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Robotic Leg Design to Analysis the Human Leg Swing from Motion Capture Riky Tri Yunardi; Aji Akbar Firdaus; Eva Inaiyah Agustin
Bulletin of Electrical Engineering and Informatics Vol 6, No 3: September 2017
Publisher : Institute of Advanced Engineering and Science

In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.

Robotic Leg Design to Analysis the Human Leg Swing from Motion Capture Riky Tri Yunardi; Aji Akbar Firdaus; Eva Inaiyah Agustin
Bulletin of Electrical Engineering and Informatics Vol 6, No 3: September 2017
Publisher : Institute of Advanced Engineering and Science

In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.

Comparison of Machine Learning Algorithm For Urine Glucose Level Classification Using Side-Polished Fiber Sensor Riky Tri Yunardi; Retna Apsari; Moh Yasin
Journal of Electronics, Electromedical Engineering, and Medical Informatics Vol 2 No 2 (2020): July
Publisher : Department of Electromedical Engineering, POLTEKKES KEMENKES SURABAYA and IKATEMI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35882/jeeemi.v2i2.1

Urine glucose levels can be used to determine if glucose levels in the human body are too high, which may be a sign of diabetes. A non-invasive urine glucose classification model was conducted by using of the color of urine after benedict reaction to measure the level of glucose. The aim of this study is to classification urine glucose levels from a side-polished fiber sensor performed by using machine learning algorithms to get the best algorithm performance. By removing the coating and cladding this sensor is made of a polymer optical fiber. The measurement is focused on changes in the cladding refractive index which affects the amount of light transmitted. The machine learning system has been implemented using the Naïve Bayes Classifier, k-Nearest Neighbor Classifier, Logistic Regression, Random Forest, Artificial Neural Networks and Support Vector Machine. The measurement data on samples were collected from previous studies of a total of 120 urine samples for testing in this study. The results of the experiments performed with k-fold cross validation show that the neural network gets the accuracy results of 96.7%, the value of precision 0.967, recall 0.967, and F1-Measure 0.967. With cross validation leave-one-out, the experimental results show the classification algorithm with the best accuracy value that is at the random forest and artificial neural networks 0.975, precision 0.975, recall 0975, and F1-Measure 0.975. While the ANN algorithm is superior in achieving an accuracy value of 98.6%. Therefore, artificial neural networks are the best method for classifying glucose levels in the human body for fasting and postprandial urine tests.

Holonomic Implementation of Three Wheels Omnidirectional Mobile Robot using DC Motors Riky Tri Yunardi; Deny Arifianto; Farhan Bachtiar; Jihan Intan Prananingrum
Journal of Robotics and Control (JRC) Vol 2, No 2 (2021): March
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2254

In the Indonesian Wheeled Football Robot Contest (KRSBI) wheeled division, the robot that is made must be able to complete a predetermined task, one of which is the robot for chasing the ball and catching it. Holonomic is one of the methods used in navigating the omnidirectional movement of mobile robot applications. Because the movement is designed without changing the position of the robot in the direction of the facing, the omnidirectional wheels are used which has the ability to move freely in two directions. The mobile robot has three omnidirectional wheels and DC motors each used for movement. DC motors controlled by EMS 30A H-Bridge as a driver and Arduino Mega 2560 as the main microcontroller. Holonomic and inverse kinematic calculations are conducted to control the mobile robot movement of x, y, and ω toward angular velocity and direction of s1, s2, and s3 for each wheel. The length of the wheel axis to the middle of the body of robot is 160 mm. In this study, a robot was implemented on the robot movement for moving forward, backward, sideways, and diagonal direction. Based on the data evaluation, it is determined that an angular error of 2.84% exists in the movement of the omnidirectional robot at a velocity of 0.256 m/s to 1.403 m/s.

