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All Journal Jurnal Media Elektro : Journal of Electrical Power, Informatics, Telecommunication, Electronics, Computer and Control System International Journal of Technology, Food and Agriculture
Dwinanda, Angga
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Agriculture, Biological Sciences & Forestry Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Teleoperation of Mecanum Wheels Robot Actuation Integrated with MQTT as an Interactive STEM Learning Tool Rohman, Ardianto Syaifur; Genarsih, Tunjung; Dwianto, Sihmaulana; Afianah, Nuzula; Putri, Salsabila Liandra; Rofi’i, Ahmad; Purnomo, Fendik Eko; Kautsar, Syamsiar; Nari, Mochamad Irwan; Fanani, Nurul Zainal; Dwinanda, Angga
International Journal of Technology, Food and Agriculture Vol. 3 No. 1 (2026): Pebruary
Publisher : P3M Politeknik Negeri Jember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25047/tefa.v3i1.6832

Abstract

This research presents the development of a teleoperation system for a mecanum wheel robot actuation integrated with the MQTT (Message Queuing Telemetry Transport) protocol to be used as an interactive STEM (Science, Technology, Engineering, and Mathematics) learning tool. The system employs four independently actuated mecanum wheels enabling omnidirectional mobility through coordinated wheel control. The teleoperation architecture utilizes a Raspberry Pi 3B+ connected to HiveMQ Cloud broker implementing MQTT protocol for real-time remote actuation via Flutter-based mobile interface. Each wheel actuation is controlled through L298N motor drivers operating at 300Hz PWM (Pulse Width Modulation) frequency, providing precise speed and directional control. Experimental results demonstrate system reliability with an average position deviation of 1.86 cm for forward actuation, 1.93 cm for backward, 2.64 cm for left slide, and 1.71 cm for right slide movements across 140 cm distance. The MQTT integration achieves a command execution latency of 200-400ms, suitable for educational teleoperation applications. The Flutter interface provides intuitive control with real-time visualization of wheel actuation states, enhancing user understanding of mecanum wheel kinematics. This implementation successfully demonstrates the effective use of teleoperation of a mecanum wheel robot actuation as platform for interactive STEM education, providing hands-on experience in robotics actuation, IoT protocols, control systems, and mobile application development.
ANALISIS PERFORMA PROTOKOL MQTT PADA SISTEM MONITORING GAS BERBAHAYA MENGGUNAKAN SENSOR MQ135 TERINTEGRASI ANDROID Genarsih, Tunjung; Indrasari, Nindayu; Rohman, Ardianto Syaifur; Dwianto, Sihmaulana; Dwinanda, Angga; Putri, Salsabila Liandra; Qanitah, Qanitah
Jurnal Media Elektro Vol 15 No 1 (2026): April 2026
Publisher : Universitas Nusa Cendana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35508/jme.v0i0.28118

Abstract

This study analyzes the performance of the Message Queuing Telemetry Transport (MQTT) protocol in a hazardous gas monitoring system using an MQ135 sensor and an ESP8266 NodeMCU microcontroller, integrated with a Flutter-based Android application. The monitored gases include CO, NO₂, CO₂, and SO₂, based on the threshold limits set by Permenaker No. 5 of 2018. The objective of this study is to evaluate MQTT Quality of Service (QoS) parameters, including delay, jitter, packet loss, and throughput, across three QoS levels (0, 1, and 2). Sensor validation was conducted using the Repeatability Test and Threshold Detection Test. The results show that the sensor demonstrates good reliability with CV values ranging from 1.92% to 3.78% and an average detection success rate of 98.9%. MQTT testing indicates that QoS 0 achieves the lowest delay (42.3 ms), jitter (3.12 ms), and zero packet loss, and the highest throughput (18.6 kbps). Additionally, the system provides real-time notification with an average response time below 500 ms. However, QoS 1 is identified as the optimal configuration, balancing delivery reliability and network efficiency for real-time laboratory safety monitoring systems
Co-Authors Afianah, Nuzula Dwianto, Sihmaulana Fanani, Nurul Zainal Indrasari, Nindayu Kautsar, Syamsiar Nari, Mochamad Irwan Purnomo, Fendik Eko Putri, Salsabila Liandra Qanitah, Qanitah Rofi’i, Ahmad Rohman, Ardianto Syaifur Tunjung Genarsih, Tunjung