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All Journal Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) International Journal of Marine Engineering Innovation and Research
Sryang T Sarena
Politeknik Perkapalan Negeri Surabaya
Automotive Engineering Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Energy Engineering Environmental Science Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Physics Transportation

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Obstacle Avoidance using Fuzzy Logic Controller on Wheeled Soccer Robot Noorman Rinanto; Irfan Marzuqi; Agus Khumaidi; Sryang T Sarena
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol 5, No 1 (2019): June
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (556.96 KB) | DOI: 10.26555/jiteki.v5i1.13298

Abstract

The purpose of this study is to apply Fuzzy Logic Controller on a wheeled soccer robot to avoid the collision with other robots in the field. The robot equipped by an omnidirectional camera as a vision sensor, a mini-PC for the image processing device, a microcontroller to handle I/O system, and three wheel's omnidirectional mover system. Omni-camera produces four input-values, namely: X coordinate ball position, Y coordinate ball position, distance and angle from obstacle to the point of interest in the camera frame. These inputs processed by a mini-PC and then forward to a microcontroller to calculate the output using Fuzzy Logic Controller. The output variables are the movement rate of the robot in the X, and Y coordinate.  These outputs will be used by the kinematics controller to manage the speed of three Omni-wheels driven by 24 volts DC motors. The experiment shows a good result with the percentage of the success of the robot catching the ball is around 70% and 80% in avoiding the obstacle. In time performance, the soccer robot with Fuzzy Logic Controller is superior by 4.67 seconds compared to the robot without this method.
Strength Analysis of High Density Polyethylene Floating Jetty Deck with Finite Element Method Kharis Abdullah; Aditya Maharani; Sryang T Sarena
International Journal of Marine Engineering Innovation and Research Vol. 10 No. 1 (2025)
Publisher : Department of Marine Engineering, Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j25481479.v10i1.4734

Abstract

Floating Jetty or commonly called a floating dock, is one of the facilities in the harbour for loading and unloading passengers from ships to land or vice versa. HDPE (High-density polyethene) is a type of plastic that is more resistant to chemical solutions or contaminants and can be recycled. HDPE (High Density Polyethylene) material can be used for marine building construction. At the design stage, there is a stage to determine the strength of marine building construction to avoid failure in its operation. One of the methods used to analyse structural strength is the finite element method. In this study, the strength of floating dock decks made from HDPE is analysed using the finite element method. The results of modelling using finite elements show that the construction of floating dock decks made from HDPE has a von mises stress of 3.05 Mpa and a deformation of 0.0035 mm which is still below the allowable stress and deformation values determined by the classification society.
Structural Strength Analysis of a High-Density Polyethylene Floating Jetty under Ship Collision Kharis Abdullah; Sryang T Sarena; Aditya Maharani
International Journal of Marine Engineering Innovation and Research Vol. 11 No. 2 (2026)
Publisher : Department of Marine Engineering, Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j25481479.v11i2

Abstract

Floating jetties are increasingly used in marine infrastructure because of their adaptability to water-level fluctuations and ease of installation. Recently, High-Density Polyethylene (HDPE) has attracted attention as an alternative construction material due to its corrosion resistance, lightweight characteristics, and impact-absorption capability. However, information regarding the structural behaviour of HDPE floating jetties under ship collision loads remains limited. Therefore, this study aims to investigate the structural response and deformation characteristics of an HDPE floating jetty subjected to vessel berthing impacts. The analysis was conducted using the Finite Element Method (FEM). A floating jetty with dimensions of 10 m × 2.5 m × 1.5 m was modelled and subjected to collision loads generated by a 5-ton vessel approaching at a 20° berthing angle. Berthing energies were calculated according to PIANC recommendations and converted into equivalent static impact loads under favourable, moderate, and unfavourable berthing conditions. The calculated berthing energies were 88.4 J, 198.9 J, and 353.6 J, corresponding to impact loads of 15.2 kN, 22.7 kN, and 30.2 kN, respectively. The maximum deformations obtained from the FEM analysis were 12.11 mm, 18.21 mm, and 24.22 mm. The results showed a nearly linear relationship between impact load and structural deformation, indicating stable elastic behaviour throughout the investigated loading range. Even under the most severe berthing condition, the maximum deformation represented only 0.24% of the jetty length. The study demonstrates that HDPE floating jetties possess adequate impact resistance and deformation capacity for small-vessel berthing operations. These findings provide additional insight into the application of HDPE as a structural material for floating marine infrastructure subjected to collision loading.
Co-Authors Aditya Maharani Agus Khumaidi Irfan Marzuqi Kharis Abdullah Rinanto, Noorman