Perancangan Sistem Kendali pada Lengan Assistive Social Robot menggunakan Kamera Riky Tri Yunardi; Ronny Mardiyanto
JURNAL NASIONAL TEKNIK ELEKTRO Vol 6, No 2: Juli 2017
Publisher : Jurusan Teknik Elektro Universitas Andalas

Robotics technology has widely applied and developed in the rehabilitation field. Assistive Social Robot is a technology that can interact with users and improve progress in rehabilitation. Accessibility when taking an object using a robotic arm system is needed. A camera is the optical sensor that has been applied to detect the position of the object. In this paper explain a design of control system of robotic arm by using a camera. Information of the distance and position are used to organizing the control of the robotic arm movement, that form of a gripper. Tests conducted include: testing to detect the contour of the object, testing the measurement of object distance, and testing the robot arm control. From the results shows the speed of performance of control system that has been designed in performing the task to pick up an object from the initial position to the end takes 28.05 seconds.Keywords : Assistive social robot, robotic arm , cameraAbstrak—Teknologi robotika telah banyak diaplikasi dan dikembangkan dalam bidang rehabilitasi. Assistive Social Robot merupakan suatu teknologi robotika yang dapat berinteraksi dengan pengguna dan memberi bantuan dalam pemulihan proses rehabilitasi. Aksesibilitas ketika mengambil sebuah benda dengan menggunakan sistem lengan robot sangat dibutuhkah. Kamera merupakan sensor optik yang paling banyak diaplikasikan untuk mendeteksi posisi objek. Artikel ini membahas mengenai sistem kendali lengan robot menggunakan kamera. Informasi jarak dan posisi objek digunakan untuk mengendalikan gerakan lengan robot robot yang berbentuk gripper. Pengujian yang dilakukan meliputi: pengujian mendeteksi kontur objek, pengujian pengukuran jarak objek, serta pengujian kendali lengan robot. Dari hasil menunjukkan kecepatan kinerja sistem kendali yang telah dirancang dalam melakukan tugas untuk mengambil sebuah objek dari posisi awal sampai akhir memerlukan waktu 28,05 detik.Kata Kunci : Assistive social robot, lengan robot, kamera

Robotic Leg Design to Analysis the Human Leg Swing from Motion Capture Riky Tri Yunardi; Aji Akbar Firdaus; Eva Inaiyah Agustin
Bulletin of Electrical Engineering and Informatics Vol 6, No 3: September 2017
Publisher : Institute of Advanced Engineering and Science

In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.

Analisa Kinerja Sensor Inframerah dan Ultrasonik untuk Sistem Pengukuran Jarak pada Mobile Robot Inspection Riky Tri Yunardi
Setrum : Sistem Kendali-Tenaga-elektronika-telekomunikasi-komputer Vol 6, No 1 (2017): Edisi Juni 2017
Publisher : Fakultas Teknik Elektro - Universitas Sultan Ageng Tirtayasa

Kinerja sebuah sensor untuk mengumpulkan informasi dalam mendeteksi objek sangat penting dalam teknologi elektronika dan instrumentasi. Sensor inframerah dan ultrasonik sesuai digunakan iuntuk mengukur jarak menggunakan sinyal pantulan dari pemancar untuk memperkirakannya. Mobile robot inspaction yang digunakan dalam penelitian ini dilengkapi dengan roda sehingga bisa bergerak dan memberi informasi dari jarak jauh. Makalah ini menyajikan analisa kinerja sensor inframerah dan ultrasonik untuk pengukuran jarak pada mobile robot inspection. Sensor dipasang pada prototipe mobile robot. Sensor digunakan untuk memantau dan mengukur jarak antara robot mobile dengan sisi permukaan bagian bawah beton. Hasil analisa kinerja dalam penelitian ini dievaluasi pada lingkungan laboratorium dengan menggunakan balok beton pada ketinggian 15 - 150 cm dari tanah. Hasilnya menunjukkan sensor inframerah dan ultrasonik mampu mengukur jarak dengan persentase akurasi antara 96,88 - 98,16%.

