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All Journal Jurnal SOLMA Journal of Robotics and Control (JRC) Operations Research: International Conference Series International Journal of Global Operations Research International Journal of Ethno-Sciences and Education Research
Setiawan, Aan Eko
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Religion Aerospace Engineering Humanities Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Languange, Linguistic, Communication & Media Mathematics Mechanical Engineering Transportation Other

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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

Abstract

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

Abstract

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.
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

Abstract

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

Abstract

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 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

Abstract

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.
Co-Authors Amhar, Usamah Arliyanto, P Yudi Dwi Arridho, Ilham Ali Dodi Zulherman Firdaus, Haddy Firdaus, Hardiansyah Fransisca Debora Hadikaryana, Oscar Hòe Nguyễn Đình Khoerunisa, Ahshonat Khoerunnisa, Ahshonat Nur Jamiludin R Ridwan, Ridwan Rina Mardiati, Rina Rivandi, Merdieco Sari, Marta Hayu Raras Sita Rukmika Shandra, Olivia Ferisca Wibowo, Rifky Budiarto Yuningsih, Siti Hadiaty Yushardian, Hamdi Akmal Yusuf, Rifqi Akmal