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All Journal International Journal of Electrical and Computer Engineering Indonesian Journal of Electronics and Instrumentation Systems Jurnal Ilmu Dasar TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Journal of Engineering and Technological Sciences ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Proceeding of the Electrical Engineering Computer Science and Informatics JASIEK (Jurnal Aplikasi Sains, Informasi, Elektronika dan Komputer) Jurnal Rekayasa elektrika Jurnal Elektronika dan Telekomunikasi Jurnal Rekayasa elektrika
Anam, Khairul
Department Of Electrical Engineering, Universitas Jember
Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Energy Engineering Mathematics

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Performance Analysis of Inverse Kinematics-Based Balance Control for Hexapod Stair Navigation SYAFFEL SEAN RIZKINATA HERYAMAN; KHAIRUL ANAM; WAHYU MULDAYANI; ALI RIZAL CHAIDIR; DEDY WAHYU HERDIYANTO; CANDRA PUTRI RIZKIYAH RAMADHANI; AVIQ NURDIANSYAH PUTRA; MUCHAMAD ARIF HANA SASONO
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 14, No 2: Published April 2026
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v14i2.261

Abstract

Maintaining body stability is a key challenge for hexapod robots in stair navigation. This study proposes an inverse kinematics (IK)-based approach for dynamic balance control using real-time joint angle computation. Experimental results show that the method maintains body orientation near a neutral position, achieving a minimum pitch angle of 7.3°, thereby improving stability and reducing mechanical collision risk. System performance is also influenced by actuator speed and battery voltage.
Analysis of IoT Communication Performance Using Environmental Sensors in Portable Coffee Bean Dryers Based on Data-Driven Insights Aviq Nurdiansyah Putra; Khairul Anam; Mohamad Agung Prawira Negara; Muchamad Arif Hana Sasono; Ferdilla Ayza Melani; Bella Inestyas Krisanti; Virda Ayu Pujiati
Jurnal Rekayasa Elektrika Vol. 22 No. 1 (2026): Vol. 22, No. 1, March 2026
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v22i1.1770

Abstract

This study presents a data-driven evaluation of Internet of Things (IoT) communication performance in a portable coffee bean drying system by comparing Hypertext Transfer Protocol (HTTP) and Message Queuing Telemetry Transport (MQTT) under identical operational conditions. Environmental data were collected over 54 hours and simultaneously transmitted via both protocols, while local secure digital (SD) card logging served as ground-truth reference. Four key metrics were evaluated: reliability, latency, data consistency, and protocol efficiency. The results show that MQTT achieved higher reliability 91.88% compared to HTTP 81.06%, along with significantly lower average latency 3.87s vs. 15.17s. MQTT also demonstrated superior bandwidth efficiency 91.29% compared to HTTP 13.25%, consuming substantially less hourly transmission data. However, HTTP exhibited higher data consistency, with cloud records more closely matching the ground truth. These findings reveal a clear tradeoff between transmission efficiency and replication accuracy. MQTT is better suited for real-time environmental monitoring in bandwidth-constrained IoT deployments, whereas HTTP provides stronger data integrity at the cost of higher overhead and latency. The proposed parallel, ground-truth-based evaluation framework enables an unbiased and realistic comparison of communication protocols in agricultural IoT systems.
Co-Authors Adel Al-Jumaily Adel Al-Jumaily Adi Mulyadi Ahmad Adib Rosyadi Ahmad Iqbal Nasrudin Ahmad Rausan Fikri AHMADI, SOFYAN Al-Jumaily, Adel Ali Rizal Chaidir Ananta Pinsentius Rahmat Pamungkas Andrita Ceriana Eska Aviq Nurdiansyah Putra AVIQ NURDIANSYAH PUTRA Azmi Saleh Azmi Shaleh Azmy Akhyar Al Insani Bambang Sri Kaloko Bambang Sujanarko Bella Inestyas Krisanti Bima Wahyu Maulana Candra Putri Rizkiyah Ramadhani Cries Avian Cries Avian Dedy Wahyu Herdiyanto Donny Setiawan Efendi, Dicky Yusril Faruq Sandi Hanggara Fatkhul Mubarok Ferdilla Ayza Melani Fikri Mulyadi Harun Ismail Ihsanul Azmi K.W., Robertoes Koekoeh Kartika Senjarini M. Agung Prawira N Mahros Darsin Moch. Rijal Fatoni Mohamad Agung Prawira Negara Mohamad Agung Prawira Negara, Mohamad Agung Muchamad Arif Hana Sasono MUCHAMAD ARIF HANA SASONO Muchamad Arif Hana Sasono Muhammad Nuh Mulyadi, Fikri Qoyima, Rosida Amalia Nurul Rike Oktarianti Rizal, Ahmad Ayyub Syaiful Safri Nahela Sasono, Muchamad Arif Hana Satrio Marta Wicaksono Siti Tsaniyatul Miratis Sulthoniyah Sutikno SYAFFEL SEAN RIZKINATA HERYAMAN Virda Ayu Pujiati Wahyu Muldayani Widhi Winata Sakti Widya Cahyadi Wira Adi Winata