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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) JURNAL INTEGRASI Journal of Applied Electrical Engineering Journal of Community Service and Empowerment Jurnal Pengabdian kepada Masyarakat Politeknik Negeri Batam Engagement: Jurnal Pengabdian Kepada Masyarakat
Ahmad Riyad Firdaus
Politeknik Negeri Batam
Religion Arts Humanities Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Mechanical Engineering Social Sciences Other

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 1 
Genetic Algorithm of Sliding Mode Control Design for Manipulator Robot Ahmad Riyad Firdaus; Arief Syaichu Rahman
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.v10i4.852

Abstract

The dynamical model of manipulator robot is represented by equations systems which are nonlinear and strongly coupled. Furthermore, the inertial parameters of manipulator depend on the payload which is often unknown and variable. The sliding mode controller (SMC) provides an effective and robust means of controlling nonlinear plants. The performance of SMC depends on control parameter selection of gain switching (k) and sliding surface constant (s). It is very difficult to obtain the optimal control parameters. In this paper, a control parameter selection algorithm is proposed by genetic algorithm to select the gain switching (k) and sliding surface constant parameter (s) so that the controlled system can achieve a good overall performance in the sliding mode controller design. Testing is done by giving a reference position for joint 1 and joint 2 of the robot manipulator of 45O (degree) with the controller performance indicator is settling time
Perancangan Pengendali Modus Luncur untuk Motor DC dengan Optimasi Algoritma Genetika Ahmad Riyad Firdaus
JURNAL INTEGRASI Vol 1 No 1 (2009): Jurnal Integrasi - April 2009
Publisher : Politeknik Negeri Batam

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Abstract

Pengendali Modus Luncur (PML) memiliki kekokohan yang baik dalam megendalikan sistem linear maupun nonlinear. Kinerja pengendali ini sangat ditentukan oleh pemilihan parameter pengendali dari penguat pensaklaran dan permukaan luncur. Pada makalah ini, algoritma genetika dibuat untuk mengoptimasi pemilihan parameter pengendali dalam melacak nilai-nilai parameter pengendali yang optimal agar menghasilkan kinerja PML yang diinginkan. Pelacakan nilai-nilai parameter ini dilakukan dengan mengevaluasi fungsi kepantasan (“fitness”) dari kromosom yang didefinisikan dalam algoritma. Hasil simulasi memperlihatkan, nilai-nilai parameter PML yang dihasilkan oleh algoritma genetika memberikan kinerja pengendali yang lebih baik dibanding dengan pemilihan nilai-nilai parameter yang dilakukan melalui uji coba (“trial and error”). Kinerja yang lebih baik ini diperlihatkan dengan kecilnya tanggapan waktu dan kesalahan penjejakan dari status keluaran. Metode ini memberikan solusi dalam mengoptimasi nilai-nilai parameter PML dalam perancangan sistem kendali.
Sistem Pengaturan Suhu Air Menggunakan Kendali PID Okky Janrizky; Andy Panggabean; Ahmad Riyad Firdaus
JURNAL INTEGRASI Vol 2 No 2 (2010): Jurnal Integrasi Edisi Khusus (Seminar Nasional) - Juli 2010
Publisher : Politeknik Negeri Batam

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Abstract

Makalah ini merupakan hasil penelitian mahasiswa tugas akhir program diploma tiga di Politeknik Batam [1] yang mengambil tema “Sistem Pengaturan Suhu Air Menggunakan Kendali PID”. Penelitian ini merupakan studi implementasi konsep kendali PID (Proportional, Integral, Differential) dalam perangkat keras sebenarnya. Dalam konsep sebenarnya, kendali PID membutuhkan pemodelan sistem (penurunan model fisik menjadi model matematika) agar bisa dirancang sistem kendali yang optimal. Dalam penelitian ini, sistem pengaturan suhu air menggunakan kendali PID menggunakan metode “trial and error” dalam pemilihan konstanta pengendalinya (Kp, Ki, dan Kd ), tidak melakukan permodelan sistem, dan implementasinya secara digital. Hasil pengujian sistem pengaturan ini memperlihatkan kinerja pengendali sebagai berikut : Rise time (s) : 0:18:58:17, Overhoot (%) : 4.88, Settling time (s) : 0:22:33:07, dan Steady State Error (%) : -0.23, Terlihat Rise time besar diakibatkan daya pemanas kurang besar untuk ukuran volume air yang dibuat.
Pengadaan dan Pemasangan Panel Surya sebagai Sumber Energi Listrik Alternatif untuk Alat Otomatis Pencuci Tangan di Pasar Mitra Raya Kota Batam Susanto Susanto; Ahmad Riyad Firdaus; Qoriatul Fitriyah; Hendawan Soebhakti; Arif Febriansyah Juwito; Senanjung Prayoga; Indra Hardian Mulyadi; Eka Mutia Lubis; Fitriyanti Nakul; Widya Rika Puspita; Ika Karlina Laila Nur Suciningtyas; Ridwan Ridwan; Juliansyah Yangu; Rabiah Al Adawiyah Anwar; Andi Hartanto; Ira Zamzami; Ilham Kurnia; Salman Alfarizi; Rogen Samuel Hasibuan
Jurnal Pengabdian kepada Masyarakat Politeknik Negeri Batam Vol 3 No 1 (2021): Jurnal Pengabdian kepada Masyarakat Politeknik Negeri Batam
Publisher : Pusat P2M Politeknik Negeri Batam