Line Follower Robot Training and Introduction of Internet of Things (IoT) for Students in Jombang City Eva Inaiyah Agustin; Riky Tri Yunardi; Winarno Winarno
Darmabakti Cendekia: Journal of Community Service and Engagements Vol. 1 No. 2 (2019): December 2019
Publisher : Faculty of Vocational Studies, Universitas Airlangga

Background: During the Industrial Revolution 4.0, the Internet of Things (IoT) is the main pillar of people and machines connected to each other. It can be an intelligent system when combined with a robot. This is what underlies the importance of robotics and IoT training, especially to be introduced early on. Purpose: This activity aimed to improve students' knowledge and skills in technology. The target of this activity is high school students in Jombang City. Methods: It starts from the planning, implementation, and evaluation stages. Auditory, visual and kinesthetic techniques are used in this activity, which is in the form of interesting learning media such as power points, videos, as well as demonstrations and practices. Data collection techniques such as questionnaires, pre-test, and post-test, and running tests were carried out to measure the level of skills, knowledge, and satisfaction of participants. Results: A total of 85% of participants did not know about IOT and 83% of the participants already know what the robot. But only 17% ever make robots. Conclusion: After this activity the participants' understanding increased by 20%. Their skills also increased as evidenced by the participants programming themselves so that the robot can run well on the track.

Pelatihan Pembuatan Website Menggunakan Elementor pada Produk Bumdes Banjarworo, Kabupaten Tuban sebagai Sarana Promosi Nasa Zata Dina; Aji Akbar Firdaus; Riky Tri Yunardi
Jurnal Nasional Pengabdian Masyarakat Vol. 1 No. 1 (2020): Jurnal Nasional Pengabdian Masyarakat
Publisher : Training & Research Institute - Jeramba Ilmu Sukses

The welfare of the community on all fronts is one of Indonesia's national ideals. The village, as the smallest community in the state society, is often the forgotten part of the effort to achieve this. Therefore, legislation that regulates village problems is made in the hope that the welfare of the village community can be achieved. One of the things regulated in the law on villages is the BUMDes. BUMDes itself is an agency that plays an important role in improving the village economy. In this article, we will discuss the role of BUMDes as an economic driver using the Banjarworo Village case study. The research method used in this article is a qualitative research method with data collection techniques in the form of interviews, field observations, and literature studies through books, journals, and related websites. After the data was collected, data triangulation from the three data collection techniques was carried out to obtain the validity of the data used in this paper. The results obtained are that BUMDes can play an effective role in improving the economy in Banjarworo Village because they can develop MSMEs in the village by increasing branding and expanding the marketing reach of the products produced.

Pelatihan Pembuatan Website Menggunakan Elementor pada Badan Usaha Milik Desa (BUMDes) sebagai Sarana Promosi Produk BUMDes Banjarworo, Kecamatan Bangilan, Kabupaten Tuban Aji Akbar Firdaus; Nasa Zata Dina; Riky Tri Yunardi
JURNAL PENGABDIAN KEPADA MASYARAKAT Vol 10, No 2 (2020): Desember 2020
Publisher : LPPM UNINUS

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30999/jpkm.v10i2.1043

Kesejahteraan masyarakat di segala lini adalah salah satu cita-cita nasional Indonesia. Desa, sebagai lingkup masyarakat terkecil dalam masyarakat bernegara, seringkali menjadi bagian yang terlupakan dalam upaya mencapai hal tersebut. Oleh karena itu, dibuatlah perundang-undangan yang mengatur masalah desa dengan harapan kesejahteraan masyarakat desa dapat dicapai. Salah satu hal yang diatur dalam undang-undang tentang desa adalah mengenai BUMDes. BUMDes sendiri merupakan badan yang berperan penting dalam peningkatan perekonomian desa. Dalam artikel ini, akan dibahas mengenai peran BUMDes sebagai penggerak ekonomi dengan menggunakan studi kasus Desa Banjarworo . Metode penelitian yang digunakan dalam artikel ini adalah metode penelitian kualitatif dengan teknik pengumpulan data berupa wawancara, observasi lapangan, dan studi literatur melalui buku, jurnal, dan website terkait. Setelah data dikumpulkan, triangulasi data dari ketiga teknik pengumpulan data tersebut dilakukan untuk mendapatkan validitas data yang digunakan dalam tulisan ini. Hasil yang didapatkan adalah BUMDes dapat berperan secara efektif untuk meningkatkan perekonomian di Desa Banjarworo karena dapat mengembangkan UMKM yang terdapat di desa tersebut dengan cara meningkatkan branding dan memperluas jangkauan pemasaran dari produk yang dihasilkan.

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