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All Journal International Journal of Electrical and Computer Engineering Seminar Nasional Aplikasi Teknologi Informasi (SNATI) IPTEK Journal of Proceedings Series TELKOMNIKA (Telecommunication Computing Electronics and Control) ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika EMITTER International Journal of Engineering Technology KLIK (Kumpulan jurnaL Ilmu Komputer) (e-Journal) Proceeding of the Electrical Engineering Computer Science and Informatics JOIV : International Journal on Informatics Visualization J-Dinamika: Jurnal Pengabdian Kepada Masyarakat GUYUB: Journal of Community Engagement Automotive Experiences The Indonesian Journal of Computer Science Advance Sustainable Science, Engineering and Technology (ASSET)
Dadet Pramadihanto
Politeknik Elektronika Negeri Surabaya
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Sistem Pengenalan Ekspresi Wajah secara Real Time Riyanto Sigit; Dadet Pramadihanto; Rully Sulaiman
Seminar Nasional Aplikasi Teknologi Informasi (SNATI) 2005
Publisher : Jurusan Teknik Informatika, Fakultas Teknologi Industri, Universitas Islam Indonesia

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Abstract

Pada umumnya analisa sistem pengenalan ekspresi wajah berasal dari sekumpulan data (loadfile), harusdidekat kamera, posisi wajah tidak boleh miring, dan tidak dapat mengatasi pergerakan yang banyak dariwajah. Pada penelitian ini dilakukan pengenalan ekspresi wajah secara real-time, dapat mengenali ekspresiwajah secara cerdas pada suatu bangunan tertentu (intelligent building), menggunakan transformasi proyeksiuntuk mengatasi posisi wajah yang miring, menggunakan jaringan syaraf tiruan untuk mengenali ekspresiwajah.Prosesnya adalah pengambilan citra wajah secara automatis dengan kombinasi gerakan, warna, danbentuk, melakukan transformasi proyeksi untuk mendapatkan posisi wajah menghadap ke depan, mengekstrakfitur dengan mengambil fitur penting dari ekspresi wajah berdasarkan lokasi dan bentuk, kemudian mengenaliekspresi wajah menggunakan jaringan syaraf tiruan.Dengan proses diatas sistem dapat mengenali ekspresi wajah pada jarak tertentu secara real-time dengancepat dan akurat.Kata Kunci: real time, intelligent building, transformasi proyeksi, jaringan syaraf tiruan, ekspresi wajah.
Robot Cerdas Pemadam Api Menggunakan Proyeksi Integral Setiawardhana Setiawardhana; Riyanto Sigit; Dadet Pramadihanto
Seminar Nasional Aplikasi Teknologi Informasi (SNATI) 2006
Publisher : Jurusan Teknik Informatika, Fakultas Teknologi Industri, Universitas Islam Indonesia

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Abstract

Salah satu masalah manusia yang paling sering dihadapi adalah masalah keamanan dalam pekerjaan. Kebakaran merupakan suatu masalah yang penanganannya membutuhkan pengorbanan dan tidak jarang membahayakan bagi tim penyelamat itu sendiri. Dalam hal ini, robot dapat berfungsi sebagai pengganti peran manusia dalam menjalankan pekerjaan yang sangat rawan bagi keselamatan manusia. Pada penelitian ini mengambil contoh permasalahan kebakaran rumah untuk disimulasikan karena permasalahan ini merupakan permasalahan sehari-hari yang paling sering dihadapi. Fungsi robot disini adalah mengantisipasi kebakaran secara dini dengan mematikan sumber api.Prosesnya adalah pengambilan citra secara automatis dengan melakukan thresholding sehingga diperoleh citra yang hanya mempunyai dua nilai derajat keabuan yaitu hitam dan putih, melakukan proyeksi integral untuk mencari daerah atau lokasi dari objek gambar yang berbeda, melakukan differensial terhadap hasil integral proyeksi, sehingga didapatkan tingkat perbedaaan antar baris (dari 0 - 255), dipakai dalam memandu navigasi robot dan menghindari halangan, juga dapat mendeteksi belokan dan menentukan arah gerak.Diharapkan dengan proses diatas dapat membuat robot otomatis untuk menyelesaikan beberapa tugas yang diadopsi dari tema Kontes Robot Cerdas Indonesia 2006, yaitu “Robot Cerdas Pemadam Api”.Kata kunci: real time,thresholding, proyeksi integral, differensial.
REALISASI DAN DESAIN DINAMIKA BERJALAN NAIK DIATAS TANGGA PADA 33 DOF HUMANOID ROBOT Wulandari Puspita Sari; R Sanggar Dewanto; Dadet Pramadihanto
KLIK- KUMPULAN JURNAL ILMU KOMPUTER Vol 7, No 3 (2020)
Publisher : Lambung Mangkurat University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.20527/klik.v7i3.332

