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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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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.
Integration of Solar Power in Hydroponics as Community Empowerment in Meruya Selatan Andika, Julpri; Suwoyo, Heru; Dirman, Angela; Putra, Firoos Safana; Jibran, Alwan
Jurnal Abdi Masyarakat (JAM) Vol 10, No 2 (2025): JAM (Jurnal Abdi Masyarakat) - Maret 2025
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/jam.v10i2.30143

Abstract

The condition of the area in Gang Hijau Swakarya, South Meruya, is that there is still land around residential areas that have not been utilized for greening and also has open land that is very rich in receiving sunlight. However, people have not been able to utilize sunlight as a renewable energy source for electrical energy conversion. If utilized, this can reduce the cost of expenses so that the selling price of the product can be maximized. Therefore, this community service activity is carried out with the aim of increasing food security through developing an efficient and environmentally friendly hydroponic farming system in an urban environment by utilizing renewable energy and introducing and implementing solar cell technology and nutrient control to provide alternative energy sources and optimize agricultural yields. By providing proper nutrition to plants. To achieve these goals, methods and stages such as the implementation of socialization, training, technology application, evaluation and mentoring, and program sustainability are implemented. As a result, Participants from the community expressed a high level of satisfaction with the training methods and technology implementation provided with the average of the standard deviation value was 0.020, close to 0.
An Effective Way for Repositioning the Beacon Nodes of Fast RRT Results Utilizing Grey Wolf Optimization Suwoyo, Heru; Adriansyah, Andi; Andika, Julpri; Shamsudin, Abu Ubaidah; Tian, Yingzhong
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i1.22062

Abstract

Conceptually, Fast-RRT applies fast sampling and random steering which makes the initial path quickly obtained. Referring to the initial path, the optimality of the path is improved by applying path fusion and path optimization. Theoretically, path fusion will only be optimal if there is always a unique/different path to be fused with the previously obtained path. However, in the conditions of solving path planning problems in narrow corridors, the potential for obtaining a different path from the previous one is very small. So that fusion does not run properly, but checking the relationship between nodes to nodes still occurs. Instead of getting an optimal path in conditions like this, the computation will increase, the solution time will be long, and the resulting path will still be sub-optimal. As an effort to solve this problem, Grey Wolf Optimization (GWO) is involved through this study. While an initial path is found, the beacons are repositioned. From the path, the number of nodes is unpredictable, causing the decision variables in optimization to become large. For this reason, the GWO is chosen because it is independent of population representation and is not affected by the number of decision variables. This proposed method is claimed to be more effective in solving path planning problems in terms of convergence rate and optimality. Therefore, the proposed method is evaluated and compared with previous methods and gives the result that the average working speed of Fast-RRT is improved by 90.25% and the optimality average increased by 5.67%.
A Bidirectional-RRT*-Connect-Assisted RRT*-Smart for a path planning algorithm Suwoyo, Heru; Hastomi, Yudi; Andika, Julpri
SINERGI Vol 29, No 2 (2025)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2025.2.017

Abstract

Although Rapidly Exploring Random Tree Star (RRT*) has been considered to be able to achieve convergence to an optimal solution, this method has a slow convergence speed and requires an infinite amount of time to produce a truly optimal solution. For this reason, RRT*-Smart which includes path optimization and intelligent sampling processes was introduced. Although the addition of these methods can directly complete infinite-duration RRT* searches, they will work once the initial path obtained with RRT* is available. The effectiveness of reducing the optimality time is determined by the initial path formed. If this path is not close to optimal, the path optimization and intelligent sampling process will take a long time, and vice-versa. For this reason, RRT*-Connect, which has the advantage of searching from two directions, is proposed in this study. The goal is to replace the RRT* algorithm to produce a more optimal initial formed path. Based on this approach, this method will be named Connect-RRT*-Smart. Several methods, such as RRT, RRT*, RRT*-Connect, and RRT*-Smart, are compared to see their performance in producing the feasible path. Regarding this comparative result, the proposed method shows better performance in terms of convergence speed and path optimality. 
Design of path planning robot simulator by applying sampling based method Suwoyo, Heru; Andika, Julpri; Adriansyah, Andi
SINERGI Vol 29, No 2 (2025)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2025.2.016

