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All Journal KACANEGARA Jurnal Pengabdian pada Masyarakat Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC)
Lasmadi Lasmadi
Institut Teknologi Dirgantara Adisutjipto
Aerospace Engineering Computer Science & IT Education Electrical & Electronics Engineering Engineering

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Journal : Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC)

 1 
Estimasi Sudut Rotasi Benda Kaku Berbasis IMU Menggunakan Kalman Filter Lasmadi Lasmadi; Freddy Kurniawan; Muhammad Irfan Pamungkas
Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 3, No 1 (2021): February
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v3i1.909

Abstract

Rotation angle estimates are often required and applied to the dynamics of spacecraft, UAVs, robots, underwater vehicles, and other systems before control. IMU is an electronic module that is used as an angle estimation tool but has noise that can reduce the accuracy of the estimation. This study aims to develop an estimation model for the angle of rotation of a rigid body based on the IMU-gyroscope sensor on a smartphone using a Kalman filter. The estimation model is developed in a simple dynamic equation of motion in state-space. Kalman filters are designed based on system dynamics models to reduce noise in sensor data and improve measurement estimation results. Simulations are carried out with software to investigate the accuracy of the developed estimation algorithm. Experiments were carried out on several smartphone rotations during the roll, pitch, and yaw. Then, the experimental data obtained is analyzed for accuracy by comparing the built-in algorithms on smartphones. Based on the experimental results, the accuracy rate of estimation angle is 94% before going through the Kalman filter and an accuracy level of above 98% after going through the Kalman filter for every rotation on the x-axis, y-axis, and z-axis.
Pemodelan dan Simulasi Robot Lengan 3 DOF Menggunakan V-REP AZ Uchrowi; Lasmadi Lasmadi; Sutjianto Soekarno
Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 1, No 1 (2019): August
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v1i1.489

Abstract

Movement of objects from one position to another position is usually by conventional method of human strength. Development of robotics technology makes movement of objects in the industry by arm robot system. By using arm robot system,  the work more effective. The aim  of this reaserch is to modeling 3 Degree of Freedom arm robot with kinematics method using V-REP software. Kinematics method is a subject that analyze robot movement without knowing the force that causes the movement. This research use the forward kinematics method so that arm robot can reach the goals. The input from this robot is an angle which is computed using the forward kinematics method. The output is an end-effector coordinate. Based on the result of the research, the 3 Degree of Freedom arm robot is capable to move the object from one position to another position and an error that occurs can achieve  4,99% for x coordinate, 5,57% for y coordinate, and 3,18% for z coordinate. Based on these results, the 3 Degree of Freedom arm robot with the forward kinematics method can be simulated in V-REP software effectively.
Kalman Filter untuk Mengurangi Derau Sensor Accelerometer pada IMU Guna Estimasi Jarak Muhammad Ari Roma Wicaksono; Freddy Kurniawan; Lasmadi Lasmadi
Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 2, No 2 (2020): August
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v2i2.752

Abstract

This study aims to develop a Kalman filter algorithm in order to reduce the accelerometer sensor noise as effectively as possible. The accelerometer sensor is one part of the Inertial Measurement Unit (IMU) used to find the displacement distance of an object. The method used is modeling the system to model the accelerometer system to form mathematical equations. Then the state space method is used to change the system modeling to the form of matrix operations so that the process of the data calculating to the Kalman Filter algorithm is not too difficult. It also uses the threshold algorithm to detect the sensor's condition at rest. The present study had good results, which of the four experiments obtained with an average accuracy of 93%. The threshold algorithm successfully reduces measurement errors when the sensor is at rest or static so that the measurement results more accurate. The developed algorithm can also detect the sensor to move forward or backward.
Pengaruh Penggunaan Perturb & Observe pada MPPT terhadap Daya Keluaran Sel Surya Ernando Rizki Dalimunthe; Freddy Kurniawan; Lasmadi Lasmadi
Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 1, No 1 (2019): August
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v1i1.483

