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All Journal IAES International Journal of Artificial Intelligence (IJ-AI) International Journal of Advances in Applied Sciences Mechatronics, Electrical Power, and Vehicular Technology TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Jurnal Otomasi Kontrol dan Instrumentasi International Journal of Sustainable Transportation Technology Teknomekanik Jurnal Nasional Teknik Elektro dan Teknologi Informasi International Journal of Computing Science and Applied Mathematics-IJCSAM Jurnal Penelitian Transportasi Darat
Tua Agustinus Tamba
Universitas Katolik Parahyangan
Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Control & Systems Engineering Earth & Planetary Sciences Electrical & Electronics Engineering Energy Engineering Environmental Science Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mathematics Mechanical Engineering Physics Transportation

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Modeling and bifurcation analysis of an intraguild predation system Tua Agustinus Tamba
International Journal of Advances in Applied Sciences Vol 12, No 2: June 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijaas.v12.i2.pp103-110

Abstract

This paper proposes a mathematical model of an asymmetric intraguild (IG) predation system with an exclusive alternative resource. In particular, this paper analyzes the effects that the exclusive alternative resource has on the consumption/predation behaviors of both the IG predator and IG prey species in the system. The results presented on this paper show that, if the IG predator is less competitive in consumption and less efficient in conversion of the shared resource than that of the IG prey, then there exists a lower bound on the value of the predation rate parameter that should be maintained by IG predator species to ensure its survival and co-existence in the system.
Switching stabilizing controller design for an inverted pendulum system platform Jonathan Chandra; Tua Agustinus Tamba; Ali Sadiyoko
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 22, No 4: August 2024
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v22i4.25732

Abstract

This paper reports the development and switching controller design of an in- verted pendulum system (IPS) platform. The euler-lagrange approach is first used to model the dynamics of the IPS which takes into account the impact of friction forces during its movements. The paper then derives a switching control method to swing the pendulum rod into the neighborhood of and stabilizing it at the equilibrium point. The implemented switching controller consists of: i) a nonlinear swing up control which brings the pendulum to the vertical position and ii) a linear stabilizing control which maintains the pendulum rod to remain in a vertical position around the neighborhood of the vertical axis. The nonlinear controller is constructed using lyapunov’s method while the linear controller is designed using linear quadratic regulator (LQR) method framework. Simulation and experimental results are presented to show the effectiveness of the proposed switching controller.
Model predictive control with safety barrier enforcement for dynamic obstacle avoidance of mobile robots Michel Andrianto Gunarso; Tua Agustinus Tamba; Jonathan Chandra
Bulletin of Electrical Engineering and Informatics Vol 15, No 2: April 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v15i2.11309

Abstract

This research proposes a model predictive control (MPC) approach with additional barrier function constraint for safe navigation of a differential drive wheeled mobile robot (DDWMR) in the presence of static and dynamic obstacles. The proposed approach uses the kinematic model of DDWMR to initially constructs a stabilizing MPC on the basis of Lyapunov’s stability theory. To ensure safe navigation of the DDWMR when obstacles are present, the control barrier function (CBF) concept is subsequently constructed and integrated into the developed MPC framework. The integrated MPC-CBF approach is shown to guarantee both the stability and safety properties of the DDWMR while navigating towards a desired goal position through a workspace filled with obstacles. The good performance of the proposed framework is demonstrated through computer simulations and experimental validation on a Turtlebot3 DDWMR plat form. In the real robot experiments, the controller achieved final tracking errors of [ex ey] = [0.1286 0.0626] m and e0 = 0.021 rad, while the corresponding simulation errors were [ex ey] = [0.0824 0.0698] m and e0 = 0.0883 rad, respectively. These results demonstrate that the developed feedback control method ensures safe, stable, and collision-free motions of the DDWMR.
Konfigurasi dan Penempatan Alat Ukur Beban untuk Penentuan Nilai Track Access Charge Berbasis Data Realisasi Perjalanan Kereta Api Yul Y. Nazaruddin; Arbie Sianipar; Nadana A Aziz; Jonathan Chandra; Rahmat Maulana; Tua A. Tamba; Sigit P. Santosa
Jurnal Penelitian Transportasi Darat Vol. 23 No. 2 (2021): Jurnal Penelitian Transportasi Darat
Publisher : Sekretariat Badan Kebijakan Transportasi, Formerly by Puslitbang Transportasi Laut, Sungai, Danau, dan Penyeberangan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25104/jptd.v23i2.1926

