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SISTEM PENGENDALIAN SUHU PADA GREENHOUSE UNTUK BUDIDAYA TANAMAN PAPRIKA MENGGUNAKAN LOGIKA FUZZY METODE MAMDANI Hayyan, Muhammad Rafif; Nusantoro, Goegoes Dwi; Nurwati, Tri
Jurnal Mahasiswa TEUB Vol. 11 No. 6 (2023)
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The paprika plant (Capsicum annuum L.) is a plant native to South America that requires sub-tropical climate conditions togrow. In Indonesia, paprika grows well in the highlands at an altitude of 1000 - 1,500 m above sea level, requiring an idealtemperature of between 21ºC - 27ºC during the day and 13ºC - 18ºC at night. Extreme temperatures above 38ºC during theday and 32ºC at night can be detrimental to the growth of paprikas. To overcome the problem of temperature control in paprikaplants in Indonesia, the author designed a smart greenhouse with a temperature control system based on fuzzy logic. Fuzzylogic was chosen because of its flexibility in making decisions. This smart greenhouse uses cooling and heating actuators tomaintain the temperature inside. This research involved several stages of testing, including placement testing, actuator testing,and overall system testing. Placement tests showed temperature differences between various sides of the smart greenhouse, soit was necessary to use an actuator to even out the temperature inside. Testing the actuator explained that the cooling actuatorcontained a blower fan which functioned to even out the temperature inside the smart greenhouse and a peltier fan functionedto lower the temperature inside the smart greenhouse. Apart from that, there is a heating actuator in the form of a heater whichfunctions to increase the temperature inside the smart greenhouse. After collecting data from this test, proceed with testing theentire system. In this test, there are two conditions tested: day conditions with a setpoint of 24ºC and night conditions with asetpoint of 15ºC. Day conditions reach a steady state error of 1.26%, while night conditions do not reach a steady state errorbecause the cooling actuator is unable to approach the desired setpoint. The test results show that the system can maintain thetemperature inside the smart greenhouse. In addition, tests were carried out on paprika plants inside and outside the smartgreenhouse. The results showed that paprika plants grown in the smart greenhouse produced better development compared tothose planted outside. This research shows that a temperature control system based on fuzzy logic in a smart greenhouse canincrease the growth of paprika plants. Keywords: Paprika Plants, Fuzzy Logic, Smart Greenhouse, Temperature

RANCANG BANGUN SISTEM PENGENDALI SUHU, pH AIR DAN NUTRISI MENGGUNAKAN METODE FUZZY MAMDANI PADA TANAMAN HIDROPONIK PAKCOY Bahtiar, Zuhrinada Alvin; Nurussa’adah, n/a; Nusantoro, Goegoes Dwi
Jurnal Mahasiswa TEUB Vol. 12 No. 2 (2024)
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Hydroponics is a cultivation system for plants that does not involve soil as a growing medium but rather utilizes alternative substrates such as perlite, vermiculite, gravel, sand, rice husks, and cocopeat, along with nutrient-rich water containing sufficient oxygen. One advantage of hydroponic techniques over soil-based agriculture is the relatively easier identification and monitoring of nutrient conditions. Unlike soil-based farming, which presents challenges in identifying soil types and their nutrient content, hydroponics offers a more straightforward approach. In the hydroponic cultivation of pakcoy, water quality stands as the primary parameter. To achieve optimal results, water conditions must maintain suitable temperatures, pH levels, and nutrient concentrations under the requirements for pakcoy growth. Designing a control system using the Mamdani fuzzy method will be implemented to regulate temperature, water pH, and nutrient concentration according to growth requirements to maintain water quality in pakcoy hydroponics. From the research findings, the device is capable of controlling water temperature in the hydroponic reservoir according to the desired setpoint membership function, ranging from 15°C to 30°C, with an average steady-state error of 2.16%. The device can regulate water pH according to the setpoint range of pH 5-7, with an average steady-state error of 2.6%. For nutrient concentration control, the device achieves the setpoint range of 1000-1200 ppm, with an average steady-state error of 1.15%. This study demonstrates that the Mamdani fuzzy logic-based control system for temperature, water pH, and nutrient concentration can enhance the growth of pakcoy hydroponics plants. Keywords: Hydroponics, Pakcoy, Water pH, Temperature, Nutrition, Fuzzy logic Mamdani

