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All Journal Jurnal Teknologi Informasi dan Ilmu Komputer EMITTER International Journal of Engineering Technology Techne : Jurnal Ilmiah Elektroteknika SELAPARANG: Jurnal Pengabdian Masyarakat Berkemajuan Jurnal Pengembangan Rekayasa dan Teknologi Elektrika Journal Of World Science Archive: Jurnal Pengabdian Kepada Masyarakat Electrician : Jurnal Rekayasa dan Teknologi Elektro
Andi Kurniawan Nugroho
Jurusan Teknik Elektro Fakultas Teknik Universitas Semarang
Religion Agriculture, Biological Sciences & Forestry Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Health Professions Languange, Linguistic, Communication & Media Law, Crime, Criminology & Criminal Justice Mechanical Engineering Medicine & Pharmacology Nursing Public Health Social Sciences Transportation Other

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Sistem Kendali Hybrid Fuzzy-Pid pada Kinematika Robot Berkaki 4 Menggunakan Sensor Gyroscope Idris, La Ode Muhamad; Nugroho, Andi Kurniawan; Daniyah, Daniyah
Elektrika Vol. 15 No. 1 (2023): April 2023
Publisher : Universitas Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26623/elektrika.v15i1.3242

Abstract

Legged robots have attracted the attention of researchers because of their superior adaptation to complex environments compared to wheeled robots. Legged robots are divided into 2 (two) legged Humanoid robots, 4 (four) legged robots, 6 (six) legged robots, and other robots with more legs. Legged robots are robots that can be more adaptable to the terrain compared to wheeled robots in the case of their use in land exploration activities. Although functionally legged robots are more superior, legged robots have their own problems, namely motion control which is more complicated than wheeled robots, therefore the right method is needed to be implemented on the robot.. In this research discusses a 4 (four) legged robot designed in order to move using the inverse kinematic equation on the legs and the body of the robot which is integrated with the MPU6050 gyroscope sensor based on the Hybrid Fuzzy-PID control system. The purpose of this research is to develop a Fuzzy-PID control system that stabilizes the setpoint position in the 4 (four) legged Robot movement system. Fuzzy PID is a combination of PID control and fuzzy logic, where PID control is used to stabilize the system and fuzzy logic is used to improve the system performance. In this research, the Fuzzy-PID control system is developed using the Mamdani (Min-Max) method. The system is later tested by observing the robot's movement response to changes in the gyroscope sensor values. The results obtained were able to get an average output error up to 0.173333% during the response test to the pitch axis of -15°, but in several tests also get the response results that have a considerable error rate is up to 27.31% during the response test to the roll axis of -5°. From the test results of hybrid Fuzzy-PID control, it is obtained that the robot is able to make movements or responses to its stable point by giving reference to the x (roll), y (pitch) and z (yaw) axes where it can be analyzed that the response to the x (roll) and y (pitch) axes will affect the angle of the tibia and femur servo joints, while the response to the z (yaw) axis will affect the angle of the coxa joint servo. Keywords: IMUs (Inertial Measurement Units), Gyroscope, Inverse Kinematics, Hybrid Fuzzy-PID. ABSTRAK Robot berkaki telah menarik perhatian para peneliti karena adaptasinya unggul terhadap lingkungan yang kompleks dibanding robot beroda. Robot berkaki dibagi menjadi robot Humanoid berkaki 2(dua), robot berkaki 4(empat), robot berkaki 6(enam), dan lainnya yang berkaki lebih banyak.Robot berkaki adalah robot yang lebih adaptif terhadap medan tempuh dibandingka robot beroda dalam kasus penggunaannya pada kegiatan eksplorasi daratan. Walaupun secara fungsional robot berkaki lebih unggul, robot berkaki memiliki permasalahan sendiri, yaitu kontrol gerak yang lebih kompleks dibanding robot beroda, maka dari itu dibutuhkan metode yang tepat untuk diterapkan pada robot. Pada penelitian ini membahas tentang robot berkaki 4(empat) yang dirancang untuk dapat bergerak dengan menggunakan persamaan inverse kinematic pada kaki maupun badan robot yang diintegrasikan dengan sensor gyroscope MPU6050 berbasis sistem kendali Hybrid Fuzzy-PID.Tujuan dari penelitian ini adalah mengembangkan sistem kontrol Fuzzy-PID untuk menstabilkan posisi setpoint pada sistem pergerakan Robot berkaki 4(empat). Fuzzy PID adalah gabungan dari kontrol PID dan logika fuzzy, dimana kontrol PID digunakan untuk menstabilkan sistem dan logika fuzzy digunakan untuk memperbaiki performa sistem. Pada penelitian ini sistem kontrol Fuzzy-PID dikembangkan dengan menggunakan metode Mamdani (Min-Max). Sistem ini kemudian diuji dengan mengamati respon pergerakan robot terhadap perubahan nilai sensor gyroscope. Dimana diperoleh hasil mampu memperoleh rata-rata kesalahan hasil keluarannya sampai dengan 0.173333% pada saat pengujian respon terhadap sumbu pitch -15°, namun dibeberapa pengujian juga mendapa tkan hasil respon yang memiliki tingkat kesalahan yang cukup besar sampai dengan 27.31% pada saat pengujian respon terhadap sumbu roll -5°. Dari hasil pengujian kendali hybrid Fuzzy-PID diperoleh hasil robot mampu melakukan pergerakan atau respon untuk menuju titik stabilnya dengan pemberian acuan terhadap sumbu x(roll), y(pitch) dan z(yaw) dimana dapat dianalisa bahwa respon terhadap sumbu x(roll) dan y(pitch) akan mempengaruhi sudut servo sendi tibia dan femur, sedangkan respon terhadap sumbu z(yaw) akan mempengaruhi sudut servo sendi coxa.
Desain Telemedicine Asam Urat Berbasis Internet of Things (IoT) Supriyanto, Agus; Nugroho, Andi Kurniawan; Heranurweni, Sri
Elektrika Vol. 15 No. 1 (2023): April 2023
Publisher : Universitas Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26623/elektrika.v15i1.6004

