinematika, Antarmuka, Kendali PID.Â ABSTRACTThis paper presents position control of the SCARA Serpent robot using kinematicsÂ equations and Processing IDE-based interfaces. The interface aims to make itÂ easier in controlling the SCARA Serpent robot and to get object coordinate data.Â This data are used as input to the reverse kinematics equation to determine theÂ angle of each joint. To get good SCARA Serpent robot movement results,Â Proportional, Integral, Differential (PID) control is applied in controlling the positionÂ of each joint. In the testing, the SCARA Serpent robot is tested with three tests,Â namely joint angle testing, end- ffector coordinate testing, and PID control testing.Â From the test results, the system can run well. The results of the PID controlÂ parameters were obtained by experimental tuning with parameters Kp = 5.5, Ki =Â 0.001 and Kd = 10 for the joint shoulder angle of the SCARA Serpent robot towardsÂ zero steady state error.Keywords: SCARA Serpent, Kinematics, Interface, PID Controller.

Adaptive Fuzzy-PI for Induction Motor Speed Control Maghfiroh, Hari; Slamet Saputro , Joko; Fahmizal, Fahmizal; Ahmad Baballe , Muhammad
Journal of Fuzzy Systems and Control Vol. 1 No. 1 (2023): Vol. 1, No. 1, 2023
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v1i1.24

An induction motor (IM) is one type of AC motor which widely used. IM is chosen due to its simplicity, reliability, efficiency, and low cost. There are many methods proposed to control the speed of IM which is known as variable speed drive (VFD). In this study, the DTC method is used since it is more robust to the parameter’s changes. The combination of the Fuzzy and PI method is used in speed control. PID performances decrease when the system condition changes. Therefore, fuzzy is used as an adaptive algorithm to vary the PID gain. It was superior in terms of settling time, overshoot/ undershoot, and IAE compared to the PI method. It has lower IAE in both speed tracking and loaded conditions by 44.98% and 4.47%, respectively.

Solar cell-based garden light automation for environmentally friendly technology learning Mayub, Afrizal; Fahmizal, Fahmizal; Lazfihma, Lazfihma
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 16, No 3: September 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijpeds.v16.i3.pp1457-1471

This research aims to: 1) Produce a prototype design for a solar cell-based automatic garden lighting system; 2) Determine the relationship between current, power, and voltage and light intensity; 3) Describe the feasibility of an environmentally friendly technology practicum guidebook; and 4) Describe teacher and student responses to the environmentally friendly technology practice guidebook. This research is R&D type Analysis, Design, Development, Implementation and Evaluation (ADDIE) Analysis, design, development, implementation and evaluation. The research sample used 44 class IX students at MTS Rahmatullah. According to students, aspects of teaching materials, aspects of content, and difficulty of teaching materials at school are inadequate at 84.25%, 80% and 82.5%. Student interest in environmentally friendly technology practicum guidebooks was 84.25%. The higher the light intensity, the higher the current, power, and voltage. Expert validation shows; the prototype of an automatic garden lighting system based on solar cells and a practical guidebook on environmentally friendly technology are very suitable for use (89.14% and 90.75%). The use of environmentally friendly technology practicum guidebooks increased students' critical thinking skills in the high category (N-Gain = 0.7937) and received responses from teachers and students in the "almost all" category (91.50% and 89.9%).

