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All Journal International Journal of Reconfigurable and Embedded Systems (IJRES) Seminar Nasional Aplikasi Teknologi Informasi (SNATI) TELKOMNIKA (Telecommunication Computing Electronics and Control) Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Proceeding of the Electrical Engineering Computer Science and Informatics Buletin Ilmiah Sarjana Teknik Elektro Indonesian Journal of Electrical Engineering and Computer Science International Journal of Robotics and Control Systems Control Systems and Optimization Letters Signal and Image Processing Letters

Nuryono Satya Widodo

Universitas Ahmad Dahlan

Author-ID : 2407339

Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering

Published : 39 Documents Claim Missing Document

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Implementasi PID Navigasi Pelacakan Titik Api dengan Sensor Flame Array pada Robot Hexapod untuk Kontes Robot Pemadam Api Indonesia Muhammad Dhia Dzulfiqar; Nuryono Satya Widodo
Buletin Ilmiah Sarjana Teknik Elektro Vol. 1 No. 3 (2019): Desember
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v1i3.1126

Robot Hexapod Pemadam Api merupakan robot berkaki 6 yang bertugas menyusuri ruangan labirin untuk menemukan dan memadamkan api dalam waktu yang singkat. Dalam menjalankan tugasnya dibutuhkan 2 buah sensor untuk menjalankan tugas ini yaitu sensor flame array dan sensor Sharp GP. Sensor flame array terdiri dari 16 buah sensor flame yang digunakan untuk mengetahui nilai error berdasarkan letak keberadaan api yang mampu dijangkau dalam rentang horisontal 180 derajat. Sementara sensor Sharp GP berfungsi untuk mengetahui jarak antara robot dengan lilin sebagai sumber api. Kedua sensor ini berperan sebagai pelengkap dalam bernavigasi light following agar robot mampu menemukan, menghampiri, dan memposisikan bagian tengah muka robot berhadapan dengan api tanpa menabraknya. Dalam bernavigasi robot dikontrol oleh Pengendali PID (Proportional-Integral-Derivative). Hasil pengujian menunjukan bahwa pengendali proportional berperan mempercepat robot mengarah ke api. Pengendali derivative berperan dalam meredam terjadinya osilasi yang disebabkan kontrol proportional dalam mengejar titik api. Sementara kontrol integral berperan dalam merevisi kekeliruan robot pada set point. Hasil pengujian lain menunjukan keberhasilan dari implementasi pada robot hexapod untuk memadamkan api membutuhkan waktu rata-rata 5,5 detik. Sementara nilai parameter PID terbaik adalah Kp=35, Ki=20, dan Kd=20.Fire Extinguisher Hexapod Robot is a 6-legged robot whose job is to navigate the labyrinth room to find and extinguish the fire in a short time. In carrying out their duties, two sensors are needed to carry out this task, namely the flame array sensor and the Sharp GP sensor. The flame array sensor consists of 16 flame sensors that are used to determine the error value based on the location of the existence of a fire that can be reached within the horizontal range of 180 degrees. While the Sharp GP sensor functions to determine the distance between the robot and the candle as a source of the fire. Both of these sensors act as a complement in navigating the light following so that the robot is able to find, approach, and position the center of the face of the robot facing the fire without crashing into it. In navigating the robot is controlled by PID (Proportional-Integral-Derivative) Controller. The test results show that the proportional controller has the role of accelerating the robot to fire. The derivative controller plays a role in reducing the occurrence of oscillations caused by proportional control in the pursuit of hotspots. While integral control plays a role in revising the errors of the robot at the set point. Other test results show the success of the implementation of the hexapod robot to extinguish the fire takes an average of 5.5 seconds. While the best PID parameter values are Kp = 35, Ki = 20, and Kd = 20.

