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Trajectory Planning of Spherical Pendulum Pattern for Application in Creating Batik Patterns Putri, Indah Radityo; Ekawati, Estiyanti; Budi, Eko Mursito; Juwandana, Alfisena; Mulyawan, Naufan Aurezan; Kho, Philip Inarta; Kudiya, Komarudin
Ultima Computing : Jurnal Sistem Komputer Vol 15 No 2 (2023): Ultima Computing : Jurnal Sistem Komputer
Publisher : Faculty of Engineering and Informatics, Universitas Multimedia Nusantara

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31937/sk.v15i2.3425

Batik Pendulum is a new batik pattern created by Rumah Batik Komar using a single-string pendulum filled with wax. However, current production is still manual, so it is impossible to re-manufacture in large quantities. This research is part of a machine and software development project to produce Batik Pendulum, where this research will only focus on software development. The designed software will have a spherical pendulum trajectory planning feature through parameter changes. The spherical pendulum path was chosen because it has the same pattern as the currently produced Batik Pendulum. In planning the spherical pendulum trajectory, an algorithm that receives input in the form of parameters to produce a spherical pendulum pattern has been designed. From these inputs, it is proven that the proposed parameters can provide a variety of spherical pendulum patterns. Implementing the spherical pendulum trajectory planning in the software shows that the time required to change parameters until the output trajectory is generated is 1 – 2 seconds. So, there is no need for any feedback to the user.

Gross Error Detection and Data Correction in IIoT-Based Data Center Cooling System Hamid, Abdul; Budi, Eko Mursito; Ekawati, Estiyanti
Ultima Computing : Jurnal Sistem Komputer Vol 16 No 1 (2024): Ultima Computing : Jurnal Sistem Komputer
Publisher : Faculty of Engineering and Informatics, Universitas Multimedia Nusantara

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31937/sk.v16i1.3695

A data center always require a proper cooling system. This research study a data center with water based cooling system that consists of two chillers and two in-rack coolers. To control the system, an Industrial Internet of Things (IIoT) infrastructures has been deployed. It able to monitors real-time data from various sensors such as temperature (T), pressure (P), water flow (Q). The data were supposed to be used for optimization. However, early assessment showed that there were discrepancies between the sensors. Therefore, data reconciliation method is essential to get the valid data from the sensors. This paper discusses the implementation of gross error detection and correction by using least square method and bias compensation.

Studi Pengolahan Air Limbah Batik pada Skala Industri Rumah Tangga dan Usaha Kecil Menengah di Cirebon, Indonesia Diyah, Nazuwatussya’; Ratuannisa, Tyar; Ekawati, Estiyanti; Yulia, Elfi; Purwasasmita, Bambang Sunendar; Nugraha, Ashari Budi
Dampak Vol 20, No 1 (2023)
Publisher : Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25077/dampak.20.1.8-15.2023

Since the admission of batik as a world cultural heritage by the United Nations Educational, Scientific and Cultural Organization, the public interest in batik and the batik industry has been increasing. However, the problem arises when the development of the batik industry is not accompanied by batik wastewater treatment that fits the wastewater quality standard. Hence it causes environmental pollution, especially for the aquatic body. This paper discusses the conditions and awareness for batik wastewater treatment in the batik industry on household and small-to-medium scales in Plered District, Cirebon, Indonesia. It examines the pollutant load of batik wastewater in the area, the respondent's knowledge about wastewater processing systems, wastewater impact on the environment, and the need for education about batik wastewater treatment plants (WWTPs). The examination of wastewater samples showed that batik wastewater did not meet the waste quality standards and potentially harmed the environment. The respondents generally use synthetic dyes, and were unaware of its impact on the surrounding environment. Keyword: batik, WWTPs, batik production process, dye, wastewater impact ABSTRAK Sejak ditetapkannya batik sebagai warisan budaya dunia oleh United Nations Educational, Scientific and Cultural Organization, minat masyarakat terhadap batik dan industri batik semakin meningkat. Namun permasalahan muncul ketika pengembangan industri batik tidak dibarengi dengan pengolahan air limbah batik yang sesuai dengan baku mutu air limbah. Oleh karena itu menyebabkan pencemaran lingkungan, terutama untuk badan air. Tulisan ini membahas tentang kondisi dan kesadaran pengolahan air limbah batik pada industri batik skala rumah tangga dan kecil-menengah di Kecamatan Plered, Cirebon, Indonesia. Kajian ini mengkaji beban polutan air limbah batik di wilayah tersebut, pengetahuan responden tentang sistem pengolahan air limbah, dampak air limbah terhadap lingkungan, dan perlunya penyuluhan tentang Instalasi Pengolahan Air Limbah (IPAL) batik. Pemeriksaan sampel air limbah menunjukkan bahwa air limbah batik tidak memenuhi baku mutu limbah dan berpotensi merusak lingkungan. Responden umumnya menggunakan pewarna sintetis, dan tidak mengetahui dampaknya terhadap lingkungan sekitar. Kata kunci: COD, elektrokoagulasi, elektroda aluminium, air limbah tahu, monopolar.

