Articles
Urinoir Analyzer Pintar Pendeteksi Kelainan Pada Fungsi Ginjal Dengan Analisis Kadar Ph Dan Warna Pada Urin
Febryansah, M. Iqbal;
Yudhana, Anton;
Ma'arif, Alfian
Mobile and Forensics Vol 2, No 1 (2020)
Publisher : Universitas Ahmad Dahlan
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DOI: 10.12928/mf.v2i1.2032
Perkembangan pemeriksaan penyakit kelainan ginjal melalui analisa urin saat ini dilakukan dalam dua proses pemeriksaan secara makroskopis dan mikroskopis. Pada dasarnya dibutuhkan sebuah alat yang mampu memproses dan menganalisis sebuah sampel urin secara otomatis agar tidak terjadinya kesalahan dalam melakukan pemeriksaan penyakit melalui sampel urin. Awalan perkembangan ini menggunakan sebuah Kontroler Arduino UNO dan dua buah variabel masukan yaitu sensor warna TCS3200 dan sensor PH meter SKU SEN0161. Dua buah variabel masukan sensor bekerja secara berdampingan dengan sensor TCS3200 memiliki hasil keluaran berupa nilai frekuensi RGB dan diproses kembali menjadi frekuensi keabuan. Lalu, sensor PH meter SKU SEN0161 menghasilkan sebuah nilai PH pada sampel urin. Hasil dari pemeriksaan tersebut ditampilkan pada sebuah penampil berupa LCD berukuran 16x2. Hasil pemeriksaan dari alat ini dibandingkan dengan hasil analisa pakar dari Balai Laboratorium Kesehatan Yogyakarta bagian Urology. dan mendapatkan tingkatan nilai akurasi 93% dengan keberhasilan data sebanyak 28 dari 30 data yang diambil. The development of examining kidney disorders through urine analysis is currently carried out in two processes of examination, macroscopic and microscopic. Basically, we need a tool that is able to process and analyze a urine sample automatically so that there are no errors in carrying out disease checks through the urine sample. The beginning of this development used an Arduino UNO controller and two input variables, namely the TCS3200 color sensor and the SKU SEN0161 PH meter sensor. Two sensor input variables working side by side with the TCS3200 sensor have an output in the form of RGB frequency values and are processed back into gray frequencies. Then, the PH meter SKU SEN0161 sensor generates a PH value in the urine sample. The results of these checks are displayed on a 16x2 LCD display. The examination results of this tool are compared with the results of the analysis of experts from the Yogyakarta Health Laboratory Center, Urology section. and get an accuracy level of 93% with the success of the data as much as 28 of the 30 data taken.
Control of DC Motor Using Integral State Feedback and Comparison with PID: Simulation and Arduino Implementation
Ma'arif, Alfian;
Rahmat Setiawan, Naural
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta
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The Direct Current (DC) motor is widely applied in various implementations. The main problem in the DC motor is controlling the angular speed on the specific reference. This research then proposed an integral state feedback design for tracking control in DC motor, with Simulink Matlab simulation and the Arduino hardware implementation. The results will be compared with the implementation of the PID controller. The integral state feedback controller can handle the system to reach the setpoint with good performance in the simulations, even with changing different poles and setpoints. In the hardware implementation, the current sensor (INA219) and encoder sensor are used since all state variables need to be calculated. Based on the result, the controller can reach the setpoint stably with oscillation. Similar results are showed in simulations with different setpoints. Compared with the PID Controller, the integral state feedback controller has a better response with faster rise time and faster settling time.
