Articles
<![CDATA[ESTIMASI POSISI DENGAN MENGGUNAKAN KAMERA MONOKULAR ]]>
<![CDATA[Afrisal, Hadha]]>;
<![CDATA[Soesanti, Indah]]>;
<![CDATA[Cahyadi, Adha Imam]]>
<![CDATA[ Transmisi Vol 21, No 1 Januari (2019): TRANSMISI ]]>
Publisher : <![CDATA[Departemen Teknik Elektro, Universitas Diponegoro ]]>
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DOI: 10.14710/transmisi.21.1.1-9
<![CDATA[Pada mobile robot yang memiliki sensor utama hanya berupa kamera, estimasi posisi robot relatif terhadap landmark-landmark visual dapat dilakukan dengan menggunakan pendekatan multiple view geometry. Hal tersebut berguna bagi robot untuk bernavigasi serta melakukan localization dan mapping secara bersamaan. Penelitian ini bertujuan untuk merancang dan mensimulasikan algoritma estimasi posisi yang merupakan langkah awal pada monocular SLAM (Simultaneous Localization and Mapping) 2-dimensi. Penelitian akan membahas tentang fungsi kamera sebagai sensor posisi untuk mobile robot dengan menitikberatkan diskusi pada transformasi citra dengan menggunakan model kamera pinhole dengan parameter intrinsik dan ekstrinsiknya. Berdasarkan hasil pengujian, estimasi pose dan posisi terhadap citra papan catur (checkerboard) berhasil memetakan jarak dan sudut dengan cukup akurat dan dengan error estimasi yang cukup kecil, yakni 2,9 mm untuk estimasi jarak, dan 0.3° untuk estimasi sudut. Simulasi algoritma pose estimation juga telah dilakukan secara offline dengan menggunakan 1200 buah image sequences yang diekstraksi dari citra video.]]>
<![CDATA[Attitude Control of Quadrotor Using PD Plus Feedforward controller on SO(3) ]]>
<![CDATA[Almido H Ginting]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Adha Imam Cahyadi]]>
<![CDATA[ International Journal of Electrical and Computer Engineering (IJECE) Vol 8, No 1: February 2018 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijece.v8i1.pp566-575
<![CDATA[This paper proposes a simple scheme of Proportional-Derivative (PD) plus Feedforward controller on SO(3) to control the attitude of a quadrotor. This controller only needs the measurement of angular velocity to calculate the exponential coordinates of the rotation matrix. With rotation matrix as an error variable of the controller, the simulation shows that the controller is able to drive the attitude of the quadrotor from hovering condition to desired attitude and from an attitude condition goes to the hovering condition, despite the system is disturbed. When the system is convergent, the rotation error matrix will be a 3x3 identity matrix.]]>
<![CDATA[Inertial Navigation for Quadrotor Using Kalman Filter with Drift Compensation ]]>
<![CDATA[Lasmadi Lasmadi]]>;
<![CDATA[Adha Imam Cahyadi]]>;
<![CDATA[Samiadji Herdjunanto]]>;
<![CDATA[Risanuri Hidayat]]>
<![CDATA[ International Journal of Electrical and Computer Engineering (IJECE) Vol 7, No 5: October 2017 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijece.v7i5.pp2596-2604
<![CDATA[The main disadvantage of an Inertial Navigation System is a low accuracy due to noise, bias, and drift error in the inertial sensor. This research aims to develop the accelerometer and gyroscope sensor for quadrotor navigation system, bias compensation, and Zero Velocity Compensation (ZVC). Kalman Filter is designed to reduce the noise on the sensor while bias compensation and ZVC are designed to eliminate the bias and drift error in the sensor data. Test results showed the Kalman Filter design is acceptable to reduce the noise in the sensor data. Moreover, the bias compensation and ZVC can reduce the drift error due to integration process as well as improve the position estimation accuracy of the quadrotor. At the time of testing, the system provided the accuracy above 90 % when it tested indoor.]]>
<![CDATA[Path Planning Based on Fuzzy Decision Trees and Potential Field ]]>
<![CDATA[Iswanto Iswanto]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Adha Imam Cahyadi]]>
<![CDATA[ International Journal of Electrical and Computer Engineering (IJECE) Vol 6, No 1: February 2016 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijece.v6i1.pp212-222