Adaptive Strategies for Dynamic Obstacle Avoidance and Formation Control in Multi-Agent Drone Systems: A Review Argiliana, Shania; Ekawati, Estiyanti; Mukhlish, Faqihza
Journal of Robotics and Control (JRC) Vol. 6 No. 4 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i4.26243

Obstacle avoidance in multi-agent systems is a critical area of research driven by advancements in autonomous technology and artificial intelligence. This review examines various approaches to path planning, formation control, and communication architectures, focusing on their effectiveness in static and dynamic environments. The research contribution is a comprehensive analysis of current techniques based on a structured selection process evaluating peer-reviewed studies through computational efficiency, real-time adaptivity, and scalability. The findings highlight the strengths and limitations of classical methods, such as the Improved Artificial Potential Field (IAPF), and modern techniques like Reinforcement Learning (RL) and Model Predictive Control (MPC). Comparative analysis reveals that while these approaches improve adaptivity, they also introduce challenges such as high computational loads, difficulties in large-scale multi-agent coordination, and sensitivity of parameter tuning. Additionally, existing formation control strategies depend highly on stable inter-agent communication, making them vulnerable to delays and failures in decentralized networks. This review identifies key research gaps and suggests future directions, including hybrid RL-MPC formation control, adaptive path planning algorithms, and scalable communication protocols to enhance multi-agent system performance in real-world applications.

Advanced State Estimations for Gravitational Oil/Water Separator Tanks using a Kalman Filter and Multi-Model Hypothesis Testing Cahya, Zaid; Siregar, Parsaulian; Ekawati, Estiyanti; Bahiuddin, Irfan; Cahya, Dito Eka; Nugroho, Tsani Hendro; Taufiqurrohman, Heru; Boudaoud, Mohammed
Jurnal Elektronika dan Telekomunikasi Vol 25, No 1 (2025)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/jet.682

This paper presents a new application of the Kalman filter with Hypothesis testing for a fast and robust model-based estimator for measuring level interfaces of atmospheric gravitational oil-water separator tanks. A newly developed semi-empirical linearized model is applied in the estimator algorithm. A multi-model hypothesis-testing algorithm for covering more scenarios was deployed. The proposed method provides a cost-effective and straightforward solution for estimating all state variables in an oil-water separator. Our evaluation results demonstrate that the proposed algorithm achieves high accuracy with an observation error of less than 2% and a false alarm rate of 3.3% under 50-70% working conditions. Furthermore, the estimator can effectively handle process noise with a 10% feed offset. The proposed platform requires only a few installed sensors yet can accurately estimate unknown parameters. The proposed approach offers a robust and practical soft sensor solution for gravitational oil/water separators

Trajectory Planning of Spherical Pendulum Pattern for Application in Creating Batik Patterns Putri, Indah Radityo; Ekawati, Estiyanti; Budi, Eko Mursito; Juwandana, Alfisena; Mulyawan, Naufan Aurezan; Kho, Philip Inarta; Kudiya, Komarudin
ULTIMA Computing Vol 15 No 2 (2023): Ultima Computing : Jurnal Sistem Komputer
Publisher : Faculty of Engineering and Informatics, Universitas Multimedia Nusantara

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31937/sk.v15i2.3425

Batik Pendulum is a new batik pattern created by Rumah Batik Komar using a single-string pendulum filled with wax. However, current production is still manual, so it is impossible to re-manufacture in large quantities. This research is part of a machine and software development project to produce Batik Pendulum, where this research will only focus on software development. The designed software will have a spherical pendulum trajectory planning feature through parameter changes. The spherical pendulum path was chosen because it has the same pattern as the currently produced Batik Pendulum. In planning the spherical pendulum trajectory, an algorithm that receives input in the form of parameters to produce a spherical pendulum pattern has been designed. From these inputs, it is proven that the proposed parameters can provide a variety of spherical pendulum patterns. Implementing the spherical pendulum trajectory planning in the software shows that the time required to change parameters until the output trajectory is generated is 1 – 2 seconds. So, there is no need for any feedback to the user.