Abstract

This research aims to create a simulator for solving the global path planning of mobile robots. Various sampling-based methods such as Rapidly-exploring Random Tree (RRT), RRT*, and Fast-RRT, along with other derivative algorithms, have been widely used to solve path-planning problems in mobile robots. The level of computational efficiency, path optimality, and the ability to adapt to variant environments are some of the issues that still arise, although these techniques have shown good results in many cases. Although the existing solutions are innovative, comparison between the existing methods is still difficult due to significant differences in convergence speed, implementation complexity, and quality of the resulting paths. This makes choosing the most suitable method for a particular application difficult. The simulator uses sampling-based path planning algorithms such as RRT*, Fast RRT*, RRT*-Smart, informed-RRT*, and Honey Bee Mating Optimization-based Fast-RRT*. With this simulator, users can easily compare the performance of each algorithm and see the characteristics and efficiency of each algorithm in various situations. By running all methods through this simulator, the user can easily compare the methods based on convergence speed and optimality. Therefore, it will effectively help users understand robot navigation, improve the quality of learning, and promote the development of path-planning technology for mobile robots.
Analisa Pengaruh Aerosol Of Depth (AOD),Temperature, Iradiasi Matahari Pada Panel Surya Terhadap Rancang Bangun Sistem PLTS Arrais, Muchammad Taufiqi; Suwoyo, Heru
Jurnal Teknologi Elektro Vol 15, No 3 (2024)
Publisher : Electrical Engineering, Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/jte.2024.v15i3.008

Abstract

PLTS adalah salah satu energi terbarukan saat ini. 50% dari energi terbarukan berasal dari tenaga surya. Jenis PLTS ada 3 yaitu On – Grid, Off – Grid, Hybrid. Selain itu dalam operasionalnya terdapat faktor penganggu dalam PLTS ini yakni, Faktor Temperatur dan Iradiasi Matahari. Total iradiasi natahari yang sampai di permukaan bumi sebesar 5,967 x 107 KwH/m2, sedangkan data indeks Aerosol pada lapisan bumi sebesar 0,1 hingga 0,5 per hari. Temperatur di kota Surabaya mulai dari 22oC – 30oC. Dalam pengaruh Iradiasi matahari terdapat AOD, Aerosol Optical Depth (AOD) adalah Aerosol yang terdapat di udara menjadi penganggu di Iradiasi matahari. AOD dapat disebabkan oleh kebakaran hutan,polutan udara dan gunung Meletus. Dalam mengetahui pengaruh AOD dan Iradiasi matahari diperlukan Analisa regresi dan korelasi dimana selanjutnya daru data tersebut di buat sebuah permodelan simulasi pada matlab untuk menentukan penurunan persentase akibat AOD terhadap Solar Panel. Ditemukan bahwa korelasi antara temperature dan keluaran daya solar panel sebesar 98%, Iradiasi Matahari dan keluaran solar panel 94%, temperature dan  iradiasi matahari 92%, AOD dan Iradiasi Matahari 94%. Pada permodelan regresi dapat ditemukan permodelannya adalah Y =48,764x + 6,0609. dimana nilai R square sebesar 0,9473 Selain itu dengan pengambilan data dilakukan ditemukan dampak AOD dapat mengurangi perfomansi PV mulai dari 7% hingga 9,5%. Sehingga dari kesimpulan ini penempatan lokasi PLTS di daerah Surabaya dampak AOD tidak lebih dari 10%.  
Co-Authors Abdurohman Abdurohman Adriansyah, Andi Akhmad Wahyu Dani, Akhmad Wahyu Andi Adriansyah Andi Adriansyah Andi Adriansyah Andi Adriansyah Andi Adriansyah Angela Dirman Arrais, Muchammad Taufiqi Burhanudin, Achmad Chenwei Deng Deng, Chenwei Fadli Sirait Fahrudin Fahrudin Fajri Rezki Hutomo Febriandirza, Arafat Fengfeng Xi Ferryawan Harris Kristanto Fina Supegina Guangjie Yuan Hastomi, Yudi Hossain, Md Musabbir 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 Raudah Alfiani Rizky Dinata Shamsudin, Abu Ubaidah Taufik Hidayat Taufikurohman, Nur Aziz Thathit Gumilar Triwidya Mochtar Thong, Zhou Tian, Yingzhong Tian, Yingzhong Tong Zhou Trie Maya Kadarina 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