Article Per Year (5 Year)
p-Index From 2020 - 2025
0.444
P-Index
This Author published in this journals
All Journal Jurnal Teknik Elektro Jurnal Teknik ITS TELKOMNIKA (Telecommunication Computing Electronics and Control) Journal of Engineering and Technological Sciences Proceeding of the Electrical Engineering Computer Science and Informatics Jurnal ELTEK
Achmad Jazidie
Electrical Engineering Department, Faculty Of Industrial Technology Institute Of Technology Sepuluh Nopember Surabaya (ITS) Kampus ITS, Keputih, Surabaya, Jawa Timur 60111, Indonesia
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

Published : 7 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 7 Documents
Search

 1 
A New Obstacle Avoidance Method for Service Robots in Indoor Environments Budiharto, Widodo; Santoso, Ari; Purwanto, Djoko; Jazidie, Achmad
Journal of Engineering and Technological Sciences Vol 44, No 2 (2012)
Publisher : ITB Journal Publisher, LPPM ITB

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (517.279 KB) | DOI: 10.5614/itbj.eng.sci.2012.44.2.4

Abstract

The objective of this paper is to propose an obstacle avoidance method for  service  robots  in  indoor  environments  using  vision  and  ultrasonic  sensors. For  this research,  the  service  robot  was  programmed  to  deliver  a  drinking  cup from a specified starting point to the recognized customer. We have developed three main modules: one for face recognition, one for obstacle detection, and one for avoidance maneuvering. The obstacle avoidance system is based on an edg edetection  method  using  information  from  the  landmark  and  planned-path generation. Speed, direction and distance of the moving obstacle are measured using  vision  and  distance  sensors  in  order  for  the robot  to  make  an avoidance maneuver. Algorithms for obstacle avoidance are proposed and a new geometric model is introduced for making good avoidance maneuvers. The main aim of this research is to provide a complete mechanism for obstacle avoidance by vision based service robots, where common obstacle avoidance methods, such as PVM, do  not  provide  such  a  feature.  We  present the results  of  an  experiment  with  a service  robot  in  which  the  proposed  method  was  implemented,  after  which  its performance is evaluated.
Perancangan Sistem Navigasi Otonom pada Behavior Based Hexapod Robot Wicaksono, Handy; Prihastono, Prihastono; Anam, Khairul; Effendi, Rusdhianto; Sulistijono, Indra Adji; Kuswadi, Son; Jazidie, Achmad; Sampei, Mitsuji
Jurnal Teknik Elektro Vol 8, No 2 (2008): SEPTEMBER 2008
Publisher : Institute of Research and Community Outreach

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (289.795 KB) | DOI: 10.9744/jte.8.2.70-78

Abstract

Six legged robot (hexapod) has advantage over wheeled robot in its capability to walk over rough terrain. In this paper, hexapod mobility will be tested in order to measure its performance in walk through beam and stair. Behavior based architecture will be used in hexpod, so it can react quickly. Autonomous navigation application has been chosen here in order to prove that the architecture is running well. From simulation result, it can be seen that behavior based hexapod robot has good mobility (it can walk through obstacle that has 10 cm height) and it can accomplish its task to avoid the obstacles and find the light source. Abstract in Bahasa Indonesia: Robot berkaki enam (hexapod) memiliki kelebihan dibanding robot beroda dalam hal kemampuannya melewati daerah tidak rata. Pada penelitian ini, mobilitas pergerakan hexapod akan diuji untuk mengetahui performanya dalam melewati balok dan tangga. Supaya dapat bereaksi dengan cepat, maka arsitektur behavior based akan digunakan pada hexapod. Aplikasi navigasi otonom dipilih untuk menunjukkan bahwa arsitektur tersebut berjalan dengan baik. Dari hasil simulasi nampak bahwa behavior based hexapod robot memiliki mobilitas yang baik (mampu melewati halangan setinggi maksimal 10 cm) dan dapat menyelesaikan tugasnya untuk menghindari halangan dan menemukan sumber cahaya. Kata kunci: mobilitas, hexapod robot, behavior based architecture, sistem navigasi otonom
Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision Widodo Budiharto; Ari Santoso; Djoko Purwanto; Achmad Jazidie
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 9, No 3: December 2011
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v9i3.733

