Articles
<![CDATA[Notice of Retraction: The characteristics of TB6600 motor driver in producing optimal movement for the Nema23 stepper motor on CNC machine ]]>
<![CDATA[M. Khairudin]]>;
<![CDATA[R. Asnawi]]>;
<![CDATA[A. Shah]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 1: February 2020 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.12928/telkomnika.v18i1.12781
<![CDATA[This article has been retracted by the publisher. -----------------------------------------------------------------------This article has been retracted at the request of the Authors. The editors and authors have jointly made the decision to retract the paper. Reasonable effort should be made to remove references to this paper.-----------------------------------------------------------------------This study describes the use of the TB6600 motor driver for the stepper motor on CNC machine. Based on the analysis of the performance of the TB6600 motor driver, in order to produce an optimal stepper motor of Nema23 on CNC machine, three stepper motors are needed as the CNC engine drives for the X, Y and Z axeo be connected to the TB6600 motor driver. The motor is then controlled by Raspberry Pi via Mach3 Interface Board of Breakout Board. The softness of motion and safe working temperature for the stepper motor of Nema23 on CNC machine are obtained by varying the control of the micro-step switches and controlling current switches. The results show that 32 steps of micro-step control produce smoother resonance and movement than smaller micro-steps. In addition, the current control of 1 A generates the best motor driver output with a lower temperature for all three stepper motors.]]>
<![CDATA[Automated Navigation System based on Weapon-Target Assignment ]]>
<![CDATA[Gayuh Titis Permana]]>;
<![CDATA[Maman Abdurohman]]>;
<![CDATA[Mohammad Khairudin]]>;
<![CDATA[Mohammad Lutfi]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 9, No 3: December 2011 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.12928/telkomnika.v9i3.735
<![CDATA[Operating of weapon on the tank is mostly by manually. It is not desired performance for a critical operation. An automatic control system is required to operate the weapon with the target while maintaining the accuracy. In this paper has designed an automatic weapon control system using object image proccessing. Various an image processing methods used to improve the weapon accuracy to obtain the intended target. The method used in digital image processing is the Camshift motion tracking method. This method is compared with the Lucas Canade motion tracking method. This comparison is conducted to found more precise results between the two methods. Results of object image processing are used to control the direction of the weapon that towards the desired goal. The results show that the implementation of the Lucas Canade motion tracking method using fire simulation tools have been successful. The performance of the Lucas Canade motion tracking methods is better than the CamShift method. Using Lucas Canade method for weapon controller is accordance with the purposes.]]>
<![CDATA[DYNAMIC MODELLING OF A FLEXIBLE LINK MANIPULATOR ROBOT USING AMM ]]>
<![CDATA[Moh. Khairudin Moh. Khairudin]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 6, No 3: December 2008 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.12928/telkomnika.v6i3.566
<![CDATA[This paper presents modeling of a flexible link manipulator using Lagrangian technique in conjunction with the assumed mode method (AMM). The links are modeled as Euler-Bernoulli beams satisfying proper mass boundary conditions. A payload is added to the tip of the outer link, while hub inertias are included at the actuator joints. The Lagrangian approach is used to derive the dynamic model of the structure. In this research, the dynamic model of a flexible link manipulator verified using Matlab/Simulink simulation. The model formulation proposed in this work is complete in the sense that it considers the effects of payload and damping structural of the link. The emphasis has been set on obtaining accurate equations of motion that display the most relevant aspects of the coupling between rigid and flexible dynamics.]]>
<![CDATA[RBFNN CONTROL OF A TWO-LINK FLEXIBLE MANIPULATOR INCORPORATING PAYLOAD ]]>
<![CDATA[M. Khairudin M. Khairudin]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 8, No 2: August 2010 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.12928/telkomnika.v8i2.617
<![CDATA[This paper presents the dynamic modeling and control of a two-link flexible robot manipulator. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods. The most problems of a two-link flexible manipulator are vibration of flexible link and unpredictable payload additional. Previous researchers have discussed control methods for this system; few presented the effect of a payload profile. The simulation in this research is performed to assess the dynamic model and system responses at the hub and end-point of both links are presented and analyzed in time domains and show the advantages using radial basis function neural network (RBFNN) controller for solving flexible link vibration, achieve high-precision position tracking, and payload effect robustness. The results achieved by the proposed controller are compared with conventional PID to substantiate and verify the advantages the proposed scheme and its promising potential in control of a two-link flexible manipulator. It is shown that smaller overshoot, quickly steady state response and tracking performance of the proposed controller is good profile and better than PID controllers.]]>
