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All Journal IAES International Journal of Robotics and Automation (IJRA) ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Jurnal Otomasi Kontrol dan Instrumentasi
HARJANTO, WILDAN NURFAUZAN
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Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

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PENGEMBANGAN LOW-COST QUADROTOR DENGAN MISI WAYPOINT TRACKING BERBASIS PENGENDALI PID AL TAHTAWI, ADNAN RAFI; ANDIKA, ERICK; YUSUF, MAULANA; HARJANTO, WILDAN NURFAUZAN
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 8, No 1 (2020): ELKOMIKA
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v8i1.189

Abstract

ABSTRAK Quadrotor merupakan salah satu jenis pesawat tanpa awak yang dapat bekerja secara autonomous dalam melaksanakan tugasnya. Beberapa quadrotor komersial yang dapat bekerja secara autonomous memiliki harga yang relatif mahal. Penelitian ini bertujuan untuk merancang dan mengembangkan sebuah quadrotor berbiaya rendah dengan misi waypoint tracking berbasis pengendali PID. Quadrotor dirancang menggunakan modul Ardupilot Mega 2.6 sebagai pengendali terbang. Modul ini cocok digunakan untuk pengembangan sebuah quadrotor berbiaya rendah karena telah terintegrasi dengan sebuah antarmuka dan panel pengendali PID. Misi waypoint tracking dengan pengendali PID digunakan untuk menguji kinerja dari quadrotor yang dirancang. Hasil pengujian menunjukkan bahwa quadrotor dapat terbang secara autonomous pada dua buah skenario waypoint. Pengendali PID yang digunakan mampu menstabilkan sikap terbang quadrotor dengan maksimum overshoot kurang dari 4°. Kata kunci: Pengendali PID, sikap terbang, autonomous, waypoint, quadrotor ABSTRACT Quadrotor is one type of unmanned aircraft that can work autonomously in carrying out its duties. Some commercial quadrotor that can work autonomously have a relatively expensive price. This study aims to design and develop a lowcost quadrotor with a waypoint tracking mission based on PID controller. Quadrotor is designed using the Ardupilot Mega 2.6 module as flight controller. This module is suitable for the development of a low-cost quadrotor because it has been integrated with an interface and PID controller panel. The waypoint tracking mission with PID controller is used to test the performance of the designed quadrotor. The test results show that quadrotor can fly autonomously in two waypoint scenarios. The PID controller used is able to stabilize the quadrotor attitude with a maximum overshoot less than 4°. Keywords: PID controller, flight attitude, autonomous, waypoint, quadrotor
Pengembangan Low-cost Quadrotor dengan Misi Waypoint Tracking Berbasis Pengendali PID AL TAHTAWI, ADNAN RAFI; ANDIKA, ERICK; YUSUF, MAULANA; HARJANTO, WILDAN NURFAUZAN
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 8, No 1: Published January 2020
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v8i1.189

Abstract

ABSTRAK Quadrotor merupakan salah satu jenis pesawat tanpa awak yang dapat bekerja secara autonomous dalam melaksanakan tugasnya. Beberapa quadrotor komersial yang dapat bekerja secara autonomous memiliki harga yang relatif mahal. Penelitian ini bertujuan untuk merancang dan mengembangkan sebuah quadrotor berbiaya rendah dengan misi waypoint tracking berbasis pengendali PID. Quadrotor dirancang menggunakan modul Ardupilot Mega 2.6 sebagai pengendali terbang. Modul ini cocok digunakan untuk pengembangan sebuah quadrotor berbiaya rendah karena telah terintegrasi dengan sebuah antarmuka dan panel pengendali PID. Misi waypoint tracking dengan pengendali PID digunakan untuk menguji kinerja dari quadrotor yang dirancang. Hasil pengujian menunjukkan bahwa quadrotor dapat terbang secara autonomous pada dua buah skenario waypoint. Pengendali PID yang digunakan mampu menstabilkan sikap terbang quadrotor dengan maksimum overshoot kurang dari 4°. Kata kunci: Pengendali PID, sikap terbang, autonomous, waypoint, quadrotor  ABSTRACTQuadrotor is one type of unmanned aircraft that can work autonomously in carrying out its duties. Some commercial quadrotor that can work autonomously have a relatively expensive price. This study aims to design and develop a lowcost quadrotor with a waypoint tracking mission based on PID controller. Quadrotor is designed using the Ardupilot Mega 2.6 module as flight controller. This module is suitable for the development of a low-cost quadrotor because it has been integrated with an interface and PID controller panel. The waypoint tracking mission with PID controller is used to test the performance of the designed quadrotor. The test results show that quadrotor can fly autonomously in two waypoint scenarios. The PID controller used is able to stabilize the quadrotor attitude with a maximum overshoot less than 4°. Keywords: PID controller, flight attitude, autonomous, waypoint, quadrotor
Portable wireless node design for smart agricultural system based on Internet of Things Al Tahtawi, Adnan Rafi; Andika, Erick; Harjanto, Wildan Nurfauzan
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 1: March 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i1.pp1-9

