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All Journal ComEngApp : Computer Engineering and Applications Journal Jurnal Buana Informatika Jurnal Ilmiah Teknik Industri Jurnal Rekayasa Mesin Journal of Industrial Engineering SENAPAS
Anugrah Kusumo Pamosoaji
Universitas Atma Jaya Yogyakarta
Humanities Computer Science & IT Economics, Econometrics & Finance Education Engineering Environmental Science Industrial & Manufacturing Engineering Mechanical Engineering Social Sciences Other

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Perancangan Sistem Informasi Untuk Pengendalian Pelayanan Di Balai Pengembangan Teknologi Tepat Guna Yogyakarta Heriyanto Susilo; Laksito Purnomo; Anugrah K Pamosoaji; Lenny Halim; Parama Kartika Dewa
JIE Scientific Journal on Research and Application of Industrial System Vol 6, No 2 (2021)
Publisher : President University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33021/jie.v6i2.1667

Abstract

Pada paper ini dibahas solusi rekapitulasi data berbasis digital yang diterapkan pada Balai Pengembangan Teknologi Tepat Guna (BPTTG) Daerah Istimewa Yogyakarta (DIY). BPTTG DIY merupakan sebuah  sebuah instansi pembina teknis yang bergerak di bidang teknologi rekayasa yang berada di bawah Dinas Perindustrian dan Perdagangan Pemda DIY. Beberapa layanan yang diberikan oleh lembaga ini antara lain: layanan konsultasi & informasi Alat Tepat Guna (ATG), layanan rekayasa & produksi ATG,  layanan perbengkelan, dan layanan Common Fasilities Small and Medium Industry (CFSMI) kemasan. Lembaga ini juga memiliki dua seksi yaitu seksi rekayasa dan produksi dan seksi pengembangan dan layanan kemasan dan produk kulit. Kedua seksi ini memiliki kantor dan workshop yang terpisah secara geografis. Kondisi ini menimbulkan dampak negatif pada proses dokumentasi kegiatan yang masih dilakukan secara manual, diantaranya adalah lambatnya proses dokumentasi, potensi kehilangan dokumen, dan kesalahan pencatatan. Solusi yang dikembangkan adalah sebuah sistem informasi yang mampu mempercepat pelaporan layanan dari setiap seksi ke kantor BPTTG sehingga pelayanan yang dilakukan setiap seksi dapat dimonitor secara berkala. Perancangan solusi menggunakan pendekatan Rapid Application Development (RAD). Sistem informasi dirancang dalam bentuk website sehingga dapat diakses melalui web browser dan tidak diperlukan adanya instalasi di setiap komputer.
A Distance-Reduction Trajectory Tracking Control Algorithm for a Rear-Steered AGV Anugrah K Pamosoaji
Computer Engineering and Applications Journal Vol 7 No 2 (2018)
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (709.76 KB) | DOI: 10.18495/comengapp.v7i2.251

Abstract

This paper presents a Lyapunov-based switched trajectory tracking control design for a rear-steered automated guided AGV (AGV). Given a moving reference whose position and orientation have to be tracked by the AGV, the main objective of the controller is to reduce AGV’s distance from the reference while adjusting its orientation. The distance reduction issue is important, especially in huge warehouses operating a group of AGVs, since the rate of AGV-to-reference distance reduction contributes to the possibility of AGV-to-AGV collision. A set of control algorithms is proposed to handle large AGV’s orientation. Simulations that show the performance of the proposed method is presented.
A Vector Potential Function-Based Collision Avoidance Control for Differential-Steered Robots Anugrah K Pamosoaji
Computer Engineering and Applications Journal Vol 7 No 3 (2018)
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (497.323 KB) | DOI: 10.18495/comengapp.v7i3.265

Abstract

A collision avoidance control that tracks a vector potential field-based velocity plan of a differential-steered robot is designed. Vector potential function (VPF) is a type of potential function used for motion planning. The plan resulted by the VPF is the desired velocity vector of the robot on all points in collision-free space. The problem to address in this paper is velocity tracking control in the environment of a circular obstacle. A controller is designed to track the VPF-based velocity plan. A concept of collision cone will be used to evaluate the ability of the controller to avoid collision between the robot and the obstacle. The stability of the controller is verified by using the Lyapunov stability analysis. Simulations of the controller’s performance are presented.
Optimisasi Waktu Tempuh Pada Multi-AGV Menggunakan Particle Swarm Optimization Anugrah Kusumo Pamosoaji
Jurnal Ilmiah Teknik Industri Vol. 15, No. 1, Juni 2016
Publisher : Department of Industrial Engineering Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/jiti.v15i1.1656