OTOMATISASI PROSES PRODUKSI CAT BERBASIS SIMULATOR PLC TWIDO TWDLMDA20DTK Fahmizal, Fahmizal; Pratama, Donny Budi; Priyatmoko, Angga; Rahman, M Riza Fauzi
JST (Jurnal Sains dan Teknologi) Vol. 7 No. 1 (2018)
Publisher : Universitas Pendidikan Ganesha

Makalah ini bertujuan untuk mensimulasikan implementasi programmable logic controller (PLC) pada mesin otomatisasi produksi cat. Makalah ini pada dasarnya menyajikan proses otomatisasi produksi cat. Secara garis besar, terdapat tiga proses utama yaitu, proses produksi adonan cat, proses pengisian cat dalam kaleng kemasan, dan proses pengepakan kaleng cat ke dalam box. Pada makalah ini, simulasi sistem otomasi produksi cat menggunakan software Twido Suite TWDLMDA20DTK. Simulasi bertujuan untuk meminimalkan biaya operasi dan kesalahan sehingga dapat menghemat biaya dan waktu. Hasil yang diperoleh dari simulasi bahwa sistem telah berjalan berjalan dengan baik dan sesuai dengan seharusnya.

Logika Fuzzy pada Robot Inverted Pendulum Beroda Dua Fahmizal, Fahmizal; Setyawan, Galih; Arrofiq, Muhammad; Mayub, Afrizal
Jurnal Teknologi Informasi dan Ilmu Komputer Vol 4 No 4: Desember 2017
Publisher : Fakultas Ilmu Komputer, Universitas Brawijaya

AbstrakRobot inverted pendulum beroda dua (IPBD) merupakan sistem yang tidak stabil dan bersifat non-linear. Motor DC sebagai penggerak robot yang terletak pada masing-masing roda kiri dan kanan memberikan variabel gaya untuk mempertahankan kestabilan robot. Oleh karena itu diperlukan suatu kendali yang dapat menjaga keseimbangan dari robot. Makalah ini memaparkan kendali logika fuzzy dalam hal pengendali keseimbangan robot. Pada perancangan robot ini, penulis menggunakan senor inertia measurement unit (IMU) versi MPU 6050 sebagai sensor pendeteksi keseimbangan robot. Nilai setpoint sudut robot yang diberikan adalah sudut elevasi robot terhadap sumbu horizontal atau pada sumbu pitch. Selanjutnya, nilai keluaran sensor IMU dibandingkan dengan setpoint. Lebih lanjut, nilai kesalahan (error) dan nilai perubahan kesalahan (delta errror) yang dihasilkan akan digunakan sebagai masukan logika fuzzy. Hubungan relasi masukan fuzzy diselesaikan dengan aturan Mamdani. Keluaran dari logika fuzzy diselesaikan dengan perhitungan weight average (WA). Hasil keluaran logika fuzzy berupa nilai putaran motor kiri dan kanan yang dikendalikan dengan cara mengatur lebar pulsa sinyal pulse with modulation (PWM). Dari hasil pengujian diperoleh bahwa kendali logika fuzzy yang diaplikasikan pada robot IPBD dapat menjaga keseimbangan robot dengan osilasi pada sudut -2 hingga 2 derajat.Kata kunci: Logika Fuzzy, Inverted Pendulum, IMU AbstractInverted robot pendulum two (IPBD) is an unstable system that is naturally and non-linear. The DC motor as a robot drive located on each of the left and right wheels provides a force variable to maintain the robot's stability. Therefore we need a control that can maintain the balance of the robot. This paper presents fuzzy logic control in terms of robot balance control. In designing this robot, the author uses inertia measurement unit senator (IMU) MPU 6050 version as a robot balance detection sensor. The given set of corner robot values is the robot's elevation angle to the horizontal axis or on the pitch axis. Furthermore, the value of the IMU sensor output is compared with the setpoint. Furthermore, the error value and the resulting error change value (delta errror) will be used as fuzzy logic input. The relation of fuzzy input relation is solved with Mamdani rule. The output of fuzzy logic is solved by calculating the weight average (WA). The result of fuzzy logic output is left and right motor rotation controlled by adjusting pulse signal of pulse with modulation (PWM). The experiment results obtained that fuzzy logic control applied to the robot IPBD can maintain the robot balance by having oscillations at an angle of -2 to 2 degrees.Keywords: Fuzzy Logic, Inverted Pendulum, IMU

