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All Journal Abdimas Emerging Science Journal Buletin Ilmiah Sarjana Teknik Elektro Journal of Robotics and Control (JRC) INTEGRITAS : Jurnal Pengabdian International Journal of Robotics and Control Systems Electrician : Jurnal Rekayasa dan Teknologi Elektro Journal of Fuzzy Systems and Control (JFSC)
Maghfiroh, Hari
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Aerospace Engineering Agriculture, Biological Sciences & Forestry Arts Humanities Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Law, Crime, Criminology & Criminal Justice Mechanical Engineering Social Sciences

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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

Abstract

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.
Hydraulic Power System Control using State Feedback Controller (SFC) Fahmizal; Trio Putra, Jimmy; Fatimawardhani, Sekar; Maghfiroh, Hari
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.v1i1.30

Abstract

In an electrical network, generators work and provide power to the loads. When the load on the generator increases, the speed of the generator decreases then resulting in a reduction in the frequency of the network. This paper was designed within the state feedback controller (SFC) to improve the hydraulic power system performance. The performance of the proposed controller is compared with simple feedback controller (FC) in the simulation environment. The load variation was tested which is 5%, 10%, and 20% variation. The testing results show that in terms of steady state error (SSE) and overshoot, the SFC is superior. In terms of settling time, the FC method is faster. Since it quickly reaches steady event not getting into set-point. The overall, it can be concluded that SFC can give better performance than FC in the frequency control of a hydraulic power system.
Rotary Inverted Pendulum Control with Pole Placement Fahmizal; Geonoky; Maghfiroh, Hari
Journal of Fuzzy Systems and Control Vol. 1 No. 3 (2023): Vol. 1, No. 3, 2023
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v1i3.152

Abstract

The inverted pendulums are multivariable and highly unstable dynamic systems. The inverted pendulum has been used to answer many modern control and control system designs because it has several problems relating to the system model of nonlinearity, difficulty, and inactivity. In this research, the main topic is the rotatory inverted pendulum. Circular path to eliminate the path that is on the pendulum that is traversed by the transversal path. In this paper, the Inverted Rotatory Pendulum is analyzed by state feedback which is adjusted by pole placement. The result of design selection in the system is very important to pay attention to the area where the pendulum will reach the point of agreement.
Discount Factor Parametrization for Deep Reinforcement Learning for Inverted Pendulum Swing-up Control Surriani, Atikah; Maghfiroh, Hari; Wahyunggoro, Oyas; Cahyadi, Adha Imam; Fajrin, Hanifah Rahmi
Buletin Ilmiah Sarjana Teknik Elektro Vol. 7 No. 1 (2025): March
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v7i1.10268

Abstract

This study explores the application of deep reinforcement learning (DRL) to solve the control problem of a single swing-up inverted pendulum. The primary focus is on investigating the impact of discount factor parameterization within the DRL framework. Specifically, the Deep Deterministic Policy Gradient (DDPG) algorithm is employed due to its effectiveness in handling continuous action spaces. A range of discount factor values is tested to evaluate their influence on training performance and stability. The results indicate that a discount factor of 0.99 yields the best overall performance, enabling the DDPG agent to successfully learn a stable swing-up strategy and maximize cumulative rewards. These findings highlight the critical role of the discount factor in DRL-based control systems and offer insights for optimizing learning performance in similar nonlinear control problems.
Induction Motor Speed Control Using PID Tuned by Particle Swarm Optimization Under Vector Control Maghfiroh, Hari; Sulistyo, Meiyanto Eko; Ma’arif, Alfian; Raharja, Nia Maharani; Suwarno, Iswanto; Wati, Dwi Ana Ratna; Baballe, Muhammad Ahmad
Buletin Ilmiah Sarjana Teknik Elektro Vol. 7 No. 2 (2025): June
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v7i2.13112

Abstract

Induction motors (IMs) are widely used in industrial applications due to their cost-effectiveness, durability, and low maintenance requirements. This study investigates the speed control of an induction motor using vector control combined with a PID controller whose parameters are tuned via Particle Swarm Optimization (PID-PSO). A reduced-order small-signal state-space model is derived from a detailed nonlinear IM model to facilitate efficient controller tuning while maintaining fidelity to real-world behavior. The PID parameters are optimized using PSO, with the Integral of Absolute Error (IAE) selected as the objective function due to its ability to penalize long-duration deviations and reflect steady-state performance. The optimized PID controller is then validated on the full nonlinear IM model under speed and load variations. Simulation results demonstrate that PID-PSO significantly outperforms manually tuned PID control in terms of tracking accuracy, reducing IAE by 37.79% and 14.76% under speed and load variation conditions, respectively. However, this improvement comes at the cost of slightly slower settling time. These results highlight a trade-off between accuracy and transient response, motivating future research on multi-objective optimization to balance conflicting criteria such as robustness, energy efficiency, and response time.
Performance Enhancement of Photovoltaic Panels Using Passive Heatsink Cooling and Single-axis Solar Tracking Apribowo, Chico Hermanu Brillianto; Winda, Wiwik Nur; Maghfiroh, Hari; Iftadi, Irwan; Baballe, Muhammad Ahmad
Buletin Ilmiah Sarjana Teknik Elektro Vol. 7 No. 2 (2025): June
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v7i2.13150

