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All Journal Bulletin of Electrical Engineering and Informatics Jurnal Nasional Pendidikan Teknik Informatika (JANAPATI) Journal of Robotics and Control (JRC) Jurnal Inovasi dan Teknologi Pembelajaran (JINOTEP) Kajian dan Riset Dalam Teknologi Pembelajaran Indonesian Journal of Computing, Engineering, and Design Asian Journal Science and Engineering
Pebrianti, Dwi
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Aerospace Engineering Arts Humanities Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Social Sciences

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Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator Irawan, Addie; Azahar, Mohd Iskandar Putra; Pebrianti, Dwi
Journal of Robotics and Control (JRC) Vol 3, No 5 (2022): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i5.16316

Abstract

Pneumatic robot is a fluid dynamic based robot system which possesses immense uncertainties and nonlinearities over its electrical driven counterpart. Requirement for dynamic motion handling further challenged the implemented control system on both aspects of interaction and compliance control. This study especially set to counter the unstable and inadaptable proportional motions of pneumatic robot grasper towards its environment through the employment of Variable Convergence Rate Prescribed Performance Impedance Control (VPPIC) with pressure-based force estimation (PFE). Impedance control was derived for a single finger of Tri-finger Pneumatic Grasper (TPG) robot, with improvement being subsequently made to the controller’s output by appropriation of formulated finite-time prescribed performance control. Produced responses from exerted pressure of the maneuvered pneumatic piston were then recorded via derived PEE with adherence to both dynamics and geometry of the designated finger. Validation of the proposed method was proceeded on both circumstances of human hand as a blockage and ping-pong ball as methodical representation of a fragile object. Developed findings confirmed relatively uniform force sensing ability for both proposed PEE and load sensor as equipped to the robot’s fingertip with respect to the experimented thrusting and holding of a human hand. Sensing capacity of the estimator has also advanced beyond the fingertip to enclose its finger in entirety. Whereas stable interaction control at negligible oscillation has been exhibited from VPPIC against the standard impedance control towards gentle and compression-free handling of fragile objects. Overall positional tracking of the finger, thus, justified VPPIC as a robust mechanism for smooth operation amid and succeed direct object interaction, notwithstanding its transcendence beyond boundaries of the prescribed performance constraint.     
Designing a laboratory assistant attendance system using Radio Frequency Identification (RFID) technology based on IOT Pratama, Maulana Krisna Bayu; Dewi, Yulia Puspita; Kusumawati, Tri Ika Jaya; Pebrianti, Dwi
Jurnal Inovasi dan Teknologi Pembelajaran Vol 11, No 1 (2024)
Publisher : Universitas Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17977/um031v11i12024p044

Abstract

Abstrak: Tujuan penelitian ini untuk menghasilkan  perangkat presensi RFID (Radio Frequency Identification) sebagai sistem presensi asisten lab di Lab Information and Communication of Technology  (ICT) Terpadu Budi Luhur untuk mengatasi permasalahan yang sedang terjadi seperti antrean, kerumitan saat menginput, dan manipulasi waktu kehadiran sampai kepulangan. Pengembangan sistem ini menggunakan metode agile yang bisa menangani risiko ketidakberhasilan dalam tahap pengembangan sistem skala kecil maupun besar. Tahapan merancang sistem memanfaatkan Unified Modeling Language (UML). Pengumpulan data dilakukan dengan teknik observasi, wawancara, dan kuesioner terhadap lingkungan LAB ICT Terpadu Budi Luhur. Hasil penilaian ahli kelayakan pengujian mencapai persentase 90 (sangat pantas),  pengujian praktis mencapai persentase 92 (sangat pantas), uji keamanan mencapai persentase 90 (layak), dan uji coba kelompok besar mencapai persentase 90 (sangat pantas). Dapat disimpulkan perancangan sistem dengan menggunakan UML dengan teknologi RFID dapat meningkatkan efektivitas presensi serta menyelesaikan permasalahan dalam presensi. Abstract: The current study attempted to generate an RFID (Radio Frequency Identification) attendance device as a bridge of attendance for the Computer Lab Assistant of Budi Luhur to overcome ongoing problems such as queues, complexity when inputting, and manipulation of attendance time to return. The development of this system uses agile methods that can handle the risk of failure in the small and large-scale system development stages. The system design stage uses UML. The data was collected using observation, interviews, and questionnaires in the Budi Luhur Integrated ICT LAB environment. The outcomes of the viability examination expert assessment attained a rate of 90 percent (highly achievable), the practicality test achieved a level of 92 (highly achievable), the security test attained a level of 90 (practicable), the large-group trial achieved a level of 90 (highly achievable). It can be concluded that designing a system using UML with RFID technology can increase the effectiveness of attendance and solve problems in it.
Integrated Robotic Arm Control: Inverse Kinematics, Trajectory Planning, and Performance Evaluation for Automated Welding Huda, Arif Nur; Pebrianti, Dwi; binti MD. Zain, Zainah
Asian Journal Science and Engineering Vol. 2 No. 2 (2023): Asian Journal Science and Engineering
Publisher : CV. Creative Tugu Pena

