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All Journal EMITTER International Journal of Engineering Technology Scientific Journal of Mechanical Engineering Kinematika Journal of Electrical Engineering and Computer (JEECOM)
Endah Suryawati Ningrum
Electronics Department, Politeknik Elektronika Negeri Surabaya
Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Tracking and Formation Control of Leader-Follower Cooperative Mobile Robots Based on Trilateration Data Ningrum, Endah Suryawati; Hakkun, Rizky Yuniar; Alasiry, Ali Husein
EMITTER International Journal of Engineering Technology Vol 3, No 2 (2015)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (816.382 KB)

Abstract

This research deals with formation control of swarm robot based on changing of robot’s relative positional data. A follow the leader movement with simple triangle formation case is applied with three robots; a leader with two followers. Trilateration method is used as a method of determining the position of the leader robot from the follower robots using the distance to the reference point (local positioning). Follower robots are designed to follow every movement of the leader on a formation position. The controller is designed to maintain the formation position of the follower robots relatively to the leader. As a uniqueness, a relative positional control method by using bearing angle and distance error is proposed instead of the common Cartesian positional error control. From the experiment which conducted in maximum distance between the robots,it was obtained a maximum error approximately 56%. The follower robots are able to follow any changes in motion of the robot leader with average distance error of 36%.Keywords: Cooperative mobile robot, formation control, trilateration, follow the leader
Tracking and Formation Control of Leader-Follower Cooperative Mobile Robots Based on Trilateration Data Ningrum, Endah Suryawati; Hakkun, Rizky Yuniar; Alasiry, Ali Husein
EMITTER International Journal of Engineering Technology Vol 3, No 2 (2015)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (816.382 KB) | DOI: 10.24003/emitter.v3i2.48

Abstract

This research deals with formation control of swarm robot based on changing of robot’s relative positional data. A follow the leader movement with simple triangle formation case is applied with three robots; a leader with two followers. Trilateration method is used as a method of determining the position of the leader robot from the follower robots using the distance to the reference point (local positioning). Follower robots are designed to follow every movement of the leader on a formation position. The controller is designed to maintain the formation position of the follower robots relatively to the leader. As a uniqueness, a relative positional control method by using bearing angle and distance error is proposed instead of the common Cartesian positional error control. From the experiment which conducted in maximum distance between the robots,it was obtained a maximum error approximately 56%. The follower robots are able to follow any changes in motion of the robot leader with average distance error of 36%.Keywords: Cooperative mobile robot, formation control, trilateration, follow the leader
ANALISIS KINERJA SAYAP ORNITHOPTER SEPERTI-BURUNG SEDERHANA Sandi, Aris; Sulistijono, Indra Adji; Ningrum, Endah Suryawati
Scientific Journal of Mechanical Engineering Kinematika Vol 8 No 2 (2023): SJME Kinematika Desember 2023
Publisher : Mechanical Engineering Department, Faculty of Engineering, Universitas Lambung Mangkurat

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Abstract

An ornithopter or flapping-wing is a robot that resembles the wings’ mechanics of birds, insects or bats. The application of this type of UAV ranges from photography to the military. This study's main discussion is designing and constructing the ornithopter wing mechanical system with a double-joint wing flapping system. The novelty submitted in this study was the material used to construct the ornithopter wing, namely rod carbon for the skeleton and plastic for the wing. The aim was to discover the aerodynamic performance of the wing and the whole ornithopter. The study results showed that for single wing, the value of CL/CD was high. However, the ornithopter design should be improved to get the thrust force higher than drag force. In addition, the velocity starts to increase stably at throttle 33.3%. Furthermore, for the ornithopter, it was found that the lift force was greater than the down force, so that, theoretically, the robot could fly. The largest lift occurred when the frequency values were 0.88 and 0.97
Penerapan Pid-Fuzzy Berbasis Ladder Diagram Untuk Kontrol Kecepatan Dan Posisi Sejajar 2 Benda Utomo, Eko Budi; Ningrum, Endah Suryawati
Journal of Electrical Engineering and Computer (JEECOM) Vol 6, No 1 (2024)
Publisher : Universitas Nurul Jadid

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33650/jeecom.v6i1.8476

Abstract

Pada penelitian ini diimplementasikan sistem kontrol kecepatan dan posisi sejajar 2 benda pada conveyor yang berbeda. Setiap conveyor memiliki sensor jarak. Selisih data jarak pada masing masing conveyor digunakan untuk kontrol posisi sejajar saat conveyor aktif. Selain itu terdapat variasi beban yang perlu dikontrol untuk tetap mencapai kecepatan yang diperlukan. Sistem ini menggunakan hardware (PLC Siemens S7-300), Software (Simatic Manager), dan mekanik berupa motor conveyor untuk sinkronisasi posisi 2 benda. Pada Fuzzy terdapat 4 input dan 1 output berupa setpoint kecepatan motor. Setpoint ini diproses oleh kontrol PID dengan umpan balik yang berasal dari  data rotary encoder atas kecepatan motor yang berubah karena variasi beban. Program Fuzzy-PID diimplemetasikan dengan instruksi dasar (tidak menggunakan fitur add-on software atau Function Block) dan ditanam pada 2 buah PLC yang saling berkomunikasi. Hasil pengujian kecepatan motor paling cepat dan stabil pada 50 rpm terhadap variasi beban 2.5 kg sampai 9.5 kg dengan respon waktu kembali menuju steady state sebesar 200ms (pemberian beban) dan sebesar 350 ms (pelepasan beban). Hasil output fuzzy1 mempunyai galat rata-rata sebesar 5% dan output fuzzy 2 sebesar 5.7%.
Co-Authors Ali Husein Alasiry Indra Adji Sulistijono Rizky Yuniar Hakkun Sandi, Aris Utomo, Eko Budi