Abstract

ABSTRACTConfiguration and Placement of Load Measuring Instruments for Determination of Track Access Charge Values Based on Train Travel Realization Data: Based on the regulation of the Directorate General of Railways of the Ministry of Transportation year 2015, the cost element that is considered as non-tax revenue comes from the utilization of government’s railway infrastructures and is known as the Track Access Charge (TAC). The currently used method for the determination of the TAC value often causes debates as it is considered not based on the actual utilization of the railway infrastructure but rather dependent on maintenance costs of the railway infrastructure that are spent by the government. This paper reports the results of a research study which was conducted to evaluate methods that can be used to evaluate the TAC value based on measurement data of railway operational realization in the field. Based on the historical data of train operation, this research design a configuration of weigh-in-motion (WIM) system which can calculates the gross tonnage and travel distance of all trains over a predetermined time period. This research also determines 20 train stations that spread across eight operational regions across the Java island as the primary locations for WIM system placements to help determines the TAC value that is more realistic and effective.Keywords: railway management; track access charge; weigh-in-motion; sensor placement.ABSTRAKBerdasarkan Peraturan Direktur Jenderal Perkeretaapian di Kementerian Perhubungan tahun 2015, komponen biaya yang diperhitungkan untuk penerimaan negara bukan pajak (PNBP)berasal dari penggunaan prasarana perkeretaapian milik negara atau sering disebut Track Access Charge (TAC). Penentuan nilai TAC yang digunakan saat ini masih sering menimbulkan perdebatan karena dianggap tidak didasarkan pada tingkat penggunaan prasarana, melainkan pada biaya pengelolaan/pemeliharaan seluruh prasarana perkeretaapian yang dialokasikan pemerintah. Penelitian ini bertujuan untuk melakukan evaluasi terkait penentuan nilai TAC berbasis data pengukuran realisasi aktual pengoperasian kereta api (KA) di lapangan. Berdasarkan data historis operasional KA yang tersedia serta informasi yang dibutuhkan dalam penentuan TAC, penelitian ini merancang konfigurasi sistem weigh-in-motion (WIM) yang dapat menghitung tonase dan jarak tempuh operasional seluruh KA dalam rentang waktu tertentu yang diinginkan. Penelitian ini juga menentukan 20 stasiun KA yang tersebar di delapan daerah operasional KA di Pulau Jawa sebagai lokasi penempatan sistem WIM untuk penentuan nilai TAC yang lebih realistis dan efektif.Kata Kunci: manajemen perkeretaapian, track access charge; weigh-in-motion; penempatan sensor.
Co-Authors Ali Sadiyoko Arbie Sianipar Bagus Arthaya Bin Hu Bonaventura Wijaya, Glenn Dilek Bilgin Tükel Faisal Wahab Faruqi, Ismail Gilang Buana Putra, Leonardus Jonathan Chandra Jonathan Chandra Jonathan Chandra Jonathan Chandra Md. Abdus Samad Kamal Michel Andrianto Gunarso Muhammad Zakiyullah Romdlony Nadana A Aziz Nathanlius, David Nazaruddin, Yul Rahmat Maulana Rashad Abul Khayr Raymond Christian Rizky Octavia, Ajeng Sigit P. Santosa Stephen I.C. Gulo Waluya, Muhammad Yul Y. Nazaruddin Yul Yunazwin Nazaruddin