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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
Dadet Pramadihanto
Politeknik Elektronika Negeri Surabaya
Religion Aerospace Engineering Humanities Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Social Sciences Other

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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.
Sistem Multi Agen untuk Pelayanan Drone pada Groundbase Docking Station SYAHPUTRA, DIMAS NOVIAN ADITIA; DEWANTO, RADEN SANGGAR; PRAMADIHANTO, DADET
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 10, No 4: Published October 2022
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v10i4.859

Abstract

ABSTRAKMulti-Agent System (MAS) diajukan sebagai solusi untuk mengatasi permasalahan pada groundbase sebuah DDS, di mana pada groundbase terdapat AGV yang bertugas untuk membantu Drone beraktifitas di DDS hingga kemudian berangkat kembali menuju DDS lain. Metode auction serta contract antar agent digunakan dalam pemrosesan request dari Drone dan pembagian sumber daya. Pada MAS diterapkan algoritma prioritas sebagai solusi apabila terjadi konflik antar agen. Pengujian dengan simulasi pada CoppeliaSim dan ROS (Robot Operating System) menunjukkan bahwa penggunaan algoritma prioritas berdampak positif pada MAS yang dibuat. Pada DDS dengan skenario 11 AGV, terjadi peningkatan kemampuan DDS dalam menerima dan memproses request yang datang dari 57.9% menjadi 100%, serta pemecahan deadlock yang terjadi pada DDS dari 10 menjadi 0 sehingga seluruh request dapat terselesaikan.Kata kunci: Multi-Agent System, Algoritma Prioritas, Drone Docking Station, AGV ABSTRACTThe Multi-Agent System (MAS) was proposed as a solution to overcome problems in the groundbase of a DDS, where on the groundbase there is an AGV whose job is to help drones carry out activities in DDS and then depart for another DDS. Auction methods and contracts between agents are used in processing requests from drones and sharing resources. In MAS, a priority algorithm is applied as a solution in the event of a conflict between agents. Tests with simulations on CoppeliaSim and ROS (Robot Operating System) show that the use of priority algorithms has a positive impact on the created MAS. In DDS with 11 AGV scenario, there is an increase in DDS ability to receive and process incoming requests from 57.9% to 100%, as well as solving deadlocks that occur in DDS from 10 to 0 so that all requests can be resolved.Keywords: Multi-Agent System, Priority Algorithm, Drone Docking Station, AGV
Analisis Kinematika dan Pola Gerakan Berjalan pada Robot Bipedal Humanoid T-FLoW 3.0 WIJAYA, RYAN SATRIA; APRIANDY, KEVIN ILHAM; AL BANNA, M. RIZQI HASAN; DEWANTO, RADEN SANGGAR; PRAMADIHANTO, DADET
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 10, No 1: Published January 2022
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v10i1.31

Abstract

ABSTRAKRobot humanoid merupakan robot menyerupai manusia dengan tingkat kompleksitas yang tinggi dan fungsi yang serbaguna. Pada penelitian ini dilakukan analisis model kinematika gerak pada robot bipedal humanoid TFLoW 3.0, serta menganalisis pola gerakan berjalannya. Pola pergerakan yang diimplementasikan pada robot bipedal TFLoW 3.0 merupakan hasil pendekatan dari teori cara berjalan manusia dengan menggunakan enam gerakan dasar manusia saat berjalan. Kemudian menganalisis model gerakan robot menggunakan kinematika terbalik dengan solusi geometri. Tujuan dari model kinematika terbalik adalah untuk mengubah data input berupa posisi kartesian menjadi nilai sudut untuk setiap parameter joint pada masing-masing Degrees of Freedom (DoF). Lalu dilakukan analisis model mekanik robot saat berjalan yang terbagi atas fase tegak dan fase berayun yang bertujuan untuk mengetahui hasil pengujian.Kata kunci: robot humanoid, gaya berjalan, kinematika, TFLoW, DoF. ABSTRACTHumanoid robots are human-like robots with a high level of complexity and versatile functions. In this study, kinematics analyze on TFLoW 3.0 humanoid bipedal robot is carried out, as well as analyzing the pattern of its walking movement. The implemented movement of TFLoW 3.0 bipedal robot is the result of an approach from human walk using six basic human movements when walking. the robot movement model is analyzed by inverse kinematics with geometric solutions. Invers kinematics model is to transform the input data in the form of a Cartesian position into an angle value for each joint parameter in each Degrees of Freedom (DoF). Then an analysis of the robot's mechanical model when walking is carried out which is divided into a stance phase and a swinging phase which aims to determine the test results.Keywords: humanoid robot, gait, kinematics, TFLoW, DoF.
Gerak Robot Berkaki Dua menggunakan ROS dan RViz sebagai Visualisasi Interaktif SUCIPTO, ADI; DEWANTO, RADEN SANGGAR; PRAMADIHANTO, DADET
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 9, No 1: Published January 2021
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v9i1.43

