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Waru Djuriatno
Jurusan Teknik Elektro Fakultas Teknik Universitas Brawijaya
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RANCANG BANGUN SISTEM OTONOM PADAROBOT LENGAN 3 DOF MENGGUNAKANSENSOR IMU DAN ToF Najib, Aditya Zulfa; Muttaqin, Adharul; Djuriatno, Waru
Jurnal Mahasiswa TEUB Vol. 13 No. 6 (2025)
Publisher : Jurnal Mahasiswa TEUB

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Robot lengan dengan tiga derajat kebebasan (Degrees of Freedom – 3 DOF) merupakan salah satu jenisrobot manipulator yang banyak digunakan dalam aplikasi industri dan penelitian. Pada penelitian ini, dirancang dandikembangkan sistem otonom untuk robot lengan artikulasi berbasis sensor Inertial Measurement Unit (IMU) dan Time-ofFlight (ToF) guna meningkatkan akurasi pergerakan dan kestabilan sistem. Pengendalian pergerakan robot dilakukanmenggunakan kinematika terbalik dengan kontrol PID (Proportional-Integral-Derivative) yang diintegrasikan dengan sensorIMU dan ToF , sehingga robot dapat mencapai posisi target secara presisi. Hasil pengujian menunjukkan bahwa sistemkendali yang diimplementasikan mampu mencapai optimalitas dalam pergerakan, dengan nilai overshoot optimal sebesar 4%serta rise time sebesar 500 ms. Penggunaan sensor IMU dan ToF berkontribusi dalam meningkatkan kestabilan dan responssistem terhadap perubahan posisi. Kesimpulan dari penelitian ini menunjukkan bahwa kombinasi PID controller dan inversekinematic memberikan performa yang baik dalam pengendalian robot manipulator 3 DOF, dengan error yang diminimalkansecara signifikan.Kata Kunci—Robot Manipulator, 3 DOF, PID, Inverse Kinematic, IMU, ToF.  
REDUKSI THD MENGGUNAKAN POWER FACTOR CORRECTION (PFC) BOOST CONVERTER DENGAN MODE CCM Sari, Widy Kartika; Djuriatno, Waru; Rusli, Moch.
Jurnal Mahasiswa TEUB Vol. 12 No. 6 (2024)
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This study discusses the application of Power Factor Correction (PFC) boost converter in Continuous Conduction Mode (CCM) to reduce Total Harmonic Distortion (THD) in a single-phase power system. Non-linear loads commonly used in electronic devices cause harmonic distortion that has a negative impact on power quality. By utilizing a PFC boost converter, this study aims to achieve THD reduction according to the IEEE 519-2014 standard. Testing was carried out using simulations on the Simulink Matlab R2021a software to compare a single-phase rectifier circuit and a single-phase rectifier circuit PFC boost converter with voltage and current control. The results of the simulation show that the application of the PFC boost converter successfully reduces THD significantly to below 5% at certain loads. From the results of all tests, PFC can reduce harmonic distortion,improve power efficiency and waveform quality, and show significant differences in the performance of single-phase rectifier circuits with and without PFC.Keywords: Single Phase Rectifier, Power Factor Correction (PFC), Boost Converter, Total Harmonic Distortion, Matlab R2021a
ANALISIS DAN IMPLEMENTASI RANGKAIAN RCD SNUBBER PADA RANCANG BANGUN DC-DC FLYBACK CONVERTER Fernando, Bagas; Djuriatno, Waru; Nurwati, Tri
Jurnal Mahasiswa TEUB Vol. 12 No. 6 (2024)
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DC-DC Converters are essential components in modern power systems that convert DC voltage from one level to another. These converters are used in various applications, ranging from electronic devices to industrial needs. One commonly used topology is the DC-DC flyback converter due to its simple design, although it often faces voltage spikes caused by parasitic inductance that can damage the MOSFET. This study designs an RCD snubber circuit to address these voltage spikes. The snubber circuit consists of a resistor, capacitor, and diode installed on the primary winding of the flyback converter transformer. Testing results indicate that the RCD snubber successfully reduces voltage spikes, despite some power dissipation in the resistor. Overall, this circuit effectively protects components from high voltage spikes. Keywords: DC-DC flyback converter, RCD snubber, voltage spikes, power dissipation. 