Abstract

Gout is the final metabolite of purines. Purines are part of the nucleic acids found in the nuclei of body cells. Increased gout can cause rheumatic pain in the joint area and is often associated with extreme pain for those exposed to the disease. Doctors need to monitor so that they can assist patients in monitoring and treatment. Gout detection devices are only available in hospitals, clinics, health centers, laboratories, and equipment that was previously portable but could not be controlled directly by a doctor. The purpose of this study is to help make it easier for doctors to monitor patients with gout remotely or telemedicine via the internet. The research method uses blood to determine gout levels using the Internet of Things. Data acquisition is carried out with a resistance sensor (Authocheck) which is processed by the Arduino microcontroller. The processed data is then sent to the ESP8266 web server via WiFi. The use of the Internet of Things as a data transmission method for online use does not require human-to-human interaction. The sensor resistance value in the analog range obtained is 441.03 to 782.32 with a sensor voltage of 1.91 to 3.82 volts. The measured gout level is between 4 mg/dL and 8 mg/dL. The percentage of measured data with an average accuracy of 95.74% and an average error rate of 4.26% for the seven test data. Data is displayed directly on the device's LCD screen and on a web server that sends data from the ESP8266. Keywords: gout, Internet of Things, resistance sensor (Autocheck), telemedicine, web server ABSTRAKAsam urat merupakan metabolit akhir dari purin. Purin adalah bagian dari asam nukleat yang ditemukan dalam inti sel tubuh. Asam urat yang meningkat dapat menyebabkan nyeri rematik di area persendian dan sering dikaitkan dengan rasa sakit yang luar biasa bagi yang terpapar penyakit. Dokter perlu memantau agar dapat membantu pasien dalam pemantauan dan pengobatan. Alat pendeteksi asam urat hanya terdapat di rumah sakit, klinik, puskesmas, laboratorium dan alat-alat yang sebelumnya portable namun tidak dapat dikontrol langsung oleh dokter. Tujuan dari penelitian ini membantu memudahkan dokter untuk memantau pasien dengan penyakit asam urat secara jarak jauh atau telemedicine melalui internet. Metode penelitian menggunakan darah untuk menentukan kadar asam urat menggunakan Internet of Things. Akuisisi data dilakukan dengan sensor resistansi (Authocheck) yang diproses oleh mikrokontroler Arduino. Data yang telah diproses kemudian dikirim ke web server ESP8266 melalui  WiFi. Penggunaan Internet of Things sebagai metode transmisi data untuk penggunaan secara online tidak memerlukan interaksi manusia ke  manusia. Nilai  resistansi sensor pada rentang analog yang diperoleh adalah 441,03 hingga 782,32 dengan tegangan sensor 1,91 hingga 3,82 volt. Kadar asam urat yang diukur adalah antara 4 mg/dL dan 8 mg/dL. Persentase data terukur dengan akurasi rata-rata 95,74% dan rata-rata tingkat kesalahan  4,26% untuk tujuh data uji. Data ditampilkan langsung di layar LCD perangkat dan di web server yang mengirimkan data dari ESP8266.
Integrative Regeneration of Articular Cartilage Using Mesenchymal Stem Cells and Gene Therapy: A Precision Medicine Approach Vinski, Deby Susanti Pada Vinski; Vinski, Natasha Cinta; Nugroho, Andi Kurniawan; Kusumo, Sunaryo; Griffin, Darren Karl
Journal of World Science Vol. 5 No. 1 (2026): Journal of World Science
Publisher : Riviera Publishing

