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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Robotics and Automation (IJRA) Techno.Com: Jurnal Teknologi Informasi Indonesian Journal of Electrical Engineering and Informatics (IJEEI) Jurnal Teknologi Informasi dan Ilmu Komputer Seminar Nasional Informatika (SEMNASIF) ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika EMITTER International Journal of Engineering Technology Padjadjaran Journal of Dentistry Briliant: Jurnal Riset dan Konseptual JOIV : International Journal on Informatics Visualization JURNAL INTEGRASI J-Dinamika: Jurnal Pengabdian Kepada Masyarakat Jurnal Mantik Abdimas: Jurnal Pengabdian Masyarakat Universitas Merdeka Malang Indonesian Journal of Electrical Engineering and Computer Science GUYUB: Journal of Community Engagement Jurnal Rekayasa elektrika The Indonesian Journal of Computer Science
Bima Sena Bayu Dewantara
Politeknik Elektronika Negeri Surabaya
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Optimization of Fuzzy Social Force Model Adaptive Parameter using Genetic Algorithm for Mobile Robot Navigation Control Alif Wicaksana Ramadhan; Bima Sena Bayu Dewantara; Setiawardhana Setiawardhana
Jurnal Rekayasa Elektrika Vol 19, No 1 (2023)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v19i1.28330

Abstract

The Social Force Model (SFM) is a popular navigation technique for mobile robots that is primarily used to simulate pedestrian movement. The SFM method's drawback is that several parameter values, such as gain, k, and impact range, σ, must be determined manually. The reaction of the SFM is frequently inappropriate for certain environmental circumstances as a result of this manual determination. In this paper, we propose employing the Fuzzy Inference System (FIS), whose rules are optimized using a Genetic Algorithm (GA) to manage the value of the gain, k, parameter adaptive. The relative distance, d, and relative angle, α, concerning the robot's obstacle are the inputs for the FIS. The test results using a 3-D realistic CoppeliaSim demonstrated that the learning outcomes of FIS rules could provide adaptive parameter values suitable for each environmental circumstance, allowing the robot to travel smoothly is represented using the robot’s heading deviation which decreasing by and reaching the goal 1.6 sec faster from the starting point to the goal, compared to the SFM with the fixed parameter value. So that the proposed method is more effective and promising when deploying on the real robot implementation.
Rancang Bangun AirMouse Menggunakan Sarung Tangan Bersensor Berbasis ESP32 Sholahuddin Muhammad Irsyad; Achmad Basuki; Bima Sena Bayu Dewantara
Jurnal Rekayasa Elektrika Vol 18, No 3 (2022)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v18i3.25816

Abstract

Digital interactions are still commonly using indirect media such as mouse and keyboard to provide user input in the form of two-dimensional data. Therefore, to provide intuition in virtual interactions, it is possible to add media that can draw directly in the air or a flat surface that will track hand movements and overall finger position. In this research, we try to track hand movements in real time by capturing the position of the hand and finger curvature using a wearable sensor equipped with an Inertial Measurement Unit (IMU) sensor and a flex sensor installed by the user. Then the system will identify the position of the user's finger bending. and the location indicated by the sensors installed to move the cursor on the screen and simulate left-click and right-click hand movements as with a traditional mouse. By using this system, users can interact with the computer more naturally and get the accuracy of cursor movement with the accuracy of finger movement translation reaching more than 85% and the translation of hand movements to mouse cursor movements is on average 73% for shapes that use straight lines. and 23.4% on curved lines such as circles and other shapes.
Improved Performance of Trash Detection and Human Target Detection Systems using Robot Operating System (ROS) Kisron Kisron; Bima Sena Bayu Dewantara; Hary Oktavianto
Jurnal Rekayasa Elektrika Vol 17, No 2 (2021)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v17i2.20805

Abstract

In a visual-based real detection system using computer vision, the most important thing that must be considered is the computation time. In general, a detection system has a heavy algorithm that puts a strain on the performance of a computer system, especially if the computer has to handle two or more different detection processes. This paper presents an effort to improve the performance of the trash detection system and the target partner detection system of a trash bin robot with social interaction capabilities. The trash detection system uses a combination of the Haar Cascade algorithm, Histogram of Oriented Gradient (HOG) and Gray-Level Coocurrence Matrix (GLCM). Meanwhile, the target partner detection system uses a combination of Depth and Histogram of Oriented Gradient (HOG) algorithms. Robotic Operating System (ROS) is used to make each system in separate modules which aim to utilize all available computer system resources while reducing computation time. As a result, the performance obtained by using the ROS platform is a trash detection system capable of running at a speed of 7.003 fps. Meanwhile, the human target detection system is capable of running at a speed of 8,515 fps. In line with the increase in fps, the accuracy also increases to 77%, precision increases to 87,80%, recall increases to 82,75%, and F1-score increases to 85,20% in trash detection, and the human target detection system has also improved accuracy to 81%, %, precision increases to 91,46%, recall increases to 86,20%, and F1-score increases to 88,42%.
Karakterisasi dari Properti Larutan Garam dengan Range Finder Ultrasonik Menggunakan Metode Transformasi Fourier Ihwan Dwi Wicaksono; Agus Indra Gunawan; Bima Sena Bayu Dewantara
Jurnal Rekayasa Elektrika Vol 16, No 2 (2020)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v16i2.15371

