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All Journal IPTEK The Journal of Engineering Jurnal Geosaintek
Purwadi Agus Darwito
Institut Teknologi Sepuluh Nopember
Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Earth & Planetary Sciences Electrical & Electronics Engineering Engineering Mechanical Engineering

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Design and Development of Fuzzy-PID Controller for Four-Wheeled Mobile Robotic Stability: A Case Study on the Uphill Road Brian Raafi’u; Purwadi Agus Darwito; Alex Taufiqurrohman Zain; Fitri Adi Iskandarianto; Herry Sufyan Hadi; Sefi Novendra Patrialova; Rakmad Amrinsyah Badrul Alam
IPTEK The Journal of Engineering Vol. 6 No. 1 (2020)
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23378557.v6i2.a7245

Abstract

Design intelligent control to maximize the performance of the Four-Wheeled Mobile Robot (FWMR) in case of uphill road problems. The variation of slope angle and load variation on the uphill road is applied to know the performance of the automatic control system on FWMR. The research is divided into three two covering, system identification, design system and simulation testing. The Rotary speed control system response with fuzzy-PID control method has a good performance by anticipating various tilt angle 5o. The system can through uphill with loads 11N with a steady time and fast travel time. The best travel time in the 5o tilt angle condition is 2 seconds with a 4m circuit length. This research concludes that fuzzy-PID control can be implemented and increase the dynamic response of the FWMR effectively on the uphill road problems.
IDENTIFIKASI MISORIENTATION SENSOR SEISMOGRAF BMKG MENGGUNAKAN METODE P-WAVE PARTICLE MOTION: STUDI DI PULAU SUMATERA BAGIAN UTARA Chichi Nurhafizah; Purwadi Agus Darwito; Wijayanto Wijayanto; Hendro Nugroho
Jurnal Geosaintek Vol. 11 No. 3 (2025)
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j25023659.v11i3.8974

Abstract

Analisis polaritas gelombang P dapat digunakan untuk mengevaluasi keakuratan orientasi sensor seismograf. Ketidaktepatan orientasi (misorientation) berpotensi menurunkan akurasi penentuan mekanisme sumber gempa bumi. Penelitian ini menganalisis orientasi sensor seismograf BMKG di wilayah Sumatera bagian utara dengan menggunakan metode P-Wave Particle Motion. Sebanyak 58 sensor berhasil dianalisis secara kuantitatif dan menghasilkan estimasi sudut orientasi aktual. Hasil menunjukkan bahwa sensor memiliki variasi misorientation berkisar antara 1° hingga 46°, dengan 15 sensor di antaranya menunjukkan nilai misorientation signifikan, yaitu RSSM (46°), MASM (28°), PAASI (27°), SLSM (24°), TPTI (23°), GESM dan SKSI (22°), TKSM dan BESM (20°), SMSM (19°), LTSM dan TASI (18°), PDSI (17°), serta PLSI dan KASAI (16°). Temuan ini menunjukkan ketidaksesuaian arah pemasangan sensor terhadap arah utara sejati, yang dapat menurunkan kualitas interpretasi data seismik, sehingga evaluas misorientation sensor berbasis data perlu dilakukan secara berkala guna menjaga reliabilitas data seismik nasional. Penelitian ini merupakan evaluasi sistematis berskala besar pertama terhadap orientasi sensor BMKG di Indonesia dengan memanfaatkan analisis gerak partikel gelombang teleseismik, sehingga memberikan dasar ilmiah penting bagi pengembangan standar kualitas jaringan seismograf di masa mendatang.
Co-Authors Alex Taufiqurrohman Zain Brian Raafi’u Chichi Nurhafizah Fitri Adi Iskandarianto Hendro Nugroho Herry Sufyan Hadi Rakmad Amrinsyah Badrul Alam Sefi Novendra Patrialova Wijayanto Wijayanto