Abstract

Optimizing the output power value of a solar cell requires a tracker. The tracking is called the maximum power point tracking (MPPT) which will produce a maximum output power value. Each component in this system is modeled into Simulink. This simulation is designed to optimize the work of solar cells by searching maximum power points using perturb and observe (P&O) algorithms, then duty cycles are output of the algorithms become Buck-Boost Converter inputs as switching so they can produce output power with better output power. Simulation results show that MPPT can increase the average output power on changes in the value of sun irradiation, temperature and load than systems that do not use MPPT. The factor of the average difference in power is 37.82%.
Penentuan Orientasi dan Translasi Gerakan UAV menggunakan Data Fusion berbasis Kalman Filter Freddy Kurniawan; Muhammad Ridlo Erdata Nasution; Okto Dinaryanto; Lasmadi Lasmadi
Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 3, No 2 (2021): August
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v3i2.890

Abstract

Navigation system is essential in estimating the orientation and translation motion of UAV. The system can utilize data from several sensors and devices, e.g. MIMU and GPS. The orientation of UAV can be precisely calculated by means of data from accelerometer and magnetometer when both sensors are in static state. Meanwhile, under dynamic conditions, the orientation can be more precisely predicted through the use of gyroscope sensor data. In order to attain a robust navigation system, a data fusion based on Kalman filter is built to estimate the orientation from the accelerometer, gyroscope, and magnetometer sensors. Moreover, for sake of achieving high accuracy, the filter will further correct the orientation by giving a higher weight to the data from accelerometer and magnetometer sensors when the UAV is in static condition. In the case of its position, the UAV position will be estimated by performing data fusion of MIMU and GPS data. Based on the experiments, it could be showed that data fusion based on Kalman filter provided more accurate results of orientation and position of UAV. The result of orientation based on gyroscope sensor data has an average error of 18.12°, while those obtained by accelerometer and magnetometer sensors data is 1.3°. Furthermore, by using the data fusion based on Kalman filter, the error of orientation predicted by combining data from accelerometer, magnetometer, and gyroscope will decrease to 0.87°.
Pengembangan Sistem Pemantau Kebocoran Gas Elpiji dan Peringatan Dini Bahaya Kebakaran Berbasis Internet of Things Husny Husny; Freddy Kurniawan; Lasmadi Lasmadi
Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 4, No 1 (2022): February
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v4i1.1181

Abstract

The fire hazard due to an LPG cylinder explosion can be triggered from a gas cylinder leak. Not infrequently these incidents lead to loss of life and property loss. This study proposes the design of an LPG gas leak monitoring system and early warning of fire hazards. The system is designed to be integrated with the internet network through the Internet of Things (IoT) platform. The MQ-6 sensor module is used to detect LPG gas leaks and a fire sensor to detect fire. The sensor is installed close to the gas outlet source to ensure gas leakage and fire. The data from the sensor is read by the microprocessor and sent to the web server via the interface device. When the concentration of LPG gas in the air exceeds a certain level or a fire is detected, the microprocessor gives a command to turn on the alarm and sends a hazard notification to the smartphone. Hazard notifications, gas concentrations and status of hazard conditions can be accessed in real-time on Android-based smartphones. The results of the tests that have been carried out show that this system can provide information on hazard notification messages and gas concentration values in the range of 1000 - 10000 ppm. The fire detector in this system can detect fires up to a distance of 110 cm from the source of the fire. Then, hazard notifications and gas concentration levels can be accessed via a smartphone with the Kodular web application in the form of a real-time graphic display.
Rancang Bangun Receiver menggunakan Antena 1090 MHz dan Low Noise Amplifier untuk Menambah Jarak Jangkau Penerimaan Sinyal dan Data Parameter Target ADS-B berbasis RTL820T2 Maulana Sohibi; Denny Dermawan; Lasmadi lasmadi
Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 2, No 2 (2020): August
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v2i2.765

Abstract

Radar technology at several airports is still using flightradar24 as a source of information, and building an ADS-B station is expensive. However, the flightradar24 has several weaknesses, among which is that if the user wants to display more information, the user is required to pay periodically or subscriptions, and there is delay due to the process of data that requires the Internet connection. With a concept of receiver ads-b based RTL-SDR R820T2, a low cost receiver ads-b with the results can receive an ads-b signal without delay and can receive data from an airplane. But there is a weakness in rtl-b receivers based RTL-SDR R820T2, because it doesn't explain and can't know how far the receiver can receive signals and target parameters data from the aircraft. Thus on this research a receiver ads-b using RTL-SDR R820T2, with a low-noise amplification and an ads-b antenna 1090 MHZ in the hopes of knowing how far the aircraft's target range is from the receiver and knowing how far the receiver's range of data signals the target parameters. By performing some step-by-step testing of the design. The designed receiver ads-b USES low noise amplification with an ads-b antenna 1090 MHZ capable of receiving data and target parameters ads-b for 284 km on adsbSCOP software range and 287.63 km mathematically.
Koreksi Sudut Attitude Quadrotor pada saat Dinamis dengan Mengubah Bobot Data Sensor pada Kalman Filter Lasmadi Lasmadi; Muhammad Ali Dakir; Freddy Kurniawan; Sudarmanto Sudarmanto
Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 5, No 1 (2023): February
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v5i1.1442