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30871/abdimas polibatam.v3i1.2656

Abstract

Washing hands is something that is always urged to be done lately. This pandemic makes washing hands a habit that must be accomplished before and after doing activities. Automatic hand washing is one way to reduce the spread of the virus because it can be used without having to touch the device directly. The development of automatic tools for washing hands is the crucial need for an alternative power source that is fuel-efficient and uncomplicated in terms of maintenance. The eco-friendly electrical source is needed to be implemented to reduce the electricity bills such as using the solar panel as the alternative power source. As an effort to support handwashing activities, the procurement of solar panels as a source of electrical energy is expected to be able to provide simple solutions to prevent the spread of Covid -19 and to make the environment clean and energy-efficient.
Perbaikan Instalasi Listrik dan Sistem Penerangan Untuk Menunjang Desa Wisata Pulau Mubud Darat Adlian Jefiza; Ahmad Riyad Firdaus; Sumantri Kurniawan Risandriya; Muhammad Arifin; Widya Rika Puspita; Mustanir Mustanir; Riki Ria; Indra Daulay; Ira Zamzami; Ghozalli Mashan; Dwi Imam Mulyono
Jurnal Pengabdian kepada Masyarakat Politeknik Negeri Batam Vol 4 No 1 (2022): Jurnal Pengabdian kepada Masyarakat Politeknik Negeri Batam
Publisher : Pusat P2M Politeknik Negeri Batam

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30871/abdimas polibatam.v4i1.3575

Abstract

One of the tourist attractions in the city of Batam is the tourist village of Pulau Mubud Darat. Mubud Darat Island is separated from Batam Island. On the island of Mubud Darat has a beautiful beach with white sand on the shoreline. However, on the island of Mubud Darat, there is no PLN electricity. The electricity that flows on Mubud Darat Island is still sourced from generators with diesel fuel. Electrical installations on the island of Mubud Darat are also not safe for visitors. This requires large costs for tourism operations both for operations and installation repairs. In addition, to increase the interest of visitors on Mubud Darat island, a good photo spot icon is needed which will later become an icon for Mubud Darat Island. Therefore, lighting is needed from solar panels, as well as repairs to electrical installations on Mubud Darat island. In addition, to create a tourist icon on Mubud Darat Island, a photo spot for the sky door is given which is added with LED strip lights.
Improving STEM Capability of Islamic Boarding School Students in Batam Through Robotics Training Hendawan Soebhakti; Eko Rudiawan Jamzuri; Senanjung Prayoga; Rifqi Amalya Fatekha; Anugerah Wibisana; Susanto Susanto; Riska Analia; Fitriyanti Nakul; Adlian Jefiza; Eka Mutia Lubis; Budiana Budiana; Ika Karlina Laila Nur Suciningtyas; Ahmad Riyad Firdaus
Engagement: Jurnal Pengabdian Kepada Masyarakat Vol 7 No 2 (2023): November 2023
Publisher : Asosiasi Dosen Pengembang Masyarajat (ADPEMAS) Forum Komunikasi Dosen Peneliti

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.29062/engagement.v7i1.1350

Abstract

Conducting robotics training as a community service to improve basic knowledge of Science, Technology, Engineering, and Mathematics (STEM) for students is one of the ways to improve their basic knowledge of Science, Technology, Engineering, and Mathematics (STEM) for students is one of the most important aspects of the facing the industrial era 4.0 and society 5.0. Through the Service-Learning approach, this community service by collaborating with Granada International in Batam by involving 29 students, consisting of 7 students from class X, 15 students from class XI, and the rest from class XII, class XI students, and the rest from class XII. The results of mentoring through robotics training were able to increase the average STEM skills of students by 38.15%. In addition, the activity was successfully implemented with participant satisfaction levels above 50% for the subject matter, instructor, and training equipment. Only 17% of the trainees stated that the training time was insufficient, especially for practicum.
Robotics training to improve STEM skills of Islamic boarding school students in Batam Jamzuri, Eko Rudiawan; Soebhakti, Hendawan; Prayoga , Senanjung; Fatekha, Rifqi Amalya; Wibisana, Anugerah; Nakul, Fitriyanti; Hasnira, H.; Analia, Riska; Susanto, S.; Wijaya, Ryan Satria; Suciningtyas, Ika Karlina Laila Nur; Puspita, Widya Rika; Lubis, Eka Mutia; Jefiza, Adlian; Budiana, B.; Firdaus, Ahmad Riyad
Journal of Community Service and Empowerment Vol. 5 No. 1 (2024): April
Publisher : Universitas Muhammadiyah Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22219/jcse.v5i1.26895

