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

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Development of Design and Control Manipulator Arm on Hexapod Robot with Smart Vision Sensor Gralo Yopa Rahmat Pratama; Nuryono Satya Widodo
Buletin Ilmiah Sarjana Teknik Elektro Vol. 5 No. 3 (2023): September
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v5i3.8907

Abstract

In 2021, the Indonesian Search and Rescue Robot Competition underwent significant changes, transitioning from its original name of "Firefighting Robot Contest" to "Search and Rescue Robot Contest." With existing regulations and new races, this robot used in the Indonesian Search and Rescue Robot Contest is an essential addition manipulator robot arm to finish mission victim rescue. With existing study about Design Development and Control Manipulator Arm on this Hexapod Robot with Smart Vision Sensor expected can help the development of the AL-JAZARI team's hexapod robot in mission victim rescue. Research, This does development design and control from a manipulator robot arm that can save victims in the rules of the Indonesian Search and Rescue Robot Contest. This uses input from the Pixy Camera, and its output is from the movement of the manipulator arm of the MG90S servo, which can save the orange victim. A Pixy Camera detects the victim and is picked up by a robotic arm. The manipulator's arm uses the MG90S servo as the actuator. In contrast, the buffer from the servo uses a 3D print designed to adapt to robotic bodies and efficiently, at times, save victims. Result study This robot can run on the victim rescue track by pushing the start button, then the robot will move autonomously with level success casualty rescue by 85% at good lighting and level lighting success dim by 80%.
Object-Moving Robot Arm based on Color Sengsalong, Areepen; Satya Widodo, Nuryono
Signal and Image Processing Letters Vol 1, No 3 (2019)
Publisher : Association for Scientific Computing Electrical and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/simple.v1i3.7

Abstract

The aim of this research is to make a robot arm moving objects based on color using 2 servo motors and 6 light photodiode sensors integrated with the Arduino Mega 2560 microcontroller.  The light photodiode sensor is used to detect red, green and blue colors. This system is equipped with an LCD to display the output of the Arduino Mega 2560 which is a notice of the color detected. The process of moving objects based on color is simulated using 3 colored objects namely red, green, and blue. The robot arm gripper will move to pick and move objects based on color, when the light photodiode sensor detects a color input. Based on system testing, overall the robot arm is functioning properly, i.e. it shows that the robot arm is able to move objects automatically with large test results obtained by 0°, 40°, 60°, 90°, and 120°. Whereas for sensor testing the value of red is 400, the value of green is 150, and the value of blue is 600.
IMU Sensor Based Home Search Method Using Backtracking Algorithm on Hexapod Robot in Indonesia Fire Extinguisher Robot Contest Maydevanti, Yesa Friti; Widodo, Nuryono Satya
Signal and Image Processing Letters Vol 3, No 1 (2021)
Publisher : Association for Scientific Computing Electrical and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/simple.v3i1.42

Abstract

Abstract-This paper describes the IMU sensor-based home search using a backtracking algorithm on a hexapod robot in the Indonesian fire fighting robot contest. The search for the homepage in this Indonesian legged robot contest is part of the robot's mission to achieve maximum points in the race. The algorithm discussed in this paper is a backtracking algorithm. Where the robot will return to the initial position by tracing solutions that meet the requirements. By using the IMU BNO055 sensor the robot will follow the direction that will depart then will guide the robot back to its home position. The results show that the backtracking algorithm is successfully implemented. So that the robot will still return home even though an error occurs when crossing the room intersection.
Sub Controller Design on KRSBI Humanoid R-SCUAD Robot Sub Controller Design on KRSBI Humanoid Robot R-SCUAD Mizan, Bahrul; Satya Widodo, Nuryono
Signal and Image Processing Letters Vol 4, No 2 (2022)
Publisher : Association for Scientific Computing Electrical and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/simple.v4i2.27

Abstract

The purpose of this research is to design OpenCM9.04 controllers such as Arbotix (Pro) with MPU-9250 sensor as robot balance, as well as controlling the movement of DYNAMIXEL servo angles based on camera input on the robot, the Design of the OpenCM9.04 controller board on the robot consists of 2 main components namely OpenCM9.04 which works as a mini system and OpenCM 485 Expansion Board that works as a conference to the serial that provides interface to buttons and LEDs as well as a power supply circuit , where OpenCM9.04 as the main controller then sends data to OpenCM 485 which will process the MPU-9250 sensor as well as the DYNAMIXEL servo on the robot. The hardware system design consists of an MPU-9250 sensor to maintain balance in the robot so that the robot does not fall when walking or running and servo DYNAMIXEL to move the corners on the robot. The results obtained by the OpenCM9.04 controller have been successfully developed and tested on robots in the KRSBI-H racetrack and the robot has been able to maximize in the game well without any constraints on the microcontroller used.
Implementation of Behavior Based Robotics on Hexapod Legged Robot Based on Room Mapping Salsabila, Zahra; Widodo, Nuryono Satya
Control Systems and Optimization Letters Vol 1, No 3 (2023)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v1i3.55