Abstract

In this paper, we propose a multiple moving obstacles avoidance using stereo vision for service robots in indoor environments. We assume that this model of service robot is used to deliver a cup to the recognized customer from the starting point to the destination.  The contribution of this research is a new method for multiple moving obstacle avoidance with Bayesian approach using stereo camera.  We have developed and introduced 3 main modules to recognize faces, to identify multiple moving obstacles and to maneuver of robot. A group of people who is walking  will be tracked as a multiple moving obstacle, and  the speed, direction, and distance of the moving obstacles is  estimated by a stereo camera in order that the robot can maneuver to avoid the collision.  To overcome the inaccuracies of vision sensor, Bayesian approach is used for estimate the absense and direction of obstacles. We present the results of the experiment of the service robot called Srikandi III which uses our proposed method and we also evaluate its performance. Experiments shown that our proposed method working well, and Bayesian approach proved increasing the estimation perform for absence and direction of moving obstacle.
A New Obstacle Avoidance Method for Service Robots in Indoor Environments Widodo Budiharto; Ari Santoso; Djoko Purwanto; Achmad Jazidie
Journal of Engineering and Technological Sciences Vol. 44 No. 2 (2012)
Publisher : Institute for Research and Community Services, Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/itbj.eng.sci.2012.44.2.4

Abstract

The objective of this paper is to propose an obstacle avoidance method for  service  robots  in  indoor  environments  using  vision  and  ultrasonic  sensors. For  this research,  the  service  robot  was  programmed  to  deliver  a  drinking  cup from a specified starting point to the recognized customer. We have developed three main modules: one for face recognition, one for obstacle detection, and one for avoidance maneuvering. The obstacle avoidance system is based on an edg edetection  method  using  information  from  the  landmark  and  planned-path generation. Speed, direction and distance of the moving obstacle are measured using  vision  and  distance  sensors  in  order  for  the robot  to  make  an avoidance maneuver. Algorithms for obstacle avoidance are proposed and a new geometric model is introduced for making good avoidance maneuvers. The main aim of this research is to provide a complete mechanism for obstacle avoidance by vision based service robots, where common obstacle avoidance methods, such as PVM, do  not  provide  such  a  feature.  We  present the results  of  an  experiment  with  a service  robot  in  which  the  proposed  method  was  implemented,  after  which  its performance is evaluated.
Development of the PD/PI Extended State Observer to Detect Sensor and Actuator Faults Simultaneously Katherin Indriawati; Trihastuti Agustinah; Achmad Jazidie
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 2: EECSI 2015
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1086.158 KB) | DOI: 10.11591/eecsi.v2.801

Abstract

This paper discusses about an observer based faultdetection scheme to detect sensor and actuator faultssimultaneously in LTI system. The proposed strategy is to addderivative action on the extended state observer (ESO) in additionto proportional-integral action, so that the structure of theproposed observer is PD/PI or called PD/PI-ESO. The derivativeaction is performed both in state estimation and fault estimation.This is to achieve fast state estimation as well as fast faultestimation. Furthermore, the effects of disturbance are attenuatedby using the H performance approach. The observer gains arethen determined based on Linear Matrix Inequalities (LMI)technique. Simulation results of a DC motor speed control systemare presented to illustrate the effectiveness of the proposed method.
Pengaturan Kemudi yang Robust terhadap Ketidakpastian Parameter Internal pada Mobil Otonom Ryan Aditya; Achmad Jazidie; Eka Iskandar
Jurnal Teknik ITS Vol 11, No 3 (2022)
Publisher : Direktorat Riset dan Pengabdian Masyarakat (DRPM), ITS