Rancang Bangun Sistem Penstabil Kamera (Gimbal) dengan Logika Fuzzy untuk Pengambilan Gambar Foto dan Video Fahmizal, Fahmizal; Dewantama, Georgius Yoga; Pratama, Donny Budi; Fathuddin, Fahmi; Winarsih, Winarsih
Jurnal Teknologi Informasi dan Ilmu Komputer Vol 5 No 3: Juni 2018
Publisher : Fakultas Ilmu Komputer, Universitas Brawijaya

Pada makalah ini memaparkan perancangan sistem penstabil kamera (gimbal) untuk mengurangi getaran maupun gerakan yang akan mengganggu kamera saat pengambilan gambar foto dan video. Sistem gimbal ini sangat penting digunakan dalam dunia fotografi dan videografi. Sistem gimbal yang dirancang pada penelitian ini adalah dengan tiga buah joint pergerakan yaitu roll, pitch, yaw (RPY). Sensor orientasi yang digunakan pada rancangan sistem gimbal ini menggunakan sensor inertia measurement unit (IMU) MPU 6050 dengan Kalman filter (KF) sebagai pengkondisi pembacaan sudut RPY. Untuk memperoleh hasil gambar yang baik pada sistem gimbal diperlukan suatu kendali, sehingga pada penelitian ini dikembangkan suatu kendali logika fuzzy yang diimplementasikan dalam sebuah mikrokontroller untuk menggerakan aktuator gimbal. Sistem aktuator pada rancangan gimbal menggunakan motorservo. Nilai setpoint sudut gimbal yang diberikan merupakan sudut elevasi gimbal terhadap tiga sumbu sudut RPY. Selanjutnya, nilai keluaran pembacaan sensor IMU dibandingkan dengan nilai setpoint pada masing-masing sumbu. Setelah itu, nilai kesalahan (error) dan nilai perubahan kesalahan (delta errror) yang didapat akan digunakan sebagai nilai masukan logika fuzzy. Terdapat tiga buah loop tertutup pada kendali logika fuzzy untuk masing-masing sudut RPY. Hubungan relasi masukan fuzzy diselesaikan menggunakan aturan Mamdani dan keluaran dari logika fuzzy diselesaikan dengan menggunakan metode weight average (WA). Dari hasil pengujian diketahui bahwa kendali logika fuzzy yang diimplementasikan pada sistem gimbal mampu mengurangi efek getaran sehingga diperoleh gambar yang baik dan tidak blur. Abstract This paper describes the design of the camera stabilizer system (gimbal) to reduce vibration or movement that will disturb the camera when take a picture and video. This gimbal system is very important used in the world of photography and videography. Gimbal system that designed in this research is gimbal with three joints movement that is roll, pitch, yaw (RPY). The orientation sensor that used in this gimbal system design uses an inertial measurement unit sensor (IMU) MPU 6050 with Kalman filter (KF) as RPY angle reading conditioner. To obtain a good image on the gimbal system required a control, so in this research developed a fuzzy logic control that is implemented in a microcontroller to drive gimbal’s actuators. The actuators system on gimbal design uses motorservo. The given setpoint value of the gimbal is the elevation angle of gimbal against the three RPY angle axes. Furthermore, the output value of the IMU sensor is compared with the setpoint of each axis. Moreover, the error value and the change of error value (delta errror) will be used as fuzzy logic input. There are three closed loops on the fuzzy logic control for each RPY angle. The relation of fuzzy input is solved with Mamdani rule and the output of fuzzy logic is solved with weight average (WA). From the test results obtained that fuzzy logic control applied to the gimbal system is able to reduce the effects of vibration so as to obtain a good image and not blur.

