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All Journal Jurnal Forum Nuklir JAREE (Journal on Advanced Research in Electrical Engineering)
Misbah Habib Putra
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Control & Systems Engineering Electrical & Electronics Engineering Materials Science & Nanotechnology

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DEVELOPMENT OF 5 DOF ROBOTIC ARM PROTOTYPE CONTROL SYSTEM IN BRACHYTHERAPY PREPARATION BASED ON ARTIFICIAL NEURAL NETWORK Adi Abimanyu, M.Eng; Misbah Habib Putra; Muhtadan Muhtadan
Jurnal Forum Nuklir JURNAL FORUM NUKLIR VOL 15 NO 2 NOVEMBER 2021
Publisher : BATAN

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17146/jfn.2021.15.2.6282

Abstract

Brachytherapy is a cancer treatment that uses radioactive sources with temporary or permanent implantation in cancer tissue. The theraphy uses a radioactive Ir-192 source wrapped in a stainless steel capsule with a diameter of 0.5 mm and a length of 4 mm. The Center for Radioisotopes and Radiopharmaceutical Technology applies a remote manipulator to manufacture microcapsules, which affects the accuracy and risks of the radiation received by the operator. Therefore, to solve this problem, it is necessary to design a 5 DoF robotic arm based on artificial neural networks as a radioactive source transfer tool to improve the precision and safety of operators in preparing the radioactive sources. In developing the 5 DoF robotic arm control system, the NImyRIO was employed, which can control the servo motor, relay pump and valve reality, image processing, and inverse kinematic. The inverse kinematic uses the neural network method with a forward kinematic validation. The inverse kinematic test obtains the RMSE value of 2.78932 for x, 5.05205 for y, and 12.641 for z in the inverse kinematic test of artificial neural networks. Therefore, the inverse kinematic accuracy of the artificial neural network needs to be redeveloped.
Leader-Follower Formation and Obstacle Avoidance for Nonholonomic Mobile Robots Using Velocity Obstacles Putra, Misbah Habib; Agustinah, Trihastuti; Sahal, Mochammad
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 9, No 1 (2025): January
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v9i1.433

Abstract

A multi-robot system is a group of robots that coordinate and perform complex tasks with the help of a communication system. The commonly adapted approaches in multi-robot formation control include the leader-follower method, where the leading robot acts as the coordination center, and follower robots track the movement of the leading robot. Multi-robot formations are usually faced by static and dynamic obstacles in the operational environment. In this paper, the obstacle-avoidance challenge is tackled by adopting the concept of velocity obstacles in a way that enables the robots to efficiently consider not only the velocity of an obstacle but also its direction in order to avoid collision. The method is evaluated through several simulation scenarios in different environments. The simulation results show that the multi-robot formation version can successfully avoid static and dynamic obstacles and reform a formation right afterward from zero collisions.
Co-Authors Adi Abimanyu, M.Eng Muhtadan Muhtadan Sahal, Mochammad Trihastuti Agustinah