Noise Reduction in the Accelerometer and Gyroscope Sensor with the Kalman Filter Algorithm
Ikhsan Alfian, Rio;
Ma'arif, Alfian;
Sunardi, Sunardi
Journal of Robotics and Control (JRC) Vol 2, No 3 (2021): May (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta
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Noise is unwanted signals in a communication or information system. Kalman filter has a good ability to handle noise. This study uses the Kalman filter algorithm that works to reduce noise at the accelerometer and gyroscope sensor output. Data were taken using the accelerometer sensor and the gyroscope sensor in a stationary condition. The device is Arduino Uno for processing the data and MPU6050 for accelerometer and gyroscope sensor. In the Kalman filter algorithm, there is process variance matrix and measurement variance matrix parameters that affect noise attenuation or reduction at the accelerometer and gyroscope output. If the difference between the two parameters is too large, then the attenuation becomes very large and eliminates the original value of the sensor output. Thus, the value cannot be chosen carelessly. The best value is the measurement variance matrix must bigger than the process variance matrix.
Kendali Linierisasi Umpan Balik pada Sistem Pendulum Terbalik
Ma'arif, Alfian
Mobile and Forensics Vol 2, No 2 (2020)
Publisher : Universitas Ahmad Dahlan
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DOI: 10.12928/mf.v2i2.2828
Pada penelitian ini diterapkan pengendali linierisasi umpan balik pada sistem pendulum terbalik yang memiliki karakteristik tidak linear dan tidak stabil. Berdasarkan pada pengujian, pengendali yang diusulkan mampu untuk membuat sistem mengikuti sinyal referensi undak dan sinus. Nilai respons sistem untuk sinyal referensi undak adalah waktu naik sebesar 4,0386; waktu kestabilan sebesar 3,4656 dan overshoot sebesar 0 persen. Oleh karena itu dapat disimpulkan bahwa pengendali umpan balik linierisasi mampu untuk mengendalikan sistem pendulum terbalik mengikuti sinyal referensi.In this study, a feedback linearization controller was applied to an inverted pendulum system that has non-linear and unstable characteristics. Based on the test, the proposed controller is able to make the system follow step and sine reference signals. The system response value for the step reference signal is an increment time of 4.0386; the time of stability was 3,4656 and overshoot was 0 percent. Therefore, it can be concluded that the linearized feedback controller is able to control the inverted pendulum system following the reference signal.
Urinoir Analyzer Pintar Pendeteksi Kelainan Pada Fungsi Ginjal Dengan Analisis Kadar Ph Dan Warna Pada Urin
Febryansah, M. Iqbal;
Yudhana, Anton;
Ma'arif, Alfian
Mobile and Forensics Vol. 2 No. 1 (2020)
Publisher : Universitas Ahmad Dahlan
Show Abstract
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Download Original
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Original Source
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Check in Google Scholar
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DOI: 10.12928/mf.v2i1.2032
Perkembangan pemeriksaan penyakit kelainan ginjal melalui analisa urin saat ini dilakukan dalam dua proses pemeriksaan secara makroskopis dan mikroskopis. Pada dasarnya dibutuhkan sebuah alat yang mampu memproses dan menganalisis sebuah sampel urin secara otomatis agar tidak terjadinya kesalahan dalam melakukan pemeriksaan penyakit melalui sampel urin. Awalan perkembangan ini menggunakan sebuah Kontroler Arduino UNO dan dua buah variabel masukan yaitu sensor warna TCS3200 dan sensor PH meter SKU SEN0161. Dua buah variabel masukan sensor bekerja secara berdampingan dengan sensor TCS3200 memiliki hasil keluaran berupa nilai frekuensi RGB dan diproses kembali menjadi frekuensi keabuan. Lalu, sensor PH meter SKU SEN0161 menghasilkan sebuah nilai PH pada sampel urin. Hasil dari pemeriksaan tersebut ditampilkan pada sebuah penampil berupa LCD berukuran 16x2. Hasil pemeriksaan dari alat ini dibandingkan dengan hasil analisa pakar dari Balai Laboratorium Kesehatan Yogyakarta bagian Urology. dan mendapatkan tingkatan nilai akurasi 93% dengan keberhasilan data sebanyak 28 dari 30 data yang diambil. The development of examining kidney disorders through urine analysis is currently carried out in two processes of examination, macroscopic and microscopic. Basically, we need a tool that is able to process and analyze a urine sample automatically so that there are no errors in carrying out disease checks through the urine sample. The beginning of this development used an Arduino UNO controller and two input variables, namely the TCS3200 color sensor and the SKU SEN0161 PH meter sensor. Two sensor input variables working side by side with the TCS3200 sensor have an output in the form of RGB frequency values and are processed back into gray frequencies. Then, the PH meter SKU SEN0161 sensor generates a PH value in the urine sample. The results of these checks are displayed on a 16x2 LCD display. The examination results of this tool are compared with the results of the analysis of experts from the Yogyakarta Health Laboratory Center, Urology section. and get an accuracy level of 93% with the success of the data as much as 28 of the 30 data taken.