Abstract

In this paper we characterize the saline solution using Range Finder Ultrasonic (RFU). RFU is one kind of ultrasonic transducer that requires air as a transmission medium and commonly are used to determine distances. The advantages of this transducer are cheap and common in local market. Since it uses air as medium, the signal which is produced by transducer are easy to shape shift and has a very long noise tail wave. This phenomenon was seen in previous studies, when the transducer position was slightly shifted, the shape of the echo signal became very different. In this paper, we modified the input signal from the technique in the previous paper to improve the echo signal. Some modification of trigger signal from transmitter models were done, then calculate the echo signal to ensure the signal have smallest Signal to Noise Ratio (SNR) and noise tail wave. Furthermore, we did filtering process from echo signal and calculating using Fourier Transform which are performed to obtain accurate echo signal information of 40 KHz frequency. The results of this experiment is an improvement in the average error of calibration curve 0.1224221 (Vrms) and 0.14383881 (Vpeak). While the average error of the results of the normalization of the magnitude Fourier Transform of 40 KHz frequency is equal to 0.096973114. 
Water Quality Level for Shrimp Pond at Probolinggo Area Based on Fuzzy Classification System Fithrotul Irda Amaliah; Agus Indra Gunawan; Taufiqurrahman Taufiqurrahman; Bima Sena Bayu Dewantara; Ferry Astika Saputra
Jurnal Rekayasa Elektrika Vol 19, No 1 (2023)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v19i1.28631

Abstract

Since several years ago, vaname shrimp (Litopenaeus vannamei) has been extensively cultivated in Indonesia because it has good business opportunities. In aquaculture activities, water quality is an important factor that dramatically impacts the survival and quality of shrimp in the pond. Therefore, information of water quality must be known by the farmer for obtaining a satisfactory harvest. This study aims to develop a water quality monitoring system based on information of temperature, pH, salinity, and dissolved oxygen. The data from sensors are sent to the cloud utilizing Internet of Things (IoT) technology and then classified by a fuzzy logic system. In order to help farmers easily know the water quality of their shrimp pond, four sensor data including the result of classification from fuzzy logic are sent to the phone. After a trial of the system, 100% of the data are successfully sent to the cloud (google spreadsheet). The system also successfully classified the level of water quality as the expectation of the farmer. With this system, it is hoped that it can assist farmers in monitoring the water quality of shrimp pond to improve the quality and quantity of shrimp.
Pengukuran Speed dan Impedansi Akustik pada Tanah Liat dengan Memanfaatkan Sinyal Echo Ultrasonik Lusiana Lusiana; Agus Indra Gunawan; Bima Sena Bayu Dewantara
Jurnal Rekayasa Elektrika Vol 15, No 2 (2019)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v15i2.13815

Abstract

Each material has its own characteristics, which are represented by the value of speed/ultrasonic wave propagation speed (C) and acoustic impedance/material resistance (Ztl). One technique that can be used to obtain these characteristics is by applying ultrasonic testing. This technique utilizes two ultrasonic sensors as transmitter (UST) and receiver (USR) to get signal properties from each material. The measurement mechanism is nondestructive testing (NDT) where the material tested is not damaged so it does not change the character of the sample. In this research, material characteristics are represented by reflected signals from material (echo). To process the echo signal data and get the characteristics of the sample, we need a number of data processing algorithms such as Fast Fourier Transform (FFT), Peak Detection, and Grid Search. By processing echo from reflected signals, C and Ztl values can be obtained. From the experimental results obtained, the values of C and Ztl in sample 1 with a density of 1856.97573 g/m3 are C = 636 m/s and Ztl = 474640 Ns/m3, samples 2 with a density of 1792.94208 g/m3 of C = 491 m/s and Ztl = 408080 Ns/m3, while the sample 3 with a density of 1663.85025 g/m3 is C = 434 m/s and Ztl = 405639 Ns/m3. The value of material characterization shown that a dense clay also has higher C and Ztl.
Handling Missing Value dengan Pendekatan Regresi pada Dataset Akuakultur Berukuran Kecil Ricky Afiful Maula; Agus Indra Gunawan; Bima Sena Bayu Dewantara; M. Udin Harun Al Rasyid; Setiawardhana Setiawardhana; Ferry Astika Saputra; Junaedi Ispianto
Jurnal Rekayasa Elektrika Vol 18, No 3 (2022)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v18i3.25903