Gross Error Detection and Data Correction in IIoT-Based Data Center Cooling System Hamid, Abdul; Budi, Eko Mursito; Ekawati, Estiyanti
ULTIMA Computing Vol 16 No 1 (2024): Ultima Computing : Jurnal Sistem Komputer
Publisher : Faculty of Engineering and Informatics, Universitas Multimedia Nusantara

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31937/sk.v16i1.3695

A data center always require a proper cooling system. This research study a data center with water based cooling system that consists of two chillers and two in-rack coolers. To control the system, an Industrial Internet of Things (IIoT) infrastructures has been deployed. It able to monitors real-time data from various sensors such as temperature (T), pressure (P), water flow (Q). The data were supposed to be used for optimization. However, early assessment showed that there were discrepancies between the sensors. Therefore, data reconciliation method is essential to get the valid data from the sensors. This paper discusses the implementation of gross error detection and correction by using least square method and bias compensation.

Simulasi Pengontrolan Dan Observer Pada Kompleksitas Pemodelan Sistem Demo Set Tangki Kering Saragih, Martha Anjela; Hikmah, Nurul; Siregar, Parsaulian I.; Ekawati, Estiyanti
Jurnal Otomasi Kontrol dan Instrumentasi Vol 12 No 2 (2020): Jurnal Otomasi Kontrol dan Instrumentasi
Publisher : Pusat Teknologi Instrumentasi dan Otomasi (PTIO) - Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/joki.2020.12.2.4

Komplesitas pemodelan sistem demo set dilakukan dengan perubahan letak aksi kontrol, yang semula pada masukan menjadi pada keluaran untuk sistem 1 tangki hingga 3 tangki. Kompleksitas dilakukan agar sistem lebih sesuai dengan keadaan aktual. Pengontrolan dilakukan dengan metode penempatan pole dan penambahan kondisi integral dengan gangguan dan tanpa gangguan. Pada sistem dengan penambahan kondisi integral nilai overshoot yang dihasilkan lebih besar tetapi mengurangi nilai offset saat penambahan gangguan.Kemudian dirancang observer untuk mengestimasi variabel keadaan pada pemodelan sistem dengan metode full state order observer. Hasil simulasi menunjukkan bahwa penambahan gain observer pada sistem dengan pengontrol akan mengurangi nilai eror pada perbedaan antara observer variabel keadaan sistem dengan variabel keadaan sistem. Kemudian dilakukan pula penambahan gangguan pada sistem kontrol dan observer, dengan hasil bahwa masih terdapat offset pada respon output. Oleh karena itu didesain ulang sistem kontrol untuk mencari hubungan antara penempatan minimum nilai eigen dominant dan nilai variansi gangguan agar offset yang dihasilkan 5% atau 10%.

PELATIHAN SISTEM OTOMASI PERTANIAN HIDROPONIK UNTUK KELOMPOK TANI DI JATINANGOR DAN CIMAHI DALAM RANGKA PEMULIHAN EKONOMI Supriyadi, Aep; Ekawati, Estiyanti; Saputra, Dede Irawan; Budiawan, Irvan
Martabe : Jurnal Pengabdian Kepada Masyarakat Vol 5, No 2 (2022): Martabe : Jurnal Pengabdian Kepada Masyarakat
Publisher : Universitas Muhammadiyah Tapanuli Selatan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31604/jpm.v5i2.507-514

Pertanian hidroponik menjadi salah satu alternatif masyarakat perkotaan. Kegiatan tersebut dapat dilakukan bukan hanya sekedar mengisi waktu luang dimasa pandemi Covid 19 akan tetapi dapat menjadikan ladang usaha yang memperoleh keuntungan. Seiring berjalannya waktu, akselerasi pemahaman terhadap kondisi, parameter dan metode menentukan keberhasilan pertanian sangat diperlukan. Perubahan iklim yang ekstrim, tuntutan pasar yang dinamis, membutuhkan adaptasi kegiatan pertanian yang cepat baik pada sistem pertanian NFT, DFT, rakit apung bahkan sistem kombinasi yang menggunakan media tanah seperti poly bag. Otomasi pada tipe-tipe tersebut dapat dioptimalkan dan dan diaplikasikan sesuai dengan kebutuhan berdasarkan permasalahan yang ada seperti sistem monitor dan kontrol. Sistem otomasi pertanian yang dikembangakan dan dilatihkan pada mitra berupa sistem kendali jarak jauh berdasarkan pembacaan sensor suhu, kelembaban, dan nutrisi untuk menggerakan aktuator dapat berupa motor penyiram dan motor pompa. kegiatan ini diharapkan peserta menjadi kader agent of change yang dapat membangun sistem otomasi pertanian pada lahan pertaniannya serta dapat meningkatakan ekonomi.

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