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All Journal IAES International Journal of Robotics and Automation (IJRA) Indonesian Journal of Electronics and Instrumentation Systems Jurnal Pengabdian Kepada Masyarakat (Indonesian Journal of Community Engagement)
Andi Dharmawan
Universitas Gadjah Mada
Automotive Engineering Decision Sciences, Operations Research & Management Electrical & Electronics Engineering

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Implementasi Teknologi Internet Sebagai Solusi Pengentasan Masalah Komunikasi di Desa Nyamuk, Kecamatan Karimunjawa, Kabupaten Jepara Bakhtiar Alldino Ardi Sumbodo; Andi Dharmawan; Faizah Faizah
Jurnal Pengabdian kepada Masyarakat (Indonesian Journal of Community Engagement) Vol 2, No 2 (2017): Maret
Publisher : Direktorat Pengabdian kepada Masyarakat Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (571.718 KB) | DOI: 10.22146/jpkm.15654

Abstract

Nyamuk Village is a village in the form of an island in Karimunjawa Islands, which is located at 5°48'33.44" S - 5°49'11.78" S and 110°10'51.09" E - 110°11'53.85" E. The majority of people working as a fisherman and a small proportion become craftsmen, farmers, traders, and government officials. The village has marine resources are very abundant, but the distance which reaches 28.6 km from the District of Karimunjawa, make this village a more isolated than the other islands in Karimunjawa Islands. Limited access to communication, information, and education in this community become one of the issues that need to be resolved. GSM phone signal range that does not exist and the lack of internet access, making communication, information, and education in this village are still underdeveloped. The solution to overcoming these problems, it is necessary to implement Internet technology to improve access to communications, information, and education in the Nyamuk Village, Karimunjawa Islands. The existence of free internet access in this village is expected to have a positive impact and improve the lives of the community.
SISTEM KENDALI JALAN ROBOT HUMANOID PADA BIDANG TIDAK RATA MENGGUNAKAN LQR curie habiba; Andi Dharmawan
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 13, No 2 (2023): October
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/ijeis.81570

Abstract

AbstrakPengembangan robot humanoid memiliki keunggulan yaitu mobilisasi di lingkungan manusia yang baik karena strukturnya yang mirip manusia. Robot humanoid harus mampu berjalan seimbang pada bidang yang tidak rata. Bidang yang tidak rata menyebabkan adanya perubahan pola berjalan pada robot dan menybabkan robot terjatuh. Berbagai penelitian mengemukakan bahwa robot humanoid akan stabil berjalan ketika COM atau ZMP dari robot tetap berada di area telapak kaki. Kondisi tersebut dapat diwujudkan dengan menanamkan sistem kendali pada robot humanoid.Berbagai penelitian telah dilakukan untuk mendesain sistem kendali untuk robot humanoid ketika berjalan. Kendali LQR dan strategi pengenalan bidang dapat digunakan untuk menstabilkan robot humanoid namun terbatas pada permukaan bidan tertentu dan respon sistem yang tidak konsisten. Pada setiap variasi bentuk bidang jalan, robot akan memerlukan perlakuan yang berbeda.Pada penelitian ini akan dirancang kendali LQR dan strategi pengenalan bidang jalan untuk robot humanoid ketika berjalan pada bidang tidak rata. Metode LQR dipilih karena performa yang robust. Metode ini diharapkan dapat memberikan kemampuan robot humanoid untuk mengubah nilai umpan balik sistem kendali sesuai dengan keadaan robot sehingga robot dapat berjalan pada bidang tidak rata tanpa terjatuh.
LiDAR-based sensor fusion and navigation for indoor autonomous mobile robots in warehouse environments Rifda Hakima Sari; Jazi Eko Istiyanto; Oskar Natan; Zaidan Hakim; Danang Lelono; Andi Dharmawan
IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v15i2.pp295-306

Abstract

An indoor navigation system for an autonomous mobile robot was developed using LiDAR-based perception and multi-sensor fusion. The system combines 2D LiDAR, inertial measurement unit (IMU), and wheel encoder measurements within a simultaneous localization and mapping (SLAM) framework to support real-time localization, while the ROS2 Nav2 stack manages global path planning and local obstacle avoidance through A*-based planning and costmap-driven control. Evaluation in a warehouse-like environment showed that the robot maintained stable localization with low drift and completed autonomous navigation missions with a success rate of 93.33%. During operation, the robot was able to avoid static obstacles consistently and adjust its trajectory in response to simple dynamic obstacles through online replanning. These results indicate that the proposed system is suitable for practical indoor logistics scenarios requiring reliable navigation in structured environments. At the same time, the findings suggest the need for further improvement to handle environments with higher dynamics and denser obstacle configurations.
Hybrid LUT–CORDIC architecture on FPGA for efficient and accurate trigonometric computation in robot manipulators Nia Gella Augoestien; Jazi Eko Istiyanto; Ahmad Ashari; Andi Dharmawan
IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v15i2.pp377-387

