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All Journal International Journal of Electrical and Computer Engineering MEDIA KOMUNIKASI TEKNIK SIPIL Jurnal Teknik ITS JURNAL KARYA TEKNIK SIPIL IPTEK Journal of Proceedings Series TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Jurnal Penelitian Hasil Hutan Jurnal Ilmiah Kursor Journal of Engineering and Technological Sciences Jurnal Riset Industri Seminar Nasional Informatika (SEMNASIF) Prosiding Forum Studi Transportasi Antar Perguruan Tinggi Jurnal Riset Industri Hasil Hutan Seminar Nasional Teknologi Informasi Komunikasi dan Industri Gelar : Jurnal Seni Budaya JAVA Journal of Electrical and Electronics Engineering Fairness and Justice: Jurnal Ilmiah Ilmu Hukum Indonesian Journal of Electrical Engineering and Computer Science Indonesia Berdaya JAREE (Journal on Advanced Research in Electrical Engineering) Jurnal Pengabdian Masyarakat Indonesia Jurnal Nasional Teknik Elektro dan Teknologi Informasi Sewagati Journal of Contemporary Law Studies Indonesian Journal of Law and Justice
Djoko Purwanto
Departemen Teknik Elektro Institut Teknologi Sepuluh Nopember
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Object Extraction Using Probabilistic Maps of Color, Depth, and Near-Infrared Information Muhammad Attamimi; Kelvin Liusiani; Astria Nur Irfansyah; Hendra Kusuma; Djoko Purwanto
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 4, No 1 (2020): April
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j25796216.v4.i1.106

Abstract

Object extraction is one of the important and chal-lenging tasks in the computer vision and/or robotics ? elds.This task is to extract the object from the scene using anypossible cues. The scenario discussed in this study was the objectextraction which considering the Space of Interest (SOI), i.e.,the three dimensional area where the object probably existed.To complete such task, the object extraction method based onthe probabilistic maps of multiple cues was proposed. Thanksto the Kinect V2 sensor, multiple cues such as color, depth, andnear-infrared information can be acquired simultaneously. TheSOI was modeled by a simple probabilistic model by consideringthe geometry of the possible objects and the reachability of thesystem acquired from depth information. To model the color andnear-infrared information, a Gaussian mixture models (GMM)was used. All of the models were combined to generate theprobabilistic maps that were used to extract the object fromthe scene. To validate the proposed object extraction, severalexperiments were conducted to investigate the best combinationof the cues used in this study.Keywords: color information, depth information, near-infrared information, object extraction, probabilistic maps.
Design and Test of Lower Part Humanoid Dancer Robot to Do Foot Lifting Move of Remo Dance Muhammad Hilman Fatoni; Muchammad Ainur Fahd; Djoko Purwanto
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 3, No 1 (2019): April
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j25796216.v3.i1.72

Abstract

Development of robotic technology is advancing very rapidly, especially the development of humanoid robots. Humanoid robots have been used for various types of functions in various fields, including in the world of military, medical, industrial, and even in general use through commercial sales. Dancer Robot is one type of robot used to perform certain dances. The dance performed depends on the type of robot. There are dances performed by wheeled robots in groups, and there are also dances performed by humanoid robots. This  study carried out design and testing of humanoid dancer robot’s lower part to do foot lifting and other basic movements of dance. In foot lifting, the lower part of robot must be able to maintain balance and hold the load from the upper part so it does not fall. The distance of lifted foot also must have sufficient height from the floor. Based on robot design, the length of upper legs are 93.62 mm and lower legs are 93.00 mm. Robot able to make stance up to 8.5 cm wide from left to right leg and capable of lifting foot with height 6.5 cm from the floor without falling.Keywords: HMC58831, navigation, robot.
Navigasi Robot Penjaga Gawang Berdasarkan Prediksi Posisi dan Waktu Kedatangan Bola Setiawardhana; Rudy Dikairono; Djoko Purwanto; Tri Arief Sardjono
Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 9 No 3: Agustus 2020
Publisher : Departemen Teknik Elektro dan Teknologi Informasi, Fakultas Teknik, Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1615.99 KB) | DOI: 10.22146/.v9i3.295