RANCANG BANGUN ALAT PENERJEMAH KATA BAHASA ISYARAT PORTABEL DENGAN METODE KEYFRAME-BASED SEQUENCE CLASSIFICATION BERBASIS RASPBERRY PI ZERO 2 W Ikhsan, Muhammad; Djuriatno, Waru; Mudjirahardjo, Panca
Jurnal Mahasiswa TEUB Vol. 12 No. 6 (2024)
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Sign language is the primary communication tool for individuals with speech disabilities. Information in sign language is conveyed through unique hand gestures and movement patterns. However, this uniqueness often becomes a barrier for those unfamiliar with it, making it challenging for people with speech disabilities to interact with individuals who do not understand sign language, whether in their surroundings, public spaces, or facilities. This study aims to produce a portable sign language translation device that is easy to carry, can be used independently without assistance, and translates sign language into voice, allowing users to communicate directly, as if they were speaking. The translation device uses CNN technology processed on a Raspberry Pi Zero 2 W to recognize hand gestures and movement patterns. A Keyframe-based sequence classification method is applied to identify keyframes from video recordings of SIBI (Indonesian Sign Language System) gestures. Of the 10 SIBI words, six key frames were identified as input for the classification model, utilizing a TimeDistributed architecture with MobileNetV2 for feature extraction, followed by 1D convolution. The model was optimized for efficiency and performance to enhance inference time and classification accuracy. Reducing the number of frames from six to four provided the best balance, with the fastest inference time of 0.5 seconds and validation accuracy of 96.76% using Depthwise Separable Convolution. Real-time testing showed an average accuracy of 98.31%, with the highest F1-score reaching 100% for the words "Ini" and "Bagaimana", while the lowest F1-score of 83.1% was achieved for the word "11" and 83.6% for the word "Mana". The device consumes 53.81 Wh and is capable of operating for20 hours in a usage scenario of 8 hours active use and 12 hours in idle mode before the next charging.Indeks Terms— Keyframe-Based Sequence Classification, Hand Gesture Classification, Portable Sign Language Translator Device, MobileNetV2.
ANALISIS EFEKTIVITAS PENGGUNAAN DIRECT DC-LINK CURRENT CONTROL UNTUK MENGURANGI RIAK TORSI PADA MOTOR BRUSHLESS DIRECT CURRENT (BLDC) Diputra, Ariyanta Dafa; Djuriatno, Waru; Nurwati, Tri
Jurnal Mahasiswa TEUB Vol. 13 No. 1 (2025)
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Sejak ditemukan oleh Michael Faraday, motor listrik telah berkembang pesat dan digunakan secara luas dalam berbagai industri. Namun, motor konvensional seperti motor DC dan motor induksi memiliki beberapa kekurangan, termasuk efisiensi rendah dan gangguan elektromagnetik. Motor Brushless Direct Current (BLDC) menjadi solusi potensial dengan efisiensi lebih tinggi, umur pakai lebih panjang, dan sistem kontrol yang lebih presisi. Meskipun demikian, motor BLDC memiliki tantangan berupa riak torsi yang memengaruhi performa. Penelitian ini bertujuan untuk menganalisis efektivitas metode Direct DC-Link Current Control (DDLCC) dalam meredam riak torsi pada motor BLDC. Hasil simulasi menunjukkan bahwa metode kontrol konvensional seperti tanpa menggunakan metode kontrol dan menggunakan metode DTC menghasilkan variasi torsi yang signifikan, masing-masing hingga 294% dan 22%, dengan pola riak berulang. Penerapan metode DDLCC berhasil meredam riak torsi secara signifikan, dengan rentang variasi hanya 4% dalam kondisi steady. Pola riak torsi yang dihasilkan tetap mengikuti perubahan sektor selama satu siklus elektrik motor. Temuan ini menunjukkan bahwa DDLCC merupakan pendekatan yang efektif untuk mengurangi riak torsi pada motor BLDC, meningkatkan efisiensi, dan keandalan operasional.Kata Kunci—BLDC, DC-Link, Torsi, Riak Torsi. 