Kendali Linierisasi Umpan Balik pada Sistem Pendulum Terbalik
Ma'arif, Alfian
Mobile and Forensics Vol. 2 No. 2 (2020)
Publisher : Universitas Ahmad Dahlan
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DOI: 10.12928/mf.v2i2.2828
Pada penelitian ini diterapkan pengendali linierisasi umpan balik pada sistem pendulum terbalik yang memiliki karakteristik tidak linear dan tidak stabil. Berdasarkan pada pengujian, pengendali yang diusulkan mampu untuk membuat sistem mengikuti sinyal referensi undak dan sinus. Nilai respons sistem untuk sinyal referensi undak adalah waktu naik sebesar 4,0386; waktu kestabilan sebesar 3,4656 dan overshoot sebesar 0 persen. Oleh karena itu dapat disimpulkan bahwa pengendali umpan balik linierisasi mampu untuk mengendalikan sistem pendulum terbalik mengikuti sinyal referensi.In this study, a feedback linearization controller was applied to an inverted pendulum system that has non-linear and unstable characteristics. Based on the test, the proposed controller is able to make the system follow step and sine reference signals. The system response value for the step reference signal is an increment time of 4.0386; the time of stability was 3,4656 and overshoot was 0 percent. Therefore, it can be concluded that the linearized feedback controller is able to control the inverted pendulum system following the reference signal.
IoT-based Lava Flood Early Warning System with Rainfall Intensity Monitoring and Disaster Communication Technology
Iswanto Suwarno;
Alfian Ma’arif;
Nia Maharani Raharja;
Adhianty Nurjanah;
Jazaul Ikhsan;
Dyah Mutiarin
Emerging Science Journal Vol 4 (2020): Special Issue "IoT, IoV, and Blockchain" (2020-2021)
Publisher : Ital Publication
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DOI: 10.28991/esj-2021-SP1-011
A lava flood disaster is a volcanic hazard that often occurs when heavy rains are happening at the top of a volcano. This flood carries volcanic material from upstream to downstream of the river, affecting populous areas located quite far from the volcano peak. Therefore, an advanced early warning system of cold lava floods is inarguably vital. This paper aims to present a reliable, remote, Early Warning System (EWS) specifically designed for lava flood detection, along with its disaster communication system. The proposed system consists of two main subsystems: lava flood detection and disaster communication systems. It utilizes a modified automatic rain gauge; a novel configured vibration sensor; Fuzzy Tree Decision algorithm; ESP microcontrollers that support IoT, and disaster communication tools (WhatsApp, SMS, radio communication). According to the experiment results, the prototype of rainfall detection using the tipping bucket rain gauge sensor can measure heavy and moderate rainfall intensities with 81.5% accuracy. Meanwhile, the prototype of earthquake vibration detection using a geophone sensor can remove noise from car vibrations with a Kalman filter and measure vibrations in high and medium intensity with an accuracy of 89.5%. Measurements from sensors are sent to the webserver. The disaster mitigation team uses data from the webserver to evacuate residents using the disaster communication method. The proposed system was successfully implemented in Mount Merapi, Indonesia, coordinated with the local Disaster Deduction Risk (DDR) forum. Doi: 10.28991/esj-2021-SP1-011 Full Text: PDF
Developing Data Integrity in an Electronic Health Record System using Blockchain and InterPlanetary File System (Case Study: COVID-19 Data)
Imam Riadi;
Tohari Ahmad;
Riyanarto Sarno;
Purwono Purwono;
Alfian Ma'arif
Emerging Science Journal Vol 4 (2020): Special Issue "IoT, IoV, and Blockchain" (2020-2021)
Publisher : Ital Publication
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DOI: 10.28991/esj-2021-SP1-013