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58344/jws.v5i1.1607

Abstract

Osteoarthritis (OA) is a prevalent and debilitating chronic condition that primarily affects the articular cartilage, leading to pain, stiffness, and loss of function. Despite significant advancements in understanding its pathophysiology, an effective cure remains elusive. This paper explores the integrative regeneration of articular cartilage using mesenchymal stem cells (MSCs) combined with gene therapy as a precision medicine approach. MSCs are particularly promising due to their chondrogenic potential and ability to repair damaged cartilage. However, the inflammatory environment in OA often limits the survival of MSCs. Gene therapy emerges as a solution to modulate this environment, enhancing the regenerative capacity of MSCs. This study highlights the synergy between MSC therapy and gene therapy in promoting cartilage repair, focusing on the Vinski protocol. By targeting the joint's microenvironment and using MSCs in combination with gene therapy, this integrated approach aims to provide a more effective treatment for OA. The application of gene therapy is expected to not only sustain MSC survival but also improve their therapeutic effects, making this method a promising avenue for OA treatment.
Implementasi Teknologi Penggilingan Padi Portabel Berbasis IoT untuk Meningkatkan Efisiensi Pasca Panen di Desa Tamangede Handajani, Mudjiastuti; Nugroho, Andi Kurniawan; Setiawan, Muhammad Ikhsan
Archive: Jurnal Pengabdian Kepada Masyarakat Vol. 5 No. 2 (2026): Juni 2026
Publisher : Asosiasi Pengelola Publikasi Ilmiah Perguruan Tinggi PGRI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55506/arch.v5i2.265

Abstract

Latar Belakang: Petani padi di Desa Tamangede menghadapi permasalahan efisiensi rendah dalam pengolahan pasca panen akibat ketergantungan pada penggilingan konvensional yang menimbulkan biaya tinggi dan losses mencapai 15-20%. Tujuan: mengimplementasikan teknologi Triple Function Electrical Portable Mini Rice Milling (TFEPMRM) berbasis IoT untuk meningkatkan efisiensi pengolahan gabah dan pendapatan petani. Metode: Pengabdian dilakukan melalui pendekatan partisipatif dengan transfer teknologi, pendampingan pembuatan mesin, pelatihan operasional, dan monitoring berbasis IoT pada kelompok tani selama periode Januari hingga Oktober 2025. Hasil: Implementasi menghasilkan peningkatan efisiensi dengan kapasitas 80 kg/6 menit, efisiensi dehusking 95%, milling recovery 83.6-87.4%, pengurangan biaya operasional 84.2%, dan potensi peningkatan pendapatan petani mencapai Rp 5.427.500 per tahun per hektar. Kesimpulan: Teknologi TFEPMRM efektif meningkatkan efisiensi pengolahan padi dan berpotensi meningkatkan pendapatan petani melalui pengurangan losses dan biaya operasional.
Peningkatan keahlian siswa SMA Negeri 4 Semarang dalam perancangan modul Internet of Things dengan Printed Circuit Board Idris, La Ode Muhamad; Nugroho, Andi Kurniawan; Heranurweni, Sri; Muliandhi, Puri
SELAPARANG: Jurnal Pengabdian Masyarakat Berkemajuan Vol 10, No 1 (2026): February (In Progress)
Publisher : Universitas Muhammadiyah Mataram