Abstract

Research on wheeled soccer robots has been developed especially for the accuracy of the object detection and classification. This paper solves the problem for ball's position and arrival time prediction also its navigation to block the ball. Previous research used Single Layer Neural Network (SLNN) and Two Layer Neural Network (TLNN) methods. This paper propose a Modified Two-Layer Neural Network (MTLNN) algorithm for increasing the prediction accuracy for ball’s position and its arrival time, also Goalkeeper Robot Navigation (GKRN) algorithm for its navigation. The algorithm was created by modifying the TLNN architecture in the number of nodes to eight inputs and two outputs, with the number of hidden being designed as needed. The accuracy of the prediction greatly affects ball blockade because it is used to navigate the robot. The GKRN algorithm was created by modifying the membership function of the Fuzzy Inferences System (FIS), which is adjusted to the robot's needs. The results showed an increase in prediction accuracy from up to 20 times better for ball position and 4 times better for the arrival time of the ball. Overall, the navigation system obtained a successful rate of 90% for blocking the ball.
Autopilot Pesawat Tanpa Awak Menggunakan Algoritme Genetika untuk Menghilangkan Blank Spot Ronny Mardiyanto; Muhammad Ichlasul Salik; Djoko Purwanto
Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 11 No 1: Februari 2022
Publisher : Departemen Teknik Elektro dan Teknologi Informasi, Fakultas Teknik, Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1669.33 KB) | DOI: 10.22146/jnteti.v11i1.2492

Abstract

This paper presents the autopilot of unmanned aerial vehicles (UAV) with the ability to minimize blank spots on aerial mapping using the genetic algorithm. The purpose of the developed autopilot is to accelerate the times required for aerial mapping and save battery consumption. Faster time in conducting aerial mapping saves operational costs, saves battery consumption, and reduces UAV maintenance costs. The proposed autopilot has the ability to analyze blank spots from aerial shots and optimize flight routes for re-photography. The genetic algorithm was applied to obtain the shortest distance, which was done to save battery consumption and flight time. When developing the autopilot, the operator would manually set the flight route, then the aircraft would fly according to that route. The unstable wind factor has caused a shift in the flight route, which correspondingly caused blank spots. After all flight routes were traversed, the system developed would analyze the location of the blank spots. The new flight route was calculated using the genetic algorithm to determine the shortest distance from all the blank spot locations. The system developed consisted of a UAV equipped with autopilot and a ground control station (GCS). At the time of flight, the UAV would send the coordinates of the path traversed to the GCS to calculate the blank spot analysis. After the flight mission has been completed, the GCS would create a new route and send it to the UAV. The test carried out was an aircraft with a height of 120m using a 4S 4,200 mAh 25C lipo battery, and the percentage of throttle when flying straight was 30%. The results obtained are that the developed autopilot saves 46.4% of the time and saves 41.18% of battery capacity compared to conventional autopilots.
Wind direction sensor based on thermal anemometer for olfactory mobile robot Helmy Widyantara; Muhammad Rivai; Djoko Purwanto
Indonesian Journal of Electrical Engineering and Computer Science Vol 13, No 2: February 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v13.i2.pp475-484

Abstract

A wind direction sensor has been implemented for many applications, such as navigation, weather, and air pollution monitoring. In an odor tracking system, the wind plays the important role to carry gas from its source. Therefore, the precise, low-cost, and effective wind direction sensor is required to trace the gas source. In this study, a new design of wind direction sensor has been developed using thermal anemometer principle with the main component of the positive temperature coefficient thermistor. Three anemometers each of which has different directions are used as inputs for the neural network to determine the direction of the wind automatically.The experimental results show that the wind sensor system is able to detect twelve wind directions. A mobile robot equipped with this sensor system can navigate to a wind source in the open air with a success rate of 80%.This system is expected to increase the success rate of the mobile robot in searching for dangerous leaking gas in the open air.
Deteksi Objek Pada Mobil Otonom dengan Kamera Termal Infra Merah Mannarul Hidayah; Astria Nur I Irfansyah; Djoko Purwanto
Jurnal Teknik ITS Vol 11, No 3 (2022)
Publisher : Direktorat Riset dan Pengabdian Masyarakat (DRPM), ITS