Abstract

Although computational resources on robots are often limited, real-time, accurate computation of trigonometric functions is essential in robot manipulators, particularly for forward and inverse kinematics, dynamic analysis, trajectory planning, and motion control. The LUT method requires a large number of LUTs to improve accuracy. The accuracy of the CORDIC method is highly dependent on the number of computational latencies, which affects the computation speed. This paper combines two general approaches for computing trigonometric functions on robot manipulators that improve accuracy without increasing resource utilization and computational latencies. The design uses a 10-bit format (0.125° input resolution and 2-10 output precision) and is implemented in VHDL on a Xilinx Artix-7 XC7A100T-CSG324 FPGA. Compared with a CORDIC-only baseline, the maximum absolute error is reduced from 0.083007812 to 0.009801151 for sine and from 0.079101563 to 0.008901377 for cosine, while MSE drops from 2.4031×10-4 and 2.32974×10-4 to 5.87754×10-6 and 5.87862×10-6, respectively. The hybrid core also reduces slice usage from 81 to 69 and shortens computation time from 35.271 ns to 30.627 ns, making it suitable for resource-constrained real-time robotic control.
Humanoid robot balance control system during backward walking using linear quadratic regulator Muhammad Arsyi; Andi Dharmawan; Bakhtiar Alldino Ardi Sumbodo; Muhammad Auzan; Jazi Eko Istiyanto; Oskar Natan
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 4: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i4.pp472-482

Abstract

Humanoid robots are designed to replicate human activities, including tasks in hazardous environments. However, maintaining balance during backward walking remains a significant challenge due to center of mass (CoM) shifts beyond the support polygon and limited knee joint motion. This study proposes a control strategy that integrates a linear quadratic regulator (LQR) with optimized walking patterns to enhance dynamic stability. The approach combines LQR-based control with CoM trajectory planning to ensure safe and stable backward walking. The methodology includes inverse kinematics for generating walking patterns and the use of Inertial Measurement Unit (IMU) sensors to estimate the CoM trajectory. LQR parameters were tuned through simulation to improve responsiveness to disturbances. Evaluation metrics focused on CoM deviation, rise time, settling time, and overshoot. Experimental results demonstrate that the proposed LQR system effectively maintains the CoM within 5% of the support polygon boundary. The system achieved rise times under one second and settling times below two seconds, while minimizing pitch and roll overshoots. Compared to proportional control, the proposed method significantly improves stability and reduces the risk of falling. This research advances control strategies for humanoid robots, contributing to improved mobility and operational safety. Moreover, it supports Sustainable Development Goal (SDG) 9 by promoting innovation in intelligent robotic systems that can assist in complex or high-risk environments.
Edge-aware distilled segmentation with pseudo-label refinement for autonomous driving perception Novelio Putra Indarto; Oskar Natan; Andi Dharmawan
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 4: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i4.pp528-538

Abstract

Achieving precise semantic segmentation is essential for enabling real-time perception in autonomous systems, yet leading approaches typically require substantial annotated data and powerful hardware, restricting their use on devices with limited resources. This work introduces an efficient segmentation framework that integrates pseudo-label refinement, knowledge distillation, and entropy-based confidence filtering to train compact student networks suitable for edge deployment. High-quality pseudo-labels are first produced by a robust teacher network, then further improved using a dense conditional random field to boost spatial consistency. An entropy-based selection mechanism removes unreliable predictions, ensuring that only the most trustworthy labels guide the student model's training. The use of knowledge distillation effectively transfers detailed semantic understanding from the teacher to the student, enhancing accuracy without added computational overhead. Experimental results with multiple EfficientNet backbones reveal that this pipeline improves segmentation accuracy and output clarity, while also supporting real-time or near real-time inference on CPUs with limited processing power. Extensive ablation and qualitative studies further confirm the method's robustness and flexibility for real-world edge applications.
Co-Authors Ahmad Ashari Bakhtiar Alldino Ardi Sumbodo curie habiba Faizah Faizah Jazi Eko Istiyanto Muhammad Arsyi Muhammad Auzan Nia Gella Augoestien Novelio Putra Indarto Oskar Natan Rifda Hakima Sari Zaidan Hakim