Abstract

Shrimp cultivation is strongly influenced by pond water quality conditions. Farmers must know the appropriate action in regulating water quality that is suitable for shrimp survival. The state of water quality can be understood by measuring pond parameters using various sensors. Installing sensors equipped with artificial intelligence modules to inform water quality conditions is the right action. However, the sensor cannot be separated from errors, so it results in not being able to get data or missing data. In this case, the approach of 5 parameters of pond water quality from 13 available parameters is carried out. This paper proposes a technique to obtain lost data caused by sensor error and looks for the best model. A simple approach can be taken, such as the Handling Missing Value (HMV), which is commonly used, namely the mean, with the K-Nearest Neighbors (KNN) classifier optimized using a grid search. However, the accuracy of this technique is still low, reaching 0.739 at 20-fold cross-validation. Calculations were carried out with other methods to further improve the prediction accuracy. It was found that Linear Regression (LR) can increase accuracy up to 0.757, which outperforms different approaches such as the statistical approach to mean 0.739, mode 0.716, median 0.734, and regression approach KNN 0.742, Lasso 0.751, Passive Aggressive Regressor (PAR) 0.737, Support Vector Regression (SVR) 0.739, Kernel Ridge (KR) 0.731, and Stochastic Gradient Descent (SGD) 0.734.
Sistem Kontrol pada Automated Guided Vehicle Beroda Mekanum menggunakan Sliding Mode Controller Muhammad Faiz; Bambang Sumantri; Bima Sena Bayu Dewantara
Jurnal Rekayasa Elektrika Vol 19, No 1 (2023)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v19i1.28127

Abstract

The production in industry, are involving distribution to transport the goods. Recently, distribution activities are using unmanned vehicle, that is Automated Guided Vehicle (AGV). In real condition, AGV are facing environment with complexity of high uncertainity and unlinearity. Because of this, robust control method could be considered to be used to improve the control performance. For instance, Sliding Mode Control has good robustness to the uncertainity of the system and disturbances. However, the chattering phenomenon is one of the major issues of the sliding mode control. This phenomenon could damage the motor. This research aim to reduce chattering and improve the control performance, with modifying signum function to saturation function. This research are using ROS, V-Rep and microcontroller. Microcontroller for processing algorithm and another function. Moreover, saturation function had succcessfully reducing rise time about 30%, overshoot 16% and RMSE 0.21%.
Concept and Design of Anthropomorphic Robot Hand with a Finger Movement Mechanism based on a Lever for Humanoid Robot T-FLoW 3.0 Kevin Ilham Apriandy; Faiz Ulurrasyadi; Raden Sanggar Dewanto; Bima Sena Bayu Dewantara; Dadet Pramadihanto
JOIV : International Journal on Informatics Visualization Vol 8, No 1 (2024)
Publisher : Society of Visual Informatics

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.62527/joiv.8.1.1793

Abstract

This work described a concept and design of an anthropomorphic robot hand for the T-FLoW 3.0 humanoid robot, which featured a mechanism based on a lever as its finger movement. This work aimed to provide an affordable, modular, lightweight, human-like robot hand with a mechanism that minimizes mechanical slippage. The proposed mechanism works based on the push/pull of a lever attached to the finger to generate its finger flexion/extension movement. The finger’s lever is pushed/pulled through a servo horn and a rigid bar by the affordable TowerPro MG90S micro-servo. Our hand is developed only as necessary to become close to human hands by only applying five fingers and six joints, where each joint has its actuator. The combination of 3D printing technology with PLA filament accelerates and streamlines the manufacturing process, provides a realistic appearance, and achieves a lightweight, affordable, and easy maintenance product. Structural analysis simulations show that our finger design constructed with PLA material could withstand a load of about 30 N. We verified our finger mechanism by repeatedly flexing and extending the finger 30 times, and the results showed that the finger movements could be performed well. Our hand offered excellent handling for the mechanical issues brought on by finger movements, one of the issues that robot hand researchers have encountered. Our work could provide significant benefits to the T-FLoW 3.0 developers in enhancing the ability of humanoid robots involving hands, such as grasping and manipulating objects.
Lip Movement Recognition using Histogram of Oriented Gradient (HOG) and Support Machine Vector (SVM) for Arabic Word Rabbani, Fahmi Muhammad Rabbani; Bima Sena Bayu Dewantara; Endra Pitowarno
The Indonesian Journal of Computer Science Vol. 12 No. 6 (2023): The Indonesian Journal of Computer Science (IJCS)
Publisher : AI Society & STMIK Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33022/ijcs.v12i6.3596

