Articles
<![CDATA[Kendali Kecepatan Robot Beroda Omni dengan Kemampuan Menuju Posisi dan Orientasi yang Diinginkan Berbasis Pengendali PID ]]>
<![CDATA[Faisal Wahab]]>;
<![CDATA[Clement Zaskie]]>;
<![CDATA[Bagus Made Arthaya]]>
<![CDATA[ JTERA (Jurnal Teknologi Rekayasa) Vol 6, No 2: December 2021 ]]>
Publisher : <![CDATA[Politeknik Sukabumi ]]>
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DOI: 10.31544/jtera.v6.i2.2021.273-284
<![CDATA[Sebuah robot yang menggunakan penggerak roda omni memiliki kemampuan dapat bergerak ke segala arah tanpa harus mengubah orientasi dari robot itu sendiri. Kemampuan tersebut dapat dibuktikan jika kecepatan setiap motor dapat terkendali dan diterapkan sebuah algoritma supaya robot beroda omni dapat bergerak menuju posisi dan orientasi yang diinginkan. Pada makalah ini akan disajikan kendali kecepatan robot beroda omni dengan kemampuan menuju posisi dan orientasi yang diinginkan menggunakan pengendali Proporsional Integral Derivatif (PID). Tahapan penelitian dimulai dari penentuan kinematika dari robot yang digunakan, perancangan sistem elektrik dan mekanik, perancangan kendali motor DC, dan penentuan diagram blok sistem. Parameter PID yang digunakan untuk kendali motor adalah Kp = 0,48, Ki = 11,16, dan Kd = 0 yang diperoleh dari hasil PID tuner dan untuk pergerakkan robot menuju posisi dan orientasi yang diinginkan menggunakan kendali Model Predictive Control (MPC). Hasil pengujian secara simulasi menunjukkan bahwa robot beroda omni dapat bergerak sesuai dengan posisi dan orientasi yang berjumlah lima buah set-point berdasarkan kinematika yang sudah dirancang. Hasil pengujian secara eksperimental berdasarkan data pembacaan encoder menunjukkan bahwa robot beroda omni telah berhasil menuju posisi dan orientasi yang diinginkan. Namun, secara visual terdapat error sebesar 9,6% dari keseluruhan set-point yang disebabkan oleh faktor teknis lapangan.]]>
<![CDATA[Design and kinematic analysis of a two-DOF moving platform as a base for a car simulator ]]>
<![CDATA[Bagus Made Arthaya]]>;
<![CDATA[Raymond Christian]]>;
<![CDATA[Tua Agustinus Tamba]]>;
<![CDATA[Dilek Bilgin Tükel]]>
<![CDATA[ Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 13, No 1 (2022) ]]>
Publisher : <![CDATA[National Research and Innovation Agency ]]>
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DOI: 10.14203/j.mev.2022.v13.48-59
<![CDATA[The study starts by modeling a simple 2-DOF (degrees of freedom) moving platform that employs two actuators to provide two kinds of rotational motion on the moving platform and each motion is driven by an electrical motor. A preliminary study to better understand motion generation is conducted by deriving a mathematical model of the platform. Based on this model, the relationship between the rotations of the two driving motors and the pitch and roll movements of the platform is determined. The range of movements must be limited both in the pitch and roll planes to a certain maximum and minimum values of tilting angles. This preliminary design of the platform is introduced to demonstrate motions that might be experienced by the user in roll and pitch directions. The motion generated has fulfilled the constraint with respect to the vestibular system. Results of experimental works show that the first motor angle between -26° and 27° is suitable for the roll plane; meanwhile, the angles range of -52° and 54° for the second motor is suitable for the pitch plane. Furthermore, some simple experiments were conducted to examine the correctness of the model through the comparison between testing results obtained from simulation and experimental work. In the reported results, the moving platform was set to some initial poses and was driven to the home position and the recording showed acceptable results. This moving platform can later be used for more comprehensive experiments, i.e., vehicle dynamic testing, driving training purposes, and human factor analyses.]]>
<![CDATA[IMPLEMENTASI DAN PENGUJIAN PROTOTIPE TURBIN JENIS PROPELLER UNTUK PEMBANGKIT LISTRIK TENAGA MIKROHIDRO ]]>
<![CDATA[Sudiro, Rafiandi Dyaa]]>;
<![CDATA[Halim, Levin]]>;
<![CDATA[Arthaya, Bagus Made]]>
<![CDATA[ Jurnal Rekayasa Mesin Vol. 15 No. 2 (2024) ]]>
Publisher : <![CDATA[Jurusan Teknik Mesin, Fakultas Teknik, Universitas Brawijaya ]]>
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DOI: 10.21776/jrm.v15i2.1610
