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All Journal Jurnal Simetris Bulletin of Electrical Engineering and Informatics ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika JURNAL NASIONAL TEKNIK ELEKTRO JTERA (Jurnal Teknologi Rekayasa) Techne : Jurnal Ilmiah Elektroteknika TELKA - Telekomunikasi, Elektronika, Komputasi dan Kontrol JITEL (Jurnal Ilmiah Telekomunikasi, Elektronika, dan Listrik Tenaga) Jurnal Nasional Teknik Elektro dan Teknologi Informasi Electron: Jurnal Ilmiah Teknik Elektro SEMNASTERA (Seminar Nasional Teknologi dan Riset Terapan) Journal of Fuzzy Systems and Control (JFSC) Emitor: Jurnal Teknik Elektro SNTE Jurnal Elektronika dan Telekomunikasi
Faisal Wahab
Universitas Katolik Parahyangan
Automotive Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Mechanical Engineering

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Metode Potential Field sebagai Kendali Robot Roda Omni untuk Menuju Target dan Menghindari Rintangan WAHAB, FAISAL
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 10, No 1: Published January 2022
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v10i1.177

Abstract

ABSTRAKRobot roda omni (OMR) merupakan salah satu jenis robot tipe holonomic, yaitu robot yang dapat bergerak ke segala arah tanpa harus mengubah orientasi dari robot itu sendiri. Dalam pengembangannya, OMR dapat ditambahkan kemampuan lain seperti menuju ke titik yang diinginkan dan menghindari rintangan. Pada makalah ini akan merancang dan mensimulasikan OMR dengan konfigurasi tiga buah roda omni menggunakan metode potential field yang dapat bergerak menuju titik yang diinginkan dan menghindari rintangan. Perancangan diawali dengan menentukan kinematika dari OMR, setelah itu diterapkan metode potential field dan terakhir pengujian secara simulasi dalam tampilan dua dimensi menggunakan perangkat lunak MATLAB dan analisis. Hasil simulasi pertama menunjukan OMR dapat bergerak ke segala arah tanpa mengubah orientasi robot berdasarkan kinematika yang telah dirancang. Hasil simulasi kedua OMR berhasil menuju titik yang diinginkan serta dapat menghindari dua buah rintangan.Kata kunci: robot roda omni, kinematika, potential field, penghindar rintangan, simulasi ABSTRACTAn Omni-directional wheel mobile robot (OMR) is a type of holonomic robot, which can move in any direction without changing the orientation of the robot. In the development of OMR, other capabilities can also be added, such as the ability to reach the desired position and avoid obstacles. In this paper, we will design and simulate OMR with three omni wheel configurations using the potential field method which can move to the desired point and avoid obstacles. The design begins with determining the kinematics of the OMR, then the potential field method is applied and the last is simulation in a two-dimensional view using MATLAB software and analysis. The results of the first simulation show that OMR can move in all directions without changing the orientation of the robot based on the kinematics that has been designed. The results of the second simulation of OMR successfully reach the desired point and can avoid two obstacles.Keywords: omni directional wheel, kinematics, potential field, obstacle avoidance, simulation
Penerapan Contour Detection dengan Pengontrol PID pada Robot Line Follower TANUJAYA, MIGUEL; PATRICK, RAFAEL; SEBASTIAN, HANS; WAHAB, FAISAL
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 12, No 4: Published October 2024
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v12i4.923

Abstract

ABSTRAKSebuah robot line follower harus mampu mendeteksi garis dan bergerak mengikuti garis tersebut. Warna garis dan lantai yang tidak begitu kontras satu sama lain cukup sulit untuk dibedakan. Salah satu sensor yang dapat digunakan pada kasus tersebut adalah kamera. Dengan memanfaatkan pengolahan citra, robot dapat mengenali garis yang perlu diikuti. Untuk menghasilkan sistem line following yang konsisten dan rendah error, digunakan pengontrol PID yang bertujuan untuk menjaga posisi robot agar tetap pada lintasan yang diinginkan. Robot yang digunakan dalam penelitian ini adalah robot dengan empat roda mecanum. Perangkat keras yang digunakan meliputi kamera sebagai sensor utama, mikrokontroler Raspberry Pi 4 sebagai pusat pengolahan data dan pengendalian gerak motor. Hasil penelitian menunjukkan bahwa sistem line following yang dirancang memiliki rata-rata error posisi adalah 13,507%.Kata kunci: line follower, pengolahan citra, contour detection, PID, mecanum ABSTRACTA line-following robot must be able to detect a line and move along it. Lines and floors with low contrast are challenging to distinguish. One sensor that can be used in this case is a camera. By utilizing image processing, the robot can recognize the line it needs to follow. To produce a consistent and low-error linefollowing system, a PID controller is employed to keep the robot on the desired path. The robot used in this study is a four-wheeled mecanum robot. The hardware includes a camera as the primary sensor and a Raspberry Pi 4 microcontroller for data processing and motor control. The research results show that the designed line-following system has an average position error of 13.507%.Keywords: line follower, image processing, contour detection, PID, mecanum
Pengoptimalan Efisiensi Panel Surya: Integrasi Pelacakan dan Reflektor Sumbu Ganda Tenaga Surya Alvin Rinaldi Wiharja; Levin Halim; Faisal Wahab
Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 13 No 4: November 2024
Publisher : Departemen Teknik Elektro dan Teknologi Informasi, Fakultas Teknik, Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/jnteti.v13i4.12765