The misuse of health data stored in the Electronic Health Record (EHR) system can be uncontrolled. For example, mishandling of privacy and data security related to Corona Virus Disease-19 (COVID-19), containing patient diagnosis and vaccine certificate in Indonesia. We propose a system framework design by utilizing the InterPlanetary File System (IPFS) and Blockchain technology to overcome this problem. The IPFS environment supports a large data storage with a distributed network powered by Ethereum blockchain. The combination of this technology allows data stored in the EHR to be secure and available at any time. All data are secured with a blockchain cryptographic algorithm and can only be accessed using a user's private key. System testing evaluates the mechanism and process of storing and accessing data from 346 computers connected to the IPFS network and Blockchain by considering several parameters, such as gas unit, CPU load, network latency, and bandwidth used. The obtained results show that 135205 gas units are used in each transaction based on the tests. The average execution speed ranges from 12.98 to 14.08 GHz, 26 KB/s is used for incoming, and 4 KB/s is for outgoing bandwidth. Our contribution is in designing a blockchain-based decentralized EHR system by maximizing the use of private keys as an access right to maintain the integrity of COVID-19 diagnosis and certificate data. We also provide alternative storage using a distributed IPFS to maintain data availability at all times as a solution to the problem of traditional cloud storage, which often ignores data availability. Doi: 10.28991/esj-2021-SP1-013 Full Text: PDF
PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot
. Iswanto;
Alfian Ma’arif;
Nia Maharani Raharja;
Gatot Supangkat;
Fitri Arofiati;
Ravi Sekhar;
Dhiya Uddin Rijalusalam
Emerging Science Journal Vol 5 (2021): Special Issue "COVID-19: Emerging Research"
Publisher : Ital Publication
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DOI: 10.28991/esj-2021-SPER-13
Inhalation therapy is one of the most popular treatments for many pulmonary conditions. The proposed Covid-19 aromatherapy robot is a type of Unmanned Ground Vehicle (UGV) mobile robot that delivers therapeutic vaporized essential oils or drugs needed to prevent or treat Covid-19 infections. It uses four omnidirectional wheels with a controlled speed to possibly move in all directions according to its trajectory. All motors for straight, left, or right directions need to be controlled, or the robot will be off-target. The paper presents omnidirectional four-wheeled robot trajectory tracking control based on PID and odometry. The odometry was used to obtain the robot's position and orientation, creating the global map. PID-based controls are used for three purposes: motor speed control, heading control, and position control. The omnidirectional robot had successfully controlled the movement of its four wheels at low speed on the trajectory tracking with a performance criterion value of 0.1 for the IAEH, 4.0 for MAEH, 0.01 for RMSEH, 0.00 for RMSEXY, and 0.06 for REBS. According to the experiment results, the robot's linear velocity error rate is 2%, with an average test value of 1.3 percent. The robot heading effective error value on all trajectories is 0.6%. The robot's direction can be monitored and be maintained at the planned trajectory. Doi: 10.28991/esj-2021-SPER-13 Full Text: PDF
Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic
Iswanto Suwarno;
Alfian Ma'arif;
Nia Maharani Raharja;
Tony Khristanto Hariadi;
Muhammad Abdus Shomad
Emerging Science Journal Vol 4 (2020): Special Issue "IoT, IoV, and Blockchain" (2020-2021)
Publisher : Ital Publication
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DOI: 10.28991/esj-2021-SP1-016
COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. Doi: 10.28991/esj-2021-SP1-016 Full Text: PDF