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All Journal Jurnal Teknik Elektro EMITTER International Journal of Engineering Technology
Son Kuswadi
Departemen Teknik Elektro, Politeknik Elektronika Negeri Surabaya
Computer Science & IT Electrical & Electronics Engineering

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Real Performance Evaluation On MQTT and COAP Protocol in Ubiquitous Network Robot Platform (UNRPF) for Disaster Multi-robot Communication Yamin, Muhammad Ikrar; Kuswadi, Son; Sukaridhoto, Sritrusta
EMITTER International Journal of Engineering Technology Vol 6, No 2 (2018)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (808.632 KB) | DOI: 10.24003/emitter.v6i2.305

Abstract

Disaster multi-robot has a significant role in a disaster area to do many tasks like detection of fire, search and rescue of victims, etc. It needs to build good communication between the operator and multi-robot and among multi-robot themselves to perform their tasks quickly and efficiently. This relates with the queue message protocol system. In this research, we implemented the queue message protocol on mesh topology and integrated it on the robot platform. Recently, development of IoT (Internet of Things) Technology causes development of communication protocol. MQTT and CoAP are among the communication protocols used for IoT needs.  Both  protocols performance were compared when  used and implemented into disaster multi-robot. We also integrated MQTT protocol and robot  platform python based (UNR-PF). The result shows that MQTT protocol is easier to be  implemented on to disaster multi-robot platform (UNR-PF) on mesh topology than CoAP, and that data transfer rate of MQTT protocol has data transfer rate higher than CoAP.
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
Co-Authors A.A. Ketut Agung Cahyawan W Achmad Jazidie Achmad Jazidie Anang Tjahyono Handy Wicaksono Indra Adji Sulistijono Mitsuji Sampei Mohammad Nuh Mrs. Kemalasari Prihastono Prihastono Purwoko, Agus Rusdhianto Effendi Sritrusta Sukaridhoto