RANCANG BANGUN SISTEM PENGENDALIAN LINGKUNGAN PADA TANAMAN MICROGREEN BUNGA MATAHARI DENGAN METODE FUZZY LOGIC Abrar, Fachri; Nusantoro, Goegoes Dwi; Maulana, Eka
Jurnal Mahasiswa TEUB Vol. 12 No. 3 (2024)
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Microgreens are plants that require little harvesting time and can be grown indoors. One of the plants that can be grown withmicrogreen is sunflowers. However, growing microgreen sunflowers has problems, namely the growth of mold, and long legs.Some of the factors that affect this are temperature, humidity, and light. Microgreens can be grown indoors, but the indoorconditions are not suitable for the needs of microgreens. The average indoor temperature is 27°C, the air humidity is 80%, and itlacks light supply. Meanwhile, the ideal temperature required by sunflower microgreen is 20-25°C and the ideal humidity is 40-60%. With these conditions, an environmental control system for sunflower microgreen is needed. There are two systems made,namely the temperature and humidity control system with fuzzy logic in controlling the fan speed and the lighting system with LEDlights and lighting for 16 hours. Tests conducted show that the DHT22 sensor used has a temperature accuracy of 99.58% andhumidity accuracy of 99.97%. Testing of the entire system shows that the growth box during the day with the control systeminstalled, can reduce the temperature to an average of 23.16% and humidity of 51.63%. While at night the temperature can reach22.7% and humidity reaches 52.48%. This system can reduce the temperature and humidity to be in accordance with the needs ofmicrogreen sunflowers and fuzzy logic control system can improve the temperature drop to be more stable and close to the setpoint, which is 23°C temperature and 50% humidity. Keywords: microgreen, fuzzy logic, control system, growth box

PERANCANGAN SISTEM INVERSE KINEMATICS LENGAN ROBOT OPEN MANIPULATOR-X DENGAN METODE JARINGAN SARAF TIRUAN Nagara, Alun Darma; Muslim, Muhammad Aziz; Nusantoro, Goegoes Dwi
Jurnal Mahasiswa TEUB Vol. 12 No. 4 (2024)
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The robot manipulator is an example of the advancement in control technology in the current industrial era. Robots with 4 degrees of freedom (DoF) in their movements are often used to increase efficiency and reduce accident risks in the industry. However, in solving the inverse kinematics of the robot manipulator, there is a computational complexity problem in determining the joint angle values. Therefore, this study aims to solve the inverse kinematics problem using artificial neural networks on the Robot OpenMANIPULATOR-X. This research involves data collection through forward kinematics, designing an artificial neural network model by testing the number of hidden layers, neurons, and learning rate, and testing the points of the neural network model results on the robot in a real plant. Keywords—Robot Manipulator, Inverse Kinematics, Artificial Neural Network

