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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Jurnal Nasional Teknik Elektro dan Teknologi Informasi
Fahmizal Fahmizal
Universitas Gadjah Mada
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Center of Pressure Feedback for Controlling the Walking Stability Bipedal Robots using Fuzzy Logic Controller Afrizal Mayub; Fahmizal Fahmizal
International Journal of Electrical and Computer Engineering (IJECE) Vol 8, No 5: October 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (2156.203 KB) | DOI: 10.11591/ijece.v8i5.pp3678-3696

Abstract

This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.
Implementation smart home using internet of things Afrizal Mayub; Fahmizal Fahmizal; Ma’ruf Shidiq; Unan Yusmaniar Oktiawati; Nur Rohman Rosyid
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 17, No 6: December 2019
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v17i6.11722

Abstract

Development in technology of information today provides various facilities to support human activity. One technology that facilitates human is the use of automated systems, the application of smart home system makes it easier for users to control household electronic devices. This study addresses one of the smart home solutions with automation systems. The system is built using ESP8266 and Raspberry Pi devices, by utilizing MQTT, REST and Laravel framework protocols. With Arduino, Python and PHP programming, household devices can be controlled both automatically and manually. Control system can be done by using web, chatbot, and physically. The communication used utilizes wireless network. With the designed system, the users can control the device, gain information and get warning. The information provided by the system is obtained from open data on the internet and from the sensor installed on the device.
Pemodelan Forward Kinematic dan Inverse Kinematic Robot Berlengan PUMA 560 Atikah Surriani; Muhammad Arrofiq; Fahmizal Fahmizal
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol 4, No 2 (2018)
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (368.082 KB) | DOI: 10.26555/jiteki.v4i2.11795

Abstract

Robot berlengan memerlukan derajat pergerakan yang tepat untuk mendapatkan posisi yang tepat. Pada penelitian ini fokus pada permasalah kinematika robot berlengan yang memiliki 6 joint. Penelitian ini akan menunjukkan hubungan dari sudut setiap joint dan posisi dari end- effector. Robot berlengan dimodelkan sebagai robot PUMA 560 yang memiliki 6 joint. Representasi matematis dari robot PUMA 560 menggunakan parameter pada metode DH (Denavit-Hartenberg), dan forward kinematic sehingga inverse kinematic dari robot PUMA 560 dapat dianalisis dalam model matematis. Sebagai legitimasi dari model matematis tersebut akan dilakukan simulasi dengan menggunakan Robotic, Vision and Control (RVC) tools berdasarkan model Peter.I.Corke. Forward kinematic dari robot PUMA 560 model akan ditampilkan dalam 4 mode yang memiliki sudut yang berbeda pada masing-masing joint. Simulasi forward kinematic direpresentasikan dalam 3D untuk memperlihatkan perubahan pergerakan dan posisi dari robot berlengan dengan 6 joint. Hasil dari inverse kinematic robot PUMA 560 berdasarkan posisi dan koordinat robot memiliki nilai sudut yang berbeda dari nilai sudut saat forward kinematic di setiap mode. Perbedaan tersebut terjadi karena perbedaan konfigurasi dari robot PUMA 560, sehingga nilai inverse kinematic robot PUMA 560 adalah tidak unik.
Trajectory Tracking pada Robot Omni dengan Metode Odometry Fahmizal Fahmizal; Dhiya Uddin Rijalussalam; Ma’un Budiyanto; Afrizal Mayub
Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 8 No 1: Februari 2019
Publisher : Departemen Teknik Elektro dan Teknologi Informasi, Fakultas Teknik, Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1888.639 KB)

Abstract

This paper presents trajectory tracking on omni robots using odometry method. The odometry system aims to estimate the position relative to the initial position of the omni robot to estimate changes in position over time. The rotary encoder sensor is used to count the movement of the omni robot at the xand y coordinates in the odometry calculation process in this study. Furthermore, using the reverse kinematics on the omni robot, the rotational speed value of each DC motor in the omni robot wheel is obtained. In addition, to obtain the results of a good robot movement on the odometry system, PID control is applied to control the rotational speed of each DC motor on the omni robot wheel. With reverse kinematics and odometry systems, omni robot trajectory designs can be easily built. To test the odometry method performance in trajectory tracking process, there are three types of trajectory testing patterns, namely rectangles, equilateral triangles, and equilateral triangles. From the results of this test, the error value obtained is below 5%.
Identifikasi Pemodelan Matematis Robot Wall Following Fahmizal Fahmizal; Muhammad Arrofiq Mail; Afrizal Mayub
Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 7 No 1: Februari 2018
Publisher : Departemen Teknik Elektro dan Teknologi Informasi, Fakultas Teknik, Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1619.502 KB)

Abstract

This paper describes the process to obtain a mathematical model of a wall following robot. A mathematical modeling is carried out as an effort in determining Proportional, Integral, and Derivative (PID) controller parameters using analytic tuning. In this paper, the model approach used is Auto Regressive Exogenous (ARX). The ARX model is a model used to show the effect of control and disturbance on the output of the plant. The result of this research is a mathematical model of wall following robot which is then used to obtain PID controller parameters.
Co-Authors Afrizal Mayub Afrizal Mayub Atikah Surriani Dhiya Uddin Rijalussalam Ma’ruf Shidiq Ma’un Budiyanto Muhammad Arrofiq Muhammad Arrofiq Mail Nur Rohman Rosyid Oktiawati, Unan Yusmaniar