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All Journal Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Journal of Robotics and Control (JRC) Journal of Fuzzy Systems and Control (JFSC)
Probo Santoso, Henry
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Mechanical Engineering

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Online Navigation of Self-Balancing Robot using Gazebo and RVIZ Maghfiroh, Hari; Probo Santoso, Henry
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

Human activity has been increasing, to support the activity, people in the modern era create robots to replace some human activities. The interest in two-wheeled balance robots has continued to increase, this is because it is highly maneuverable, making it efficient for use in various areas. In this study, the online navigation of a two-wheeled self-balancing robot is done. The connection between the robot and online navigation is using a Wi-Fi connection. The world model base on the real room is created by Gazebo and then visualized in RVIZ. The map creation and navigation process are handled by the package provided by ROS. The results of the simulation and real tracking show that the robot can move from the starting point to the destination point in either a straight or a curved path. The difference of the final position of the robot between simulation and real tracking is only (15.4 cm, 4 cm) and (9.6 cm, 43 cm) for the straight and curved path. This result proved that online navigation can be used to navigate an autonomous robot without real navigation sensors.
Stroke Patient Communication Tool with Touch Sensor and Phrase Time Step Aji Pratama, Fajar; Safitri, Meilia; Loniza , Erika; Probo Santoso, Henry
Journal of Fuzzy Systems and Control Vol. 2 No. 1 (2024): Vol. 2, No. 1, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i1.164

Abstract

The purpose of this prototype is to enhance communication between stroke patients and their caregivers, as difficulty in understanding the nuanced wishes of stroke patients often leads to a reduced quality of life for the patients and increased caregiver depression. This study aimed to address these challenges by providing a more effective means of interpreting the desires of stroke patients during their interactions with their caregivers. The prototype utilizes a dual-input system to capture the intricate communication dynamics. The first input involves recording the finger movements of the patient through touch interaction with the TTP223 touch sensor area. In contrast, the second input comprises a time-step phrase that serves as a complementary mechanism for selecting communication phrases. The combination of these inputs is processed using Boolean logic, specifically employing basic AND logic, in which both inputs must register as high to yield a correspondingly high output. The ESP32 microcontroller processes the output signal, and the resulting information is displayed on both an LCD screen and a dedicated Telegram application. The prototype achieved a notable accomplishment of 100% accuracy in reading inputs.
Path Planning for Mobile Robots on Dynamic Environmental Obstacles Using PSO Optimization Fahmizal, Fahmizal; Danarastri, Innes; Arrofiq, Muhammad; Maghfiroh, Hari; Probo Santoso, Henry; Anugrah, Pinto; Molla, Atinkut
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.
Co-Authors Aji Pratama, Fajar Anugrah, Pinto Danarastri, Innes Fahmizal, Fahmizal Loniza , Erika Maghfiroh, Hari Meilia Safitri Molla, Atinkut Muhammad Arrofiq