<![CDATA[The implementation of a small-scale Micro-Hydro Power Plant which considering a 2-meter water head river will be discussed in this research. Therefore, a Micro-Hydro Power Plant with a Propeller turbine type was implemented. The turbine components include the turbine wheel, blades, guide vanes, turbine housing, turbine cover, and discharge pipe. Each component was manufactured using a 3D printing process with PLA filament. The testing process involved a miniature dam made from a container with a height of 1 meter, connected vertically with pipes. Water flowing into the turbine rotates the turbine wheel, causing it to rotate on the turbine shaft. Output data, including rthe number of rotations (RPM) and torque (M), were collected using sensors placed on the turbine wheel shaft. The testing results of the prototype Propeller turbine showed an efficiency of over 90% at a flow rate of approximately 0.008 m^3/s. Under the ideal design conditions with 90% efficiency, the prototype turbine would operate at a rotation speed of 2880 RPM and generate a power output (P) of 66 Watts.]]>
<![CDATA[Perancangan Awal Body dan Sistem Gerak dari Model Robot Ulat ]]>
<![CDATA[Arthaya, Bagus M.]]>;
<![CDATA[Fransiscus, Hanky]]>;
<![CDATA[Prakoso, Aditya]]>
<![CDATA[ JTERA (Jurnal Teknologi Rekayasa) Vol 8, No 1: June 2023 ]]>
Publisher : <![CDATA[Politeknik Sukabumi ]]>
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DOI: 10.31544/jtera.v8.i1.2022.9-18
<![CDATA[Robot melata (ular/ulat) merupakan contoh robot dengan tingkat redundasi tinggi, dimana jenis robot ini cocok digunakan pada lingkungan yang sangat terbatas dan rumit serta memiliki tingkat risiko bahaya yang tinggi. Robot melata layaknya ular dapat digunakan pada penjelajahan berbagai kawasan rumit, seperti lubang-lubang kecil, celah-celah sempit, daerah runtuhan kebakaran dan lain-lain. Secara umum tujuan penelitian ini adalah untuk merancang robot ulat (caterpillar) dengan pola gerakan merayap. Pada tahap awal, penelitian ini difokuskan pada perancangan modul body robot ulat yang dibuat dengan teknik 3-D printing dan penentuan sikuensi gerak dasar yang harus dikendalikan. Sebuah robot ulat dibangun dari modul-modul body yang dapat mengakomodasi dan merealisasi konsep gerak melata. Gerakan maju direalisasi dengan model rolling pada modul akhir dan gerak angkat pada modul-modul di depannya. Sistem kendali nantinya harus dapat menjamin keserasian gerak antar modul body dan harus mampu melakukan satu siklus gerakan maju yang dilakukan oleh semua modul body yang ada. Rakitan modul body robot ini dibuat dengan printing difusi dan baru dapat menujukkan pola dasar gerakan maju sederhana. Hasil penelitian menggunakan sistem kendali sederhana menunjukkan gerakan sinkron antar modul body yang berkomunikasi dari posisi akhir hingga posisi awal. Hal lain yang diamati adalah gerak maju dari unit terakhir ke arah unit terdepan yang mampu menghasilkan perpindahan linier yang masih tersendat.]]>
<![CDATA[Design and CFD simulation of guide vane for multistage Savonius wind turbine ]]>
<![CDATA[Devin, Dionisius]]>;
<![CDATA[Halim, Levin]]>;
<![CDATA[Arthaya, Bagus Made]]>;
<![CDATA[Chandra, Jonathan]]>
<![CDATA[ Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 14, No 2 (2023) ]]>
Publisher : <![CDATA[National Research and Innovation Agency ]]>
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DOI: 10.14203/j.mev.2023.v14.186-197
<![CDATA[This study proposes improving the performance of a fixed-axis multistage Savonius wind turbine by integrating a sixbladed guide vane. Guide vanes aim to direct the incoming wind towards the blades of the Savonius wind turbine so that it can increase the performance value of the turbine itself. There are two methods, the first method is computational fluid dynamics (CFD) simulation to evaluate the best performance guide vane angle variations. The second method is implementing real conditions using 3 m/s until 4.2 m/s wind speed. The implementation of the guide vane to the wind turbine will consider four (4) variants of angles (0°, 20°, 40°, and 60°). The purpose of testing with four kinds of guide vane angles is to find out which guide vane angle can provide the best results among other guide vane angles. This research proposed the initial design of the guide vane addition to the multistage Savonius wind turbine with a fixed rotary axis. From the CFD simulation, the implementation of a guide vane can improve the performance of the multistage Savonius wind turbine with a fixed rotary axis. On the other hand, for the proposed initial design in this research, the 20° angle of guide vane gives the best result compared to the 0°, 40°, 60°, and without guide vane.]]>
