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Combining Finite State Machine and Fuzzy Logic Control for Accuracy Enhancing Performance of a Tomato-Handling Robot Gripper Mardiati, Rina; Firdaus, Hardiansyah; Setiawan, Aan Eko; Zulherman, Dodi
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23579

Robotic grippers are becoming increasingly vital in modern agriculture, especially in tasks like harvesting delicate crops such as tomatoes, where precision and care are crucial. These advanced tools are designed to handle tomatoes without causing damage, significantly improving efficiency and reducing labor costs. Research on gripper robots for fruit picking continues to be developed using various methods in an effort to achieve accurate picking results. This study proposes a hybrid method that combines Finite State Machine (FSM) for behavior control with Fuzzy Logic Control (FLC) to optimize the positioning of the gripper. The system utilizes a PixyCam2 CMUcam5 for tomato detection, an Arduino microcontroller for image processing, and a servo mechanism to precisely align the gripper with the target. The experimental results confirm that each component functions as expected, with the gripper successfully performing actions such as idling, gripping, and placing in accordance with the FSM model. Furthermore, the FLC model was tested against simulations, resulting in error rates of 1.004% for the elbow angle and 0.826% for the base angle. The entire system was validated by comparing the performance of the system using FLC and non-FLC in ten tests, each with tomatoes placed in different positions. The results indicate that the proposed gripper, utilizing the FSM-FLC model, achieved a 100% success rate in grasping the target, significantly outperforming the FSM-non-FLC gripper, which achieved only a 20% success rate. These findings have important implications for the agricultural industry. The successful integration of the FSM and FLC models in robotic grippers paves the way for fully automated harvesting systems, potentially reducing costs and enhancing productivity.

Utilization of Ultrasonic Sensors as a Robotics Learning Medium in STEM-Based Engineering Education Khoerunnisa, Ahshonat; Setiawan, Aan Eko; Yuningsih, Siti Hadiaty
International Journal of Ethno-Sciences and Education Research Vol. 5 No. 3 (2025): International Journal of Ethno-Sciences and Education Research (IJEER)
Publisher : Research Collaboration Community (Rescollacom)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.46336/ijeer.v5i3.1050

The advancement of robotics technology has supported the integration of efficient navigation systems into STEM-based learning (Science, Technology, Engineering, and Mathematics), particularly in technical and vocational education. One essential component in robot navigation is the distance sensor, with ultrasonic sensors widely adopted due to their ease of integration into project-based learning. This study aims to analyze the performance of three ultrasonic sensors—HC-SR04, HY-SRF05, and RCWL-1601 within the context of Arduino-based microcontroller projects used as educational tools for robotics instruction. Performance analysis was carried out in terms of measurement accuracy, data stability, and response time. The results show that the HY-SRF05 sensor achieved the highest accuracy (96.75%) and the lowest standard deviation (0.23 cm), indicating the most stable performance. The HC-SR04 sensor showed relatively high accuracy but greater data variation, while the RCWL-1601 had the fastest response time but less stable measurements, especially on non-reflective surfaces. These findings can serve as a practical reference for selecting appropriate sensors in project-based teaching activities, particularly in developing robotics learning media that require precision and consistent data. Future research will focus on applying signal processing algorithms such as the Kalman filter and integrating these technologies into technical education curricula.

RANCANG BANGUNG ROBOT SOCCER BERODA MENGGUNAKAN GAMEPAD PLAYSTATION DAN ARDUINO Setiawan, Aan Eko; Ridwan, Ridwan; Hadikaryana, Oscar; Yuningsih, Siti Hadiaty; Khoerunisa, Ahshonat
Jurnal Inkofar Vol 9, No 1 (2025)
Publisher : Politeknik META Industri Cikarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.46846/jurnalinkofar.v9i1.465

Kemajuan teknologi robotika telah mendorong pengembangan sistem kendali yang lebih fleksibel dan efisien, termasuk pada robot soccer beroda yang umumnya masih menggunakan sistem kabel. Permasalahan utama yang dihadapi adalah keterbatasan mobilitas dan gangguan transmisi pada sistem nirkabel berbasis Wi-Fi. Penelitian ini mengusulkan solusi berupa implementasi sistem pengendali menggunakan gamepad PlayStation 2 (PS2) nirkabel yang dikombinasikan dengan mikrokontroler Arduino Nano. Perancangan mencakup pembuatan perangkat keras berupa sambungan antara dongle PS2, Arduino Nano, driver motor L298N, dan dua motor DC, serta perancangan perangkat lunak berbasis Arduino IDE dengan pemrograman tombol-tombol kendali. Robot diuji melalui serangkaian pengujian meliputi konektivitas, fungsi tombol arah, bentuk, analog, RL, dan manuver jarak. Hasil pengujian menunjukkan bahwa semua perintah dari gamepad PS2 berhasil dijalankan dengan baik. Kecepatan awal robot disetel pada 120 PWM, dan dapat ditingkatkan secara bertahap hingga 160 PWM menggunakan tombol R1 dan L1, serta konstan di 140 PWM saat R1 dan L1 ditekan dua kali. Jangkauan maksimal koneksi stabil tercapai hingga 6 meter dengan delay respon sebesar 0,5 detik. Di atas jarak tersebut, respons menjadi terputus-putus, dan tidak responsif pada jarak 10 meter.