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23373539.v11i3.94793

Abstract

Mobil otonom adalah mobil yang beroperasi dengan aman dan efektif tanpa adanya kendali manusia. Mobil ini terdiri dari sistem yang dapat berinteraksi dengan lingkungan. Mobil otonom dilengkapi sensor untuk dapat mengetahui kondisi sekitar. Saat ini kamera termal telah banyak diterapkan pada mobil otonom karena kemampuan menerima gelombang cahaya inframerah. Penelitian ini bertujuan untuk mengembangkan riset kamera termal agar dapat diaplikasikan dan digunakan pada I-CAR ITS. Metode utama yang digunakan dengan penginderaan dan pemrosesan visual komputer. pengambilan data dilakukan saat siang dan malam hari untuk mendapatkan perbandingan data yang akan dideteksi dengan menggunakan metode MRCNN (Mask-Regional Based Convolutional Neural Network). Arsitektur yang digunakan adalah FPN dan RESNET 101. Penelitian ini dirancang untuk mendeteksi objek terdiri dari mobil, motor, sepeda, dan manusia. Perancangan perangkat keras penelitian ini diantaranya kamera termal Flir one, laptop, smartphone, dan ONT. Pada penelitian ini matahari dapat mempengaruhi kualitas gambar yang diakibatkan radiasi sinar matahari. Dari hasil evaluasi didapatkan nilai mAP 70.8%, presisi 84,8%,rasio ROI dari tiap kelas adalah 33%,dan rata-rata tingkat kepercayaan 90%. Jarak maksimum deteksi siang hari sampai dengan 10 meter dan 5 meter untuk pengujian malam hari. Sistem mendeteksi dengan kecepatan 4,5 fps, dari acuan tersebut mobil otonom(ICAR) direkomendasikan melaju maksimal adalah 16 km/jam.
Pelatihan Video Editing untuk Menunjang Pengembangan Perangkat Live Streaming Studio Portable Cerdas di Pondok Pesantren Qomaruddin Gresik Ronny Mardiyanto; Ruth Johana Hutagalung; Riky Tri Yunardi; Riza Agung; Syahri Muharom; Djoko Purwanto; Rudy Dikairono; Muhammad Rivai; Muhammad Attamimi; Totok Mujiono; Devy Kuswidiastuti
Sewagati Vol 7 No 6 (2023)
Publisher : Pusat Publikasi ITS

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j26139960.v7i6.737

Abstract

Permasalahan yang ada di beberapa pondok pesantren di Jawa Timur, khususnya di Pondok Pesantren Qomaruddin Gresik adalah adanya kesenjangan teknologi dan potensi daerah yang belum dikelola secara profesional. Metode dakwah yang selama ini dilakukan masih menggunakan metode konvensional, yaitu berkumpul di sebuah tempat (masjid/mushola), kemudian para santri menyimak ajaran-ajaran yang disampaikan oleh seorang Kiai atau Ustaz. Digitalisasi setiap kajian/pengajian akan menyebarkan nilai media dakwah menjadi lebih luas. Monetisasi melalui platform seperti Youtube, Facebook, atau media lain dapat menjadi pemasukan tambahan bagi pondok pesantren. Pengabdian kepada masyarakat ini yaitu memberikan pelatihan video editing yang akan mendukung pengembangan perangkat live streaming studio portable cerdas dan menggali Informasi untuk memastikan solusi yang diterapkan tepat dan relevan dengan kebutuhan yang ada. Kegiatan ini telah dilakukan pada hari Selasa, 11 Juli 2023 di Pondok Pesantren Qomaruddin Gresik. Hasil survei kepuasaan menunjukkan bahwa kegiatan ini sangat bermanfaat dan perlu dilanjutkan.
Design of mapping system for domestic service robot using light detection and ranging Attamimi, Muhammad; Gunawan, Felix; Purwanto, Djoko; Dikairono, Rudy; Irfansyah, Astria Nur
Bulletin of Electrical Engineering and Informatics Vol 13, No 6: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i6.8007