<![CDATA[SISTEM KENDALI PADA SISTEM KOMPLEKS MULTIVARIABEL DENGAN METODE BERHIRARKI (STUDI ANALISIS PROSES PEMBUATAN SEMEN) ]]>
<![CDATA[Moh. Khairudin]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 3, No 1: April 2005 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.12928/telkomnika.v3i1.1215
<![CDATA[Sistem kendali berhirarki muncul karena adanya permasalahan kendali pada sistem yang kompleks. Realita sistem kendali yang tidak dapat diterapkan secara efisien pada prinsip dan metode mulitvariabel. Hal ini terjadi karena sistem yang harus dikendalikan terlalu besar dan permasalahannya terlalu kompleks. Kerenanya komputasi yang terlalu banyak akan sulit diatasi. Sistem kendali berhirarki mempunyai sejumlah besar input dan output. Pada sistem kendali berhirarki, komponennya melakukan berbagai macam interaksi dinamis, dan sistem ini mendapatkan bermacam gangguan pula. Model matematis dari sistem ini mempunyai orde dinamik yang besar dan mencakup banyak parameter sistem. Upaya pencarian alternative dalam kendali suatu sistem berdimensi besar yang menyebabkan pembagian keseluruhan permasalahan dalam sub-sub permasalahan. Sistem controlable dan input reachable sebagai hasil yang diharapkan dengan analisa S-Rank sama dengan jumlah state serta S-Observable dan output reachable sebagai analisa lintasan tiap state yang menghubungkan pada minimal satu output.]]>
<![CDATA[System Identification and LMI Based Robust PID Control of a Two-Link Flexible Manipulator ]]>
<![CDATA[M. Khairudin]]>;
<![CDATA[Z. Mohamed]]>;
<![CDATA[A.R. Husain]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 12, No 4: December 2014 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.12928/telkomnika.v12i4.293
<![CDATA[This paper presents investigations into the development of a linear matrix inequalities (LMI) based robust PID control of a nonlinear Two-Link Flexible Manipulator (TLFM) incorporating payload. A set of linear models of a TLFM is obtained by using system identification method in which the linear model represents the operating ranges of the dynamic system. Thus, the LMI constraints permit to robustly guarantee a certain perturbation rejection level and a region of pole location. To study the effectiveness of the controller, initially a PID control is developed for TLFM with varying payloads. The performances of the controllers are assessed in terms of the input tracking controller capability of the system as compared to the response with PID control. Moreover, the robustness of the LMI based robust PID control schemes is discussed. Finally, a comparative assessment of the control strategies is presented.]]>
<![CDATA[Dynamic Model and Robust Control of Flexible Link Robot Manipulator ]]>
<![CDATA[Mohammad Khairudin]]>;
<![CDATA[Zaharuddin Mohamed]]>;
<![CDATA[Abdul Rashid Husain]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 9, No 2: August 2011 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.12928/telkomnika.v9i2.698
<![CDATA[The problems of a flexible link manipulator are uncertainties and parametric nonlinearities. This paper presents design and development of a robust control based on linear quadratic regulator (LQR) for a flexible link manipulator. System performances were evaluated in terms of input tracking capability of hub angular position response, end-point displacement, end-point residual and hub velocity. For the controller of the system, LQR was developed to solve flexible link robustness and input tracking capability of hub angular position. The results achieved by the proposed controller are compared with conventional PID, to substantiate and verify the advantages of the proposed scheme and its promising potential in control of a flexible link manipulator. The robust control presented faster settling time and smaller overshoot responses and tracking performances of the proposed controller compared with PID controllers.]]>
<![CDATA[Development of Fuzzy Logic Control for Indoor Lighting Using LEDs Group ]]>
<![CDATA[M. Khairudin]]>;
<![CDATA[S. Riyanto]]>;
<![CDATA[Z. Mohammed]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 16, No 3: June 2018 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.12928/telkomnika.v16i3.8048
<![CDATA[This paper presents the design and the development of an indoor lighting control based on fuzzy logic controller (FLC). The objective of this study is to demonstrate how the FLC can optimize the lighting based on indoor and outdoor lighting environments. The FLC system uses two inputs with Light Dependent Resistors (LDR) as a sensor at indoor and outdoor lighting environments. The output is Light Emitting Diodes (LEDs) to provide lighting at the room automatically. The Pulse Width Modulation (PWM) is used to adjust the LEDs lighting in the room. FLC has successfully demonstrated performance to control the output of LEDs as needed. If the LDR 1 input as indoor sensor shows dim, it will automatically turn on brightly. The MSE values for simulation and experiment of LDR 1 and LDR 2 were 34.42 and 30.11 respectively. The results of FLC performance in the simulation work are further validated by an experimental work. Experimental results show similarities compared to the simulation results.]]>
