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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control) Sinergi Jurnal Teknologi Elektro Proceeding of the Electrical Engineering Computer Science and Informatics InComTech: Jurnal Telekomunikasi dan Komputer TEKNOKOM : Jurnal Teknologi dan Rekayasa Sistem Komputer Jurnal Abdi Masyarakat (JAM) Journal of Robotics and Control (JRC) Indonesian Journal of Electrical Engineering and Computer Science Jurnal Abdidas Journal FORTEI-JEERI Journal of Community Service International Journal of Engineering Continuity
Suwoyo, Heru
Universitas Mercu Buana
Aerospace Engineering Humanities Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Health Professions Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mathematics Mechanical Engineering Public Health Social Sciences Other

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Impact of Moving Sign (Running Text) Implementation at PKBM Wiyata Utama Julpri Andika; Yudhi Gunardi; Triyanto Pangaribowo; Heru Suwoyo; Muhammad Hafizd Ibnu Hajar; Ketty Siti Salamah; Zendi Iklima; Rachmat Muwardi
Jurnal Abdi Masyarakat (JAM) Vol 8, No 1 (2022): JAM (Jurnal Abdi Masyarakat)-September
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/jam.v8i1.16577

Abstract

The running information display board or Running Text is one of the information media or digital publications comprised of an ordered pattern of Light Emitting Diode (LED) lights, and each LED has a coordinate point that determines which LED position is on or off. This LED light is available in a range of colors, including red, yellow, green, blue, white, and blended hues. This running text is often used in Office Buildings, School Buildings, Shopping Buildings, and other locations where the general public must be informed. At this community service, running text has been installed in the PKBM Wiyata Utama school environment in Kembangan Utara, West Jakarta, which is suitable for school-related information media such as education level, school name, and school events
The Role of Block Particles Swarm Optimization to Enhance The PID-WFR Algorithm Heru Suwoyo; Abdurohman Abdurohman; Yifan Li; Andi Adriansyah; Yingzhong Tian; Muhammad Hafizd Ibnu Hajar
International Journal of Engineering Continuity Vol. 1 No. 1 (2022): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1157.655 KB) | DOI: 10.58291/ijec.v1i1.37

Abstract

In the conventional Proportional Integral Derivation (PID) controller, the parameters are often adjusted according to the formulas and actual application. However, this empirical method will bring two disadvantages. First, testing the program takes much time and usually needs help to reach the optimal solution. Second, the PID parameters will not adapt to the new environment when the situation changes. This paper proposed a method by employing a Block Particles Swarm Optimization (BPSO) to enhance the conventional Proportional Integral Derivation (PID) algorithm to overcome the mentioned disadvantages. The genetic algorithm (GA) first optimized the PID parameters. However, its optimization time is relatively long. Then, a Block Particle Swarm Optimization (BPSO) algorithm is designed to solve the problem of long optimization time. This method was then applied to the wall-following robot problem by realistically simulating it to confirm the performance. After Compared with conventional methods, the proposed method shows a relatively stable solution.
Performance of a Wall-Following Robot Controlled by a PID-BA using Bat Algorithm Approach Heru Suwoyo; Ferryawan Harris Kristanto
International Journal of Engineering Continuity Vol. 1 No. 1 (2022): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (522.305 KB) | DOI: 10.58291/ijec.v1i1.39

Abstract

A wall-following robot needs a controller that applies the closed-loop concept to move actively without hindrance. Some controllers with good capabilities can act as controllers for wall follower robots, such as PID controllers. Conceptually, this controller's good performance depends on tuning the three gains before use. Instead of giving the expected and appropriate output, wrong settings will provide inaccuracies for the controller, so applying the manual method at the tuning stage is not recommended. For this reason, PID controllers are often implemented in a system supported by appropriate optimization methods, such as Genetic Algorithm or Particle Swarm Optimization. Furthermore, different from this, in this study, the Bath Algorithm is used as an alternative optimization algorithm. Its application begins with a realistic simulation of a wall-following robot. This is done to provide the possibility to implement online PID controllers and BAs. In the end, several methods are compared to find out the performance of this type of approach. Moreover, based on the observed comparative results, the proposed method gives a better value in accumulative error and convergence speed in the PID optimization process.
MENJAGA KESEJAHTERAAN PEKERJA MELALUI PENINGKATAN KESADARAN K3 DI ERA OTOMASI INDUSTRI, SMART GRID, DAN RENEWABLE ENERGY Suwoyo, Heru; Andika, Julpri
Journal of Community Service Vol 6 No 1 (2024): JCS, June 2024
Publisher : Ikatan Dosen Menulis