Abstract

This paper presents a balance control for humanoid robot for walking on the stair. Kinematics, dynamics, and control system are the complex problems for humanoid robot especially in walking through the stair. The goal of this paper is to implement the control methods for the robot to be able to walk through the stair. The complexities are influenced by the number of joint movements of 33 degree of freedom (DoF) resulting flexible movements. This movement patterns in walking on the stair considers the height and the width of the stair by using the feedback sensors and the proportional-integral (PI) controller. Walking transition from single phase to double phase is needed to conduct the smooth transition. To solve that problem, an integrated motion and controller are divided to two conditions: working motion in the offline planning and working motion in the online implementation. Vertical movement and the step-length movement are needed due to the additional movements are required for walking on the stair. That is why, PI controller is used to achieve the balance condition. Each controller is used in detail with the results of experiments and simultions. The kinematics approach for simulation has 100% successful rate and the real-time experiments have 93% of error. The effectivity and results of the proposed algorithm for humanoid robot are verified by the experiments to walk on the stair.Keywords: dynamic, kinematic, balance control, humanoid robotMakalah ini menyajikan kontrol keseimbangan untuk robot humanoid dalam berjalan di atas tangga. Kinematika, dinamika, dan sistem kendali merupakan masalah kompleks pada robot humanoid khususnya untuk berjalan melewati tangga. Tujuan akhir makalah ini adalah penerapan metode kontrol pada robot humanoid agar robot dapat berjalan di atas tangga. Kompleksitas pada robot dipengaruhi oleh banyaknya penggerak sebesar 33 derajat kebebasan (DoF) sehingga menghasilkan gerakan yang fleksibel. Pola gerakan ketika berjalan diatas tangga ini mempertimbangkan tinggi tangga dan lebar tangga dengan adanya umpan balik pada sensor dan system kendali keseimbangan menggunakan proporsional-integral (PI) kontroler. Transisi berjalan dari fase dukungan tunggal ke fase dukungan ganda diperlukan untuk kelancaran siklus transisi. Untuk menyelesaikan masalah tersebut, sebuah gerakan terintegrasi dan pengontrol dibagi menjadi dua kondisi: gerakan bekerja pada perencanaan offline dan pengontrol bekerja yang berjalan online. Hal ini dikarenakan kebutuhan tambahan gerakan vertikal pada tinggi tangga dan panjang langkah ketika menaiki tangga. Oleh karena itu, kontroler PI digunakan untuk mencapai kondisi keseimbangan. Setiap pengendali ditangani secara detail dengan hasil eksperimen dan simulasi. Pendekatan Kinematika untuk simulasi memiliki hasil yang baik berdasarkan percobaan simulasi 100% dan percobaan secara langsung dengan robot memiliki error 93%. Efektivitas dan kinerja dari algoritma kontrol yang diusulkan diverifikasi melalui percobaan naik tangga pada humanoid robot.Kata kunci: dinamika, kinematika, kendali keseimbangan, robot humanoid
Face RGB-D Data Acquisition System Architecture for 3D Face Identification Technology Aldi Bayu Kreshnanda Ismail; Ihsan Fikri Abdurahman Muharram; Dadet Pramadihanto; Adnan Rachmat Anom Besari
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 5: EECSI 2018
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (711.764 KB) | DOI: 10.11591/eecsi.v5.1645

