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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Prosiding SNAST
Raden Sanggar Dewanto
Politeknik Elektronika Negeri Surabaya
Computer Science & IT Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Stereo vision-based obstacle avoidance module on 3D point cloud data Eko Purbo Wahyono; Endah Suryawati Ningrum; Raden Sanggar Dewanto; Dadet Pramadihanto
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 3: June 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i3.14829

Abstract

This paper deals in building a 3D vision-based obstacle avoidance and navigation. In order for an autonomous system to work in real life condition, a capability of gaining surrounding environment data, interpret the data and take appropriate action is needed. One of the required capability in this matter for an autonomous system is a capability to navigate cluttered, unorganized environment and avoiding collision with any present obstacle, defined as any data with vertical orientation and able to take decision when environment update exist. Proposed in this work are two-step strategy of extracting the obstacle position and orientation from point cloud data using plane based segmentation and the resultant segmentation are mapped based on obstacle point position relative to camera using occupancy grid map to acquire obstacle cluster position and recorded the occupancy grid map for future use and global navigation, obstacle position gained in grid map is used to plan the navigation path towards target goal without going through obstacle position and modify the navigation path to avoid collision when environment update is present or platform movement is not aligned with navigation path based on timed elastic band method.
Velocity control of ROV using modified integral SMC with optimization tuning based on Lyapunov analysis Syadza Atika Rahmah; Eko Henfri Binugroho; Raden Sanggar Dewanto; Dadet Pramadihanto
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 3: June 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i3.14781

Abstract

Remotely Operated Vehicle also known as ROV is a vehicle with high nonlinearity and uncertainty parameters that requires a robust control system to maintain stability. The nonlinearity and uncertainty of ROV are caused by underwater environmental conditions and by the movement of the vehicle. SMC is one of the control systems that can overcome nonlinearity and uncertainty with the given robust system. This work aims to control velocity of the vehicle with proposes the use of modified integral SMC compensate error in ROV and the use of particle swarm optimization (PSO) to optimize the adjustment of SMC parameters. The ROV used in this paper has a configuration of six thrusters with five DoF movements that can be controlled. Modified integral sliding mode is used to control all force direction to increase the convergence of speed error. Adjustment optimization techniques with PSO are used to determine four values of sliding control parameters for five DoF. Using Lyapunov stability approach control law of sliding mode is derived and its global stability proved mathematically. Simulation results are conducted to evaluate the effectiveness of Modified Integral SMC and compared with nonlinear control.
STUDI EKSPERIMEN VORTEX INDUCED VIBRATION ENERGY CONVERTER (VIVEC) PADA REYNOLDS NUMBER 50.000 Karina Putri Nurma Gumpita; Setyo Nugroho; Raden Sanggar Dewanto
PROSIDING SNAST Prosiding SNAST 2018
Publisher : IST AKPRIND Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

Hydro energy is one of the largest sources and capale generating 16% of electricity in the world. In Indonesia, In Indonesia, the potential of hydro energy reaches 75 GW. However, currently only about 9% of it that has been utilized properly. Vortex-Induced Vibration Energy Converter (VIVEC) is one technology that utilizes hydro energy. VIVEC converts the translational motion up and down from a cylinder attached to a slider into electrical energy. The oscillation of the cylinder is caused by the release of the vortex that forms around the cylinder when it hit by water at a certain speed. VIVEC has big potential to applied in Indonesia. This is because most of river in Indonesia has stable debit. One of them is Sungai Citarum. Sungai Citarum is at Desa Dayeuh Kolot, Kabupaten Bandung, Jawa Barat has max debit 397,4 m3/sand min debit 204,1 m3/s. One of the parameters affect the performance of VIVEC is Reynolds Number. This research focused on Reynolds Number around 50.000 with physical test using towing tank. The parameters as same as parameters at Sungai Citarum, which is velocity 0,4 m/s and the diameter of cylinder is 0,1257 cm. Based on this research, maximum amplitudo is 4,43 cm, frequency of oscillating is 0,67, and the efficiency of VIVEC is 13,03%.
Kinematics modeling of six degrees of freedom humanoid robot arm using improved damped least squares for visual grasping Muhammad Ramadhan Hadi Setyawan; Raden Sanggar Dewanto; Bayu Sandi Marta; Eko Henfri Binugroho; Dadet Pramadihanto
International Journal of Electrical and Computer Engineering (IJECE) Vol 13, No 1: February 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v13i1.pp288-298

Abstract

The robotic arm has functioned as an arm in the humanoid robot and is generally used to perform grasping tasks. Accordingly, kinematics modeling both forward and inverse kinematics is required to calculate the end-effector position in the cartesian space before performing grasping activities. This research presents the kinematics modeling of six degrees of freedom (6-DOF) robotic arm of the T-FLoW humanoid robot for the grasping mechanism of visual grasping systems on the robot operating system (ROS) platform and CoppeliaSim. Kinematic singularity is a common problem in the inverse kinematics model of robots, but. However, other problems are mechanical limitations and computational time. The work uses the homogeneous transformation matrix (HTM) based on the Euler system of the robot for the forward kinematics and demonstrates the capability of an improved damped least squares (I-DLS) method for the inverse kinematics. The I-DLS method was obtained by improving the original DLS method with the joint limits and clamping techniques. The I-DLS performs better than the original DLS during the experiments yet increases the calculation iteration by 10.95%, with a maximum error position between the end-effector and target positions in path planning of 0.1 cm.
Co-Authors Dadet Pramadihanto Eko Henfri Binugroho Eko Purbo Wahyono Endah Suryawati Ningrum Karina Putri Nurma Gumpita Marta, Bayu Sandi Muhammad Ramadhan Hadi Setyawan Setyo Nugroho Syadza Atika Rahmah