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All Journal Proceeding of the Electrical Engineering Computer Science and Informatics TEPIAN Jurnal ELTEK
Didik Setyo Purnomo
Politeknik Elektronika Negeri Surabaya
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Control of Liquid Sloshing Container Using Active Force Control Method Didik Setyo Purnomo; Adnan Rachmad Anom Besari; Zaqiatud Darojah
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 3: EECSI 2016
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1081.893 KB) | DOI: 10.11591/eecsi.v3.1137

Abstract

This  paper  presents  a  robust  control  method  to  relieve  the  sloshing  of  liquid container transport using Active Force Control (AFC) method. A model of two degree-of- freedom (2-DOF)  liquid  container  transfer  was implemented  in this research as  the  main dynamical system to be controlled. The surface of liquid is maintained in a flat position, so that changes the slope of liquid surface countered by changing the acceleration of container. The focus of this research is how to use AFC method being applied to the system, so that it can suppress liquid sloshing. The control scheme were simulated, compare between PID-AFC and pure PID.  Simulations has been conducted, the results show that the PID-AFC have superior performance to suppress the sloshing compared with pure PID, especially if disturbance occurred.
Rancang bangun sistem robot AGV untuk penyortiran paket ekspedisi dengan fitur anti collision Mohamad Nasyir Tamara; Eko Budi Utomo; Ni’am Tamami; Endra Pitowarno; Novian Fajar Satria; Didik Setyo Purnomo; Cahyo Sugianto; Wildan Hilmi
JURNAL ELTEK Vol 20 No 2 (2022): ELTEK Vol 20 No 2
Publisher : Politeknik Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (656.787 KB) | DOI: 10.33795/eltek.v20i2.359

Abstract

ABSTRAK Robot Automated Guided Vehicle (AGV) secara luas diterapkan di berbagai tempat seperti pabrikasi dan manufaktur yang telah menggunakan sistem otomatis, khususnya pada area pergudangan. Ferlib AGV merupakan robot pembawa barang yang didesain khusus untuk membawa dan memindah barang. Robot Ferlib AGV diciptakan untuk memenuhi kebutuhan para pekerja dalam sistem tata kelola pergudangan di industri terutama pekerjaan yang bergerak dalam bidang ekspedisi pengiriman barang. Pada saat beberapa robot berjalan di ruang atau daerah kerja yang sama, terdapat masalah yang mungkin terjadi dalam manajemen lalu lintas salah satunya adalah tabrakan. Penelitian ini bertujuan untuk membuat sebuah sistem yang dapat membuat robot menuju ke posisi yang diinginkan dan sebuah sistem yang dapat menghindari terjadinya tabrakan untuk diimplementasikan pada robot Ferlib AGV sebagai robot pembawa barang. Ada dua jenis konflik yang dapat menyebabkan terjadinya tabrakan yaitu Node Conflict dan Opposite Conflict. Robot mendeteksi konflik menggunakan sensor Position Sensitive Device (PSD) jenis inframerah. Untuk menyelesaikan konflik antar robot dimulai dari perencanaan jalur yang sesuai, dan dasar efektivitas tugas penjadwalan pergerakan robot. Hasil dari sistem ini telah mampu membuat robot Ferlib AGV sebagai robot pembawa barang yang dapat membawa barang menuju posisi koordinat berdasarkan posisi yang diberikan, serta dapat mendeteksi konflik dan melakukan penghindaran berdasarkan jenis konflik yang terjadi. ABSTRACT Automated Guided Vehicle System (AGVs) robots are widely applied in various places such as manufacturing and manufacturing that have used automated systems, especially in warehousing areas. Ferlib AGV is a freight robot specifically designed to carry and move goods. The Ferlib AGV robot was created to meet the needs of workers in the warehousing governance system in the industry, especially jobs engaged in the transportation and transfer of goods. When several robots run in the same work space or area, there are problems that may occur in traffic management, one of which is a collision. This study aims to create a system that can make the robot go to the desired position and a system that can avoid collisions to be implemented on the Ferlib AGV robot as a freight robot. There are two types of conflicts that can cause collisions, namely Node Conflict and Opposite Conflict. Robots detect conflicts using an infrared sensor type Position Sensitive Device (PSD). To resolve conflicts between robots starts from the appropriate path planning, and the basic effectiveness of the task of scheduling robot movements. The results of this system have been able to make Ferlib AGV robots as goods-carrying robots that can carry goods to coordinate positions based on the given position, and can detect conflicts and avoidance based on the type of conflict that occurs.
Self-Calibrated IMU Footpod Development for Virtual Running and Sensor Learning Adytia Darmawan; Didik Setyo Purnomo; Zahra Rizkiyatul Ummah; Afif Nur Syafiq; Hendrik Elvian Gayuh Prasetya; Hendhi Hermawan
TEPIAN Vol. 7 No. 3 (2026): September 2026
Publisher : Politeknik Pertanian Negeri Samarinda

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51967/tepian.v7i3.3977

Abstract

Low-cost inertial measurement unit (IMU) sensors can be used as footpods for virtual running and sensor learning, but speed estimation is sensitive to the sensor, mounting position, and user gait. This study develops a self-calibrated IMU footpod for estimating speed and cadence from foot motion. An ESP32-based prototype with a 6-axis IMU was mounted on the instep. The data were processed using quality control, 20-second windowing, gravity compensation, stance detection, zero-velocity update, feature extraction, and regression calibration. Eight recording sessions produced 40 valid windows at approximately 97 Hz, with 0% packet loss and no sensor saturation. Raw ZUPT estimation yielded an MAE of 3.242 km/h, whereas in-sample calibration reduced the MAE to 1.022 km/h. Cross-subject and cross-device transfer errors support the need for personal calibration. The pipeline also provides a practical learning medium for IMU calibration, filtering, drift, and wearable systems.
Co-Authors Adnan Rachmad Anom Besari Adytia Darmawan Afif Nur Syafiq Cahyo Sugianto Eko Budi Utomo Endra Pitowarno Hendhi Hermawan Hendrik Elvian Gayuh Prasetya Mohamad Nasyir Tamara Ni’am Tamami Novian Fajar Satria Wildan Hilmi Zahra Rizkiyatul Ummah Zaqiatud Darojah