Abstract

The three-dimensional approach in face identification technology had gained prominent significance as the state-of-the-art breakthrough due to its ability to address the currently developing issues of identification technology (illumination, deformation and pose variance). Consequently, this trend is also followed by rapid development of the three-dimensional face identification architectures in which some of them, namely Microsoft Kinect and Intel RealSense, have become somewhat today's standard because of its popularity. However, these architectures may not be the most accessible to all due to its limited customisation nature being a commercial product. This research aims to propose an architecture as an alternative to the pre-existing ones which allows user to fully customise the RGB-D data by involving open source components, and serving as a less power demanding architecture. The architecture integrates Microsoft LifeCam and Structure Sensor as the input components and other open source libraries which are OpenCV and Point Cloud Library (PCL). The result shows that the proposed architecture can successfully perform the intended tasks such as extracting face RGB-D data and selecting out region of interest in the face area.
Secure Real-time Data Transmission for Drone Delivery Services using Forward Prediction Scheduling SCTP Febby Ronaldo; Amang Sudarsono; Dadet Pramadihanto
EMITTER International Journal of Engineering Technology Vol 10 No 1 (2022)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v10i1.690

Abstract

Drone technology is considered the most effective solution for the improvement of various industrial fields. As a delivery service, drones need a secure communication system that is also able to manage all of the information data in real-time. However, because the data transmission process occurs in a wireless network, data will be sent over a channel that is more unstable and vulnerable to attack. Thus, this research, purposes a Forward Prediction Scheduling-based Stream Control Transmission Protocol (FPS-SCTP) scheme that is implemented on drone data transmission system. This scheme supports piggybacking, multi-streaming, and Late Messages Filter (LMF) which will improve the real-time transmission process in IEEE 802.11 wireless network. Meanwhile, on the cybersecurity aspect, this scheme provides the embedded option feature to enable the encryption mechanism using AES and the digital signatures mechanism using ECDSA. The results show that the FPS-SCTP scheme has better network performance than the default SCTP, and provides full security services with low computation time. This research contributes to providing a communication protocol scheme that is suitable for use on the internet of drones’ environment, both in real-time and reliable security levels.
Density-based Clustering for 3D Stacked Pipe Object Recognition using Directly-given Point Cloud Data on Convolutional Neural Network Alfan Rizaldy Pratama Pratama; Bima Sena Bayu Dewantara; Dewi Mutiara Sari; Dadet Pramadihanto
EMITTER International Journal of Engineering Technology Vol 10 No 1 (2022)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v10i1.704

Abstract

One of the most commonly faced tasks in industrial robots is bin picking. Much work has been done in this related topic is about grasping and picking an object from the piled bin but ignoring the recognition step in their pipeline. In this paper, a recognition pipeline for industrial bin picking is proposed. Begin with obtaining point cloud data from different manner of stacking objects there are well separated, well piled, and arbitrary piled. Then followed by segmentation using Density-based Spatial Clustering Application with Noise (DBSCAN) to obtain individual object data. The systems then use Convolutional Neural Network (CNN) that consume raw point cloud data. Performance of the segmentation reaches an impressive result in separating objects and network is evaluated under the varying style of stacking objects and give the result with average Accuracy, Recall, Precision, and F1-Score on 98.72%, 95.45%, 99.39%, and 97.33% respectively. Then the obtained model can be used for multiple objects recognition in one scene.
Pembuatan Sistem Mikroskop Digital Terintegrasi dengan Pengolahan Citra untuk Pengembangan Perangkat Pembelajaran IPA di SMPIT Al Uswah Surabaya Bima Sena Bayu Dewantara; Dadet Pramadihanto; Wahjoe Tjatur Sesulihatien; Amang Sudarsono; Hary Oktavianto; Bambang Sumantri; Idris Winarno
J-Dinamika : Jurnal Pengabdian Masyarakat Vol 7 No 2 (2022): Agustus
Publisher : Politeknik Negeri Jember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25047/j-dinamika.v7i2.2413