Abstract

Service robots are becoming increasingly essential in offices or domestic environments, usually called domestic service robots (DSR). They must navigate and interact seamlessly with their surroundings, including humans and objects, which relies on effective mapping and localization. This study focuses on mapping, employing the light detection and ranging (LiDAR) sensor. The sensor, tested at proximity, gathers distance data to generate two-dimensional maps on a mini-PC. Additionally, it provides rotational positioning and robot odometry, broadening coverage through robot movement. A microcontroller with wireless smartphone connectivity facilitates control via Bluetooth. The robot is also equipped with ultrasonic sensors serving as a bumper. Testing in rooms of varying sizes using three methods (i.e., Hector simultaneous localization and mapping (SLAM), Google Cartographer, and real-time appearance-based mapping (RTAB-Map)) yielded good quality maps. The best F1-measure value was 96.88% achieved by Google Cartographer. All the results demonstrated the feasibility of this approach for DSR development across diverse applications.
Analisis Ekonomi Pada Sistem Jaringan Jalan Raya Dengan Jalur Trem Basuki, Kami Hari; Purwanto, Djoko; Indriastuti, Amelia Kusuma; Dermawan, Dimas Imam
Prosiding Forum Studi Transportasi Antar Perguruan Tinggi Vol 11 No 2 (2024): Prosiding Forum Studi Transportasi antar Perguruan Tinggi
Publisher : FSTPT Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

This study aims to analyze the economic value of travel costs using vehicle-kilometers traveled (VKT) and vehicle-hours traveled (VHT) as inputs from the previous research. Vehicle travel costs include vehicle operating costs (VOC) and the value of time calculated using the PCI empirical formula method and the income approach method with the GDRP value. The results show that travel costs under existing conditions were Rp 337,460,866, while with the addition of the tram line, it increased to Rp 393,363,787, indicating a 16.57% increase from existing conditions. To mitigate the increased travel costs, traffic management measures such as implementing a one-way system and optimizing traffic signals (mitigation 2) were selected, resulting in a travel cost of Rp 347,928,230, representing 3.10% of the existing conditions. This study supports the development of the tram line in the Kota Lama Semarang to boost tourism while considering its impact on the road network's performance. ABSTRAK Rencana pengembangan jalur trem di kawasan Kota Lama Semarang dimaksudkan untuk mendukung wisata di wilayah ini, penempatan jalur trem yang sebidang dengan jalan eksisting akan memiliki dampak pada kinerja jaringan jalan di sekitarnya. Salah satu perubahan kinerja jaringan jalan yang terjadi adalah biaya perjalanan. Studi ini akan berfokus untuk menganalisis nilai ekonomi yaitu biaya perjalanan dengan menggunakan input panjang perjalanan total dan tundaan total dalam penelitian sebelumnya. Biaya perjalanan dari kendaraan meliputi BOK dan nilai waktu menggunakan metode rumus empiris PCI, serta metode income approach denagn nilai PDRB. Hasil biaya perjalanan dengan kondisi eksisiting didapatkan sebesar Rp 337.460.866, dan untuk kondisi dengan jalur trem didapatkan sebesar Rp 393.363.787, terdapat peningkatan sebesar 16,57% dari kondisi eksisting. Untuk meminimalisir kenaikan biaya perjalanan dipilih manajemen lalu lintas berupa penggunaan sistem satu arah dan optimasi sinyal (mitigasi 2) dengan biaya perjalanan sebesar Rp 347.928.230 yaitu 3,10% dari kondisi eksisting.
Kebijakan Pemerintah Desa Gumirih Kecamatan Singojuruh Kabupaten Banyuwangi Dalam Pencegahan Penyalahgunaan Dana Desa Berdasarkan Undang-Undang Nomor 6 Tahun 2014 Tentang Desa Rahayu, Vidya Windi; Purwanto, Djoko
Indonesian Journal of Law and Justice Vol. 1 No. 3 (2024): March
Publisher : Indonesian Journal Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.47134/ijlj.v1i3.2038