Kendali Logika Fuzzy pada Sistem Electronic Control Unit (ECU) Air Conditioner Mobil Fahmizal, Fahmizal; Orlando, Tommy Richard; Murti, Budi Bayu; Budiyanto, Maun; Mayub, Afrizal
Jurnal Teknologi Informasi dan Ilmu Komputer Vol 6 No 1: Februari 2019
Publisher : Fakultas Ilmu Komputer, Universitas Brawijaya

Makalah ini memaparkan perancangan kendali logika fuzzy pada sistem electronic control unit (ECU) air conditioner mobil. Salah satu kendala pada ECU mobil adalah kerusakan pada sistem air conditioner. Bila ini terjadi umumnya pengguna mobil mengganti sistem ECU secara keseluruhan. Namun pada makalah ini, penulis meracang sistem ECU yang secara khusus digunakan untuk sistem air conditioner mobil. Sistem yang dirancang menggunakan sensor DS18B20 waterproof untuk mendeteksi suhu evaporator mobil. Selanjutnya, nilai suhu tersebut digunakan sebagai masukan logika fuzzy yang terdiri dari pembacaan suhu sekarang dan suhu terakhir dalam mengatur kecepatan putar kipas motor DC atau fan exhausting dan waktu switching magnetic clutch compressor menyala. Hubungan relasi masukan fuzzy diselesaikan dengan aturan Mamdani dan keluaran dari logika fuzzy diselesaikan dengan metode weight average (WA). Dari hasil pengujian diperoleh bahwa kendali logika fuzzy yang diaplikasikan pada rancangan sistem air conditioner mampu mengendalikan kecepatan fan exhausting secara halus dan responsif.AbstractThis paper describes the design of fuzzy logic controls in the system of electronic control unit (ECU) of car air conditioner. One obstacle in the car ECU is damage to the air conditioner system. If this happens generally car users change the whole ECU system. But in this paper, the authors form the ECU system which is specifically used for car air conditioner systems. The system is designed using a DS18B20 waterproof sensor to detect the temperature of the car's evaporator. Furthermore, the temperature value is used as a fuzzy logic input consisting of reading the current temperature and the last temperature in adjusting the rotating speed of the DC motor fan or exhausting fan and when the switching magnetic clutch compressor is on. Completion of fuzzy input relations is solved using Mamdani rules and the output of fuzzy logic is solved using the weight average (WA) method. From the test results it was found that the fuzzy logic control applied to the design of the air conditioner system was able to control the speed of the exhausting fan in a smooth and responsive manner.

DEVELOPING MULTIPLE INTELLIGENCES THROUGH ICT-BASED E-LEARNING PROGRAM Mayub, Afrizal; Fahmizal, Fahmizal
IJIET (International Journal of Indonesian Education and Teaching) Vol 7, No 1 (2023): January 2023
Publisher : Sanata Dharma University Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24071/ijiet.v7i1.3117

This study aims to determine the development of nine types of intelligence (Multiple Intelligences) through an e-learning program implemented through a computer network and/or personal computer (PC) with CD ROM. This type of research includes quantitative descriptive research, which describes the function of e-learning programs as a means of growth and development of all types of intelligence. The research method is carried out by comparing the pedagogical way of developing multiple intelligences with the facilities owned by the e-learning program. The degree of conformity used a percentage (%), then processed using a Likert Scale. Based on theory and virtual experiments, as well as the opinions of 2 experts and 35 education practitioners as junior/high school teachers, it was found that the e-learning program functions to facilitate the development of intelligence in the "distributed" category with a score of 4 (scale 1-5). The results of this study will help teachers and lecturers reflect on face-to-face learning so that during the Covid-19 period learning can be transferred to a system that uses an e-learning program that can accommodate the growth and development of multiple intelligences supported by technological advances. Moreover, this system does not require a network and signal but can be accessed in the form of a CD-ROOM/Flash Disk. In the future, learning like this can be a priority to be implemented.