RANCANG BANGUN SISTEM MONITORING SUHU DAN KELEMBABAN PADA PERKEBUNAN KOPI DENGAN METODE WIRELESS SENSOR NETWORK (WSN) Mohammad, Akmal Rozan; Maulana, Eka; Nusantoro, Goegoes Dwi
Jurnal Mahasiswa TEUB Vol. 12 No. 5 (2024)
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As a developing country, Indonesia strives to become a developed nation through economic transformation, including increasedproductivity in the plantation sector, particularly coffee. Coffee plays a crucial role in Indonesia's economy, significantlycontributing to non-oil exports. In 2022, Indonesia became the third-largest coffee producer in the world. However, domestic coffee production still falls short of meeting the growing demands for consumption and export. Coffee plant growth is influenced by factors such as water availability and tree shade. Adequate rainfall is essential for optimal growth, affecting the temperature and humidity, which in turn impacts coffee production. High temperatures can cause flower drop and reducing yield. This study addresses these conditions by designing a monitoring system capable of detecting temperature and humidity in coffee plantations. Utilizing wireless sensor network (WSN) technology, this system is developed to monitor large areas and display the results in spreadsheets. The system comprises a DHT22 sensor for measuring air temperature and humidity, a YL69 sensor for soil moisture, and a LoRa SX1278 for long-range communication. The results indicate that the designed system operates effectively, providing accurate data with an error rate of 4.81% for the YL69 sensor, 0.87% for the DHT22 temperature measurements, and 1.04% for humidity measurements. The LoRa communication system has a maximum range of 360 meters. Keywords: Coffee, Temperature and Humidity, LoRa, WSN

ANALISIS KARAKTERISTIK BEBAN DAN TINGKAT PEMAKAIAN ENERGI LISTRIK PADA GEDUNG FAKULTAS TEKNOLOGI PERTANIAN UNIVERSITAS BRAWIJAYA Khawarizmy, Muhammad Zinedine; Dhofir, Moch.; Nusantoro, Goegoes Dwi
Jurnal Mahasiswa TEUB Vol. 13 No. 1 (2025)
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Energi listrik sangat dibutuhkan dalam hal menunjang berbagai macam aktivitas pada gedung-gedung pendidikan, temasuk pada institusi pendidikan tinggi. Sebagai salah satu fasilitas yang mendukung kegiatan akademik, gedung-gedung pada institusi pendidikan memiliki karakteristik beban listrik yang beragam sesuai dengan jenis aktivitas yang berlangsung di dalamnya. Hal ini memunculkan tantangan dalam mengelola penggunaan energi secara efisien dan berkelanjutan guna perancangan dan pemakaian energi listrik yang sesuai. Seperti pada Gedung Fakultas Teknologi Pertanian Universitas Brawijaya (FTP UB), konsumsi energi listrik dipengaruhi oleh berbagai faktor, seperti jadwal perkuliahan, operasional laboratorium, penggunaan perangkat elektronik, dan pengaturan fasilitas gedung.Penelitian ini berfokus pada analisis permasalahan karakteristik beban dan efisiensi pemakaian energi listrik di Gedung Fakultas Teknologi Pertanian Universitas Brawijaya (FTP UB). Berdasarkan pengukuran selama satu minggu menggunakan power analyzer, ditemukan beberapa permasalahan utama yang memengaruhi efisiensi dan kualitas distribusi listrik. Ketidakseimbangan beban antar fasa menjadi isu kritis, dengan nilai mencapai 33,07% pada hari aktif (Senin) dan 30,08% pada hari nonaktif (Sabtu), jauh melampaui batas toleransi 20% menurut standar IEEE 446-1995. Ketidakseimbangan ini menyebabkan tingginya arus netral sebesar 80,8 A pada hari aktif, yang berpotensi meningkatkan kerugian daya dan risiko panas berlebih pada sistem distribusi.Hasil penelitian mengidentifikasi bahwa ketidakefisienan pemakaian energi listrik di Gedung FTP UB disebabkan oleh distribusi beban yang tidak merata antar fasa, tidak optimalnya penggunaan kapasitas transformator, serta kurangnya data pemantauan yang terstruktur. Penelitian ini menyarankan redistribusi beban untuk menurunkan arus netral dan meningkatkan stabilitas sistem, pemasangan perangkat pemantau energi untuk mengelola konsumsi listrik secara real-time, serta evaluasi kapasitas transformator agar sesuai dengan kebutuhan aktual.