Abstract

This paper presents a pair of portable wireless nodes for a smart agricultural system to control and monitor the agricultural parameters based on Internet of Things (IoT). This system utilizes low-cost wireless communication through an nRF24L01 module between the sensor node and the controller node. The sensor node is placed on the agricultural area with a Li-Ion battery as a power supply, while the controller node is placed at the control and monitoring station. On the sensor node, there is a YL-69 soil moisture sensor and DS18B20 temperature sensor, while in the controller node there is a relay that can set watering on/off condition. In the controller node, there is also an ESP8266 WiFi module that serves to send data to the internet cloud for user monitoring. Both hardware nodes are built in small and portable size. The experimental result shows that the sensor node can transmit soil moisture and temperature data via RF wireless communication to the controller node. Watering is done automatically based on the condition of sensor values. In addition, this system can also be monitored through a website interface, so the users can easily find out the condition of their plant as long as there is internet access.
Desain Awal Pengembangan Sistem Kontrol Irigasi Otomatis Berbasis Node Nirkabel dan Internet-of-Things Al Tahtawi, Adnan Rafi; Andika, Erick Andika; Harjanto, Wildan Nurfauzan
Jurnal Otomasi Kontrol dan Instrumentasi Vol 10 No 2 (2018): Jurnal Otomasi Kontrol dan Instrumentasi
Publisher : Pusat Teknologi Instrumentasi dan Otomasi (PTIO) - Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/joki.2018.10.2.5

Abstract

Irigasi merupakan salah satu faktor penting dalam rangka mencapai produktivitas yang baik di bidang pertanian maupun budidaya tanaman. Namun, para petani terkadang tidak melakukan proses irigasi secara  teratur  dan  memiliki keterbatasan akses  saat  tidak dapat  berada di  lapangan. Dengan demikian, diperlukan sistem irigasi otomatis yang dilengkapi dengan antarmuka sistem monitoring. Penelitian ini bertujuan untuk merancang sistem kontrol irigasi berbasis node nirkabel dan Internet-of- Things (IoT).  Sistem ini dirancang menggunakan komunikasi nirkabel antara node  sensor,  node aktuator, dan node kontroler. Node sensor dibangun menggunakan sensor kelembaban tanah YL-69, sensor suhu DS18B20, papan mikrokontroler Arduino Nano, dan modul frekuensi radio nRF24L01. Papan mikrokontroler yang sama dan modul komunikasi radio juga digunakan dalam node aktuator dengan relai sebagai output. Dalam node kontroler, digunakan Arduino Uno sebagai pengendali utama dan dilengkapi dengan modul WiFi ESP8266. Node sensor dan aktuator ditempatkan di lahan pertanian dengan catu daya baterai Lithium, sementara node kontroler ditempatkan di stasiun kontrol dan monitoring. Dengan menggunakan desain ini, sistem irigasi dapat dipantau oleh para petani di mana saja dan kapan saja selama terdapat akses internet. Desain ini juga kompatibel dalam hal implementasi karena portabilitas dan desain perangkat keras yang ringan.Kata Kunci:  irigasi, pertanian, node, sensor, aktuator, IoTIrrigation is one of the important factors in achieving good productivity in agriculture and crop cultivation. However, farmers sometimes do not carry out irrigation processes regularly and have limited access when they cannot be in the field. Thus, an automatic irrigation system is needed which is equipped with a monitoring system interface. This study aims to design irrigation control system based on wireless node and Internet-of-Things (IoT). This system is designed using wireless communication between sensor node, actuator node, and controller node. Sensor node is built using YL-69 soil moisture sensor, DS18B20 temperature sensor, Arduino Nano microcontroller board, and nRF24L01 radio frequency module. The same microcontroller board and radio communication module are also used in actuator node with relays as output. In the controller node, Arduino Uno is used as the main controller and equipped with an ESP8266 WiFi module. Sensor and actuator nodes are placed in agricultural field with Lithium battery as power supplies, while controller node is placed in the control and monitoring station. With this design, irrigation system can be monitored by farmers anywhere and anytime as long as there is internet access. This design is also compatible in terms of implementation due to lightweight 
Co-Authors A.A. Ketut Agung Cahyawan W Anak Agung Gede Sugianthara ANDIKA, ERICK Andika, Erick Andika M. Rafi Maulana Yusuf