Aplikasi Litz Wire Untuk Mengurangi Rugi Termal Tembaga pada Belitan Transformator Frekuensi Tinggi pada Forward Converter Saputro, Uddhiharta Deca; Djuriatno, Waru; Wijono, n/a
Jurnal Mahasiswa TEUB Vol. 13 No. 1 (2025)
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Kebutuhan akan sistem konversi daya yang efisien dan andal semakin mendesak. Maka dari itu dibutuhkan konverter daya seperti konverter DC-DC yang efisien. Tujuan dari penelitian ini adalah untuk menganalisis rugi-rugi yang terjadi pada transformator frekuensi tinggi yang terpasang pada rangkaian konverter DC-DC. Metode yang digunakan adalah dengan membandingkan efisiensi dari tiga transformator frekuensi tinggi yang berbeda bahan belitannya. Hasil penelitian menunjukkan bahwa transformator berbahan belitan litz wire memiliki efisiensi paling baik diantara ketiga transformator lainnya. Dari pernyataan sebelumnya dapat diambil Kesimpulan bahwa penggunaan bahan belitan litz wire dapat meningkatkan efisiensi dari transformator frekuensi tinggi.Keywords: konverter daya, transformator frekuensi tinggi, litz wire, efisiensi transformator.
Co-Authors - Suprapto - Yoppy Abdillah, Moch Naufal Adharul Muttaqin Ahmad Riza Abdullah Ahmad Sulkhan Taufik Ahmad Yusuf Rizki Amiruddin, M. Fero Andy Nur Pradana Angger Abdul Razak Arafah, Ghifari Raihan Ari Badia Christian Ario Prasojo Arnas Elmiawan Akbar Bayu Abi Pamungkas Bertoni Ramadhan Putra Bob Alvin Sidabutar Bram Ainur Rochman Brilianto, Candra Candra Brilianto Chatarina Illinoska Buluama Dhaniswara R. W., Satria Dian Rachmanto Dimas Alfian Wahyudi Diputra, Ariyanta Dafa Dony Darmawan Putra Eka Maulana, Eka Eky Prasetya Fahrizal Hari Utama Fernando, Bagas Goegoes Dwi Nusantoro Gusmara, Muhammad Daffa Haidar, Ahmad Hakim, Luqman Hari Kurniadi Hideo Pratama Ikhsan, Aqshal Nur Indra Haris Syaifullah Kanzi Mahfi Kartika Milayanti Lestari, Vety Bhakti Linoval , M. Dilan Lunde Ardhenta M. Aswin M. Ulinuha Puja D. S. Maulana, Eka Maulana, Eka Maulani Ghiyas Mudjirahardjo, Panca Muhammad Aswin Muhammad Aziz Muslim Muhammad Ikhsan Muhammad Iqbal W. Muhammad Rizal Muhram Muis n/a Hasan n/a Wijono Nainggolan, Johannes Marulitua Nainggolan Najib, Aditya Zulfa Nanang Sulistiyanto Nardo Golan Naufan Rikza Ahmada Niluh Kadek Kurnia Dewi Nur Iskandar Juang Pangaribuan, Yudika Putra Perdana Ponco Siwindarto Pradipta, Doni Purnomo, Jason Manuel Purnomo, Muhammad Fauzan Edy Putri, Intan Anggraeni Maryanda Raden Arief Setyawan Rafi, Zaidan Muhammad Rahmah, Linda Safina Rengga Dionata Putra Reyhan Rifqi Ihsan Rif'an, Mochammad Rini Nur Hasanah Ryan Rama Putra Ryan Rama Putra Safril Wahyu Pamungkas Saputro, Uddhiharta Deca Sari, Widy Kartika Suhaili, Adli Arisyi Tri Nurwati Tri Yoga Septianto Triyogo, Anggun Ula, Nik Matul Vita Nurdinawati Wijono Wijono, n/a Yahya, Rahulfajri Ash-Shaffan Yan Felix Monangin Zainul Abidin