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.56670/jcs.v6i1.222

Abstract

Perkembangan teknologi pada bidang industri, khususnya untuk para tenaga kerja asing, perlu beradaptasi dengan peralatan dan sistem yang semakin canggih dan kompleks. Hal ini menuntut pemahaman dan keterampilan khusus untuk mengoperasikannya dengan aman. Namun, seringkali, muncul tantangan saat menyesuaikan diri dengan perubahan tersebut. Keterbatasan bahasa, kurangnya pelatihan, dan pemahaman yang terbatas tentang standar keselamatan kerja dapat meningkatkan risiko kecelakaan di tempat kerja. Oleh karena itu, penting bagi para tenaga kerja asing untuk memiliki respons dan kesadaran yang tinggi terhadap dinamika dan perkembangan teknologi di industri tempat mereka bekerja. Mereka perlu secara aktif terlibat dalam pelatihan dan pembelajaran untuk memahami peralatan dan sistem baru, mematuhi prosedur keselamatan kerja yang berlaku dan risiko yang terkait dengan pekerjaan mereka. Dengan respons dan kesadaran yang tinggi dari para tenaga kerja asing, angka kecelakaan di sektor industri dapat diminimalisir. Hal ini tidak hanya akan melindungi keselamatan dan kesehatan para pekerja, tetapi juga akan meningkatkan produktivitas dan efisiensi di tempat kerja secara keseluruhan. Inilah urgensi pengabdian kepada masyarakat yang difokuskan pada peningkatan kesadaran akan pentingnya keselamatan kerja, khususnya bagi para tenaga kerja asing di Pulau Penang, Malaysia
Problem solving path planning and path tracking in a 3 DOF hexapod robot using the RRT* algorithm with path optimization and Pose-to-Pose Suwoyo, Heru; Burhanudin, Achmad; Tian, Yingzhong; Andika, Julpri
SINERGI Vol 28, No 2 (2024)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2024.2.007

Abstract

Path planning is one of the most fundamental problems that must be solved before a robot can navigate and explore autonomously. Path planning needs to be integrated with path tracking to be applied to autonomous robots. This makes path tracking also important for autonomous robot navigation which cannot be separated from path planning. There are two path planning methods, the first is search-based method, the second is sampling-based method. Both have their own advantages, but the popular and commonly used sampling-based algorithm due to its fast convergence is preferred in path planning.  The RRT* algorithm was developed. This improvement initiated a major civilization in sampling-based algorithms, namely parent node selection and rewiring in RRT. Although there has been an improvement in optimality, RRT* still doesn't provide the distance optimality value as expected, due to its character that is still adopted from RRT.  The resulting path is still suboptimal and not smooth (jagged). On the other side, Path tracking has several methods, however, these path tracking methods are difficult to apply to autonomous robots and need to be adapted to the robot used. Based on the description above, there are still problems with path planning, namely paths that are still less than optimal and convergence that is still slow.  This research will add a way to shorten the distance in the RRT* algorithm with the triangular inequality method.  Meanwhile, for path tracking, we will apply the pose-to-pose method, which follows the waypoint that has been made by path planning.
The use of Fuzzy Logic Controller and Artificial Bee Colony for optimizing adaptive SVSF in robot localization algorithm Suwoyo, Heru; Hajar, Muhammad Hafizd Ibnu; Indriyanti, Prastika; Febriandirza, Arafat
SINERGI Vol 28, No 2 (2024)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2024.2.003

Abstract

The objective of solving feature-based localization problems is to estimate the path of the robot referring to a given map. Thus, it is not surprising that robust estimators such as Smooth Variable Structure Filter (SVSF) are often used to handle this problem. Basically, its use is highly dependent on an accurate system model and known statistical noise. Where neither of these are available by definition. Therefore, the conventional way is not recommended and the use of an adaptive filter approach can be involved. Based on this and although only partially, Innovation Adaptive Estimation (IAE) has been considered to have a positive influence on improving the performance of the estimator. But not infrequently the solutions offered by this approach also lead to divergences due to unmapped dynamic conditions. Moreover, in this proposal, IAE is enhanced by applying Artificial Bee Colony-Tuned Fuzzy Logic. The hope is that there is quality control for the process noise covariance Q and R measurements by updating them based on the output of this ABC-Tuned FLC.
Design of 3 DOF hexapod leg movement using inverse kinematics: bridging gaps in multilegged robot kinematics literature Suwoyo, Heru; Taufikurohman, Nur Aziz; Tian, Yingzhong; Burhanudin, Achmad
SINERGI Vol 29, No 1 (2025)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2025.1.001