Abstract

Untuk mewujudkan pembelajaran yang baik dan tepat kepada para siswa-siswi peserta didik sehingga dapat meningkatkan pemahaman, pengalaman dan kemampuan siswa-siswi, maka pendidikan yang diterima tidak hanya diperlukan untuk melatih aspek kognitif saja. Namun juga diperlukan untuk membangun kemampuan afektif dan psikomotornya. Oleh karena itu, pembelajaran berbasis praktek di laboratorium perlu untuk diberikan. Kegiatan ini bertujuan untuk membuat sebuah peralatan bantu kepada para siswa-siswi SMPIT Al Uswah Surabaya yaitu perangkat mikroskop digital yang terintegrasi dengan embedded mini PC sehingga hasil observasi/pengamatan yang dilakukan siswa-siswi bisa lebih cepat, akurat dan efisien. Peralatan yang dikembangkan terdiri dari sebuah perangkat mikroskop digital dengan kemampuan pembesaran hingga 1600x, sebuah embedded mini PC, sebuah monitor dan satu set keyboard-mouse wireless terintegrasi. Disamping itu, kami juga mengembangkan aplikasi atau perangkat lunak untuk mendukung fungsi operasional peralatan dengan menggunakan pendekatan pengolahan citra. Diharapkan dengan adanya bantuan dari kegiatan ini, siswa dan siswi SMPIT Al Uswah Surabaya mampu meningkatkan kemampuan dan mendapatkan pengalaman berharga selama menjalani studi di SMPIT tersebut.
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.
Water Quality Control System Based on Web Application for Monitoring Shrimp Cultivation in Sidoarjo, East Java Fariza, Arna; Setiawardhana, Setiawardhana; Dewantara, Bima Sena Bayu; Barakbah, Aliridho; Pramadihanto, Dadet; Winarno, Idris; Badriyah, Tessy; Harsono, Tri; Syarif, Iwan; Sesulihatien, Wahjoe Tjatur; Susanti, Puspasari; Huda, Achmad Thorikul; Rachmawati, Oktavia Citra Resmi; Afifah, Izza Nur; Kurniawan, Rudi; Hamida, Silfiana Nur
GUYUB: Journal of Community Engagement Vol 4, No 3 (2023)
Publisher : Universitas Nurul Jadid

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33650/guyub.v4i3.7245

Abstract

Shrimp farming plays a crucial role to the Indonesian economy, but it is facing challenges from shifting weather patterns and global warming. This research focuses on the development and implementation of a web-based water quality monitoring system for shrimp farming to address these concerns. The research, conducted in collaboration with shrimp farmers in Sidoarjo, East Java, introduces PENS Aquaculture program, which is designed to efficiently monitor pH, salinity, and temperature. The system employs Internet ofThings (IoT) technology, which allows farmers to register several ponds, analyze water parameters, and receive real-time data through tables and graphs. The research takes a mixed-methods approach, integrating quantitative data from IoT devices with qualitative insights gathered through surveys and interviews with shrimp farmers. The study aims to evaluate the influence of IoT technology on shrimp pond quality and its contribution to the production. The findings show that PENS Aquaculture application is helpful in increasing shrimp farming efficiency, providing significant insights for the fisheries and cultural sectors.
Thermal Performance Enhancement of Serpentine Cooling Design Using Branch Modification for Lithium-Ion Batteries Abrari, Arya Rafi; Ariwibowo, Teguh Hady; Pramadihanto, Dadet; Arini, Nu Rhahida; Binugroho, Eko Henfri; Miyara, Akio
Automotive Experiences Vol 7 No 3 (2024)
Publisher : Automotive Laboratory of Universitas Muhammadiyah Magelang in collaboration with Association of Indonesian Vocational Educators (AIVE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31603/ae.12709