Abstract

Indonesia's persistent tropical climate and strong sunlight year-round lend themselves well to photovoltaic (PV) applications. However, prolonged sun exposure raises panel temperatures and reduces energy conversion efficiency. This study examines how to experimentally enhance the power output and efficiency of PV systems by combining single-axis solar tracking with passive heatsink cooling. On sunny days, two identical 50 W polycrystalline PV panels were evaluated in Surakarta, Indonesia. Four setups were tested: baseline (no tracking or cooling), tracking only, cooling only, and a combination of both. Temperature, voltage, and current data were gathered using calibrated INA219 and MLX90614 sensors. Results indicate the system can enhance efficiency and power output. Tracking alone improved power by 26.42% and efficiency by 2.16%; cooling using an aluminum heatsink boosted power by 40.28% and efficiency by 3.39%. Combining tracking and cooling yielded the highest power increase of 55.61%, with a 2.79% efficiency gain. These findings demonstrate the reduced efficiency benefits due to thermal effects despite higher irradiance in tracking systems. This research offers practical insights for optimizing PV performance in tropical regions and supports developing cost-effective, hybrid enhancement strategies.
Collision Avoidance in Mini Autonomous Electric Vehicles Using Artificial Potential Fields for Outdoor Environment Saputro, Joko Slamet; Juliatama, Hanif Wisti; Adriyanto, Feri; Maghfiroh, Hari; Apriaskar, Esa
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1708

Abstract

The rapid advancement of technology is driving the transition toward Society 5.0, where intelligent transportation systems enhance safety, efficiency, and sustainability. One of the biggest challenges in transportation is the high frequency of vehicle accidents, with approximately 80% attributed to driver error. To mitigate this, Advanced Driver Assistance Systems (ADAS) have been developed to improve vehicle autonomy and reduce accidents. This research proposes a potential field-based collision avoidance system for autonomous vehicle navigation, where the vehicle and obstacles act as positive poles, repelling each other, while the target destination serves as a negative pole, attracting the vehicle. Experimental results demonstrate a GPS positioning error of 1.55 m with a 66% success rate and LiDAR sensor accuracy of 96.4%, exceeding the required 95% threshold. Obstacle avoidance was tested with two safety thresholds (2 m and 2.5 m) across single- and two-obstacle scenarios. The 2 m threshold resulted in shorter travel distances (16.406 m vs. 16.535 m for 2.5 m) and faster completion times (19.036 s vs. 19.144 s), while the 2.5 m threshold provided greater clearance. GPS accuracy was significantly influenced by HDOP values and satellite count, with lower HDOP improving trajectory precision. The system successfully adjusted its trajectory in response to obstacles, ensuring effective real-time navigation.
PENGENALAN TEKNOLOGI ENERGI TERBARUKAN PANEL SURYA UNTUK SISWA SEKOLAH MENENGAH PERTAMA (SMP) Maghfiroh, Hari; Adriyanto, Feri; Slamet Saputro, Joko; Sujono, Augustinus; Lambang GH, R.Lulus
INTEGRITAS : Jurnal Pengabdian Vol 6 No 2 (2022): AGUSTUS - DESEMBER
Publisher : Lembaga Penelitian dan Pengabdian kepada Masyarakat - Universitas Abdurachman Saleh Situbondo

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.36841/integritas.v6i2.1527

Abstract

Saat ini listrik menjadi kebutuhan utama masyarakat. Pembangkit listrik di Indonesia sebagain besar bersumber dari energi batu bara yakni mencapai 57.2%. Batu bara sendiri merupakan sumber energi yang tidak bisa diperbaruhi. Selain itu, pembangkit listrik jenis ini menimbulkan pencemaran udara. Untuk itu, sumber pembangkit listrik alternatif yang ramah lingkungan dan dengan suplay yang melimpah sangat diperlukan. Salah satu sumber listrik alternatif yang paling mudah untuk dibangun dengan biaya rendah adalah sistem panel surya. Sistem panel surya sudah banyak diaplikasikan di Indonesia, bahkan sudah dibangun Pembangkit Listrik Tenaga Surya (PLTS). Beberapa tempat yang sudah terpasang sistem panel surya, pada akhirnya terbengkalai karena rusak dan masyarakat belum begitu faham sistem panel surya sehingga tidak bisa memperbaikinya. Untuk itu, sosialisasi tentang energi terbarukan ini penting untuk dilaksanakan. Pengenalan sumber energi terbarukan tenaga surya ini perlu dikenalkan lebih dini kepada siswa sekolah untuk meningkatkan minat dan rasa ingin tahu siswa dalam mempelajari, memanfaatkan, dan bahkan mengembangkan nantinya. Kegiatan dilakukan secara daring guna mematuhi protokol kesehatan covid-19. Media yang dipakai adalah grup whatsapp, video, dan e-booklet. Untuk mengukur keberhasilan program, sebelum acara dilakukan pre-test dengan hasil 22, 5% siswa tidak tahu tentang panel surya. Setalah sosialisasi post-test, hasilnya rata-rata nilai mencapai 79,46%, yang menunjukkan tingkat pamahaman peserta cukup baik terhadap materi yang disampaikan. Sampel pertanyaan mendasar tentang sistem panel surya, menunjukkan hanya 0,9% siswa yang salah. Kesimpulan akhir, siswa telah mendapat pengetahuan tentang energi terbarukan panel surya melalui kegiatan sosialisasi yang telah dilakukan.
Prototipe Automatic Feeder dengan Monitoring IoT untuk Perikanan Bioflok Lele Maghfiroh, Hari; Hermanu, Chico; Adriyanto, Feri
Electrician : Jurnal Rekayasa dan Teknologi Elektro Vol. 15 No. 1 (2021)
Publisher : Department of Electrical Engineering, Faculty of Engineering, Universitas Lampung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23960/elc.v15n1.2160

