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All Journal J@TI (TEKNIK INDUSTRI) Jurnal Simetris Jurnal Kelautan : Indonesian Journal of Marine Science and Technology Jurnal Simantec REKAYASA Semesta Teknika Jurnal Teknik Mesin Journal of Robotics and Control (JRC) International Journal of Science, Engineering and Information Technology Journal of Technology and Informatics (JoTI) Jurnal Polimesin
Hairil Budiarto
Program Studi Mekatronika, Fakultas Teknik, Umiversitas Trunojoyo Madura
Aerospace Engineering Agriculture, Biological Sciences & Forestry Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Physics

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Implementation of Automatic DC Motor Braking PID Control System on (Disc Brakes) Budiarto, Hairil; Triwidyaningrum, Vivi; Umam, Faikul; Dafid, Ach
Journal of Robotics and Control (JRC) Vol 4, No 3 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i3.18505

Abstract

The vital role of an automated braking system in ensuring the safety of motorized vehicles and their passengers cannot be overstated. It simplifies the braking process during driving, enhancing control and reducing the chances of accidents. This study is centered on the design of an automatic braking device for DC motors utilizing disc brakes. The instrument employed in this study was designed to accelerate the vehicle in two primary scenarios - before the collision with an obstacle and upon crossing the safety threshold. It achieves this by implementing the Proportional Integral Derivative (PID) control method. A significant part of this system comprises ultrasonic sensors, used for detecting the distance to obstructions, and rotary encoder sensors, which are utilized to measure the motor's rotational speed. These distance and speed readings serve as essential reference points for the braking process. The system is engineered to initiate braking when the distance value equals or falls below 60cm or when the speed surpasses 8000rpm. During such events, the disc brake is activated to reduce the motor's rotary motion. The suppression of the disc brake lever is executed pneumatically, informed by the sensor readings. Applying the PID method to the automatic braking system improved braking outcomes compared to a system without the PID method. This was proven by more effective braking results when the sensors detected specific distance and speed values. Numerous PID tuning tests achieved optimal results with K_p = 5, K_i = 1, and K_d = 3. These values can be integrated into automatic braking systems for improved performance. The PID method yielded more responsive braking outcomes when applied in distance testing. On the contrary, the braking results were largely unchanged in the absence of PID. Regarding speed testing, the PID method significantly improved the slowing down of the motor speed when it exceeded the maximum speed limit of 8000 rpm. This eliminates the possibility of sudden braking, thus maintaining the system within a safe threshold. The average time taken by the system to apply braking was 01.09 seconds, an indication of its quick responsiveness. This research is a valuable addition to control science, applying the PID control method to automatic DC motor braking. It provides valuable insights and concrete applications of PID control to complex mechatronic systems. It is also noteworthy for its development and optimization of suitable PID parameters to achieve responsive and stable braking. The study, therefore, offers a profound understanding of how PID control can be employed to manage braking systems on automatic DC motors, thereby advancing knowledge and application of control in control science and mechatronics.
SISTEM INFORMASI MANAJEMEN SUPERCHARGER DENGAN KONTROL PROPORTIONAL INTEGRAL DERIVATIVE PADA MOTOR MATIC Irawan, Ibnu; Fatah, Doni Abdul; Budiarto, Hairil
Jurnal Simantec Vol 12, No 2 (2024): Jurnal Simantec Juni 2024
Publisher : Universitas Trunojoyo Madura

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21107/simantec.v12i2.25833

Abstract

One of the main problems occurring on this earth is air pollution and the reduction in the amount of fuel oil. The main aim of the research is to regulate the mixture of fuel and air so that it burns ideally, so that the resulting emissions are non-toxic and environmentally friendly. This research is a technological development as a means of information and comparison before and after a supercharger is installed. Adjust the AFR (Air Fuel Ratio) value through the inlet air channel to obtain the ideal ratio of fuel and air so that the mixture becomes stoichiometric. The air intake is regulated into the engine by adding a supercharger using the Proportional Integral Derivative (PID) control method. The supercharger works by using a lambda sensor as data input for a poor or rich mixture, then the lambda sensor value is entered into the PID method. The PID value will determine the speed of the brushless motor which aims to obtain stoichiometric AFR. A lambda sensor that is close to the 0.5 setpoint is expected to produce a more ideal mixture of air and gasoline.Keywords: Management Information, Supercharger, Proportional Integral Derivative, Automatic Motorcycles.
Physical Characterization of Briquettes Composed of Corn Cob and Sawdust Waste Mixtures Yusron, Rifky Maulana; Budiarto, Hairil; Irawan, Ibnu
Simetris: Jurnal Teknik Mesin, Elektro dan Ilmu Komputer Vol 15, No 2 (2024): JURNAL SIMETRIS VOLUME 15 NO 2 TAHUN 2024
Publisher : Fakultas Teknik Universitas Muria Kudus