Pemberdayaan Guru SMK Melalui Kurikulum Digital dan Teknologi CAD/CAM Berbasis Design for Manufacturing (DfM) pada Praktikum Pemesinan di SMK MedikaCom Bandung Arliyanto, P Yudi Dwi; Rivandi, Merdieco; Sari, Marta Hayu Raras Sita Rukmika; Yushardian, Hamdi Akmal; Wibowo, Rifky Budiarto; Yusuf, Rifqi Akmal; Shandra, Olivia Ferisca; Debora, Fransisca; Arridho, Ilham Ali; Khoerunnisa, Ahshonat; Setiawan, Aan Eko; Amhar, Usamah
Jurnal SOLMA Vol. 14 No. 3 (2025)
Publisher : Universitas Muhammadiyah Prof. DR. Hamka (UHAMKA Press)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22236/solma.v14i3.20800

Background: Vocational education plays a crucial role in preparing competent graduates who meet industry needs. SMK MedikaCom Bandung, as a Center of Excellence school, continuously strives to enhance teacher competencies to improve the quality of graduates who can be absorbed into the workforce and to serve as a model for other vocational schools. The Department of Mechanical Engineering at SMK MedikaCom Bandung seeks to strengthen both teacher and student understanding of CAD/CAM technology through the application of CNC machines, supported by training and the integration of a (DfM)-based curriculum. Methods: The activities were conducted on August 22 and 27, 2025, through several stages, including socialization, FGDs, teacher training on DfM, development of digital teaching modules, and student mentoring in product-based projects. Evaluation was carried out using pre- and post-test instruments to measure differences in participants’ knowledge and skills before and after the program. Results: The test results indicated that all variables had p-values < 0.05, signifying a significant improvement. Teachers showed an increase in their understanding of CAD/CAM applications on CNC machines from 80% to 90% and in their knowledge of Project-Based Learning (PjBL) and Teaching Factory methods from 70% to 85%. Students also demonstrated improved comprehension of CNC utilization in non-conventional machining learning from 75% to 93%. Conclusions: The community service program effectively enhanced teachers’ and students’ mastery of CAD/CAM technology and their understanding of DfM. These outcomes support the implementation of an industry-based digital curriculum and strengthen the relevance of vocational school learning to workforce demands.

Application of Conditional Trajectory Generation on Stewart Platform Robot as a CNC Machine Drive Khoerunnisa, Ahshonat; Nur Jamiludin R; Setiawan, Aan Eko; Yuningsih, Siti Hadiaty; Hòe Nguyễn Đình
International Journal of Global Operations Research Vol. 6 No. 4 (2025): International Journal of Global Operations Research (IJGOR), November 2025
Publisher : iora

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.47194/ijgor.v6i4.433

The development of industrial automation technology in recent decades has been very rapid. One of the technologies that supports industrial automation is robot manipulators. Robots can work with high precision, speed, and safety so that by using robots, industrial processes become more productive. The type of robot itself is divided into two, namely serial and parallel structures. Robots with parallel structures tend to be less studied, developed, and used in industry compared to serial structures even though there are several advantages of these parallel structures. Parallel structures have a kinematic configuration with a closed chain type, or it can be interpreted that each arm is connected to the point of origin. This relationship will result in robots having high precision and speed. Kinematic parallel manipulators perform better when compared to serial kinematics in terms of angular accuracy, acceleration at high speeds, and high stiffness. Therefore, this type of robot is very suitable for use in industries that require high-speed applications. In this study, a robot system was developed as a driving force for a CNC machine with its movements using a trajectory tracking control system. This system was chosen because this control has a point where each point contains position and speed information that is certainly needed for the CNC machine movement system.

