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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
Religion Aerospace Engineering Humanities Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Chemistry 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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Analisis Kinematika Maju dari Tangan Robotik Berjari 4 yang Digunakan pada Robot Humanoid T-FLoW Apriandy, Kevin; Dewantara, Bima Sena Bayu; Dewanto, Raden Sanggar; Pramadihanto, Dadet
The Indonesian Journal of Computer Science Vol. 12 No. 4 (2023): The Indonesian Journal of Computer Science
Publisher : AI Society & STMIK Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33022/ijcs.v12i4.3291

Abstract

Model kinematika merupakan bagian penting dalam pengembangan robot humanoid karena dapat merepresentasikan karakteristik dari robot, membuat pemahaman tentang robot menjadi lebih mudah. Mengingat perkembangan robot humanoid T-FLoW yang saat ini dilengkapi dengan sepasang tangan baru, maka perlu dibangun model kinematika untuk memahami lebih lanjut tentang tangan robot baru tersebut. Oleh karena itu, dalam pekerjaan ini, disajikan sebuah analisis kinematika maju untuk memperoleh model kinematika dari tangan berjari 4 baru robot humanoid T-FLoW. Dengan menggunakan pendekatan matriks transformasi homogen, model kinematika tangan robot diturunkan berdasarkan perkalian beberapa matriks rotasi dan matriks translasi yang tersusun dari frame koordinat pangkal ke frame koordinat tujuan. Model kinematika yang diturunkan disimulasikan dalam tugas gerak dasar tangan: menggenggam sebuah benda, dihitung dengan bantuan MATLAB, dan divisualisasikan menggunakan fitur plot 3D MATLAB. Hasil menunjukkan bahwa model tersebut memberikan berbagai karakteristik tangan robot seperti konfigurasi, posisi sendi, dan posisi end-of-effector, yang kemudian dapat divisualisasikan menjadi kerangka tangan. Kedepannya, pekerjaan kami dapat memfasilitasi pengembang T-FLoW dalam membangun pergerakan tangan dengan sistem umpan balik, yang kemudian dapat digunakan untuk menyelesaikan berbagai permasalahan desain gerakan tangan. Kinematics models are important part of humanoid robot development as they can represent the characteristics of the robot, making understanding the robot easier. Given the development of the T-FLoW humanoid robot which is currently equipped with a new pair of hands, it is necessary to build a kinematics model to understand more about the new robot hands. Therefore, in this work, a forward kinematics analysis is presented to derive the kinematics model of the new 4-fingered T-FLoW humanoid robot hand. Using a homogeneous transformation matrix approach, the kinematics model of the robot hand is derived based on the multiplication of several rotation and translation matrices arranged from the base coordinate frame to the goal coordinate frame. The derived kinematics model is simulated in a basic hand motion task: grasping an object, calculated with the help of MATLAB, and visualized using MATLAB's 3D plot feature. The results show that the model provide various characteristics of the robot hand such as configuration, joint positions, and end-of-effector positions, which then be visualized into a hand skeleton. In the future, our work can facilitate T-FLoW developers in building hand movement and feedback systems, which then can be used to solve various hand motion design problems.
Pengenalan Wajah 3D dengan menggunakan PointNet Arif Hidayah; Dewantara, Bima Sena bayu; Pramadihanto, Dadet
The Indonesian Journal of Computer Science Vol. 12 No. 4 (2023): The Indonesian Journal of Computer Science
Publisher : AI Society & STMIK Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33022/ijcs.v12i4.3294

Abstract

Pengenalan wajah tiga dimensi (3D) telah menjadi topik penelitian yang menarik karena mampu mengatasi keterbatasan pengenalan wajah dua dimensi (2D) dalam menghadapi perubahan pose, pencahayaan, dan pemalsuan. Penelitian ini mengusulkan sebuah pipeline pengenalan wajah 3D yang invarian terhadap perubahan cahaya, dengan menggunakan teknik segmentasi euclidean clustering dan Convolutional Neural Network (CNN) PointNet. Data wajah diambil menggunakan kamera Time-of-Flight yang menghasilkan titik awan (point cloud). Proses segmentasi euclidean clustering berhasil memisahkan area wajah dengan akurat, membantu dalam pengenalan wajah 3D. Melalui pelatihan dengan 217 dataset dan 2048 titik per wajah, sistem mencapai akurasi pelatihan sebesar 99% dan akurasi validasi sebesar 84,4%, dengan loss pelatihan sebesar 1% dan loss validasi sebesar 15,6%. Evaluasi pada tiap kelas menunjukkan rata-rata akurasi 0.9887471867966992, presisi 0.8255813953488372, recall 0.8255813953488372, dan F1-score 0.8255813953488372. Hasil menunjukkan bahwa pipeline pengenalan wajah 3D ini memiliki potensi besar dalam aplikasi keamanan, pengawasan, dan pengenalan objek di lingkungan yang kompleks. Three-dimensional (3D) face recognition has emerged as an intriguing research topic, addressing the limitations of two-dimensional (2D) face recognition in handling pose variations, lighting changes, and spoofing. This study proposes an illumination-invariant pipeline for 3D face recognition, utilizing the euclidean clustering segmentation technique and Convolutional Neural Network (CNN) PointNet. Facial data is captured using a Time-of-Flight camera, generating point clouds. The euclidean clustering segmentation effectively isolates facial regions, aiding in 3D face recognition. After training with 217 datasets and 2048 points per face, the system achieved 99% training accuracy and 84.4% validation accuracy, with 1% training loss and 15.6% validation loss. Class-wise evaluation yielded an average accuracy of 0.9887471867966992, precision of 0.8255813953488372, recall of 0.8255813953488372, and F1-score of 0.8255813953488372. The results highlight the significant potential of this 3D face recognition pipeline in security, surveillance, and object recognition in complex environments.
Thermal Performance Enhancement of Serpentine Cooling Design Using Branch Modification for Lithium-Ion Batteries Arya Rafi Abrari; Teguh Hady Ariwibowo; Dadet Pramadihanto; Nu Rhahida Arini; Eko Henfri Binugroho; Akio Miyara
Automotive Experiences Vol. 7 No. 3 (2024)
Publisher : Universitas Muhammadiyah Magelang

