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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Jurnal Teknik Elektro: Ilmu dan Teknologi
Handy Wicaksono
Petra Christian University
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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A cognitive robot equipped with autonomous tool innovation expertise Handy Wicaksono; Claude Sammut
International Journal of Electrical and Computer Engineering (IJECE) Vol 10, No 2: April 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (658.154 KB) | DOI: 10.11591/ijece.v10i2.pp2200-2207

Abstract

Like a human, a robot may benefit from being able to use a tool to solve a complex task. When an appropriate tool is not available, a very useful ability for a robot is to create a novel one based on its experience. With the advent of inexpensive 3D printing, it is now possible to give robots such an ability, at least to create simple tools. We proposed a method for learning how to use an object as a tool and, if needed, to design and construct a new tool. The robot began by learning an action model of tool use for a PDDL planner by observing a trainer. It then refined the model by learning by trial and error. Tool creation consisted of generalising an existing tool model and generating a novel tool by instantiating the general model. Further learning by experimentation was performed. Reducing the search space of potentially useful tools could be achieved by providing a tool ontology. We then used a constraint solver to obtain numerical parameters from abstract descriptions and use them for a ready-to-print design. We evaluated our system using a simulated and a real Baxter robot in two cases: hook and wedge. We found that our system performs tool creation successfully.
Teleautonomous Control on Rescue Robot Prototype Handy Wicaksono; Handry Khoswanto; Son Kuswadi
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 10, No 4: December 2012
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v10i4.849

Abstract

Robot application in disaster area can help responder team to save victims. In order to finish task, robot must have flexible movement mechanism so it can pass through uncluttered area. Passive linkage can be used on robot chassis so it can give robot flexibility. On physical experiments, robot is succeeded to move through gravels and 5 cm obstacle. Rescue robot also has specialized control needs. Robot must able to be controlled remotely. It also must have ability to move autonomously. Teleautonomous control method is combination between those methods. It can be concluded from experiments that on teleoperation mode, operator must get used to see environment through robot’s camera. While on autonomous mode, robot is succeeded to avoid obstacle and search target based on sensor reading and controller program. On teleautonomous mode, robot can change control mode by using bluetooth communication for data transfer, so robot control will be more flexible.
Behaviors Coordination and Learning on Autonomous Navigation of Physical Robot Handy Wicaksono; Handry Khoswanto; Son Kuswadi
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 9, No 3: December 2011
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v9i3.738

Abstract

 Behaviors coordination is one of keypoints in behavior based robotics. Subsumption architecture and motor schema are example of their methods. In order to study their characteristics, experiments in physical robot are needed to be done. It can be concluded from experiment result that the first method gives quick, robust but non smooth response. Meanwhile the latter gives slower but smoother response and it is tending to reach target faster. Learning behavior improve robot’s performance in handling uncertainty. Q learning is popular reinforcement learning method that has been used in robot learning because it is simple, convergent and off policy. The learning rate of Q affects robot’s performance in learning phase. Q learning algorithm is implemented in subsumption architecture of physical robot. As the result, robot succeeds to do autonomous navigation task although it has some limitations in relation with sensor placement and characteristic.
IMPLEMENTASI WONDERWARE SYSTEM PLATFORM PADA OTOMASI INDUSTRI MINUMAN Miguel Glennado; Handy Wicaksono; Tonny Leonard
Jurnal Teknik Elektro Vol. 16 No. 1 (2023): Maret 2023
Publisher : Institute of Research and Community Outreach

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.9744/jte.16.1.24-29

Abstract

SCADA merupakan sistem yang digunakan untuk mengontrol dan memonitor proses dalam suatu industri. Wonderware System Platform merupakan salah satu sistem SCADA. Wonderware System Platform sebagai suatu sistem SCADA terdiri dari Historian sebagai data logger, Historian Client sebagai data reporting, DA Server sebagai perantara antara SCADA dengan PLC, dan InTouch sebagai antarmuka manusia dengan mesin. Industri di Indonesia pada umumnya masih memanfaatkan InTouch stand-alone dimana tidak memiliki beberapa fitur-fitur penting pada System Platform. Oleh karena itu, dilakukan penelitian ini untuk mengetahui perbedaan System Platform dengan InTouch stand-alone. Penelitian ini dilakukan dengan mensimulasikan beberapa proses pada industri minuman menggunakan simulator Siemens S7-1200 yang di dalamnya terdapat tombol dan lampu untuk membantu proses simulasi. Dari penelitian didapatkan bahwa System Platform memiliki beberapa fitur utama yang tidak dimiliki oleh InTouch stand-alone seperti distributed application dimana pengguna dapat men-deploy aplikasi ke beberapa komputer client dalam satu jaringan, kustomisasi objek menggunakan symbol editor, terdapat library situasional awareness sehingga dapat dengan mudah menerapkan high perfomance HMI, dan kelebihan lainnya.
Co-Authors Claude Sammut Handry Khoswanto Miguel Glennado Son Kuswadi Son Kuswadi Tonny Leonard