Path Planning for Mobile Robots on Dynamic Environmental Obstacles Using PSO Optimization Fahmizal, Fahmizal; Danarastri, Innes; Arrofiq, Muhammad; Maghfiroh, Hari; Probo Santoso, Henry; Anugrah, Pinto; Molla, Atinkut
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol. 10 No. 1 (2024): March
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/jiteki.v10i1.28513

The increasing integration of mobile robots in various industries necessitates efficient navigation strategies amidst dynamic environments. Path planning plays a crucial role in guiding mobile robots from their starting points to target destinations, contributing to automation and enhancing human-robot collaboration. This study focuses on devising a tailored path-planning approach for a fleet of mobile robots to navigate through dynamic obstacles and reach designated trajectories efficiently. Leveraging particle swarm optimization (PSO), our methodology optimizes the path while considering real-time environmental changes. We present a simulation-based implementation of the algorithm, where each robot maintains position, velocity, cost, and personal best information to converge towards the global optimal solution. Different obstacles consist of circles, squares, rectangles, and triangles with various colors and five handle-points used. Our findings demonstrate that PSO achieves a global best cost of 5.1017, indicative of the most efficient path, minimizing overall distance traveled.

Control and Navigation of Differential Drive Mobile Robot with PID and Hector SLAM: Simulation and Implementation Fahmizal, Fahmizal; Pratikno, Matthew Sebastian; Isnianto, Hidayat Nur; Mayub, Afrizal; Maghfiroh, Hari; Anugrah, Pinto
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol. 10 No. 3 (2024): September
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/jiteki.v10i3.29428

Navigation technology is essential in fields like transportation and logistics, where precise mapping and localization are critical. Simultaneous Localization and Mapping (SLAM) technologies, such as Hector SLAM, enable robots to map environments by detecting and predicting object locations using sensors like LiDAR. Unlike other SLAM methods, Hector SLAM operates without odometry, relying solely on LiDAR data to produce accurate maps. This study investigates the application of Hector SLAM in a differential drive mobile robot controlled via the Robot Operating System (ROS), with PID control managing the motor speeds. The research contribution is the integration of Hector SLAM with PID control to enhance mapping accuracy in environments without odometry data. The method involves testing the robot's mapping performance in an indoor environment, focusing on the impact of varying linear and angular velocities on the quality of the generated maps. The PID control was tuned to ensure stable speed values for the robot's differential drive motors. Results show that Hector SLAM, when combined with well-tuned PID control, generates highly accurate maps that closely match the actual environment dimensions, with minimal errors. Specifically, the mapping error was found to be within 0.10 meters, validating the effectiveness of this approach in non-odometric systems. In conclusion, the study demonstrates that Hector SLAM, supported by PID-controlled motor stability, is an effective solution for mapping in differential drive mobile robots, particularly in scenarios where odometry is unavailable.

Co-Authors ACENG RUYANI Ahmad Baballe , Muhammad Anugrah, Pinto BHAKTI KARYADI Budi Bayu Murti Budiyanto, Ma’un Danarastri, Innes Delima, Ega Marita Dewantama, Georgius Yoga Dewi , Deshinta Arrova Esa Apriaskar Fathuddin, Fahmi Galih Setyawan Henny Johan Hidayat Nur Isnianto Joko Slamet Saputro Lazfihma, Lazfihma M. Lutfi Firdaus, M. Lutfi Maghfiroh, Hari Maun Budiyanto, Maun Mayub, Afrizal Molla, Atinkut Muhammad Arrofiq NATHASYA, IOTA NUGROHO, LUKMAN SIDIQ Nursa’adah, Euis Orlando, Tommy Richard Pratama, Donny Budi PRATAMA, DONNY BUDI Pratikno, Matthew Sebastian Priyatmoko, Angga Priyatmoko, Angga Probo Santoso, Henry Rahman, M Riza Fauzi Rahman, M Riza Fauzi Rijalussalam, Dhiya Uddin Ronald Adrian, Ronald Sulistyawati, Nur SYAHRONI, IVAN Winarsih Winarsih

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