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 𝑇𝑚𝑎𝑥∗ and 𝑇𝜎 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 𝑇𝑚𝑎𝑥∗ 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 𝑇𝑚𝑎𝑥∗ for the proposed channel design compared to the CS design is 0.017. In terms of the friction factor (𝑓), 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.
Comparative Performance Evaluation of Electric Powertrains in ICE Motorcycle Conversion Muhammad Rizani Rusli; Eko Henfri Binugroho; Mochamad Ari Bagus Nugroho; Himmawan Sabda Maulana; Raden Sanggar Dewanto; Teguh Hady Ariwibowo; Dadet Pramadihanto; Mentari Putri Jati
Advance Sustainable Science Engineering and Technology Vol. 8 No. 1 (2026): November - January
Publisher : Science and Technology Research Centre Universitas PGRI Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26877/asset.v8i1.2163

Abstract

Electrifying Indonesia’s motorcycle fleet is critical for reducing urban emissions and fossil fuel dependence. This study experimentally evaluates three powertrain configurations—hub motor, continuously variable transmission (CVT), and single-gear ratio—for converting internal combustion engine (ICE) motorcycles to electric two-wheelers (E2W). Using a Honda Vario 125 platform with a 72 V, 3 kW Brushless DC motor and 1.44 kWh lithium-ion battery, performance was assessed via chassis dynamometer and real-world urban road tests. The single-gear ratio configuration demonstrated superior overall performance, achieving 5.15 kW peak wheel power, 188.7 N·m torque, fastest acceleration (0–128 km/h in 22 s), and highest energy efficiency (37.0 km/kWh), enabling a 51.8 km range per charge. The hub motor excelled in top speed, while the CVT consistently underperformed. Benchmarking shows up to 104 % efficiency improvement over prior designs. These results provide quantitative guidance for converters, manufacturers, and policymakers, establishing the single-gear ratio as the optimal solution for urban and commercial E2W applications and supporting sustainable mobility initiatives.
Water Quality Control System Based on Web Application for Monitoring Shrimp Cultivation in Sidoarjo, East Java Arna Fariza; Setiawardhana Setiawardhana; Bima Sena Bayu Dewantara; Aliridho Barakbah; Dadet Pramadihanto; Idris Winarno; Tessy Badriyah; Tri Harsono; Iwan Syarif; Wahjoe Tjatur Sesulihatien; Puspasari Susanti; Achmad Thorikul Huda; Oktavia Citra Resmi Rachmawati; Izza Nur Afifah; Rudi Kurniawan; Silfiana Nur Hamida
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.
Co-Authors Achmad Basuki Achmad Thorikul Huda Adi Sucipto, Adi Adnan Rachmat Anom Besari Akio Miyara 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 Arna Fariza Arya Rafi Abrari 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 DIMAS NOVIAN ADITIA SYAHPUTRA Djoko Purwanto Eko Henfri Binugroho Eko Henfri Binugroho Eko Henfri Binugroho Eko Purbo Wahyono Endah Suryawati Ningrum Febby Ronaldo Hary Oktavianto Himmawan Sabda Maulana Idris Winarno Ihsan Fikri Abdurahman Muharram Ismail, Aldi Bayu Kreshnanda iwan Syarif Izza Nur Afifah Kevin Apriandy Marta, Bayu Sandi Mentari Putri Jati MOCHAMAD ARI BAGUS NUGROHO Muhammad Ramadhan Hadi Setyawan Muharram, Ihsan Fikri Abdurahman Neny Kurniati Nu Rhahida Arini Nurul Fahmi Oktavia Citra Resmi Rachmawati Pamenang, M. Unggul Pamenang, M. Unggul Puspasari Susanti Puspita Sari, Wulandari R Sanggar Dewanto R. Dimas Pristovani R. Sanggar Dewanto 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 Setiawardhana Setiawardhana Setiawardhana Setiawardhana Sigit Riyanto Silfiana Nur Hamida Sritrusta Sukaridhoto Subhan Khalilullah, Achmad Sukma Meganova Effendi Syadza Atika Rahmah Teguh Hady Ariwibowo 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