<![CDATA[Rancang Bangun Purwarupa Manipulator Lengan Robot Dengan Tiga Derajat Kebebasan ]]>
<![CDATA[AYEGA, IDHAM HANIF]]>;
<![CDATA[TAMBA, TUA AGUSTINUS]]>;
<![CDATA[ARTHAYA, BAGUS MADE]]>
<![CDATA[ ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 11, No 3: Published July 2023 ]]>
Publisher : <![CDATA[Institut Teknologi Nasional, Bandung ]]>
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DOI: 10.26760/elkomika.v11i3.796
<![CDATA[ABSTRAKMakalah ini melaporkan hasil penelitian terkait rancang bangun suatu purwarupa manipulator lengan robot dengan tiga derajat kebebasan. Proses perancangan dilakukan dalam tiga tahap yang mencakup pemodelan matematis kinematika maju dan balik pada robot, desain dan simulasi purwarupa robot menggunakan pemrograman MATLAB dan SOLIDWORKS terintegrasi, dan konstruksi perangkat keras robot menggunakan teknolog 3D printing.Proses simulasi dan eksperimen selanjutnya dilakukan untuk membandingkan kesesuaian operasional dan kinerja perangkat keras dan model simulasi komputer yang telah dirancang. Berdasarkan hasil simulasi dan eksperimen, disimpulkan bahwa desain perangkat keras robot memiliki tingkat kepresisian yang sangat baik dengan batas kesalahan maksimum untuk solusi kinematika maju yang dihasilkan adalah sebesar 2.745% serta batas kesalahan maksimum untuk solusi kinematika balik adalah sebesar 0.06%.Kata kunci: lengan robot, kinematika, robotic toolbox, 3D printing ABSTRACTThe research reported in this paper was aimed at developing a prototype of a robotic arm/manipulator with three degrees of freedom. The prototype was developed in three main stages, namely forward and inverse kinematics modeling of the robot, simulation modeling of the prototype in MATLABSOLIDWORKS integrated environment, and finally the hardware development of the robot using 3D printing techniques. The operational performance of the constructed robotic hardware was then analyzed and compared with that of the developed simulation model. The experimental results of the robot performance evaluations suggested that the robot prototype has good operational precision performance in which the resulting maximum error for forward kinematics task is only about 2.745% whereas the resulting maximum error for inverse kinematics task is only about 0.06%.Keywords: robotic arm, forward kinematics, robotic toolbox, 3D printing]]>
<![CDATA[Pendampingan Program Technocreator dan Perancangan Kurikulum Ekstrakurikuler Robotik untuk SMAK 1 BPK Penabur Bandung: Technocreator Program Support and Robotic Extracuricular Curriculum Design for SMAK 1 BPK Penabur Bandung ]]>
<![CDATA[Halim, Levin]]>;
<![CDATA[Naa, Christian Fredy]]>;
<![CDATA[Arthaya, Bagus]]>;
<![CDATA[Saputro, Nico]]>;
<![CDATA[Sadiyoko, Ali]]>
<![CDATA[ PengabdianMu: Jurnal Ilmiah Pengabdian kepada Masyarakat Vol. 9 No. 3 (2024): PengabdianMu: Jurnal Ilmiah Pengabdian kepada Masyarakat ]]>
Publisher : <![CDATA[Institute for Research and Community Services Universitas Muhammadiyah Palangkaraya ]]>
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DOI: 10.33084/pengabdianmu.v9i3.6605
<![CDATA[This community service establishes a collaborative effort between Parahyangan Catholic University and SMAK 1 BPK PENABUR Bandung to enhance the TechnoCreator program through community involvement. The program aims to enhance students' understanding of electronics by incorporating advanced technologies like the Internet of Things (IoT) and machine learning. It also introduces the concepts of Industry 4.0 and technopreneurship. The research entailed conducting a series of focused group talks, often known as focus groups, to ascertain the material and learning requirements. Additionally, an extracurricular curriculum for robotics was developed. The outcomes are the creation of novel educational programs, maintenance of guest lectures, strategic planning for the construction of an ESP32-based Internet of Things kit, the design of a prototype industrial automation system, and the implementation of a supplementary robotics program aimed at enhancing students' preparedness for advanced studies in electrical engineering. The activity also seeks to facilitate the transfer of students from secondary education to college. The result implies that this project effectively enhances student learning experiences and can be used as a blueprint for comparable technology education programs in the future.]]>