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23373539.v11i3.98266

Abstract

Ketidakpastian dalam aplikasi kontrol kemudi tidak dapat dihindari. Apabila ada perubahan parameter atau gangguan lain pada sistem, kontroler dapat menjadi tidak stabil. Desain kontroler yang diajukan berupa Linear Quadratic Tracker (LQT) untuk kemudi lateral mobil otonom dengan adanya ketidakpastian internal dari parameter massa, momen inersia, dan konstanta kekauan menikung, sehingga hasil dari penelitian ini diharapkan kontroler lebih robust terhadap ketidakpastian dan tetap dapat mengikuti input yang diberikan. Kontroler yang diajukan sudah robust terhadap variasi parameter massa dan momen inersia akibat pembobotan serta konstanta kekakuan menikung untuk roda depan dan belakang akibat perubahan tekanan udara dan ketebalan roda. Kontroler yang dijaukan juga dapat mengikuti input yang diberikan dengan eror kecil dengan adanya ketidakpastian parameter.
Desain kontrol adaptif L1 dengan band pass filter orde dua untuk pengendali vibrasi pada rotor helikopter Gamar, Farida; Kadir, Rusdhianto Effendie Abdul; Jazidie, Achmad
JURNAL ELTEK Vol. 21 No. 1 (2023): April 2023
Publisher : Politeknik Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33795/eltek.v21i1.380

Abstract

Vibrasi pada helikopter menjadi konsentrasi tersendiri untuk terus ditingkatkan penanganannya. Hal ini dikarenakan selain dapat menyebabkan kerusakan struktur badan helikopter jika vibrasi yang dihasilkan terlalu besar juga berpengaruh pada kenyamanan pilot dan penumpang. Sistem vibrasi pada helicopter terdiri dari baling-baling, rotor mount, dan suspensi dimana terdapat damper sebagai peredam. Pada penelitian ini, digunakan damper semi aktif yang variabelnya dikontrol dengan menggunakan kontrol adaptif L1 berbasis analisis Fourier dari vibrasi yang dihasilkan oleh rotor. Analisis Fourier digunakan untuk mencari frekuensi cutoff vibrasi yang digunakan untuk penalaan pada kontrol adaptif L1. Hasil rancangan band pass filter orde 2 pada sistem dapat memperbaiki respon percepatan hingga 72.52% pada rotor mount dan 65.94% badan helicopter dalam waktu 2 detik. Hasil rancangan juga dapat menangani kesalahan perpindahan sebesar 55.6% pada rotor mount dan 55.56% pada badan helikopter dalam waktu 2 detik. Perbaikan respon percepatan pada badan helicopter yang mencapai 0 m/s2 telah memenuhi rekomendasi NASA untuk minimal percepatan pada sistem vibrasi helikopter. ABSTRACT Vibration in helicopters is a separate concentration to continue to improve its handling. This is because, in addition to causing damage to the helicopter body structure if the vibration generated are too large, it also affects the comfort of pilot and passengers. The vibration system on the helicopter consists of propeller, rotor mount, and suspension where there are dampers as dampers. In this research, a semi-active damper is used whose variables are controlled using Fourier analysis-based L1 adaptive control of the vibrations generated by the rotor. Fourier analysis is used to find the cutoff frequency of vibration used for tuning the L1 adaptive control. The results of the second-order band pass filter design in the system can improve the acceleration response up to 72.52% on the rotor mount and 65.94% of the helicopter body within 2 seconds. The design results can also handle displacement errors of 55.6% on the rotor mount and 55.56% on the helicopter body within 2 seconds. The improvement of the acceleration response on the helicopter body which reaches 0 m/s2 has required NASA's recommendations for minimum acceleration in helicopter vibration systems.
Co-Authors A.A. Ketut Agung Cahyawan W Ari Santoso Ari Santoso Ari Santoso Djoko Purwanto Eka Iskandar Gamar, Farida Handy Wicaksono Indra Adji Sulistijono Katherin Indriawati Mitsuji Sampei Prihastono Prihastono Rusdhianto Effendi Rusdhianto Effendie Abdul kadir Ryan Aditya Son Kuswadi Trihastuti Agustinah Widodo Budiharto Widodo Budiharto Widodo Budiharto