Abstract

Solar panels have relatively low efficiency, but their performance can be enhanced by a tracking system directing the panels perpendicular to the light source and adding reflectors to capture more sunlight. The dual-axis solar tracking method, using two linear actuators and optimized by fuzzy logic, efficiently positions solar panels for maximum sunlight exposure. This research aimed to improve the overall efficiency of solar panels by integrating reflectors with a dual-axis solar tracking system optimized by fuzzy logic. Specifically, this research tested various reflectors to determine the most significant efficiency improvement. This research consisted of two tests: a tracking test and a reflector test using a halogen lamp. The tracking test was conducted by positioning the light in four different positions. The light sensor data were obtained before and after the solar tracking, indicating that the tracking was successful. All these tests were conducted with the light source radiation of 1,168 W/m2. This research concluded that the tracking system effectively positioned the solar panels toward the light source, with the tracking time ranging from 12 to 16 s, depending on the position. Aluminum foil is the most cost-effective reflector, priced at IDR5,341 per 1% increase in efficiency, compared to mirrors at IDR20,204 per 1% and reflective tape at IDR48,034 per 1%. In conclusion, the integration of aluminum foil reflectors and a dual-axis solar tracking system, optimized by fuzzy logic, significantly improves the efficiency of solar panels, which is both cost-effective and efficient.
Design and Implementation of a Visible Light-Based Pest Stinger System Wahab, Faisal; Maria Diamond, Ivana; Fredy Naa, Christian
Emitor: Jurnal Teknik Elektro Vol 25, No 1: March 2025
Publisher : Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/emitor.v25i1.8013

Abstract

The agricultural yield in Indonesia has been declining, partly due to shrinking farmland. To address this issue, urban farming has been developed as a solution. However, in urban farming, there is a problem where the leaves of vegetables are infested by insect pests, causing damage to the leaves. Therefore, pest control is necessary in the farming area. One alternative for controlling insect pests is by applying high-voltage electricity to the pests, which will kill them by electric shock with a voltage of around ±1 kV. A "Joule thief" circuit is designed to increase the input voltage below 9 volts to an output voltage of ±1 kV. There are also supporting components, such as a lamp that emits ultraviolet light, to attract the pests. A monitoring system is also designed to allow operators to know the environmental conditions of the vegetable farm, such as soil moisture, air humidity, light intensity, and notifications if the insect carcass container is full. During testing of the trap, there was an issue with the internet connection, so a backup circuit was made to keep the device running according to the schedule without an internet connection. This pest trap was tested for 5 days, and the number of trapped pests increased each day, leading to the conclusion that this device effectively traps pests.
Rancang bangun pemantauan kualitas air pada greywater system berbasis ESP32 Alvaryo, Evorius; Wahab, Faisal
JITEL (Jurnal Ilmiah Telekomunikasi, Elektronika, dan Listrik Tenaga) Vol. 5 No. 1: March 2025
Publisher : Jurusan Teknik Elektro, Politeknik Negeri Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35313/jitel.v5.i1.2025.75-86