<![CDATA[Rancang Bangun Sistem Throttle Brushless DC Motor pada Kursi Roda Elektrik ]]>
<![CDATA[Natanael, Ferdinand]]>;
<![CDATA[Arthaya, Bagus Made]]>;
<![CDATA[Wahab, Faisal]]>
<![CDATA[ ELECTRON Jurnal Ilmiah Teknik Elektro Vol 6 No 1: Jurnal Electron, Mei 2025 ]]>
Publisher : <![CDATA[Jurusan Teknik Elektro Fakultas Teknik Universitas Bangka Belitung ]]>
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DOI: 10.33019/electron.v6i1.293
<![CDATA[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.]]>
<![CDATA[Perancangan PLTS pada Smart Greenhouse di Lahan Pertanian Wijaya Farm, Lembang, Bandung: Design of Off-grid Solar Power System for Smart Greenhouse at Wijaya Farm Agricultural Land, Lembang, Bandung ]]>
<![CDATA[Simorangkir, Arthur]]>;
<![CDATA[Halim, Levin]]>;
<![CDATA[Arthaya, Bagus]]>
<![CDATA[ PengabdianMu: Jurnal Ilmiah Pengabdian kepada Masyarakat Vol. 10 No. 7 (2025): PengabdianMu: Jurnal Ilmiah Pengabdian kepada Masyarakat ]]>
Publisher : <![CDATA[Institute for Research and Community Services Universitas Muhammadiyah Palangkaraya ]]>
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DOI: 10.33084/pengabdianmu.v10i7.9561
<![CDATA[The problem of limited access to electricity in the agricultural sector will have a direct impact on the suboptimal operation of smart greenhouses, including irrigation systems, additional lighting, and sensor-based environmental monitoring. The absence of a reliable energy source makes it difficult for farmers to maintain the stability of the planting environment, especially in remote areas that are not covered by the PLN electricity network. This community service activity aims to design an off-grid Solar Power Plant (PLTS) system as an independent energy solution that is efficient, environmentally friendly, and accessible to farmers in the location. The methods used include direct surveys to obtain data on electricity load requirements, measuring location conditions to determine orientation and potential for solar radiation, and technical calculations of the system based on field data. The result of this activity is a PLTS system design with a 2320 Wp solar panel configuration, 3 kW inverter, and 48V 150Ah battery, which is projected to be able to meet the daily energy needs of 2880 Wh and can maintain greenhouse operations for two days without sunlight. This activity also provides benefits in increasing farmer literacy regarding solar energy technology and encouraging initiatives to implement similar off-grid PLTS systems independently. This community service activity shows that the design of an off-grid PLTS system based on actual needs has great potential to be replicated as a sustainable energy solution in the agricultural sector.]]>
<![CDATA[IMPLEMENTASI DAN PENGUJIAN PROTOTIPE TURBIN JENIS PROPELLER UNTUK PEMBANGKIT LISTRIK TENAGA MIKROHIDRO ]]>
<![CDATA[Sudiro, Rafiandi Dyaa]]>;
<![CDATA[Halim, Levin]]>;
<![CDATA[Arthaya, Bagus Made]]>
<![CDATA[ Jurnal Rekayasa Mesin Vol. 15 No. 2 (2024) ]]>
Publisher : <![CDATA[Jurusan Teknik Mesin, Fakultas Teknik, Universitas Brawijaya ]]>
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DOI: 10.21776/jrm.v15i2.1610
<![CDATA[The implementation of a small-scale Micro-Hydro Power Plant which considering a 2-meter water head river will be discussed in this research. Therefore, a Micro-Hydro Power Plant with a Propeller turbine type was implemented. The turbine components include the turbine wheel, blades, guide vanes, turbine housing, turbine cover, and discharge pipe. Each component was manufactured using a 3D printing process with PLA filament. The testing process involved a miniature dam made from a container with a height of 1 meter, connected vertically with pipes. Water flowing into the turbine rotates the turbine wheel, causing it to rotate on the turbine shaft. Output data, including rthe number of rotations (RPM) and torque (M), were collected using sensors placed on the turbine wheel shaft. The testing results of the prototype Propeller turbine showed an efficiency of over 90% at a flow rate of approximately 0.008 m^3/s. Under the ideal design conditions with 90% efficiency, the prototype turbine would operate at a rotation speed of 2880 RPM and generate a power output (P) of 66 Watts.]]>