<![CDATA[The fuzzy logic algorithm is an artificial intelligence algorithm that uses mathematical logic to solve to by the data value inputs which are not precise in order to reach an accurate conclusion. In this work, Fuzzy decision tree (FDT) has been designed to solve the path planning problem by considering all available information and make the most appropriate decision given by the inputs. The FDT is often used to make a path planning decision in graph theory. It has been applied in the previous researches in the field of robotics, but it still shows drawbacks in that the robot will stop at the local minima and is not able to find the shortest path. Hence, this paper combines the FDT algorithm with the potential field algorithm. The potential field algorithm provides weight to the FDT algorithm which enables the robot to successfully avoid the local minima and find the shortest path.]]>
<![CDATA[Hover Position of Quadrotor Based on PD-like Fuzzy Linear Programming ]]>
<![CDATA[Iswanto Iswanto]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Adha Imam Cahyadi]]>
<![CDATA[ International Journal of Electrical and Computer Engineering (IJECE) Vol 6, No 5: October 2016 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijece.v6i5.pp2251-2261
<![CDATA[The purpose of this paper is to present the altitude control algorithm for quadrotor to be able to fly at a particular altitude. Several previous researchers have conducted studies on quadrotor altitude by using PID control but there are problems in the overshoot and oscillation. To optimize the control, tunning on PID algorithm must be first conducted to determine proportional and derivative constants. Hence, the paper presents altitude control modification by using PID-like fuzzy without tuning. The PID algorithm is a control algorithm for linear systems. While, system to be controlled is a non-linear, so that linearization is needed by using equilibrium. The proposed algorithm is a modification of the PID algorithm used as an altitude control which enables quadrotor to be stable when hovering. The algorithm used is not PID algorithm with tuning using fuzzy, but this is a single input single output (SISO) control PID-like fuzzy linear programming. The result of the research shows that quadrotor can hover in a rapid raise time, steady state and settling time without performing overshoot and oscillation.]]>
<![CDATA[Speed Control of a Single Taipei Mass Rapid Transit System Train by Using a Single Input Fuzzy Logic Controller ]]>
<![CDATA[Hari Maghfiroh]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Adha Imam Cahyadi]]>;
<![CDATA[Kuo Lung Lian]]>;
<![CDATA[Bwo Ren Ke]]>
<![CDATA[ International Journal of Electrical and Computer Engineering (IJECE) Vol 6, No 2: April 2016 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijece.v6i2.pp621-629
<![CDATA[The purpose of this study was to design a speed controller for mass rapid transit (MRT) train by using a single input fuzzy logic controller (SIFLC). A complete train model, which was designed according to the design of a Taipei MRT train was used for analyzing both mechanical and electrical parts. The SIFLC was used for improving a fuzzy logic controller (FLC) by reducing its number of control rules. The results indicated that the SIFLC exhibited more favorable performance than the FLC did and a substantial reduction in the number of fuzzy rules and processing time. Therefore, tuning the SIFLC was easier compared with tuning the FLC; furthermore, the simulation time of the SIFLC was shorter than that of the FLC, exhibiting reductions of up to 17.3% in a constant track (track without gradient and curvature) and up to 12.27% in a variable track (track with gradient and curvature).]]>
<![CDATA[Hovering Control of Quadrotor Based on Fuzzy Logic ]]>
<![CDATA[Nia Maharani Raharja]]>;
<![CDATA[Eka Firmansyah]]>;
<![CDATA[Adha Imam Cahyadi]]>;
<![CDATA[Iswanto Iswanto]]>
<![CDATA[ International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 8, No 1: March 2017 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijpeds.v8.i1.pp492-504
<![CDATA[Quadrotor is one of rotary wing UAV types which is able to perform a hover position. In order to take off, landing, and hover, it needs controllers. Conventional controllers have been widely applied in quadrotor, yet they have drawbacks namely overshoot. This paper presents attitude and altitude control algorithm in order to obtain a response as quadrotor hovered optimally within minimum overshoot, rise time, and settling time. The algorithm used is Fuzzy Logic Controller (FLC) algorithm with Mamdani method. By using the algorithm, the quadrotor is able to hover with minimum overshoot and maximum rise time. The advantage of the algorithm is that it does not require linearization model of the quadrotor.]]>
<![CDATA[Design and Experiments of Low Cost Teleoperation System ]]>