Monitoring Power Usage on Humanoid Robot Wirelessly Using the INA219 Sensor Ibnu Fauzi; Nuryono Satya Widodo
Buletin Ilmiah Sarjana Teknik Elektro Vol. 3 No. 1 (2021): April
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v3i1.3334

Currently, humanoid robot power measurements are only carried out when there is a robot's movement that is weakened or unable to move optimally. This is considered to be less than optimal in preventing damage/weakness of the robot's movement. The monitoring device is installed on each part of the humanoid robot, namely the hands and feet, then it will send the current and voltage results via the wireless system. The current sensor used is an INA219 type which is calibrated with a resistor. The power supply used is 12.6 V and the resistors for calibration are 15 Ohm, 18 Ohm, 22 Ohm, 39 Ohm, 47 Ohm, 56 Ohm with each resistor having a power resistance of 5W. The INA219 sensor can read the current, voltage, and power values of the resistor even though there are still differences when compared to multimeter measuring instruments. The results of sensor calibration with a resistor will be used as a comparison when monitoring the humanoid robot. NodeMCU ESP8266 as a microcontroller and wi-fi module. The web server can operate properly when there is a connection. Monitoring runs in real-time for 1 second to refresh data. In the results obtained in all tests, all INA219 sensors can work but are less accurate. For smooth wireless communication and in accordance with research objectives.

Machine Vision-based Obstacle Avoidance for Mobile Robot Nuryono Satya Widodo; Anggit Pamungkas
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol 5, No 2 (2019): December
Publisher : Universitas Ahmad Dahlan

Obstacle avoidance for mobile robots, especially humanoid robot, is an essential ability for the robot to perform in its environment. This ability based on the colour recognition capability of the barrier or obstacle and the field, as well as the ability to perform movements avoiding the barrier, detected when the robot detects an obstacle in its path. This research develops a detection system of barrier objects and a field with a colour range in HSV format and extracts the edges of barrier objects with the FindContoure method at a threshold filter value. The filter results are then processed using the Bounding Rect method so that the results are obtained from the object detection coordinate extraction. The test results detect the colour of the barrier object with OpenCV is 100%, the movement test uses the processing of the object's colour image and robot direction based on the contour area value> 12500 Pixels, the percentage of the robot making edging motion through the red barrier object is 80% and the contour area testing <12500 pixel is 70% of the movement of the robot forward approaching the barrier object.

Parameterized Kick Engine for R-SCUAD Robot Nuryono Satya Widodo; Watra Arsadiando; Arif Rahman Muhammad Iqbalul; Faiq Hatta
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 4: EECSI 2017
Publisher : IAES Indonesia Section

Humanoid Robot Soccer is an implementation of technology in robotics area that has the ability to mimic human activity to play football. Kicking is one of many abilities that the robot must have to play football nicely. The ability to kick in a various kind of kick also needed to enhance it’s performance in the match.This research was conducted on a 20 degree of freedom humanoid robot soccer named R-SCUAD. The robot was equipped with 20 Dynamixel servo motors as the actuator, an arbotix-pro as a sub-controller and an Odroid XU4 as the main controller. The method developed in this research was based on Darwin-op framework with an enhancement especially on the kick engine. Experiment results showed that there was a corellations between the distance that the ball travelled due to a kick with leg the swing speed of the kick, it can be inferred that a greater swing speed value will yields a greater distance of ball travel. With the leg swing speed of 50 rpm generate average distance 36.58 cm while with a speed of 300 rpm generate an average distance of 329.62 cm. Result also showed that the balancing system developed based on kick angle computation was able to maintain the robot stability up to 25 ° of kick angle.

A Survey on Topologies and Controls of Z-Source Matrix Converter Tri Wahono; Tole Sutikno; Nuryono Satya Widodo; Mochammad Facta
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 5: EECSI 2018
Publisher : IAES Indonesia Section

This paper describes the Z-source matrix converter (ZS-MC) topology which specifically discusses topology and control on the ZS-MC. There are two topologies on the ZS-MC, namely Z-source direct-MC (ZS-DMC) and indirect-MC (ZS-IMC). The difference of each of these topologies is in the number of switching mosfets, where ZS-DMC put on nine switches, while ZS-IMC eighteen switches. ZS-IMC topology overcomes the limitations of traditional MC voltage reinforcement and accommodates the operation of buck and boost converter by reducing the number of switches and providing high efficiency.

Efficient PID Controller based Hexapod Wall Following Robot Hendril Satrian Purnama; Tole Sutikno; Nuryono Satya Widodo; Srinivasan Alavandar
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 6: EECSI 2019
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eecsi.v6.1998

This paper presents a design of wall followingbehaviour for hexapod robot based on PID controller. PIDcontroller is proposed here because of its ability to controlmany cases of non-linear systems. In this case, we proposed aPID controller to improve the speed and stability of hexapodrobot movement while following the wall. In this paper, PIDcontroller is used to control the robot legs, by adjusting thevalue of swing angle during forward or backward movement tomaintain the distance between the robot and the wall. Theexperimental result was verified by implementing the proposedcontrol method into actual prototype of hexapod robot.

