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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) TELKOMNIKA (Telecommunication Computing Electronics and Control) Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Sinergi Jurnal Pengabdian Pada Masyarakat Journal of Robotics and Control (JRC) Journal of Applied Engineering and Technological Science (JAETS) Computer Science and Information Technologies Teknomekanik International Journal of Robotics and Control Systems Automotive Experiences Electrician : Jurnal Rekayasa dan Teknologi Elektro Journal of Fuzzy Systems and Control (JFSC) Jurnal Penelitian Transportasi Darat Jurnal Elektronika dan Telekomunikasi
Hari Maghfiroh
Departement Of Electrical Engineering, Faculty Of Engineering, Universitas Sebelas Maret
Aerospace Engineering Agriculture, Biological Sciences & Forestry Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Public Health Transportation Other

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Hybrid Catenary-Battery Trains for Non-Electrified Sections and Emergency Use Muhammad Nizam; Hari Maghfiroh; Mufti Reza Aulia Putra; Anif Jamaluddin; Inayati Inayati
Automotive Experiences Vol. 8 No. 2 (2025)
Publisher : Universitas Muhammadiyah Magelang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31603/ae.13440

Abstract

The hybrid catenary”“battery system offers a promising solution for railways operating in non-electrified sections and during emergencies, ensuring uninterrupted operation, enhanced safety, environmental sustainability, and cost efficiency. This study addresses the challenge of determining an appropriate battery size and introduces a novel rule-based Energy Management Strategy (EMS) with coasting mode to minimize energy consumption while meeting operational requirements. The novelty of this work lies in (i) a straightforward sizing method based on worst-case emergency scenarios and (ii) the integration of coasting-mode operation into a rule-based EMS for hybrid catenary”“battery trains. Simulation results show that the proposed approach achieves up to 12.56% energy savings on 3% gradient tracks while fully supplying auxiliary loads, compared with baseline operation that provides only partial coverage. These results demonstrate a practical and scalable framework for designing efficient, reliable, and resilient railway transport systems.
Design, control, and development of a low-cost single-tilt-rotor Tricopter Fahmizal Fahmizal; Ahmad Jaelani Sidik; Priyova Muhammad Rafief; Hari Maghfiroh; Mariusz Jabłoński; Piotr Borkowski
Teknomekanik Vol. 9 No. 2 (2026): Regular Issue
Publisher : Universitas Negeri Padang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24036/teknomekanik.v9i2.53172

Abstract

This paper presents the design, implementation, and experimental validation of a low-cost PID-based attitude control system for a single-tilt-rotor tricopter. The proposed platform employs a Y-shaped frame configuration with a servo-driven tail-tilt mechanism and is implemented using a low-cost ATmega328P microcontroller and GY-88A IMU sensor. A PID controller was used for inner-loop attitude stabilization of roll, pitch, and yaw motions due to its low computational complexity and suitability for resource-constrained embedded systems. The PID gains were obtained through manual tuning using a tricopter test-bed rig under disturbance-free conditions and experimentally evaluated under both static and dynamic wind disturbances. Under a static wind disturbance of 7.2 m/s, the roll and pitch mean absolute error (MAE) values reached 0.977° and 4.826°, respectively, while dynamic disturbance testing produced MAE values of 0.823° for roll and 2.094° for pitch. Outdoor flight tests resulted in MAE values of 1.133° for roll and 1.831° for pitch. The experimental results demonstrated that the proposed low-cost tricopter platform can maintain stable attitude control under the evaluated disturbance conditions and outdoor flight scenarios. The study highlights the feasibility of implementing reliable tricopter stabilization using computationally lightweight PID control on inexpensive embedded hardware.
A Multi-Channel Wavelet Long Short-Term Memory Framework for Early Wheel Slip Detection in Urban Light Rail Transit Yulian Lingga Permana; Muhammad Hamka Ibrahim; Hari Maghfiroh
Journal of Fuzzy Systems and Control Vol. 4 No. 2 (2026): Vol. 4 No. 2 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v4i2.419