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51278/ajse.v2i2.1021

Abstract

This research delves into the automated functionality of robotic arm manipulators, a hallmark of Industry 4.0, within the manufacturing sector. The study focuses on precise movement adhering to predetermined trajectories, addressing the vital aspects of inverse kinematics and trajectory planning in robotic arm control. Utilizing the Matlab robotic toolbox, the research conducts simulations of inverse kinematic and trajectory planning. An experimental setup involving a robotic arm controlled by an Arduino Mega 2560 microcontroller, embedded with the inverse kinematic algorithm and trajectory planning, is executed. Data acquisition involves inputting coordinates and orientation for automatic welding along a straight path. Joint angles are measured using rotary encoders and converted into Cartesian coordinates to determine the end-effector's position. Discrepancy analysis compares measured joint angles with simulation values, revealing error margins. Movement quality of the robotic arm is assessed through Capability Processes (CP) evaluation. Results indicate disparities between experimental and simulated values. At input coordinates (400mm, 0mm, 300mm), joint angle errors of 2.51º, 0.98º, and 1.48º are observed for joints 2, 3, and 5, respectively. Similarly, at input coordinates (300mm, 0mm, 300mm), joint angle errors of 1.17º, 1.5º, and 2.7º are registered for the same joints. Trajectory error analysis during straight welding reveals average errors of 2.25 mm and 10.57 mm along the x and y axes. Mean absolute errors for joints 2, 3, and 5 are 1.9º, 0.48º, and 1.91º. Keywords: Robotic Arm Manipulators, Inverse Kinematics, Trajectory Error Analysis
Optimizing Malware Detection and Prevention on Proxy Servers Through Random Forest and Lexical Feature Analysis Andalas Saputra, Meitro Hartanto; Pebrianti, Dwi; Bayuaji, Luhur; Rusdah
Indonesian Journal of Computing, Engineering, and Design (IJoCED) Vol. 7 No. 1 (2025): IJoCED
Publisher : Faculty of Engineering and Technology, Sampoerna University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35806/ijoced.v7i1.485

Abstract

Malware has become a significant concern due to the increase in malicious websites hosting spam, phishing, malware, and other threats. This research aims to predict malware URLs using lexical features for feature extraction and random forest for classification. The dataset, sourced from kaggle.com, includes benign, phishing, spam, malware, and defacement URLs. To address data imbalance, random oversampling was applied for balanced training. Recursive feature elimination was used to optimize lexical features, testing various sets of features (10, 15, 19, 23, 29, 35) for classification accuracy, achieving 98% accuracy using 23 features. Validation tests with actual university network data confirmed this model’s effectiveness, classifying malicious URLs in 9 minutes using 11,566 samples. URL filtering involved log analyzer tools capturing internet traffic during working hours over one month. Results suggest that this approach can efficiently classify malicious URLs and could be implemented for real-time detection in proxy server logs, aiding IT departments in preventing malware spread via web traffic.
The Effect of Variations of Magnetic Fields on Fuel Channels on The Efficiency of Consumption and Exhaust Emissions In Gasoline Engines Hadi Susilo, Sugeng; Faizal, Elka; Pebrianti, Dwi
Asian Journal Science and Engineering Vol. 3 No. 2 (2024): Asian Journal Science and Engineering
Publisher : CV. Creative Tugu Pena

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51278/ajse.v3i2.1690

Abstract

Research on the "Effect of Magnetic Field Variations on Fuel Channels on the Efficiency of Consumption and Exhaust Emissions on Gasoline Engines" focus on how magnetic fields with various forces can increase the efficiency of fuel consumption and reduce exhaust gas emissions in gasoline -fueled engines. In this study, the magnetic field was applied to the fuel channel with the aim of affecting the combustion process in the engine. The strength variations of the magnetic field used are expected to optimize fuel combustion, so that fuel consumption becomes more economical and exhaust emissions, such as oxygen (O₂), carbon monoxide (CO), carbon dioxide (Co₂), and hydrocarbons (HC), can minimized. The results showed that the application of magnetic fields has the potential to have a significant impact on engine efficiency, especially at certain rotation, which can create environmental benefits with cleaner gas emissions and reduce overall fuel consumption.
The effect of temperature and injection time on the injection molding process on the final weight of the mini tray product Hadi Susilo, Sugeng; Pebrianti, Dwi; Faizal, Elka
Asian Journal Science and Engineering Vol. 3 No. 1 (2024): Asian Journal Science and Engineering
Publisher : CV. Creative Tugu Pena