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24176/simet.v15i2.11657

Abstract

Corncobs were agricultural waste, while sawdust was waste of furniture industries.  Both materials can well decomposition naturally, but it was still time-consuming. The aim of this research to provide both wastes by converting them into sustainable and worthwhile solid-fuels briquettes format. In this research, variation of mixture ratio of corn cob powder and sawdust in briquettes used was 50:50, 60:40, 70:30, 80:20, and 90:10. 1:1 ratio of tapioca starch and water was used as the adhesive to bond the briquette mixture well. Compaction process used hydraulics by 2 tons pressing load. Testing of physical characteristics includes calorific value, moisture, and ash content. The lowest calorific value was 4589.94 kCal/g, which was achieved in the 50:50 mixture of corn cob and sawdust. The highest calorific value was 6579.87 kCal/g, which was achieved in the combination of a corn cob and sawdust ratio of 90:10. The calorific value continued to increase with more mixture of corn cob. Highest moisture content was 20.00%, achieved in 50:50 combination mixture of corn cob and sawdust. Moisture content decreased as the ratio of corn cobs used in the briquettes increased, with the lowest content obtained at 8.88% using a 90:10 mixture of corn cobs and sawdust. Highest ash content on this research 16.85%, was achieved in the 50:50 combination of corncob and sawdust. Ash content also tended to decrease with the increase of corn cob powder used in the briquettes. Lowest ash content was obtained at 10.10% using a mixture of corn cob and sawdust 90:10.
Penerapan Sistem Kontrol Adaptif Proportional Integral Derivative (PID) pada Mesin Penimbang Mie dengan Konveyor Dafid, Ach; Umam, Faikul; Budiarto, Hairil
Rekayasa Vol 18, No 2: Agustus, 2025
Publisher : Universitas Trunojoyo Madura

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21107/rekayasa.v18i2.31610

Abstract

Indonesia is the second-largest instant noodle consumer in the world after China, with consumption reaching more than 12 billion packs per year. This high demand drives the need for innovation in the production process, especially in the weighing and cutting aspects, which are still carried out manually in small and medium industries. Manual processes not only require more time and energy, but also result in variations in packaging weight that are not uniform and reduce production efficiency. This study aims to design and implement a Proportional Integral Derivative (PID) adaptive control system on a noodle weighing machine with a conveyor. The system was developed using a load cell sensor to measure the noodle dough weight, a servo motor as a cutting actuator, and a DC motor as a conveyor drive, all of which are controlled by an Arduino ATmega 2560 microcontroller. The research methodology includes mechanical design, electronic design, control system programming, sensor calibration, and performance testing. The test results show that the system is able to produce noodle portions with a target weight of 50 grams consistently. The prototype has conveyor dimensions of 100×20×8 cm with a speed of 26 cm/ms, controlled using tuned PID parameters (Kp=1.5; Ki=1; Kd=1.7). From 20 trials, the system produced an average error of 0.75% and a success rate of 99.25%. Thus, the application of the PID adaptive control system has been proven to improve weighing precision, conveyor speed stability, and production efficiency. This innovation is expected to be a simple and affordable solution to support the automation of small and medium industries in Indonesia in facing increasingly fierce food market competition.
Fluid pressure optimization of a PID-controlled hydraulic jack for enhanced lifting efficiency and stability Hairil Budiarto; Ibnu Irawan; Achmad Imam Sudianto; Ahmad Sahru Romadhon
Jurnal Polimesin Vol 23, No 3 (2025): June
Publisher : Politeknik Negeri Lhokseumawe