Abstract

ABSTRAKPengembangan sistem operasi pada bidang robotika telah menjadi fokus utama pada era ini. Salah satu perkembangan sistem operasi pada teknologi robot saat ini adalah Robot Operating System (ROS) dengan RViz. ROS merupakan sistem operasi berbasis library dan beberapa tools untuk mengembangkan suatu program pada robot, sedangkan RViz merupakan visualisasi tiga dimensi yang dapat digunakan untuk memvisualisasikan robot dan data sensor dynamixel. Pada Penelitian kali ini, peneliti membuat simulasi beberapa gerakan yang dilakukan pada RViz dan kemudian diimplementasikan pada robot. Tingkat keberhasilan dari perencanaan gerakan ini memiliki rata rata error sebesar 1.8%. Gerakan condong ke kiri memiliki rata-rata error sebesar 0.83%. Gerakan condong ke kanan memiliki rata-rata error sebesar 0.84%. Gerakan mengangkat satu kaki memiliki rata-rata error sebesar 1.71%. Gerakan kaki kanan ke depan memiliki rata-rata error sebesar 3.83%.Kata kunci: Robot Berkaki Dua, Robot Operating System (ROS), RViz (rosvisualization), Dynamixel Controller, Data Sensor Dynamixel. ABSTRACTThe development of operating systems in the field of robotics has become the main focus of this era. One of the operating system developments in robot technology today is the Robot Operating System (ROS) with RViz. ROS is a library-based operating system and several tools for developing a program on robots, while RVIZ is a three-dimensional visualization that can be used to visualize robots and dynamixel sensor data. In this study, researchers made a simulation of some of the movements carried out on RViz and then implemented on robots. The success rate of planning this movement has an average error of 1.8%. Leaning to the left has an average error of 0.83%. Leaning to the right has an average error of 0.84%. One leg lift has an average error of 1.71%. The movement of the right foot forward has an average error of 3.83%.Keywords: Biped Robot, Robot Operating System (ROS), RViz (Ros-Visualization), Dynamixel Controller, Sensor Dynamixel Data.
Rule-Based Learning untuk Robot Humanoid T-FLoW Belajar Berjalan ULURRASYADI, FAIZ; BARAKBAH, ALIRIDHO; DEWANTO, RADEN SANGGAR; PRAMADIHANTO, DADET
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 10, No 1: Published January 2022
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v10i1.46

Abstract

ABSTRAKRiset tentang penggunaan learning dalam motion robot humanoid telah banyak dilakukan di seluruh dunia. Salah satunya adalah melakukan learning gerakan berjalan pada robot. Penelitian ini akan menjelaskan suatu metode learning “Rule Based” yang simple dan cepat dalam menemukan solusi gerakan berjalan yang stabil pada robot humanoid T-FLoW . Robot diibaratkan seperti anak kecil yang belajar berjalan, dia tahu cara berjalan, akan tetapi tidak tahu seberapa besar dia harus menggerakkan sendi-sendi atau joint di kakinya agar dapat berjalan seimbang. Oleh karena itu sistem learning akan menemukan nilai point-point trayektori yang cocok untuk berjalan dengan stabil. Dengan menggunakan software simulasi CoppeliaSim, kami menerapkan metode tersebut. Hasilnya, robot humanoid T-FLoW dapat berjalan dengan stabil sejauh 170 langkah hanya dengan melakukan learning sebanyak 400 episode.Kata kunci: Robot humanoid T-FLoW, Rule-Based Learning, Learning, CoppeliaSim, Trayektori. ABSTRACTResearch about the use of learning in motion of humanoid robot has been done in many countries. One of them was done by learning a stable walking gait in humanoid robot. This research will explain a fast and simple Rule Based learning method to find the solution of stable walking motion for T-FLoW humanoid robot. A robot was assumed like a child trying to walk, he knows how to walk, but doesn’t know how much he has to move his legged joints to get a stable walking. So, our learning system will find those trajectory point values that is suitable to walk stably. By using CoppeliaSim software, we implement our method. The result is, T-FLoW humanoid robot was able to walk stably for about 170 steps with only 400 episodes of learning.Keywords: T-FLoW humanoid robot, Rule-Based Learning, Learning, CoppeliaSim, Trajectory.
Development of an Omni Directional based Mobile Robot Navigation System using Optimized-Fuzzy Social Force Model WIBISANA, ANUGERAH; DEWANTARA, BIMA SENA BAYU; PRAMADIHANTO, DADET
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 10, No 4: Published October 2022
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v10i4.961