Abstract

An algorithm for velocity planning on a continuous-curvature path of a pair of automated guided vehicles (AGVs) that minimizing its travelling time is presented. A class of 3-degree Bezier curves is used as basic form of the path. In addition, constraints of maximum allowable linear and radial accelerations are considered. The velocity plan algorithm is generated based on the characteristics of the path’s control points and maximum allowable radial velocity on some the path’s points. A set of properties of the allowable radial velocity is discussed. The verification of the new algorithm is revealed in the simulation results.
Pendampingan Pengembangan Prototype Automated Guided Vehicles untuk Sektor Pergudangan pada PT Stechoq Robotika Indonesia Anugrah K Pamosoaji; Feri Febria Laksana; Mochamad Syamsiro; Fadmi Rina; Djoko Budiyanto Setyohadi; Abdulloh Badruzzaman; Irwan Novianto; Nur Azmi Ainur Bashir; Septian Rico Hernawan; Zulkhairi; Bayu Megaprastio; Malik Khidir; Rico Setiono Bayu Saputra
Seminar Nasional Penelitian dan Abdimas Vol 1 No 1 (2023): Juni
Publisher : Lembaga Penelitian dan Pengabdian pada Masyarakat

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24002/senapas.v1i1.7367

Abstract

Paper ini mempresentasikan kegiatan pendampingan research and development kepada mitra UKM yaitu PT Stechoq Robotika Indonesia. Kegiatan yang dilakukan bertujuan menghasilkan prototype Automated Guided Vehicles (AGV). Kegiatan ini dilakukan melalui kerjasama tiga perguruan tinggi, yaitu Universitas Nahdlatul Ulama Yogyakarta (UNU), Universitas Atma Jaya Yogyakarta (UAJY), dan Universitas Janabadra Yogyakarta (UJB). Dari kegiatan ini dihasilkan desain prototype AGV yang mampu membawa barang dalam jumlah besar.
Two-Sided RRT* Planner Considering Inter-Node Maximum Length Connection on Adversarial Workspaces for AGV Anugrah K Pamosoaji
Jurnal Buana Informatika Vol. 16 No. 2 (2025): Jurnal Buana Informatika, Volume 16, Nomor 02, Oktober 2025
Publisher : Universitas Atma Jaya Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24002/jbi.v16i2.12104

Abstract

This paper presents a two-sided Rapidly-Explored Random Tree (RRT*) which is a variant of RRT* path planning algorithm that utilizes a start and a target node as the bases for generating paths. The advantage of this method is in the capability to make a connection between start and target nodes under adversarial workspace. In this type of workspaces, the main problem in RRT* is the success rate of constructing a complete and optimized route and reducing path-generation processing time. The proposed algorithm is purposed to increase the route generation success rate and reduce the processing time. The technique consists of two-fold: the application of maximum length of inter-node path and two-sided node generation, i.e., from the start and target nodes. Simulation results conclude that the application of large maximum length of inter-node path can increase the success rate of complete route construction.
Design and Development of a Dual-Mode Smart Wheelchair Prototype with Obstacle Detection for Zimbabwe Savior Munotyaani; Nugroho Mamayu Hayuning Bawono; Nicholas Tayisepi; Innocent Mapindu; Paulus Wisnu Anggoro; Baju Bawono; Anugrah Kusumo Pamosoaji; Albertus Yustinus Novi Misgi Prabowo Adi Adi
Jurnal Rekayasa Mesin Vol. 21 No. 1 (2026): Volume 21, Nomor 1, April 2026
Publisher : Mechanical Engineering Department - Semarang State Polytechnic

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.32497/jrm.v21i1.6954

Abstract

Conventional and electric wheelchairs are often unable to fully meet the needs of users with upper-body movement limitations, particularly in terms of device control and surrounding environment detection. In addition, existing smart wheelchairs are generally expensive, difficult to customize, and have not been widely accepted by users. This study aims to design a smart wheelchair that integrates voice control, joystick control, and an obstacle detection system to enhance user safety, accessibility, and independence.The design process was carried out systematically through functional decomposition, concept development, and design selection for the frame structure, control system, and motor drive circuit components. The system was developed using an Arduino microcontroller, Voice Recognition Module V3.1, HC-SR04 ultrasonic sensors, an analog joystick, and an L298N motor driver. The prototype successfully integrated two control modes with an aluminum frame capable of supporting loads of up to 150 kg. The obstacle detection system operated effectively within a 50 cm radius to automatically prevent collisions. However, the voice recognition module still encountered technical issues, such as errors during voice training, indicating the need for more reliable hardware solutions.The results demonstrate that the proposed design has significant potential to support the mobility of people with disabilities through enhanced safety features and flexible control mechanisms. Further development is required to improve the reliability of the voice recognition system and to expand the application of assistive technologies for improving users’ quality of life.
Co-Authors Abdulloh Badruzzaman Albertus Yustinus Novi Misgi Prabowo Adi Adi Baju Bawono Bayu Megaprastio Dewa, Parama Kartika Djoko Budiyanto Setyohadi Fadmi Rina Heriyanto Susilo Innocent Mapindu Irwan Novianto Laksana, Feri Febria Laksito Purnomo Lenny Halim Malik Khidir Mochamad Syamsiro Nicholas Tayisepi Nugroho Mamayu Hayuning Bawono Nur Azmi Ainur Bashir Paulus Wisnu Anggoro Rico Setiono Bayu Saputra Savior Munotyaani Septian Rico Hernawan Zulkhairi