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30811/jpl.v23i3.6650

Abstract

Hydraulic and mechanical jacks are widely used for lifting applications but face limitations in efficiency and load handling. Despite being powerful, hydraulic jacks are prone to pressure loss and fluid leakage under static load, while mechanical systems lack automation and practicality. This research presents a hybrid hydraulic jack system integrating a DC motor-driven screw actuator and proportional–integral–derivative (PID) control for adaptive fluid pressure regulation. The purpose of this research is to develop an automatic hydraulic jack that integrates mechanical and hydraulic systems to improve the efficiency of load lifting time and reduce the risk of fluid leakage due to prolonged static pressure. The system was tested under three different loads: 90 kg, 110 kg, and 130 kg, with corresponding pressure setpoints of 170, 195, and 223 psi. Using the Ziegler–Nichols tuning method, the PID controller achieved high accuracy with error deviations of 1.1 psi, 0.1 psi, and 1.5 psi, respectively. These results represent a 95–99% precision rate in pressure regulation, compared to uncontrolled systems. The findings demonstrate the ability of the system to maintain pressure stability under varying load conditions, therefore reducing the risk of leakage and mechanical fatigue. This PID-based jack offers a cost-effective and efficient alternative to conventional power-pack hydraulic systems, particularly in mobile or resource-constrained applications.
Performance evaluation of a steam-assisted incinerator using used oil fuels for diaper waste treatment under natural convection Irawan, Ibnu; Budiarto, Hairil; Mubarok, Khamdi; Amandha, Yaumil Nurchoir
Jurnal Polimesin Vol 23, No 3 (2025): June
Publisher : Politeknik Negeri Lhokseumawe

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30811/jpl.v23i3.6932

Abstract

Incinerators offer an effective solution for waste processing by maintaining high combustion temperatures in a well-insulated and enclosed chamber. The combustion process using an incinerator has the ability to convert waste into steam gas and ash that can be utilized. The advantage of the incineration process is its ability to reduce the volume of waste significantly, with a reduction rate of more than 65%.  In this research, a water steam stove was fuelled by liquid waste namely used motor oil and used cooking oil. It was tested for its performance in burning diaper waste under natural convection. The stove used has a height of 370 cm, a nozzle diameter of 2 cm, and a water vapor flow rate of 0.75 kg/hour. This study aimed to evaluate the thermal efficiency of the incinerator and analyze the influence of natural convection, fuel type, and the number of air holes on combustion performance. Experimental results showed that using eight air holes produced optimal results. Combustion with used motor oil reached the highest temperature of 397°C, burned for 65 minutes, and left 0.68 kg of ash residue. In comparison, used cooking oil reached 381°C, burned for 89 minutes, and left 0.95 kg of ash. The difference in fuel boiling points and viscosity significantly affected combustion efficiency. The highest thermal efficiency was 87% when using used motor oil, compared to 35% for used cooking oil. These findings suggest that used motor oil is a more effective and efficient fuel for diaper waste incineration in naturally ventilated systems.
Pemanfaatan Limbah Cair Oli Bekas sebagai Bahan Bakar Alternatif untuk Kompor Bertekanan Udara Ibnu Irawan; Teguh Prasetyo; Hairil Budiarto; Rifky Maulana Yusron
Simetris: Jurnal Teknik Mesin, Elektro dan Ilmu Komputer Vol. 17 No. 1 (2026): JURNAL SIMETRIS VOLUME 17 NO 1 TAHUN 2026
Publisher : Fakultas Teknik Universitas Muria Kudus