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51278/ajse.v3i1.1762

Abstract

Injection molding is an important process in plastic manufacturing, especially for mini tray production that requires stability and severe accuracy. Temperature and injection time affect product quality, including material distribution and possible defects. This study aims to analyze the effect of these two parameters on the final weight of the product and determine optimal arrangements to achieve consistent quality. This study uses an experimental method with independent variables in the form of temperature and injection time, as well as the dependent variable in the form of product weight. Data is collected through testing with KT-105 injection molding machine and analyzed using Minitab 19 software to test the relationship between variables statistically. The results showed that the temperature and time of injection had a significant effect on the weight of the mini tray. Anova analysis proves a strong relationship between these two parameters, with a p-value value <0.05
Adaptive Maze-Based Islamic Educational Games Using MOORA Method Nugroho, Fresy; Ridho, Muhammad; Melani, Roro Inda; Pebrianti, Dwi; Hammad, Jehad AH; Lestari, Tri Mukti; Maharani, Dian; Nurrahma ‘N, Alfina
Jurnal Nasional Pendidikan Teknik Informatika: JANAPATI Vol. 14 No. 2 (2025)
Publisher : Prodi Pendidikan Teknik Informatika Universitas Pendidikan Ganesha

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23887/janapati.v14i2.100064

Abstract

The degradation of students' knowledge in Islamic education is increasingly concerning, driven by the negative influence of internet exposure. This study develops an educational game, Harta Karun Pengetahuan, as an interactive gamified learning medium incorporating core Islamic content. The game applies adaptive difficulty adjustment using the Multi-Objective Optimization on the Basis of Ratio Analysis (MOORA) method based on player performance. The success of the MOORA method in providing recommendations for players is shown by how players will be directed to the next maze according to the success of the previous game. The game was tested with 20 students (aged 18–21) with two approaches evaluation, the System Usability Scale (SUS) and the Igroup Presence Questionnaire (IPQ), achieving an average SUS score of 84 (indicating high usability) and an overall IPQ score of 4.64 (indicating strong player immersion). Results showed that General Presence and Involvement had the highest average scores, indicating that players felt emotionally engaged and present in the virtual learning world. Although the Realism dimension was generally positive, it suggests room for improvement in visual and interactive fidelity. The findings demonstrate that integrating Islamic content into digital games can provide meaningful learning experiences and support students in achieving cognitive, affective, and psychomotor competencies in a contextual IRE setting.
Anomaly detection in quadcopter flight: harnessing frequency domain analysis and barnacle mating optimization Sharif Zakaria, Mohd; Fadhil Abas, Mohammad; Mohd Saad, Norhafidzah; Herwan Sulaiman, Mohd; Pebrianti, Dwi
Bulletin of Electrical Engineering and Informatics Vol 14, No 4: August 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v14i4.9224

Abstract

Ensuring the safety and efficiency of unmanned aerial vehicles (UAVs) requires effective fault detection and identification (FDI). Traditional multi-stage FDI methods, particularly those using residual detection layers, increase complexity and computational cost, limiting real-time applications. This study proposes a single-stage anomaly detection framework integrating barnacle mating optimization (BMO) with discrete cosine transform (DCT) for UAV fault detection. While prior research explored model-based and data-driven FDI, bio-inspired optimization techniques remain underexplored in frequency-domain analysis. This study develops a BMO-based fitness function analyzing 3rd, 5th, and 7th harmonic peaks to detect UAV anomalies. Software-in-the-Loop (SITL) simulations validate the method, achieving a 5-second optimal frame size, mean absolute percentage error (MAPE) of 0.05, and root mean square error (RMSE) of 195.52. The findings confirm that a single-stage detection framework via optimization method and frequency domain analysis is possible, making it viable for real-time UAV applications. This study bridges the gap in bio-inspired UAV fault detection, paving the way for safer and more efficient UAV operations.
Co-Authors Addie Irawan Andalas Saputra, Meitro Hartanto Azahar, Mohd Iskandar Putra binti MD. Zain, Zainah Dian Maharani, Dian Fadhil Abas, Mohammad Faizal, Elka Fresy Nugroho Hadi Susilo, Sugeng Hammad, Jehad AH Herwan Sulaiman, Mohd Huda, Arif Nur Lestari, Tri Mukti Luhur Bayuaji, Luhur Mohd Saad, Norhafidzah Muhammad Ridho Nurrahma ‘N, Alfina Pratama, Maulana Krisna Bayu Roro Inda Melani Rusdah Sharif Zakaria, Mohd Tri Ika Jaya Kusumawati Yulia Puspita Dewi