Robot Operating System (ROS) in Quadcopter Flying Robot Using Telemetry System Mohammad Iqbalul Faiq Hatta; Nuryono Satya Widodo
International Journal of Robotics and Control Systems Vol 1, No 1 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i1.247

In this study implementing odometry using RVIZ on a quadcopter flying robot that uses the Pixhawk Cube firmware version 3.6.8 as the sub-controller. Then the Lenovo G400 laptop as the main-controller as well as the Ground Control Station using the ubuntu 16.04 Linux operating system. The ROS platform uses the Kinetic and MAVROS versions as a quadcopter platform package using MAVlink communication with the telemetry module. The odometry system was tested using Rviz as navigation for Quadcopter movements in carrying out movements that follow movement patterns in certain shapes and perform basic robot movements. Data were collected using a standard measuring instrument inclinometer as a measurement of the slope of the robot and visualization RVIZ as a visual display of the odometric robot. The results of the research obtained are that the flying robot can maneuver according to the shape on the RVIZ according to the movements carried out directly at the airport, as well as the effect of the roll angle on the quadcopter (negative left roll, positive right) and the pitch angle on the quadcopter (negative forward pitch, the pitch returns positive).

Rainfall-runoff modelling using adaptive neuro-fuzzy inference system Nurul Najihah Che Razali; Ngahzaifa Ab. Ghani; Syifak Izhar Hisham; Shahreen Kasim; Nuryono Satya Widodo; Tole Sutikno
Indonesian Journal of Electrical Engineering and Computer Science Vol 17, No 2: February 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v17.i2.pp1117-1126

This paper discusses the working mechanism of ANFIS, the flow of research, the implementation and evaluation of ANFIS models, and discusses the pros and cons of each option of input parameters applied, in order to solve the problem of rainfall-runoff forecasting. The rainfall-runoff modelling considers time-series data of rainfall amount (in mm) and water discharge amount (in m3/s). For model parameters, the models apply three triangle membership functions for each input. Meanwhile, the accuracy of the data is measured using the Root Mean Square Error (RMSE). Models with good performance in training have low values of RMSE. Hence, the 4-input model data is the best model to measure prediction accurately with the value of RMSE as 22.157. It is proven that ANFIS has the potential to be used for flood forecasting generally, or rainfall-runoff modelling specifically.

Alat Pengecek Sampah Pendaki Gunung Berbasis Raspberry Pi 3 dan Barcode Scanner Fadli Maulana; Nuryono Satya Widodo
Buletin Ilmiah Sarjana Teknik Elektro Vol. 4 No. 1 (2022): April
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v4i1.4293

The problem that is often encountered on many hiking trails is the lack of environmental awareness from the climber, which leads to trash littering. This study aims to design and develop a Raspberry Pi 3 Based Mountaineer Garbage Check Tool and Barcode Scanner that can help mountain managers to overcome the amount of garbage on the mountain. Raspberry Pi 3 is used to run various functions that can execute programs against an application. A Barcode scanner is used to read the code on the barcode. After the barcode scanner reads the code on the barcode, the code will be sent to the Raspberry Pi 3 and displayed on the monitor. This tool requires Java Netbeans, used to create applications in which there are various kinds of menus, including the Data Menu, Data Items, and Reports. The results of the application test in this study indicate that all forms can run well according to their respective duties and functions. The results of the barcode reading test on light intensity show that if the light intensity value is 0 LUX, the reading distance is 1-50 cm, while if the light intensity value is 10569-20338 LUX, the reading distance is 1-5 cm. This tool can be used for 6 hours 36 minutes. The climber's garbage checker that has been designed can work well. The resulting database of the application is stored regularly in PhpMyAdmin. Permasalahan yang sering dijumpai saat mendaki gunung yaitu kurangnya kesadaran para pendaki untuk menjaga lingkungan, masih banyak pendaki meninggalkan sampah. Penelitian ini bertujuan untuk merancang dan mengembangkan Alat Pengecek Sampah Pendaki Gunung Berbasis Raspberry Pi 3 dan Barcode Scanner yang dapat membantu pengelola gunung untuk mengatasi banyaknya sampah di gunung. Raspberry Pi 3 digunakan untuk menjalankan berbagai macam fungsi yang dapat mengeksekusi program terhadap sebuah aplikasi. Barcode scanner digunakan untuk membaca kode pada Barcode. Setelah barcode scanner membaca kode pada barcode, maka kode akan dikirim ke Raspberry Pi 3 dan ditampilkan pada monitor. Alat ini memerlukan Java Netbeans, digunakan untuk membuat aplikasi yang di dalamnya terdapat berbagai macam menu, di antaranya yaitu Menu Data, Data Barang, dan Laporan. Hasil uji aplikasi dalam penelitian ini menunjukkan bahwa semua form dapat berjalan dengan baik sesuai dengan tugas dan fungsi masing-masing. Hasil uji pembacaan barcode terhadap intensitas cahaya menunjukkan bahwa jika nilai intensitas cahaya 0 LUX maka jarak baca sebesar 1-50 cm, sedangkan jika nilai intensitas cahaya 10569-20338 LUX maka jarak baca sebesar 1-5 cm. Alat ini dapat digunakan selama 6 jam 35 menit. Alat pengecek sampah pendaki yang telah dirancang dapat bekerja dengan baik. Database hasil dari aplikasi tersimpan dengan teratur pada PhpMyAdmin.