Abstract

Revolusi Industri 4.0 telah banyak membawa banyak perubahan baik itu positif maupun negartif. Segi positifnya yaitu telah banyak dipakainya otomasi dan robot di dunia industri sehingga produksi bisa meningkat pesat. Sedangkan sudut negatif, semakin banyaknya pekerjaan manusia yang tergantikan oleh mesin sehingga memperkecil peluang kerja. Adanya revolusi industri 4.0 juga membawa kesenjangan antara kelompok melek teknologi dan kelompok gagap teknologi (gaptek). Warga kampung atau desa merupakan kelompok besar dari golongan gaptek. Untuk itu, suatu peluang usaha baru yang dapat dikerjakan msyarakat desa dengan tingkat pendidikan menengah sangat diperlukan. Maka dipilihlah program perikanan bioflok lele. Sentuhan teknologi otomasi dan Internet of Things (IoT) diberikan untuk meningkatkan produktivitas dan membuat masyarakat melek akan perkembangan teknologi era revolusi industry 4.0.
Ball Detection System for a Soccer on Wheeled Robot Using the MobileNetV2 SSD Method Puriyanto, Riky D.; Yunandha, Isro D.; Maghfiroh, Hari; Ma'arif, Alfian; Furizal; Suwarno, Iswanto
Emerging Science Journal Vol. 9 No. 5 (2025): October
Publisher : Ital Publication

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28991/ESJ-2025-09-05-028

Abstract

This paper discusses the research on the use of Artificial Intelligence in autonomous robot object identification. The specific focus of this research is on a wheeled soccer playing robot. The goal is to recognize a ball as an object using the Single Shot MultiBox Detector MobileNetV2 model. This system has multi-vision inputs such as distance measurements and angle values ​​for object detection. This methodology is based on deep learning with the TensorFlow Object Detection API with the MobileNetV2 SSD model. This model is trained with a dataset of 3707 ball images over 617 thousand steps on Google Collaboratory. It was found that the average measurement error of the ball object is 6.58% for the distance when viewed through the robot's front camera. In addition, the omnidirectional camera is able to detect the ball object and angle values ​​from the front of the robot. What makes this research different is the use of distance and angle measurements for detection and the omnidirectional camera for system performance in dynamic environments. This research aims to address the improvement of AI-based object detection systems for autonomous robotics in the context of real-world use cases.
Co-Authors Abu, N. S. Adha Imam Cahyadi Adli, M. H. Ahmad Baballe , Muhammad Aldi Bastiatul Fawait Fawait Alfian Ma’arif ALYA MASITHA Anwar, Miftahul Apribowo, Chico Hermanu Brillianto Asno Azzawagama Firdaus Baballe, Muhammad Ahmad Bizuayehu, Getenesh Melie Bukhari, W. M. Chekol, Yenework Belayneh Dwi Ana Ratna Wati Esa Apriaskar Fahmi Syuhada Fahmizal Fahmizal, Fahmizal Fatimawardhani, Sekar Feri Adriyanto Furizal Furizal, Furizal Geonoky Hanifah Rahmi Fajrin, Hanifah Rahmi Hermanu, Chico Joko Slamet Saputro Juliatama, Hanif Wisti Kariyamin, Kariyamin Lambang GH, R.Lulus Meiyanto Eko Sulistyo Mekonnen, Atinkut Molla Munaye, Yirga Yayeh Nia Maharani Raharja Nugraha, Ikhwan Oyas Wahyunggoro Probo Santoso, Henry Puriyanto, Riky D. Ramelan, Agus Sitorini Zul Hizmi, Vernanda Sujono, Augustinus Surriani, Atikah Suwarno, Iswanto Syuhada, Fahmi Trio Putra, Jimmy Winda, Wiwik Nur Yunandha, Isro D.