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31764/jpmb.v10i1.34376

Abstract

AbstrakKegiatan pengabdian kepada masyarakat ini bertujuan untuk meningkatkan keahlian siswa SMA Negeri 4 Semarang dalam perancangan desain Printed Circuit Board (PCB) untuk modul Internet of Things (IoT). Kegiatan dilaksanakan melalui pelatihan intensif yang dipadukan dengan praktik langsung, sehingga siswa memperoleh pemahaman mengenai dasar-dasar desain PCB, pengenalan perangkat lunak desain PCB, serta tahapan penyusunan skematik dan layout PCB. Program ini tidak hanya berorientasi pada peningkatan keterampilan teknis, tetapi juga bertujuan untuk menumbuhkan minat dan motivasi siswa dalam mengeksplorasi pemanfaatan teknologi IoT, khususnya pada sektor pertanian. Hasil kegiatan menunjukkan adanya peningkatan kompetensi yang signifikan, di mana kemampuan peserta meningkat dari tingkat pemahaman awal berupa pengenalan konsep dan komponen PCB menjadi mampu merancang dan mengimplementasikan modul IoT sederhana berbasis PCB. Peningkatan kompetensi tersebut ditunjukkan oleh hasil evaluasi kemampuan peserta pada skala penilaian 1–4, yang mengalami kenaikan dari rata-rata skor awal 1,2 menjadi 3,2 setelah kegiatan pelatihan. Selain itu, kegiatan ini memberikan dampak positif dalam mempersiapkan siswa menghadapi tantangan perkembangan teknologi di era Industri 4.0. Kata kunci: mikrokontroler; printed circuit board; internet of things. Abstract This community service activity aims to improve the skills of students at SMA Negeri 4 Semarang in designing Printed Circuit Boards (PCBs) for Internet of Things (IoT) modules. The activity was conducted through intensive training combined with hands-on practice, enabling students to gain an understanding of the fundamentals of PCB design, the introduction of PCB design software, and the stages of schematic and PCB layout development. The program was not only oriented toward enhancing technical skills but also aimed to foster students’ interest and motivation in exploring the application of IoT technology, particularly in the agricultural sector. The results of the activity indicate a significant improvement in participants’ competencies, where their abilities progressed from an initial level of understanding limited to basic concepts and PCB components to the capability of independently designing and implementing simple PCB-based IoT modules. This improvement is reflected in the evaluation results using a 1–4 competency assessment scale, which showed an increase in the average score from 1.2 before the training to 3.2 after the training. Furthermore, this activity had a positive impact on preparing students to face technological challenges in the era of Industry 4.0. Keywords: microcontroller; printed circuit board; internet of things
Automatic Segmentation on Glioblastoma Brain Tumor Magnetic Resonance Imaging Using Modified U-Net Tjahyaningtijas, Hapsari Peni Agustin; Nugroho, Andi Kurniawan; Angkoso, Cucun Very; Purnama, I Ketut Edy; Purnomo, Mauridhi Hery
EMITTER International Journal of Engineering Technology Vol 8 No 1 (2020)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v8i1.505

Abstract

Glioblastoma is listed as a malignant brain tumor. Due to its heterogeneous composition in one area of the tumor, the area of tumor is difficult to segment from healthy tissue. On the other side, the segmentation of brain tumor MRI imaging is also erroneous and takes time because of the large MRI image data. An automated segmentation approach based on fully convolutional architecture was developed to overcome the problem. One of fully convolutional network that used is U-Net framework. U-Net architecture is evaluated base on the number of epochs and drop-out values to achieve the most suitable architecture for the automatic segmentation of glioblastoma brain tumors. Through experimental findings, the most fitting architectural model is mU-Net architecture with an epoch number of 90 and a drop out layer value of 0.5. The results of the segmentation performance are shown by a dice value of 0.909 which is greater than that of the previous research.
Co-Authors Agus Supriyanto Aji Jr., Edwin Bayu Angkoso, Cucun Very Ari Kusumaningsih Asror, Khozainul Budiani Destyningtias Daniyah, Daniyah Dollar, Dollar Ernandini, Endang Griffin, Darren Karl Gunawan, Dahlan Hardjo, Marhaen Harsoyo, Imam Tri Idris, La Ode Muhamad Jovanovic, Stevan Juliartadi, Hendra Ady Kusumo, Sunaryo Mauridhi Hery Purnomo Mudjiastuti Handajani Muliandhi, Puri Nuriman Nuriman, Nuriman Pada Vinski, Deby Susanti Pada Vinski Purnama, I Ketut Edy Quintosa , Jaime Rodriguez Quintosa, Jaime Rodriguez Ramdani, Dicky Rivaldo Schroeter, CA Setiawan, Muhammad Ikhsan Sinjari, Bruna Sri Heranurweni Supari Supari, Supari Susanti Vinski, Deby Titik Nurhayati Tjahyaningtijas, Hapsari Peni Agustin Trofimova , Svetlana Trofimova, Svetlana Vinski, Deby Susanti Pada Vinski, Deby Susanti Pada Vinski Vinski, Natasha Cinta