Abstract

Designing the motion of a hexapod robot with 3 Degrees of Freedom (DOF) using the Inverse Kinematics method allows the robot to move by adjusting the angles of its leg joints according to the desired position and direction. This research involves the geometric and structural design of the hexapod robot and the development of an Inverse Kinematics algorithm to calculate the leg joint angles based on the target pose. The study uses the Inverse Kinematics method to design a hexapod robot for movement with 3 DOF. The testing results show an average Inverse Kinematics error of 1.56 mm on the X-axis, 0.88 mm on the Y-axis, and 0.78 mm on the Z-axis. During the forward and backward movement tests covering a distance of 100 cm, the average error was 2.58 cm and 12.38 cm, respectively. For the rotation tests, the average error was 3.6° for a 90° rotation to the right, 3° for a 90° rotation to the left, 13.2° for a 180° rotation to the right, and 3.8° for a 180° rotation to the left. The results indicate that the design of the 3DOF hexapod robot using the Inverse Kinematics method provides a sufficient level of accuracy in controlling movements along the X, Y, and Z axes. Despite some errors, the robot is capable of moving fairly accurately during forward, backward, and rotational movements.
Workshop Pengenalan Hardware Komputer kepada Warga Pulau Lancang, Kepulauan Seribu Hajar, Muhammad Hafizd Ibnu; Suwoyo, Heru; Triyanto Pangaribowo; Kadarina, Trie Maya; Sirait, Fadli; Dani, Akhmad Wahyu; Supegina, Fina; Yuliza, Yuliza; Gunardi, Yudhi
Jurnal Abdidas Vol. 5 No. 6 (2024): Desember
Publisher : Universitas Pahlawan Tuanku Tambusai

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31004/abdidas.v5i6.1092

Abstract

Komputer merupakan perangkat elektronik yang mengintegrasikan berbagai komponen untuk menghasilkan informasi yang telah diolah sebelumnya. Dalam konteks pengabdian masyarakat yang dilaksanakan di Sekolah Madrasah Diniyah Pulau Lancang, diperkenalkan pentingnya pemahaman tentang perangkat keras komputer kepada warga. Hal ini didasarkan pada kebutuhan mendesak akan literasi teknologi karena hampir seluruh aktivitas, termasuk pelaksanaan ujian, telah berbasis komputer. Program pengabdian ini bertujuan untuk meningkatkan pengetahuan peserta mengenai fungsi masing-masing perangkat komputer serta kemampuan dalam mengoperasikan komputer dengan baik. Metode yang digunakan dalam program ini adalah pendekatan interaktif, melibatkan kolaborasi aktif antara warga, dewan guru, siswa/i, dan karang taruna di Pulau Lancang. Hasil kegiatan menunjukkan bahwa program ini memberikan manfaat dalam pengembangan ilmu pengetahuan dan teknologi bagi warga, terutama dalam meningkatkan pemahaman teknologi dasar komputer. Program ini diharapkan dapat menjadi langkah awal untuk mempersiapkan komunitas Pulau Lancang dalam menghadapi era digital.
Pengembangan Metode Penyelesaian Permasalahan Feature-Based SLAM berbasis Adaptive Extended Kalman Filter, Fuzzy Inference System, dan Particle Swarm Optimization Kusuma, Hiero; Suwoyo, Heru; Andika, Julpri
InComTech : Jurnal Telekomunikasi dan Komputer Vol 14, No 3 (2024)
Publisher : Department of Electrical Engineering