<![CDATA[Adha Imam Cahyadi]]>;
<![CDATA[Ng Khin Hooi]]>;
<![CDATA[Anugrah Persada]]>;
<![CDATA[Rubiyah Yusof]]>;
<![CDATA[Yoshio Yamamoto]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 1: March 2012 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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<![CDATA[In this work, a teleoperation system consists of two planar SCARA manipulators is developed. The manipulators are constructed using basic low cost aluminum bars as well as cheap electronic circuitry and software. Modeling, system identification, individual control and teleoperation control are proposed. Finally, experiments are also performed to verify the effectiveness of the design.Index Terms—Teleoperation systems, PID control, System identification, position control.DOI: http://dx.doi.org/10.11591/ijra.v1i1.272]]>
<![CDATA[Quadrotor Path Planning Based on Modified Fuzzy Cell Decomposition Algorithm ]]>
<![CDATA[Iswanto Iswanto]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Adha Imam Cahyadi]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 14, No 2: June 2016 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
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DOI: 10.12928/telkomnika.v14i2.2989
<![CDATA[The purpose of this paper is to present an algorithm to determine the shortest path for quadrotor to be able to navigate in an unknown area. The problem in robot navigation is that a robot has incapability of finding the shortest path while moving to the goal position and avoiding obstacles. Hence, a modification of several algorithms are proposed to enable the robot to reach the goal position through the shortest path. The algorithms used are fuzzy logic and cell decomposition algorithms, in which the fuzzy algorithm which is an artificial intelligence algorithm is used for robot path planning and cell decomposition algorithm is used to create a map for the robot path, but the merger of these two algorithms is still incapable of finding the shortest distance. Therefore, this paper describes a modification of the both algorithms by adding potential field algorithm that is used to provide weight values on the map in order for the quadrotor to move to its goal position and find the shortest path. The modification of the algorithms have shown that quadrotor is able to avoid various obstacles and find the shortest path so that the time required to get to the goal position is more rapid.]]>
<![CDATA[Pengolahan Isyarat Load cell Menggunakan Metode Simple Moving Average Tingkat Dua dan Weighted Moving Average Tingkat Dua untuk Pencarian Titik Referensi ]]>
<![CDATA[Prayadi Sulistyanto]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Adha Imam Cahyadi]]>
<![CDATA[ Seminar Nasional Aplikasi Teknologi Informasi (SNATI) 2015 ]]>
Publisher : <![CDATA[Jurusan Teknik Informatika, Fakultas Teknologi Industri, Universitas Islam Indonesia ]]>
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<![CDATA[Abstrak— Load cell telah banyak digunakan untuk mengukurkekuatan dan torsi. Pada saat load cell digunakan dengan benar,maka sensor load cell akan memberikan hasil yang akurat dandapat diandalkan. Berbagai metode analisa isyarat load celldilakukan oleh peneliti sebelumnya untuk melakukanpendekatan dan pengolahan isyarat load cell seperti self-balancedmethod, self-adaptive-pseudo Moving Average Filter denganpengolahan isyarat secara hardware dengan bantuan op-amp danfilter. Pada penelitian ini, akan dicoba melakukan pengolahanisyarat load cell secara software yaitu mengambil nilai dariisyarat load cell dan mengolahnya. Penelitian ini merupakanlanjutan dari penelitian sebelumnya yang berjudul “Pengolahanisyarat Load cell SEN128A3B Menggunakan Metode MovingAverage ” dan mengembangkannya guna memudahkan dalammencari titik referensi atau titik acuan dari isyarat load cell.Hasil dari penelitian dan pengamatan menggunakan MetodeSMA Tingkat Dua dan Metode WMA Tingkat Dua, keduaMetode tersebut sama-sama memiliki kemampuan meredamosilasi dengan baik, sedangkan dalam penentuan titik referensiMetode SMA Tingkat Dua memiliki kemampuan yang lebih baikdibandingkan Metode WMA Tingkat Dua, dikarenakanpencarian titik referensi diambil dari nilai data pada saat kondisistabil dari load cell tersebut. Selisih simpangan baku MetodeSMA Tingkat Dua dan Metode WMA Tingkat Dua pada saatkondisi stabil adalah sebesar 0,015572.Kata kunci: load cell; titik referensi; Metode Simple MovingAverage; Metode Weighted Moving Average]]>