Abstract

Air bersih sangat dibutuhkan untuk berbagai aktivitas sehari-hari, seperti mencuci piring, mandi, dan lain sebagainya. Air bersih yang telah digunakan akan menjadi air limbah, yang berpotensi mencemari lingkungan. Air limbah ini dapat berdampak negatif terhadap kehidupan di sekitarnya, seperti pencemaran air, penyebaran penyakit, dan sebagainya. Untuk mengurangi pencemaran air, dapat diterapkan sistem greywater yang dilengkapi dengan proses filtrasi guna meningkatkan kualitas air limbah. Namun, filtrasi yang digunakan secara terus-menerus akan mengalami penurunan kinerja karena kotoran yang menumpuk, sehingga tidak dapat berfungsi secara optimal. Oleh karena itu, diperlukan sistem pemantauan untuk mengetahui kapan filtrasi perlu diganti. Salah satu indikator perlunya penggantian adalah apabila air limbah yang telah melewati proses filtrasi masih menunjukkan kualitas yang buruk. Dalam penelitian ini, dikembangkan sistem pemantauan untuk memantau kualitas air limbah sebelum dan sesudah proses filtrasi. Jenis air limbah yang digunakan adalah air limbah domestik berupa air sabun bekas mencuci piring. Perancangan sistem terdiri dari beberapa tahapan: air sabun dari wastafel dialirkan ke grease trap, kemudian menuju unit filtrasi, dan selanjutnya ditampung di tempat penampungan air. Di dalam grease trap dan tempat penampungan, dipasang dua sensor untuk mengukur kualitas air. Data hasil pengukuran ditampilkan pada aplikasi Blynk melalui koneksi WiFi dengan menggunakan mikrokontroler ESP32. Hasil dari penelitian ini menunjukkan bahwa sistem filtrasi mampu menjernihkan air sabun serta dapat menurunkan nilai pH-nya. Selain itu, sistem akan memberikan notifikasi ketika hasil pengukuran sebelum dan sesudah filtrasi menunjukkan nilai yang sama. Seluruh data pengukuran dapat dipantau secara real-time melalui aplikasi Blynk.
Rancang Bangun Sistem Throttle Brushless DC Motor pada Kursi Roda Elektrik Natanael, Ferdinand; Arthaya, Bagus Made; Wahab, Faisal
ELECTRON Jurnal Ilmiah Teknik Elektro Vol 6 No 1: Jurnal Electron, Mei 2025
Publisher : Jurusan Teknik Elektro Fakultas Teknik Universitas Bangka Belitung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33019/electron.v6i1.293

Abstract

An electric wheelchair is a mobility aid designed to support the activities of individuals with physical disabilities, particularly those who have difficulty moving independently. This device consists of several main components, including a mechanical frame with four wheels two drive wheels powered by electric motors and two caster wheels at the front as well as a control system in the form of a joystick, a battery as the power source, and a seat designed for user comfort. With the advancement of technology, it is essential to integrate more efficient and accurate control systems into electric wheelchairs. This study aims to design and develop a throttle and tachometer system based on a Hall-effect sensor for electric wheelchairs to enhance movement control and accuracy. The system allows users to operate the wheelchair to move forward, turn right, and turn left using only the joystick. The methodology includes modifying a conventional wheelchair frame, integrating a BLDC motor, designing the throttle system, and implementing a Hall-effect sensor for real-time wheel rotation speed measurement. The results show that the Hall-effect sensor-based tachometer system demonstrates a high level of accuracy, with a measurement error of only 0.32% compared to standard measuring instruments. The BLDC motor used in the system is capable of reaching a maximum rotational speed of 450 RPM. These findings prove that the developed system improves the performance and reliability of electric wheelchairs while providing better comfort and independence for users.
Simulation and Comparative Analysis of PID and LQR Controllers for Speed Control of a BLDC Motor Based on State-Space Model Wahab, Faisal
Emitor: Jurnal Teknik Elektro Vol 25, No 2: July 2025
Publisher : Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/emitor.v25i2.10229

Abstract

This study explores the performance of Proportional-Integral-Derivative (PID) and Linear Quadratic Regulator (LQR) controllers in regulating BLDC motor speed. The PID controller is tuned using both MATLAB-based auto-tuning and manual parameter selection, while the LQR controller is designed by adjusting the Q and R matrices through iterative optimization. To evaluate their effectiveness, a mathematical model of the BLDC motor is developed in a state-space representation, enabling simulation of its dynamic response. The open-loop system shows a slow response and significant steady-state error, making it unsuitable for precise speed control. The PID tuner improves response time and accuracy, it introduces overshoot. Manual tuning further refines performance by reducing overshoot and enhancing stability. The LQR controller demonstrates the fastest response, minimal overshoot, and the lowest steady-state error, making it the most effective approach for BLDC motor speed regulation
Implementasi Kalman Filter pada Sistem Pemetaan dengan Sensor Ultrasonik Wahab, Faisal; Widjaja, Timotius Raphael Calvin
Simetris: Jurnal Teknik Mesin, Elektro dan Ilmu Komputer Vol 16, No 1 (2025): JURNAL SIMETRIS VOLUME 16 NO 1 TAHUN 2025
Publisher : Fakultas Teknik Universitas Muria Kudus