Design and Evaluation of a Temperature–Humidity Control System for Mushroom Cultivation Using a DHT11 Sensor Suryaman, Suryaman; Yuningsih, Siti Hadiaty; Setiawan, Aan Eko; Zakaria, Kiki
CoreID Journal Vol. 3 No. 2 (2025): July 2025
Publisher : CV. Generasi Intelektual Digital

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.60005/coreid.v3i2.103

Oyster mushroom (Pleurotus ostreatus) cultivation requires stable temperature and humidity conditions to support optimal mycelial development and fruiting body formation. This study aims to develop and evaluate a low-cost temperature–humidity monitoring and control system for an oyster mushroom cultivation room using a DHT11 sensor integrated with an Arduino-based controller. An experimental evaluation was conducted by comparing DHT11 temperature and humidity readings with a reference measuring instrument under cultivation-room conditions, while the control function was tested using threshold-based rules for activating environmental actuators (heater, fan, and humidifier). The results indicate that the DHT11 sensor produced measurements close to the reference instrument within the tested range, with temperature differences of 0.1–0.3°C and humidity differences of 0.2–0.4%RH across the observations. These findings suggest that the proposed system is feasible for basic environmental monitoring and supports automated threshold-based control for maintaining cultivation conditions near recommended ranges. Sensor performance and measurement stability are influenced by practical factors such as airflow, proximity to heat or moisture sources, and sensor placement; therefore, appropriate placement and shielding are important to minimize local bias. The originality of this work lies in providing an implementable prototype and an empirical sensor performance assessment in a mushroom cultivation environment, offering practical guidance for low-cost smart farming applications.

Design and Evaluation of a Temperature–Humidity Control System for Mushroom Cultivation Using a DHT11 Sensor Suryaman, Suryaman; Yuningsih, Siti Hadiaty; Setiawan, Aan Eko; Zakaria, Kiki
CoreID Journal Vol. 3 No. 2 (2025): July 2025
Publisher : CV. Generasi Intelektual Digital

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.60005/coreid.v3i2.103

Oyster mushroom (Pleurotus ostreatus) cultivation requires stable temperature and humidity conditions to support optimal mycelial development and fruiting body formation. This study aims to develop and evaluate a low-cost temperature–humidity monitoring and control system for an oyster mushroom cultivation room using a DHT11 sensor integrated with an Arduino-based controller. An experimental evaluation was conducted by comparing DHT11 temperature and humidity readings with a reference measuring instrument under cultivation-room conditions, while the control function was tested using threshold-based rules for activating environmental actuators (heater, fan, and humidifier). The results indicate that the DHT11 sensor produced measurements close to the reference instrument within the tested range, with temperature differences of 0.1–0.3°C and humidity differences of 0.2–0.4%RH across the observations. These findings suggest that the proposed system is feasible for basic environmental monitoring and supports automated threshold-based control for maintaining cultivation conditions near recommended ranges. Sensor performance and measurement stability are influenced by practical factors such as airflow, proximity to heat or moisture sources, and sensor placement; therefore, appropriate placement and shielding are important to minimize local bias. The originality of this work lies in providing an implementable prototype and an empirical sensor performance assessment in a mushroom cultivation environment, offering practical guidance for low-cost smart farming applications.

Design of Mobile Robot Transporter Prototype Using Sensor Vision and Fuzzy Logic Method Setiawan, Aan Eko; Mardiati, Rina; Firdaus, Haddy
Operations Research: International Conference Series Vol. 6 No. 4 (2025): Operations Research International Conference Series (ORICS), December 2025
Publisher : Indonesian Operations Research Association (IORA)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.47194/orics.v6i4.437

The industrial field has experienced significant developments in the automation process, especially robots play an important role in the world of automation. One type of robot used in industry is a transporter robot. This research designs and develops a prototype mobile robot transporter that uses Pixy camera as a visual sensor and Mamdani fuzzy logic control method to control the speed of DC motor. This robot is able to move objects based on color using Arduino UNO as a microcontroller, motor driver shield L298N, two DC motors, and gripper module as actuators. The distance and speed of the robot are determined to ensure the ability to approach and move objects based on color appropriately. Testing of the robot system is done with X position value and area as parameters. Simulation of the experiment was carried out with a case study of the X position value of 73 and an area of 1012. Robot testing is done using simulation software and Arduino IDE which is then calculated manually for comparison. The results obtained in testing with simulation software are 88.70 PWM for the right DC motor and 76.10 PWM for the left DC motor. Based on the data obtained from simulation software, testing with Arduino IDE, and manual calculations, an error value of 0.158% for the right DC motor and 0.092% for the left DC motor was found. Additional tests were carried out with variations in the distance of the object being moved as well as the transfer of the object to the destination. These results show that Mamdani fuzzy logic control is effective in controlling the transporter robot, allowing accurate maneuvering and adaptive to environmental changes.

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