Abstract

This paper presents an integrated framework combining Continuous Wavelet Transform (CWT) with multi-stream Long Short-Term Memory and Multi-Layer Perceptron (LSTM+MLP) networks for early wheel slip detection in urban Light Rail Transit (LRT). Conventional Wheel Slip Protection (WSP) systems rely on static thresholds applied to axle speed differences, resulting in detection latency that impacts wheel-rail wear and operational disruptions. Three methodological contributions are proposed: (i) a five-channel CWT feature extraction strategy that leverages the structural hierarchy of LRT trainsets consisting of motor car with cabin (MC), motor car (M), and trailer car (T); (ii) a conventional ground truth labeling workflow using Slip/Slide Status signals as a reference, eliminating expert annotation bias; and (iii) the first distance-based spatial slip hotspot mapping integrated with model prediction for the Jakarta LRT line. The framework is validated on a 50-minute operational dataset consisting of 93,755 time steps with a resolution of 32 ms, collected from the LRT and synchronized via Dynamic Time Warping using 47 Train Control and Management System (TCMS) variables with three different sampling rates. Statistical analysis confirms that the motor-trailer speed difference channel achieves a Cohen's d of 1.615 with a Kolmogorov-Smirnov p < 0.001 test between normal and slip distributions. The integrated LSTM+MLP model achieves an F1 score of 0.9272, an AUC of 0.9958, and a median early detection margin of 1.152 seconds before conventional WSP activation, with 100% of test events detected earlier than the conventional system. Complementary spatial mapping derived from a larger multi-train dataset containing 5,948 events identified 414 high-risk zones along the LRT track, supporting predictive WSP threshold modulation and maintenance scheduling that takes rail wear into account.
Performance Evaluation of Sliding Mode Control (SMC) for DC Motor Speed Control Dimas Dwika Saputra; Alfian Ma'arif; Hari Maghfiroh; Muhammad Ahmad Baballe; Angelo Marcelo Tusset; Abdel-Nasser Sharkawy; Rania Majdoubi
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol. 9 No. 2 (2023): June
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/jiteki.v9i2.26291

Abstract

DC motor is an industrial motor that is practical for many applications and implementations. However, the speed of a DC motor often decreases because of the given load, thus causing it to be unstable and inconstant. In addition, parameter uncertainty is another issue of DC motors. The performance of the system will be impacted by the uncertainty. Therefore, in this study, SMC is used as speed control of the DC motor since it can handle non-linear plants. The performance also compares with PID to know the effectiveness of the SMC method in DC motor speed control. This study proposes a hardware design and implementation of DC motor angular speed control on Arduino UNO as an embedded control system. The performance comparison analysis results proved that both controllers could perform well. However, both controllers need further fine-tuning. There are still overshoot and steady-state errors for PID and SMC, respectively. In future work, the optimization method can be used to find the optimal gain or by combining it with an adaptive algorithm.
Path Planning for Mobile Robots on Dynamic Environmental Obstacles Using PSO Optimization Fahmizal Fahmizal; Innes Danarastri; Muhammad Arrofiq; Hari Maghfiroh; Henry Probo Santoso; Pinto Anugrah; Atinkut Molla
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol. 10 No. 1 (2024): March
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/jiteki.v10i1.28513