ANALISIS KEANDALAN SISTEM DISTRIBUSI 20 KV PENYULANG SUDAN PT. PLN ULP SUKOREJO MENGGUNAKAN METODE RELIABILITY INDEX ASSESSMENT Maulana, Achmad Fazar Arya; Utomo, Teguh; Nusantoro, Goegoes Dwi
Jurnal Mahasiswa TEUB Vol. 13 No. 2 (2025)
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Penelitian ini membahas analisis keandalan sistem distribusi 20 kV Penyulang Sudan PT. PLN ULP Sukorejo. Indeks yang digunakan untuk mengukur keandalan sistem distribusi adalah SAIFI (System Average Interruption Frequency Index), SAIDI (System Average Interruption Duration Index), dan CAIDI (Customer Average Interruption Duration Index). Tujuan dari penelitian ini adalah memperoleh nilai indeks keandalan Penyulang Sudan dengan metode Reliability Index Assessment (RIA) dan simulasi single line diagram pada ETAP serta membandingkannya dengan standar SPLN 59 Tahun 1985. Metode penelitian ini melibatkan perhitungan indeks keandalan serta simulasi menggunakan software ETAP 19.0.1. Hasil penelitian menunjukkan bahwa nilai indeks keandalan metode RIA untuk SAIFI sebesar 4,8420 gangguan per tahun , SAIDI sebesar 11,8259 jam per tahun , dan CAIDI sebesar 2,4423 jam per gangguan. Sedangkan hasil simulasi ETAP menunjukkan nilai SAIFI sebesar 4,8789 gangguan per tahun , SAIDI sebesar 11,8851 jam per tahun, dan CAIDI sebesar 2,4360 jam per gangguan. Berdasarkan perbandingan dengan SPLN 59 Tahun 1985, sistem distribusi Penyulang Sudan belum dapat dikatakan handal, karena nilai SAIDI dan CAIDI masih di bawah ketetapan SPLN NO. 59 Tahun 1985 , tetapi pada nilai SAIFI diatas ketetapan SPLN 59 Tahun1985.Kata Kunci ̶ Penyulang Sudan, indeks keandalan, metode RIA,ETAP, SPLN 59 Tahun 1985.

Perencanaan Jalur Gerak Robot Lengan Hyundai HS220 Berbasis Algoritma Bidirectional RRT di PT Ingress Malindo Ventures Alebarez, Niko; Muslim, Muhammad Aziz; Nusantoro, Goegoes Dwi
Jurnal Mahasiswa TEUB Vol. 13 No. 2 (2025)
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Di era yang semakin modern ini penggunaan otomasi modern terus meningkat, salah satunya robot industri. PT Ingress Malindo Ventures telah memanfaatkan robot industri dalam lini produksinya. Pemrograman robot manual cenderung memakan waktu yang lama dan memerlukan tenaga ahli yang berpengalaman, maka berbagai algoritma dikembangkan untuk meningkatkan efisiensi dan kecepatan proses ini contohnya algoritma Rapidlyexploring Random Tree (RRT) dan variannya Bidirectional RRT (Bi-RRT). Penelitian ini bertujuan untuk mengimplementasikan dan membandingkan algoritma RRT dan Bi-RRT pada robot di PT Ingress Malindo Ventures yang diharapkan dapat memberikan solusi yang lebih efisien dibandingkan metode pemrograman manual. Perbandingan performansi dari kedua algoritma didasarkan pada jumlah iterasi, jumlah node, jumlah step, waktu eksekusi, dan waktu siklus pergerakan. Metode penelitian yang dilakukan berupa simulasi di perangkat lunak MATLAB dan HRSpace3 pada dua skenario di PT Ingress Malindo Ventures yaitu spot welding dan pick-and-place dengan parameter jarak koneksi maksimum antar node yaitu 0.5, 0.3, dan 0.7. Hasil penelitian menunjukkan pada skenario spot welding perbandingan keluaran rata-rata Bi-RRT terhadap RRT yaitu, jumlah iterasi berkurang sebanyak 90.2%, jumlah node berkurang sebanyak 94%, waktu eksekusi berkurang sebanyak 35.8%, dan waktu siklus pergerakan berkurang sebanyak 68.4%. Pada skenario pick- and-place perbandingan keluaran rata-rata Bi-RRT terhadap RRT yaitu, jumlah iterasi berkurang sebanyak 97.9%, jumlah node berkurang sebanyak 98.9%, jumlah step berkurang sebanyak 84.4%, waktu eksekusi berkurang sebanyak 89.6%, dan waktu siklus pergerakan berkurang sebanyak 81.3%. Kesimpulan dari penelitan ini adalah dibutuhkan analisis kinematika maju dan balik untuk mengimplementasi algoritma RRT dan Bi- RRT, algoritma Bi-RRT memiliki performansi yang lebih baik dibandingkan RRT, pengaruh parameter jarak koneksi maksimum antar node pada algoritma RRT adalah berbanding terbalik terhadap jumlah iterasi, jumlah node, jumlah step, waktu eksekusi, dan waktu siklus pergerakan, sementara pada Bi-RRT tidak mempengaruhi nilai tersebut kecuali pada waktu siklus pergerakan di skenario pick-and-place saja. Kata Kunci – Robot industri, RRT, Bi-RRT