Abstract

Penggunaan data fusion menggunakan Kalman filter untuk menggabungkan data dari giroskop dan akselerometer dalam rangka menentukan sudut attitude pada quadrotor tidak selamanya menghasilkan data yang akurat. Sensor akselerometer tidak dapat menentukan data percepatan secara akurat pada saat kondisi dinamis, sementara itu nilai sudut hasil propagasi dari data giroskop mempunyai akumulasi galat yang semakin tinggi dengan berjalannya waktu. Untuk itu, pada penelitian ini digunakan Kalman filter yang dapat memberikan bobot yang lebih besar pada data giroskop saat quadrotor dalam kondisi dinamis. Metode yang digunakan adalah dengan menaikkan nilai matriks kovarian derau pengukuran pada saat kondisi dinamis. Penentuan kondisi dinamis dilakukan dengan membandingkan nilai varian data percepatan dengan nilai ambang batas. Dari hasil penelitian, metode ini terbukti dapat menurunkan galat sudut roll dari 9,3052 % menjadi 0,0635 % dan sudut pitch dari 0,0021 % menjadi 0,0015 %.
Sistem Pengendali On-Off Lampu dan Motor Servo sebagai Penggerak Gerendel Pintu Berbasis Internet Of Things (IoT) Ramdan Ramdan; Lasmadi Lasmadi; Paulus Setiawan
Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 4, No 2 (2022): August
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v4i2.1317

Abstract

The application of Internet of Things (IoT) technology will be one of the technologies that complements all fields along with the increasing use of smartphones. The purpose of this research is to design an on-off control system for lights and servo motors as door latch actuator based on IoT. The designed system can give commands on/off the lamp or door latch actuator and display the on/off indicators through an application on an Android smartphone. The system is designed using a Wemos D1 mini microcontroller as a processor, light sensor, infrared sensor, relay, servo motor, and RemoteXY app. Based on the test results, the system design has been successfully implemented and can be operated as an on-off controller via the internet with an Android smartphone. For each test performed, the system managed to provide an output that matches the given control input. The response time (delay) of the relay when on or off the lamp about 34,83 ms while the response time of the servo motor when opening and closing the latch takes about 38,93 ms. The notification shown corresponds to the state of the lamp and the state of the latch.
Data Fusion for Displacement Estimation and Tracking of UAV Quadrotor in Dynamic Motion Lasmadi Lasmadi; Denny Dermawan; Muhamad Jalu Purnomo
Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls (AVITEC) Vol 5, No 2 (2023): August
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v5i2.1758

Abstract

The fusion of MIMU and GPS data is generally used to estimate the displacement and tracking of quadrotor UAVs. Meanwhile, displacement estimation inaccuracies during dynamic motion often occur. This error is caused by noise and limited sensor sampling rate especially occurs when the quadrotor changes its attitude rapidly to generate an instantaneous horizontal force. This paper proposes data fusion based on Kalman filter to estimate orientation and displacement. Experiments were also carried out to verify displacement accuracy, i.e. in single-axis and multi-axis sensor motions. The algorithm combines data from MIMU and GPS sensors so that acceleration data is filled in points where GPS data is not available. With this method, the predicted displacement from the MIMU sensor can be corrected every second with data from the GPS and produce accurate displacement and trajectory estimates.
Co-Authors AZ Uchrowi Denny Dermawan Denny Dermawan Ernando Rizki Dalimunthe Freddy Kurniawan Freddy Kurniawan Husny Husny Maulana Sohibi Muhamad Jalu Purnomo, Muhamad Jalu Muhammad Ali Dakir Muhammad Ari Roma Wicaksono Muhammad Irfan Pamungkas Nasution, Muhammad Ridlo Erdata Okto Dinaryanto Ramdan Ramdan Setiawan, Paulus Sudarmanto Sudarmanto Sutjianto Soekarno Sutjianto Sukarno