Abstract

The increasing integration of mobile robots in various industries necessitates efficient navigation strategies amidst dynamic environments. Path planning plays a crucial role in guiding mobile robots from their starting points to target destinations, contributing to automation and enhancing human-robot collaboration. This study focuses on devising a tailored path-planning approach for a fleet of mobile robots to navigate through dynamic obstacles and reach designated trajectories efficiently. Leveraging particle swarm optimization (PSO), our methodology optimizes the path while considering real-time environmental changes. We present a simulation-based implementation of the algorithm, where each robot maintains position, velocity, cost, and personal best information to converge towards the global optimal solution. Different obstacles consist of circles, squares, rectangles, and triangles with various colors and five handle-points used. Our findings demonstrate that PSO achieves a global best cost of 5.1017, indicative of the most efficient path, minimizing overall distance traveled.
Control and Navigation of Differential Drive Mobile Robot with PID and Hector SLAM: Simulation and Implementation Fahmizal Fahmizal; Matthew Sebastian Pratikno; Hidayat Nur Isnianto; Afrizal Mayub; Hari Maghfiroh; Pinto Anugrah
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol. 10 No. 3 (2024): September
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/jiteki.v10i3.29428

Abstract

Navigation technology is essential in fields like transportation and logistics, where precise mapping and localization are critical. Simultaneous Localization and Mapping (SLAM) technologies, such as Hector SLAM, enable robots to map environments by detecting and predicting object locations using sensors like LiDAR. Unlike other SLAM methods, Hector SLAM operates without odometry, relying solely on LiDAR data to produce accurate maps. This study investigates the application of Hector SLAM in a differential drive mobile robot controlled via the Robot Operating System (ROS), with PID control managing the motor speeds. The research contribution is the integration of Hector SLAM with PID control to enhance mapping accuracy in environments without odometry data. The method involves testing the robot's mapping performance in an indoor environment, focusing on the impact of varying linear and angular velocities on the quality of the generated maps. The PID control was tuned to ensure stable speed values for the robot's differential drive motors. Results show that Hector SLAM, when combined with well-tuned PID control, generates highly accurate maps that closely match the actual environment dimensions, with minimal errors. Specifically, the mapping error was found to be within 0.10 meters, validating the effectiveness of this approach in non-odometric systems. In conclusion, the study demonstrates that Hector SLAM, supported by PID-controlled motor stability, is an effective solution for mapping in differential drive mobile robots, particularly in scenarios where odometry is unavailable.
Co-Authors Abdel-Nasser Sharkawy Abu Saleh Musa Miah Adriyanto, Feri Afrizal Mayub Agus Ramelan Ahmad Jaelani Sidik Alfian Ma’arif Angelo Marcelo Tusset Anif Jamaluddin Anisa Ulya Darajat Arif Wibowo Arthur Joshua Titus Atinkut Molla Augustinus Sujono Augustinus Sujono Azis Ubaidilah Berlian Shanaza Andiany Catur Harsito Chico Hermanu Chico Hermanu Chico Hermanu Chico Hermanu Chico Hermanu Daru Kusumastuti Dimas Dwika Saputra Dodi Saputra Fahmizal Fahmizal Fahmizal Fahmizal Henry Probo Santoso Henry Probo Santoso Heriansyah Hidayat Nur Isnianto Inayati Inayati Inayati Inayati Innes Danarastri Joko Slamet Saputro Mariusz Jabłoński Matthew Sebastian Pratikno Maulana Afif Miftahul Anwar Miftahul Anwar Mohammad Farhan Ferdous Mufti Reza Aulia Putra Muhammad Ahmad Baballe Muhammad Arrofiq Muhammad Hamka Ibrahim Muhammad Hamka Ibrahim Muhammad Hamka Ibrahim Muhammad Hammam Al-Choiri Muhammad Nizam Muhammad Renaldy Darmawan Musyaffa’ Ahmad Phichitphon Chotikunnan Pinto Anugrah Piotr Borkowski Priyova Muhammad Rafief R Lulus Lambang GH Rahmadhia, Safinta Nurinda Rania Majdoubi Rebbeka Siswandina Sari Ricky Aston Susetyo Subuh Pramono Supriyanto Praptodiyono Supriyanto Praptodiyono Supriyanto Praptodiyono Supriyanto Praptodiyono swadexi istiqphara URI ARTA RAMADHANI Vernanda Sitorini Zul Hizmi Yulian Lingga Permana Zainal Arifin