Abstract

The Indonesian Fire Fighting Robot Contest (KRPAI) has a mission to extinguish fires quickly, with various kinds of points and bonuses to be taken. The robot used in this research is a 6-legged robot (Hexapod). The problem faced today is the robot's ability to navigate the room, the robot still has to enter the same room, especially in room 1 (a room with 2 doors) so that the Arbitrary Start bonus or Variable Door location which prohibits the robot from entering the same room cannot be obtained. There is also a Room Factor bonus obtained using the JTS (Segment Distance) method which is an additional bonus when the robot walks outside the room. It is necessary to develop a room mapping algorithm with behavior based so that the robot can get maximum points. The main sensor used is the IMU BNO055 sensor as a robot direction orientation sensor, as well as a proximity sensor as a wall search sensor, so that the robot can know the direction when leaving and exploring the room, knowing the starting room, and ensuring the next room entered is a different room. The results of the test successfully made the robot take maximum points in the race.
DC Motor Controller Using Full State Feedback Setiawan, Naufal Rahmat; Ma'arif, Alfian; Widodo, Nuryono Satya
Control Systems and Optimization Letters Vol 1, No 1 (2023)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v1i1.3

Abstract

This paper discusses the implementation of a full state feedback control system on DC motors to stabilize the speed of DC motors and fight the disturbances given to DC motors. Modern controls such as full state feedback use 2 sensor inputs, namely the Hall effect speed sensor OH42E and the INA219 current sensor and use 3 parameters namely K1 (Constant 1), K2 (Constant 2), and KI (Integral Constant) in designing the controller, the goal is to get a good system response according to the desired design specifications. The test was carried out with a hardware-in-the-Loop (HIL) scheme which uses an Arduino microcontroller as a DC motor plant control device in the form of a control mathematical model entered in the Arduino IDE software and by trial and error to find the desired response value. The test results showed that at the values of K1=1, K2=1, KI=0.9, a stable system response was obtained with tr(s)=3, ts(s)=4, and Os(%)=7% The addition of an integral constant () value affects a short rising time but is inversely proportional to a high overshoot value as well. Varying the values of K1 and K2 as multipliers on the sensor values has an impact on the stability of the system response or oscillations. The stability of this system response indicates that full state feedback can be relied upon as a control system.
Simulation and Implementation of RSCUAD Walking Robot Based on ROS and Gazebo Simulator Andrean, Danu; Widodo, Nuryono Satya
Control Systems and Optimization Letters Vol 1, No 2 (2023)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v1i2.32

Abstract

This research describes the virtual humanoid robot R-SCUAD using the Gazebo simulator. In its development, humanoid robots often perform movements that have a negative impact on the robot's hardware, therefore the development of a virtual robot model is a solution to overcome this problem. So that the robot can be simulated before running. Gazebo is a robot simulator that allows to accurately simulate, design and test robots in various environments. Gazebo itself is a simulation used by ROS (robotic operating system). The simulation is built by doing a 3D design process in solidwork software and exported to a URDF file that matches the format on the ROS. Tests carried out on robots are by comparing virtual robots with real robots. From the tests carried out on the robot, it was found that the virtual robot can walk according to the real robot, such as falling if the robot's condition is not balanced. The simulation robot also moves according to the real robot when the controls are carried out.
Hexapod Robot Movement Control for Uneven Terrain Prasetio, Yusuf; Widodo, Nuryono Satya
Control Systems and Optimization Letters Vol 1, No 2 (2023)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v1i2.23

Abstract

Hexapod robot is a robot that has 6 legs with joints or structures that resemble insect legs. This study uses the inverse kinematic method with the aim of finding points and effectors of the robot's legs that will make the robot's legs pass through uneven obstacles such as uneven flor, stairs, bolong-bolong obstacles, bolong-non-obvious obstacles and non-objective obstacles. This inverse kinematic is accessed with the Open Cm 9.04 microcontroller to control the dynamixel servo on the robot leg. The results of testing the robot's movement using inverse kinematics have succeeded in overcoming uneven obstacles using the inverse kinematic method. For testing the stability of the robot it is still not stable enough because the mechanical part of the foot is still not precise. The conclusion of the study, from 6 trials that average and uneven obstacles were obtained in the range of 85% - 95%. The inverse kinematic method using a proximity sensor on the front of the robot, the average success that can be obtained is in the range of 80% - 90%.
Development of the Design and Control of a Hexapod Robot for Uneven Terrain Putra, Prasetya Murdaka; Widodo, Nuryono Satya
Buletin Ilmiah Sarjana Teknik Elektro Vol. 5 No. 4 (2023): December
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v5i4.9426

Abstract

In the Indonesian Search and Rescue Robot Contest in 2021 and 2022, the robot still cannot work well when passing through uneven obstacles. The change in uneven terrain from the previous year was a difficulty for the robot in passing it. This research was conducted to develop mechanical design and movement control design for the robot, so that the robot can be more optimal when moving through uneven terrain. The design of the hexapod robot is done by reducing the dimensions of the existing robot and determining the Center of Gravity point. The movement of the robot is also designed by determining the angular position of the AX-18A servo with respect to the terrain the robot travels through. The movement algorithm applied to the robot is the tripod gait algorithm. The robot control on the debris field and irregular floor is done by applying a proximity sensor to minimise the robot from hitting the wall on the field. The robot also has an IMU sensor that will work in measuring the slope on the up-and-down floor terrain (slope), so that the movement of the robot can be adjusted when passing through the terrain with the slope read by the sensor. The results of the research conducted show that the robot can be redesigned through 3D design through solidworks by determining the Center of Gravity (CoG) point. The robot has been able to pass through 3 objects tested, namely debris terrain, irregular floor terrain, and up and down floor terrain. The success rate of the robot when passing through debris terrain and irregular floor terrain is 100% with an average time of 9.7 seconds and 10.1 seconds. The success rate of the robot when passing through the up-and-down floor terrain is 80% with an average time of 22.9 seconds.
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