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/incomtech.v14i3.30277

Abstract

Objektivitas dari menyelesaikan permasalahan Simultaneous Localization and Mapping pada robot bergerak adalah menaksirkan lintasan robot dan secara simultan memodelkan peta lingkungan. Pada kasus SLAM 2-dimensi berbasis fitur, peta yang dimaksud adalah menaksirkan lokasi semua fitur pada lingkungan dalam bentuk koordinat kartesius. Umumnya penaksiran dilakukan dengan cara memanfaatkan filter berbasis gaussian, seperti Extended Kalman Filter. Pada penerapan konvensional, kebisingan statistik baik pada mean dan kovarian untuk kontrol dan pengukuran, ditentukan diawal untuk tetap selama proses penaksiran. Pada kasus yang mengharuskan ketepatan tinggi, hal ini berdampak pada kinerja filter yang bisa saja menunjukkan divergensi. Atas dasar ini, EKF dikembangkan dengan menambahkan kemampuan rekursif menentukan kovariansi proses Q, dan kovariansi pengukuran R dengan menerapkan Innovation Adaptive Estimation (IAE). Namun tidak jarang ketidaktepatan memetakan kondisi dinamis, membuat performansi dari Adaptif EKF (AEKF) justru mengalami degredasi. Sehingga perlu pendekatan khusus yang relevan mendukung kinerja dari algoritma. Pada penelitian ini, diusulkan Fuzzy Inference System dioptimasi dengan Particle Swarm Optimization untuk menentukan besaran perubah baik untuk Q atau pun R berdasarkan Degree of Mathcing. Berdasarkan hasil yang dibandingkan, usulan ini memberikan performansi yang lebih baik berdasarkan RMSE yang telah mengalami penurunan dari metode konvensional, khususnya saat R tetap dan Q rekursif
A HBMO-based batch beacon adjustment for improving the Fast-RRT Suwoyo, Heru; Tian, Yingzhong; Adriansyah, Andi; Andika, Julpri
Indonesian Journal of Electrical Engineering and Computer Science Vol 38, No 1: April 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v38.i1.pp107-119

Abstract

Fast-RRT improves on the original rapidly-exploring random trees (RRT) by incorporating two main stages: improved-RRT and fast-optimal. The improved-RRT stage enhances the search process through fast-sampling and random steering, while the fast-optimal stage optimizes the path using fusion and path arrangement. However, path fusion can only be optimal when the newly found path is unique and different from previous paths. This uniqueness rarely occurs in cases with narrow corridors, so path fusion only provides suboptimal conditions. To address this, the study explores using honey bee mating optimization (HBMO) to optimize or replace the fusion stage. HBMO helps determine new beacon coordinates, which are nodes between the start and goal points along the path, through a batch beacon adjustment approach. The results show that integrating HBMO into FastRRT improves its optimality, with a 21.85% reduction in path cost and a 5.22% decrease in completion time across environments with varying difficulty levels. This hybrid algorithm outperforms previous methods in terms of both path optimality and convergence rate, demonstrating its effectiveness in enhancing Fast-RRT’s performance.
Co-Authors Abdurohman Abdurohman Adriansyah, Andi Akhmad Wahyu Dani, Akhmad Wahyu Alfiani, Raudah Andi Adriansyah Andi Adriansyah Andi Adriansyah Andi Adriansyah Angela Dirman Arrais, Muchammad Taufiqi Burhanudin, Achmad Chenwei Deng Deng, Chenwei Dinata, Rizky Fadli Sirait Fahrudin Fahrudin Febriandirza, Arafat Fengfeng Xi Ferryawan Harris Kristanto Fina Supegina Guangjie Yuan Hastomi, Yudi Hossain, Md Musabbir Hutomo, Fajri Rezki Indriyanti, Prastika Jibran, Alwan Julpri Andika Ketty Siti Salamah Kusuma, Hiero Li, Long Long Li Long Li Md Musabbir Hossain Muhammad Hafizd Ibnu Hajar Muhammad Yusuf Putra, Firoos Safana Rachmat Muwardi Shamsudin, Abu Ubaidah Taufik Hidayat Taufikurohman, Nur Aziz Thong, Zhou Tian, Yingzhong Tian, Yingzhong Tong Zhou Trie Maya Kadarina Triwidya Mochtar, Thathit Gumilar Triyanto Pangaribowo Wang, Wenbin Wenbin Wang Wenbin Wang Yifan Li Yingzhong Tian Yingzhong Tian Yingzhong Tian Yingzhong Tian Yingzhong Tian Yudhi Gunardi Yudhi Gunardi Yuliza Yuliza Zendi Iklima Zhou Thong