Modernisation of DC-DC converter topologies for solar energy harvesting applications: A review Tole Sutikno; Hendril Satrian Purnama; Rizky Ajie Aprilianto; Awang Jusoh; Nuryono Satya Widodo; Budi Santosa
Indonesian Journal of Electrical Engineering and Computer Science Vol 28, No 3: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v28.i3.pp1845-1872

Solar photovoltaic (PV) power generation has become increasingly important as a renewable source of energy due to the many benefits it offers. These benefits include the ease with which it can be allocated; the absence of noise; the longer life; the absence of pollution; the shorter amount of time required for installation; the high mobility and portability of its parts; and the capability of its output power to meet peak load requirements. DC-DC converters are typically incorporated into solar energy harvesting systems because they allow for the more efficient exploitation of solar cells. One of the difficulties is in the selection of a suitable converter since this has an effect on the operation of the PV system. This study discusses the modernisation of several different DC-DC converter topologies for solar energy harvesting systems. Some of these topologies are boost, buck-boost, single-ended primary-inductance converter (SEPIC), Cuk, and flyback. The topologies have been compared so that detailed information on the complexity of the hardware, the cost of implementation, the efficiency of the energy transfer elements, the tracking efficiency, and the efficiency of the converters can be provided. This paper will be useful as a handy reference in choosing the best converter topology for solar energy harvesting applications.

Co-Authors Ahmad Imam Bardani Ahmad Sopi Samosir Alavandar, Srinivasan Alfian Ma’arif Andrean, Danu Anggit Pamungkas Arif Rahman Arif Rahman Muhammad Iqbalul Arsadiando, Watra Auzani Jidin Awang Jusoh Balza Achmad Bardani, Ahmad Imam Budi Santosa Darmawan Sutanto Dzulfiqar, Muhammad Dhia Fadli Maulana Faiq Hatta Gralo Yopa Rahmat Pratama Haris Ramdan Hatta, Faiq Hendril Satrian Purnama Hendril Satrian Purnama Ibnu Fauzi Ibnu Fauzi Irfan, Syahid Al Irmawan Maulana Jatmiko Tri Waluyo Kartika Firdausy Maulana, Irmawan Maydevanti, Yesa Friti Mizan, Bahrul Mochammad Facta Mohammad Iqbalul Faiq Hatta Muchlas, Muchlas Muhammad Dhia Dzulfiqar Muhammad Iqbalul, Arif Rahman Ngahzaifa Ab. Ghani Nik Rumzi Nik Idris Nurul Najihah Che Razali Prasetio, Yusuf Putra, Prasetya Murdaka Rizky Ajie Aprilianto Samosir, Ahmad Sopi Satrian Purnama, Hendril Sengsalong, Areepen Setiawan, Naufal Rahmat Shahreen Kasim Srinivasan Alavandar Syahid Al Irfan Syifak Izhar Hisham Tofik Nurochman Tole Sutikno Tri Wahono Wahono, Tri Waluyo, Jatmiko Tri Watra Arsadiando Wisnu Wulur zahra salsabila

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