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24176/simet.v17i1.15189

Abstract

Peningkatan jumlah kendaraan bermotor berbanding lurus dengan meningkatnya limbah oli bekas yang berpotensi mencemari lingkungan jika tidak dikelola dengan baik. Oleh karena itu, diperlukan upaya pemanfaatan limbah oli bekas sebagai sumber energi alternatif yang bernilai guna, salah satunya sebagai bahan bakar kompor. Penelitian ini bertujuan untuk mengidentifikasi karakteristik kimia oli bekas serta menentukan rasio udara-bahan bakar (air–fuel ratio) yang optimal guna menghasilkan proses pembakaran yang efisien. Metode yang digunakan meliputi analisis komposisi kimia menggunakan Gas Chromatography-Mass Spectrometry (GC-MS) untuk menentukan senyawa dominan dalam oli bekas, serta perhitungan stoikiometri untuk memperoleh rasio udara dan bahan bakar ideal. Selanjutnya dilakukan pengujian eksperimental dengan variasi kecepatan aliran udara masuk sebesar 1,16; 1,66; 2,16; 2,66; dan 3,16 m/s. Hasil analisis GC-MS menunjukkan bahwa senyawa dominan dalam oli bekas adalah dekosana (C₂₀H₄₂), sehingga diperoleh rasio stoikiometri udara-bahan bakar sebesar 14,8:1. Pengujian pembakaran menunjukkan bahwa kondisi optimal terjadi pada kecepatan udara masuk 2,16 m/s, dengan suhu nyala api mencapai 876,8°C dan suhu tungku 535,2°C, serta waktu pembakaran 1627 detik. Suhu tertinggi diperoleh pada kecepatan udara 3,16 m/s dengan suhu api 1103,3°C dan suhu tungku 688,5°C, namun dengan waktu pembakaran lebih singkat yaitu 1229 detik. Sebaliknya, suhu terendah terjadi pada kecepatan udara 1,16 m/s dengan suhu api 755,7°C dan suhu tungku 290,4°C, serta waktu pembakaran terlama yaitu 2224 detik. Berdasarkan hasil tersebut, dapat disimpulkan bahwa peningkatan kecepatan aliran udara berpengaruh signifikan terhadap kenaikan suhu pembakaran dan percepatan proses pembakaran, meskipun kondisi optimal dicapai pada kombinasi tertentu yang menghasilkan efisiensi termal terbaik.
Brush-shaped Motion Gesture of UGV Using Hand Gesture Recognition Agus Murdiono Agus; Muhammad Fuad; Hairil Budiarto; Faikul Umam; Vivi Tri Widyaningrum; Achmad Imam Sudianto
Journal of Technology and Informatics (JoTI) Vol. 8 No. 1 (2026): Vol. 8 N. 1 (2026)
Publisher : Universitas Dinamika

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.37802/joti.v8i1.1315

Abstract

Manual observation of corn leaf diseases in agricultural fields often faces challenges related to time, effort, and accuracy. To address these challenges, brush-shaped motion patterns, such as zig-zag and boustrophedon trajectories, provide an effective solution by enabling uniform area coverage while reducing redundant traversal, energy consumption, and sensing gaps, making them well-suited for precision agriculture applications. Building on this approach, the system utilizes the MediaPipe framework for hand landmark tracking and the K-Nearest Neighbors (KNN) algorithm to recognize six navigation commands: forward, backward, stop, turn_right, turn_left, and capture. These commands are transmitted via Wi-Fi with an average latency of 0.001964 s. To ensure navigation accuracy during pattern execution, corrections are made using rotary encoders. Gesture classification experiments on 6,000 samples achieved a maximum accuracy of 99.46% across two participants, with stable KNN performance under both indoor and outdoor lighting variations, as well as hand distances ranging from 50 cm. Furthermore, the capture gesture produced an average image acquisition latency of 0.3037 s at various UGV observation positions. In summary, these results demonstrate that integrating real-time gesture control with UGV maneuvers enables systematic field surveys for maize leaf disease monitoring and supports Sustainable Development Goal (SDG) 2 through precision agriculture technology.
Co-Authors Achmad Kusairi Samlawi Agus Murdiono Agus Ahmad Sahru Romadhon Amandha, Yaumil Nurchoir Dafid, Ach Doni Abdul Fatah Dyah Ayu Sulistyo Rini Faikul Umam Fatanur Baity Tsulutsya Ibnu Irawan Ibnu Irawan Miftahul Choiro Mubarok, Khamdi Muhammad Fuad R Daksena Abdi Putera Rachmad Hidayat Rachmad Hidayat Rifky Maulana Yusron Rohmat Khaironi Rullie Annisa Sri Wahyuni Sudianto, Achmad Imam Sukri, Hanifudin Teguh Prasetyo Triwidyaningrum, Vivi Vivi Tri Widyaningrum