Abstract

This research aims to develop a lip gesture recognition system in Arabic words by utilizing Histogram of Oriented Gradient (HOG) feature extraction and Support Vector Machine (SVM) classification. The evaluation was conducted on a dataset of 1749 videos with male and female participation using Modern Standard Arabic. The 10 cross-fold validation method was used to measure the performance of the system. By applying a polynomial kernel, this study achieved an accuracy rate of 95.63%, while the word recognition rate reached 96%. These results confirm the system's ability to recognize lip movements with precision, confirming the effectiveness of the approach used in visual recognition for Arabic.
Co-Authors Achmad Basuki Achmad Basuki Achmad Basuki Afifah, Izza Nur Agus Indra Gunawan Agus Indra Gunawan Agus Indra Gunawan Ahmad Fauzi Makarim Alfan Rizaldy Pratama Pratama Ali Ridho Barakbah Alif Wicaksana Ramadhan Amang Sudarsono, Amang ANUGERAH WIBISANA Anwar Anwar Apriandy, Kevin Arif Hidayah Arif Hidayah Arna Fariza Arya Brahmanta Arya Brahmanta, Arya Ashadi, Imam Asmarany, Anja Aulia Dwi Maharani Aulia, Fira Bagus Nugraha Deby Ariyadi Bambang Sumantri Bambang Sumantri Catoer Ryando Chandra Edy Prianto Dadet Pramadihanto Dadet Pramadihanto Dadet Pramadihanto Dadet Pramadihanto Daffa, Muhammad Fariz Dewanto, Raden Sanggar Dewi Mutiara Sari Djoko Purwanto Edo Bagus Prastika Endra Pitowarno Fadhillah, Excel Daris Faiz Ulurrasyadi Fatekha, Rifqi Amalya Ferry Astika Saputra Fikri Aulia Fikri Aulia Fildzah Aure Gehara Zhafirah Fithrotul Irda Amaliah Gunawan, Agus Indra Gunawan, Agus Indra Hamida, Silfiana Nur Hary Oktavianto Hozumi, Naohiro Huda, Achmad Thorikul Huda, Achmad Torikul Husein Aji Pratama Idris Winarno Idris Winarno Ihwan Dwi Wicaksono Ilham Iskandariansyah Imam Ashadi IMANUDDIN, ACHMAD ILHAM Insivitawati, Era iwan Syarif Iwan Syarif Jun Miura Jun Miura, Jun Junaedi Ispianto Kamaluddin, Muhammad Wafiq Kevin Apriandy Kevin Ilham Apriandy Kisron Kisron Linda Indrayanti Lusiana Lusiana M Udin Harun Al Rasyid, M Udin Harun Makarim, Ahmad Fauzi MARTINI, NI PUTU DEVIRA AYU Mohamad Walid Asyhari Mohamad Walid Asyhari Muhammad Abdul Haq Muhammad Anwar Sanusi Muhammad Faiz Muhammad Jainal Arifin Naohiro Hozumi Onie Meiyanto Oskar Natan Prastika, Edo Bagus Pratama, Ariesa Editya Prianto, Chandra Edy Prima Kristalina Puspasari Susanti Rabbani, Fahmi Muhammad Rabbani Rachmawati, Oktavia Citra Resmi Raden Sanggar Dewanto Raden Sanggar Dewanto Ricky Afiful Maula Rika Rokhana Riyanto Sigit Riyanto Sigit, Riyanto Romadhon, Nur Rizky Rudi Kurniawan Sanusi, Muhammad Anwar Sesulihatien, Wahjoe Tjatur Setiawardhana Setiawardhana Setiawardhana Setiawardhana Setiawardhana Setiawardhana Setiawardhana, Setiawardhana Sholahuddin Muhammad Irsyad Sigit Riyanto Susanti, Puspasari Taufiqurrahman Taufiqurrahman Tessy Badriyah Tessy Badriyah, Tessy Tita Karlita Tita Karlita Titon Dutono Tri Harsono Tri Harsono Wahjoe Tjatur Sesulihatien Wahjoe Tjatur Sesulihatien Wibowo, Iwan Kurnianto