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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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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%.  
Dubin’s Curve of RRT* Merged With A* Suwoyo, Heru; Fahrudin, Fahrudin
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 (559.198 KB) | DOI: 10.58291/ijec.v1i1.38

Abstract

One of the fundamental problems in mobile robotics is a robot path planning of the mobile robot through its environment. Path planning problem for the mobile robot with differential constraints using modified RRT (Rapidly exploring random tree) algorithm based on Dubin’s curves. the planning problem is considered as a problem of finding a feasible path between the initial and goal point in a static environment with obstacles. This process can be conducted either using local information from sensors or by emloying global a-priori known information about robot’s environment. The problem is how to generate a path from the beginning to the destination point gradually during movement using modified RRT (Rapidly exploring random tree) algorithm based on Dubin’s curves. Combining the dubin curve RRT* algorithm with A* is a new method that can calculate the entire path from the starting point of the destination before moving using global information about the map. The purpose of making the path is to make it easier for the operator to determine the path that must be traversed by the robot. The way the robot works is to read the line made by the operator using matlab based on the map, then matlab will calculate the distance of the path to be traversed using an algorithm from the star point to the goal point. Based on the simulation results that have been carried out this method is more efficient when compared to the RRT* or A* algorithms. because this algorithm can produce a path with the shortest path with a fast time to get to the destination point without crashing into obstacles. By adding a new algorithm to find a new path optimally to get a path that is close to optimal by combining and adjusting several feasible paths and also adding a searching-based algorithm, namely A* combined with Dubin Curve- RRT* is sampling based, where the A* algorithm has a function heuristic used to increase the cost and time of searching.
A Mixed Fast-RRT*-A* To Solve the Problem of Generating Nodes near Obstacles for Optimal Paths Suwoyo, Heru; Alfiani, Raudah
International Journal of Engineering Continuity Vol. 1 No. 2 (2022): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (726.407 KB) | DOI: 10.58291/ijec.v1i2.53

Abstract

In the robot environment with static obstacles, robots designed to avoid obstacles and move from the initial position to the destination position, the consumption of the minimum value and the search for the shortest path as the current research, most of the studies are based on obstacle detection to search for more than one path planning. The path using path planning has two sampling methods based on which by working according to random nodes while searching based on using heuristics to find the path. Fast-RRT*-A* were to optimize a path with fast time intensity. From Fast-RRT* developed with improvement-RRT with optimal fast, namely fast optimal in an unreachable space from random trees introduced for speed and algorithm stability; (2) Random steering is used in expansion to solve performance problems in tight spaces; (3) Path fusion path adjustments are obtained quickly. The results of this study are in the form of a profit map comparing the three PRC algorithms* with a time of 48.6474, A* with a time of 38.7527, and FastRRT*-A* with a time of 10.1411, So these three steps make Fast- RRT*-A*.
Utilizing Inverse Kinematics for Precise Guidance in Planning 6-DoF Robot End-Effector Movements Suwoyo, Heru; Adriansyah, Andi; Andika, Julpri; Ibnu Hajar, Muhammad Hafizd; Dinata, Rizky; Triwidya Mochtar, Thathit Gumilar; Yusuf, Muhammad; Hutomo, Fajri Rezki
International Journal of Engineering Continuity Vol. 3 No. 1 (2024): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58291/ijec.v3i1.148

Abstract

The solution of the kinematic inverse determines a substantial part of the robotic arm's control accuracy. Researchers frequently employ standard problem-solving techniques such as numerical, algebraic, iterative, and geometric methods. Although geometric like trigonometrical method has been widely studied, and their application is strongly dependent on the shape and dimensions of the robot. The complexity of the steps makes this approach difficult for researchers. In order to give a clearance and easiness, the step-by-step features of inverse kinematics are described in this research. The study begins with forward kinematics and refers to the DH-parameter in Homogeneous Matrix Transformations calculation. The existence of specific elements applied to mathematical derivation constituted the basis of forward kinematic discussions. And based on geometrical analysis, the inverse kinematic is then derived. Furthermore, simulations are performed to demonstrate the actual implementation of IK and the solution is then used to initiate the path planning process.
Review Paper: Key Points on Robot Navigation and Its Practical Uses in the Field of Manufacturing Suwoyo, Heru; Andika, Julpri; Hidayat, Taufik
International Journal of Engineering Continuity Vol. 3 No. 1 (2024): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58291/ijec.v3i1.227

Abstract

Key aspects are covered in this review article, along with a brief explanation of mobile robot navigation and its uses in the industrial sector. This study emphasizes the significance of robot navigation in enhancing productivity, efficiency, and safety in manufacturing processes by compiling important ideas from the body of research and literature. This study investigates several robot navigation algorithms and strategies, from simple algorithms to sophisticated ones like SLAM (Simultaneous Localization and Mapping). This study also examines particular issues and concerns about the application of robot navigation systems in industrial settings, such as path planning, obstacle avoidance, and worker cooperation. This paper presents some noted applications of robot navigation, such as material handling, assembly, quality control, and logistics, using case studies and examples. The conversation also touches on new developments and prospective paths for robot navigation technology, highlighting the possibility for more innovation and connection with Industry 4.0 projects. All things considered, this review article is an invaluable tool for scholars, practitioners, and business experts who want to comprehend the function of robot navigation in contemporary manufacturing processes and how it will affect industrial automation in the future.
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