Abstract

Lithium iron phosphate (LiFePO4) batteries offer advantages such as low cost, safety, environmental compatibility, and stability over repeated cycles. However, when subjected to high currents, this battery generates thermal issues, particularly when arranged in packs. This study aims to maintain the LiFePO4 80Ah battery within an optimal temperature range (20 °C – 40 °C) while minimizing pumping power. The proposed research introduces a serpentine channel with additional branches. The design variations include a gradient in branch spacing and changes in channel width. Each design is evaluated using dimensionless parameters representing maximum temperature, temperature uniformity, pumping power, and cooling efficiency coefficient. The best design from each variation is then compared with the conventional serpentine (CS) channel design, which is well-known for its superior thermal performance. The gradient variation reduces ????????????????∗ and ???????? by 0.07 and by 0.42, respectively, compared to the non-gradient channel design, at a Re 400 and a C-rate 3 C. The design with the largest channel width reduces ????????????????∗ by 0.57 or 11.32 °C compared to the design with the smallest channel width. At a Re 1000 and C-rate 3 C, the reduction in ????????????????∗ for the proposed channel design compared to the CS design is 0.017. In terms of the friction factor (????), the proposed design is 0.0149 lower than the CS design. The results indicate that the thermal performance of the proposed channel design is better than that of the CS design, with reduced pumping power.
Co-Authors Abrari, Arya Rafi Achmad Basuki Adi Sucipto, Adi Adnan Rachmat Anom Besari Afifah, Izza Nur AL BANNA, M. RIZQI HASAN Aldi Bayu Kreshnanda Ismail Alfan Rizaldy Pratama Alfan Rizaldy Pratama Pratama Ali Ridho Barakbah Amang Sudarsono, Amang ANUGERAH WIBISANA Apriandy, Kevin APRIANDY, KEVIN ILHAM Arif Hidayah Arif Hidayah Arini, Nu Rhahida Arna Fariza Bambang Sumantri Besari, Adnan Rachmat Anom Bima Sena Bayu Dewantara Darmawan, Adytia Darmawan, Adytia Dewanto Sanggar Dewanto, Raden Sanggar Dewanto, Raden Sanggar Dewanto, Sanggar Dewanto, Sanggar Dewi Mutiara Sari Djoko Purwanto Eko Henfri Binugroho Eko Henfri Binugroho Eko Purbo Wahyono Endah Suryawati Ningrum Febby Ronaldo Hamida, Silfiana Nur Hary Oktavianto Huda, Achmad Thorikul Idris Winarno Ihsan Fikri Abdurahman Muharram Ismail, Aldi Bayu Kreshnanda iwan Syarif Kevin Apriandy Marta, Bayu Sandi Maulana, Himmawan Sabda Mentari Putri Jati Miyara, Akio MOCHAMAD ARI BAGUS NUGROHO Muhammad Ramadhan Hadi Setyawan Muharram, Ihsan Fikri Abdurahman Neny Kurniati Nurul Fahmi Pamenang, M. Unggul Pamenang, M. Unggul Puspita Sari, Wulandari R Sanggar Dewanto R. Dimas Pristovani R. Sanggar Dewanto Rachmawati, Oktavia Citra Resmi Raden Sanggar Dewanto Raden Sanggar Dewanto Riyanto Sigit Roziqin, M. Choirur Roziqin, M. Choirur Rudi Kurniawan Rully Sulaiman Rusli, Muhammad Rizani Ryan Satria Wijaya Samsul Huda Samsul Huda Sari, Dewi Mutiara Sesulihatien, Wahjoe Tjatur Setiawardhana Setiawardhana Setiawardhana, Setiawardhana Sigit Riyanto Sritrusta Sukaridhoto Subhan Khalilullah, Achmad Sukma Meganova Effendi Susanti, Puspasari Syadza Atika Rahmah Syahputra, Dimas Novian Aditia Teguh Hady Ariwibowo Tessy Badriyah, Tessy Tri Harsono ULURRASYADI, FAIZ W., Andri Permana W., Andri Permana Wahjoe Tjatur Sesulihatien Wahyu Widodo Widodo, Edi Wahyu Wina Rachmawan, Irene Erlyn Wina Rachmawan, Irene Erlyn Wulandari Puspita Sari Yanto, Luky Yanto, Luky Zainal Arief