Implementation of Hall Effect Sensors in Servo Motors to Reduce Drift Haidar, Ahmad; Djuriatno, Waru; Nusantoro, Goegoes Dwi
Jurnal Mahasiswa TEUB Vol. 13 No. 2 (2025)
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Servo motors play a critical role in precision control systems, traditionally relying on potentiometers for position sensing. However, potentiometers suffer from drift due to mechanical wear and physical contact, leading to measurement instability over time. This study investigates the implementation of Hall effect sensors as an alternative to potentiometers to mitigate drift in servo motor position measurement. The research methodology encompasses the design and implementation of a position measurement system utilizing Hall effect sensors, followed by a comparative performance evaluation against potentiometers. The experimental procedure consists of three key stages: sensor characterization, drift analysis under both unloaded and loaded conditions, and system response assessment to a reference angle. Performance metrics such as rise time, settling time, and steady-state error are analyzed. The results demonstrate that Hall effect sensors effectively minimize drift, offering improved stability, reduced position deviations, and faster response times in achieving target angles. These findings highlight the potential of Hall effect sensors in enhancing the accuracy and reliability of servo motor position measurement, particularly in high-precision applications. Keywords: servo motor, drift, potentiometer, Hall effect sensor, position accuracy

DETEKSI ANOMALI PERGERAKAN ROBOT UR3e MENGGUNAKAN METODE HYBRID BIDIRECTIONAL LONG SHORTTERM MEMORY DAN CONVOLUTIONAL NEURAL NETWORK (CNN) Kamila, Farahdina Intan; Muslim, Muhammad Aziz; Nusantoro, Goegoes Dwi
Jurnal Mahasiswa TEUB Vol. 13 No. 3 (2025)
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Anomali pada pergerakan robot dalam sistemotomasi industri dapat menyebabkan kerusakan perangkatdan mengganggu operasional. Penelitian ini mengusulkanmetode deteksi anomali pada robot UR3e menggunakanpendekatan hybrid Convolutional Neural Network (CNN)dan Bidirectional Long Short-Term Memory (Bi-LSTM).Dataset yang digunakan merupakan data IMU(akselerometer, giroskop, dan magnetometer) daripergerakan robot dalam kondisi normal dan anomali, yangkemudian diproses melalui normalisasi dan segmentasisliding window. Model dilatih menggunakan berbagaikombinasi hyperparameter yang dioptimalkan denganmetode Bayesian Optimization, Random Search, danHyperband. Hasil terbaik diperoleh melalui Hyperbanddengan akurasi 99,93%, precision 1.0, recall 0.9985, dan F1-score 0.9993. Pendekatan hybrid ini terbukti efektif dalammengenali anomali secara presisi dan efisien, serta berpotensibesar diimplementasikan dalam sistem monitoring robotsecara real-time.Kata kunci: Deteksi anomali, robot UR3e, CNN, Bi-LSTM,deep learning, Hyperparameter Tuning.

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