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24176/simet.v15i2.13231

Abstract

The rapid advancement of technology compels social beings to continuously adapt. Robotics, as one of the widely used technologies, offers advantages in solving everyday problems, including room mapping. One of the technologies used to carry out mapping is ultrasonics. Ultrasonic technology utilizes high-frequency sound waves to detect and measure the distance of objects, then converts the reflected wave data into distance or position. A room mapping system uses ultrasonic sensors connected to a central rotating point, generating rotational angle and distance measurements that can be mapped in a graph. The advantages of ultrasonic technology include the ability to map without physical contact and resistance to light and environmental influences, making it ideal compared to optical sensors. However, this technology also has drawbacks in measurement accuracy on non-ideal surfaces. The implementation of the Kalman filter is a solution for reducing fluctuations in ultrasonic measurement results. The effectiveness of the Kalman filter in mapping systems with ultrasonic sensors is measured against the distance results compared to the ideal distance. The results show a reduction in measurement error values with the Kalman filter. Further development is necessary to improve precision and accuracy, making ultrasonic technology more effective in robotics and room mapping applications.
Solar Panel Efficiency Improvement through Dual-Axis Solar Tracking with Fuzzy Logic and Water Treatment Techniques Halim, Levin; Gun, Sin Euy; Wahab, Faisal
JURNAL NASIONAL TEKNIK ELEKTRO Vol 12, No 3: November 2023
Publisher : Jurusan Teknik Elektro Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25077/jnte.v12n3.1120.2023

Abstract

Indonesia's heavy reliance on non-renewable energy sources, such as fossil fuels and other resources obtained from mining, poses sustainability challenges. Solar panels, which are environmentally friendly and renewable energy alternatives, are designed to convert solar energy into electricity, and they have shown room for improvement in their efficiency. One method to enhance its efficiency is the utilization of dual-axis solar tracking, employing linear actuators for control over both horizontal and vertical panel movements. In addition, solar panels frequently experience efficiency losses as a result of high working temperatures when exposed to sunlight. The use of water treatment techniques may help address this problem. In this research, the two-axis solar tracking approach with water treatment methods were combined to achieve greater efficiency and boost energy production. A notable increase in solar panel efficiency was seen subsequent to the design, implementation, and testing of the proposed system, resulting in a notable rise in power output. Combining the two-axis solar tracking approach with water treatment methods produced solar panels with a 7.46% efficiency and a 17.77% power increment. Dual-axis solar tracking and combined with water treatment could significantly increase solar panel efficiency, which will ultimately lead to environtmentally clean renewable energy production increment.
Enhancing solar panel efficiency through dual-axis tracking and fresnel lens concentration: an image processing approach Ghozi Witsqa Ramadhan, Muhammad; Halim, Levin; Wahab, Faisal
Bulletin of Electrical Engineering and Informatics Vol 14, No 2: April 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v14i2.8465

Abstract

Solar energy is currently utilized as an inexhaustible renewable energy source. Solar panels can convert solar energy into electrical energy that humans can use. The drawback of solar panels is that they cannot always be perpendicular to the sun, causing a decrease in the intensity of incoming light. Therefore, in this research, a solar tracking system with a fresnel lens was designed using image processing to increase the output of solar panels. In this research, programming was done using Python software for image processing using the hue, saturation, value (HSV) color, and space model, which was then connected with Arduino using the PyFirmata library to move the motor. In this research, solar panels with a fresnel lens and solar tracking were implemented. Data collection was performed on the output voltage of the solar panel. The research concludes that solar panels with solar tracker and fresnel lens have a higher average output voltage of 7.53 V than passive solar panels with an average output voltage of 6.38 V. Also, the average output voltage increased by 18.02% after implementing the solar tracking system and adding the fresnel lens.
Co-Authors Adnan Rafi Al Tahtawi Agus Faisal Aziz Mulayari Akmal, Mochammad Dekcy Ali Sadiyoko Alvaryo, Evorius Alvin Rinaldi Wiharja ARI SETIAWAN Arif Sumardiono Bagus Arthaya Bill Edbert Christian F. Naa Clement Zaskie Ferdinand Natanael Stephanus Fredy Naa, Christian G.R. Prasetyo Ghanny Sirat Ghozi Witsqa Ramadhan, Muhammad Gilang Buana Putra, Leonardus Ginting, Theo Ignatius Gun, Sin Euy Halim, Levin J.E. Mulyadi Kartono Wijayanto, Kartono M. Rafi Maria Diamond, Ivana Mikail Vadim Sena Natanael, Ferdinand Oetomo Oetomo PATRICK, RAFAEL SEBASTIAN, HANS Sena, Mikail Vadim TANUJAYA, MIGUEL Tua Agustinus Tamba Vincentius Ivan Widjaja, Timotius Raphael Calvin