Abstract

ABSTRAKMembangun sebuah sistem navigasi pada mobile robot yang bergerak di ruang sosial perlu memperhatikan beberapa aspek krusial, seperti menghindari rintangan, menjaga arah hadap robot ke tujuan, dan mencapai tujuan dengan cepat. Penelitian ini bertujuan untuk mengembangkan sistem navigasi pada Omnidirectional mobile robot menggunakan Fuzzy-Social Force Model (FSFM). Social Force Model (SFM) mampu menggerakan robot ke tujuan sambil menghindari rintangan. Fuzzy Inference System (FIS) digunakan untuk menghasilkan gain adaptif sebagai salah satu parameter SFM agar respon SFM sesuai dengan masukan dari sensor lidar. Aturan FIS dioptimasi agar mendapatkan nilai optimal menggunakan Particle Swarm Optimization (PSO). Dari hasil percobaan, mobile robot mencapai tujuan lebih cepat dengan selisih 1.59 s dan nilai error heading robot lebih kecil 0.9261 dibandingkan FSFM tanpa optimasi.Kata kunci: Sistem Navigasi, Mobile Robot, Fuzzy-Social Force Model, Optimasi, Particle Swarm Optimization ABSTRACTBuilding a navigation system on a mobile robot moves in social space needs to consider several crucial aspects, such as avoiding obstacles, keeping the robot facing the destination, and reaching the destination quickly. This study aims to develop a navigation system on an Omnidirectional mobile robot using the Fuzzy-Social Force Model (FSFM). The Social Force Model (SFM) guides the mobile robot to its destination while avoiding obstacles. The Fuzzy Inference System (FIS) produces adaptive gain as one of the SFM parameters so that the response of the SFM matches the data of the lidar sensor. The rule base of FIS is optimized to get the optimal value using Particle Swarm Optimization (PSO). From the experimental results, mobile robots reach the destination faster with a difference of 1.59 s and a minor error in robot heading of 0.9261 compared to FSFM without optimization.Keywords: Navigation System, Mobile Robot, Fuzzy-Social Force Model, Optimization, Particle Swarm Optimization
Co-Authors Abrari, Arya Rafi Achmad Basuki Achmad Basuki Adi Sucipto, Adi Adnan Rachmat Anom Besari Adytia Darmawan 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 Andri Permana W. 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 Dewanto Sanggar Dewanto, Raden Sanggar Dewanto, Raden Sanggar Dewanto, Sanggar Dewi Mutiara Sari Djoko Purwanto Edi Wahyu Widodo 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 Irene Erlyn Wina Rachmawan Ismail, Aldi Bayu Kreshnanda iwan Syarif Kevin Apriandy Luky Yanto M. Choirur Roziqin M. Unggul Pamenang Marta, Bayu Sandi Miyara, Akio Muhammad Ramadhan Hadi Setyawan Muharram, Ihsan Fikri Abdurahman Neny Kurniati Nurul Fahmi Nurul Fahmi Pamenang, M. Unggul R Sanggar Dewanto R. Dimas Pristovani R. Sanggar Dewanto Rachmawati, Oktavia Citra Resmi Raden Sanggar Dewanto Raden Sanggar Dewanto Riyanto Sigit Roziqin, M. Choirur Rudi Kurniawan Rully Sulaiman Ryan Satria Wijaya Samsul Huda Samsul Huda Sanggar Dewanto 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 Wahjoe Tjatur Sesulihatien Widodo, Edi Wahyu Wina Rachmawan, Irene Erlyn Wulandari Puspita Sari Wulandari Puspita Sari Yanto, Luky Zainal Arief