Abstract

One potential approach to addressing the challenges posed by the advent of Industry 4.0 and Society 5.0 is to offer robotics training. This endeavor aims to enhance students' foundational understanding of STEM (Science, Technology, Engineering, and Mathematics) disciplines. The study involved collaborating with the Pondok Pesantren Granada, an Islamic Boarding School located in Batam, to provide robotics training as community service activities. The study included 29 trainees: 15 from class XI and 7 from classes X and XII. The teaching was conducted using a combination of didactic instruction, interactive discourse, and hands-on exercises. Trainees are administered a written examination to assess their proficiency level before and after the training program. The training outcomes exhibited a significant improvement in the mean STEM proficiency of trainees, with an increase of 38.15%. Furthermore, a series of activities have been effectively implemented, resulting in trainee satisfaction ratings exceeding 50% concerning course materials, trainer, and teaching equipment. A mere 17% of the individuals undergoing training expressed dissatisfaction with the allocated time, particularly the hands-on component's duration.
Dynamic Modeling and PID Control of a 6-DOF Robotic Arm Using ROS and Gazebo Firdaus, Ahmad Riyad; Cyrillus Rudi Soru; Hendawan Soebhakti
Journal of Applied Electrical Engineering Vol. 9 No. 2 (2025): JAEE, December 2025
Publisher : Politeknik Negeri Batam

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30871/jaee.v9i2.11027

Abstract

This paper presents the dynamic modeling and control evaluation of a six degrees-of-freedom (6-DOF) robotic manipulator. The manipulator was developed in the Robot Operating System (ROS) and Gazebo using a detailed URDF model with complete geometric and inertia parameters. Proportional–Integral–Derivative (PID) controllers were tuned through ROS dynamic reconfiguration and tested under four payloads: 0; 0,19; 0,39; and 0,50 kg. Controller performance was assessed using rise time, settling time, overshoot, and steady-state error. The results show stable responses across all conditions, with no overshoot and near-zero steady-state errors. Increasing payloads generally led to longer rise and settling times, while joints aligned with gravity exhibited faster responses under heavier loads. These findings confirm that properly tuned PID controllers can maintain robust and accurate manipulator performance and demonstrate the effectiveness of ROS–Gazebo as an open-source platform for robotic control experimentation and future integration of adaptive or AI-based methods.
Autonomous mobile robot implementation for final assembly material delivery system Firdaus, Ahmad Riyad; Sholihuddin, Imam; Hutasoit, Fania Putri; Naba, Agus; Suciningtyas, Ika Karlina Laila Nur
International Journal of Electrical and Computer Engineering (IJECE) Vol 16, No 1: February 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v16i1.pp158-173

Abstract

This study presents the development and implementation of an autonomous mobile robot (AMR) system for material delivery in a final assembly environment. The AMR replaces conventional transport methods by autonomously moving trolleys between the warehouse, production stations, and recycling areas, thereby reducing human intervention in repetitive logistics tasks. The proposed system integrates a laser-SLAM navigation approach, customized trolley design, RoboShop programming, and robot dispatch system coordination, enabling real-time route planning, obstacle detection, and material scheduling. Experimental validation demonstrated high accuracy in path following, with root mean square error values ranging between 0.001 to 0.020 meters. The AMR achieved an average travel distance of 118.81 meters and a cycle time of 566.90 seconds across three final assembly stations. The overall efficiency reached 57%, primarily due to reduced idle time and optimized material replenishment. These results confirm the feasibility of AMR deployment as a scalable and flexible intralogistics solution, supporting the transition toward Industry 4.0 smart manufacturing systems.
Co-Authors Adlian Jefiza Adlian Jefiza Agus Naba Analia, Riska Andi Hartanto Andy Panggabean ANUGERAH WIBISANA Arief Syaichu Rahman Arif Febriansyah Juwito Budiana, B. Cyrillus Rudi Soru Dwi Imam Mulyono Eka Mutia Lubis Eka Mutia Lubis Eko Rudiawan Jamzuri Fatekha, Rifqi Amalya Fitriyanti Nakul Ghozalli Mashan Hasnira, H. Hendawan Soebhakti Hutasoit, Fania Putri Ika Karlina Laila Nur Suciningtyas Ika Karlina Laila Nur Suciningtyas Ilham Kurnia Imam Sholihuddin Indra Daulay Ira Zamzami Jefiza, Adlian Juliansyah Yangu Lubis, Eka Mutia MUHAMMAD ARIFIN Mulyadi, Indra Hardian Mustanir Mustanir Okky Janrizky Prayoga , Senanjung Prayoga, Senanjung Puspita, Widya Rika Qoriatul Fitriyah Rabiah Al Adawiyah Anwar Ridwan Ridwan Rifqi Amalya Fatekha Riki Ria Riska Analia Rogen Samuel Hasibuan Ryan Satria Wijaya S. Susanto, S. Salman Alfarizi Sumantri Kurniawan Risandriya Susanto Susanto Susanto Susanto Widya Rika Puspita