Abstract

Penelitian ini dilakukan untuk mengetahui Kebijakan Pemerintah Desa Gumirih Kecamatan Singojuruh Kabupaten Banyuwangi dalam Pencegahan Penyalahgunaan Dana Desa. Jenis penelitian yang dilakukan dalam penelitian ini adalah penelitian empiris dengan pendekatan kualitatif yaitu metode penelitian hukum yang berfungsi untuk melihat hukum dalam arti nyata dan meneliti bagaimana bekerjanya hukum dilingkungan masyarakat. Desa merupakan entitas pemerintahan terkecil yang berbeda dari daerah, Dalam konteks ini kepala desa mempunyai kekuatan yang lebih besar daripada elemen lain untuk mencegah penyalahgunaan dana desa tersebut. Kebijakan Pemerintah Desa Gumirih Kecamatan Singojuruh Kabupaten Banyuwangi telah sejalan dengan amanat undang-undang Nomor 6 Tahun 2014 tentang Desa. Mulai dari tahap perencanaan, pelaksnaan, penatausahaan, pelaporan dan pertanggungjawaban pembangunan kepada masyarakat dan Pemerintah Kabupaten Banyuwangi. Desa Gumirih telah memenuhin kriteria transparan dan bertanggungjawab yang artinya dapat diketahui oleh seluruh masyarakat. Pelaksanaan kegiatan dana desa berpedoman pada pedoman teknis yang ditetapkan oleh Bupati/walikota yang telah dianggarkan guna membiayai pembangunan dan pemberdayaan masyarakat yang dituangkan dalam rencana kerja pemerintah desa.
Co-Authors Achmad Jazidie Adrie Sentosa Ahmad Ikhwan Setiawan, Ahmad Ikhwan Ainuddin, Emha Amelia Kusuma Indriastuti Amelia Kusuma Indriastuti, Amelia Amina Sukma Dewi Anas Maulidi Utama Anda Ferwira Andri Widihandoko Andrian, Muhammad Yunus Anifatul Faricha Arhamsyah Arhamsyah, Arhamsyah Ari Santoso Ari Santoso Ari Santoso Astria Nur Irfansyah Attamimi, Muhammad Bima Sena Bayu Dewantara Bonifatius, Dwi Hastjarja Kustijana Budhi Haryanto Budi Tri Cahyana, Budi Tri Budiman, Fajar Chastine Fatichah Dermawan, Dimas Imam Devy Kuswidiastuti Diah Kusumawati, Diah Elfrin P. Hsb. Enny Zulaika EPF Eko Yulipriyono, EPF Epf. Eko Yulipriyono Felix Gunawan Furqan Aliyuddien Gangsarestu, Muhammad Soleh Garudio Kusuma Aji Handry Khoswanto Hani Avrilyantama Hany Ferdinando Hari Agus Sujono Harianto Harianto Haris Hariza Ekarinda Helmy Widyantara Hendra Kusuma Hendro Juwono Irfansyah, Astria Nur Ismiyati Ismiyati Jamhari Jamhari Kami Hari Basuki Kami Hari Basuki Kelvin Liusiani Kusuma, Hendra Siswanto M. Rivai Mannarul Hidayah Muchammad Ainur Fahd Muchammad Ainur Fahd Muhammad Attamimi Muhammad Hilman Fatoni Muhammad Ichlasul Salik Muhammad Rivai Muhammad Rivai Muhammad Rivai Muhammad Yunus Andrian Muharom, Syahri Nanda, Muhammad Achirul Naysila, Novita Prajna Wirya Kencana Putra Purbaningtyas, Retno Utami Putra, Karisma Trinanda Rahayu, Vidya Windi Retno Tri Wahyuni Rinne Nintasari Riza Agung Rizki Anhar R.P. Ronny Mardianto Ronny Mardiyanto, Ronny Rudy Dikairono Ruth Johana Hutagalung Setiawardhana Setiawardhana Setiawardhana Sonny H. Suryani, Santy Diah Suwito Suwito Takayuki Nagai Taufiq, Husen Totok Mujiono, Totok Tri Arief Sardjono Try Yuliandre Pajar Uroidhi, Ali Wahyudi Kushardjoko Widodo Budiharto Widodo Budiharto Widodo Budiharto Yunardi, Riky Tri