Articles
<![CDATA[Sensor Coordination for Behavior of Search Robot Using Simultaneous Localization and Mapping (SLAM) ]]>
<![CDATA[Indra Adji Sulistijono]]>;
<![CDATA[Endah Suryawati N]]>;
<![CDATA[Eko Henfri B]]>;
<![CDATA[Ali Husein A]]>;
<![CDATA[Ananda Verdi S]]>
<![CDATA[ IPTEK The Journal of Engineering Vol 2, No 1 (2015) ]]>
Publisher : <![CDATA[Lembaga Penelitian dan Pengabdian kepada Masyarakat ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.12962/j23378557.v2i1.a473
<![CDATA[We developed a robot for searching victims for survivors of natural disasters. Almost all robots need to navigate a state in the environment to help people around them, therefore the robot should have performance a mapping system. Thus improve the performance of robots in knowing the obstacles, the position and the direction toward the robot with the task of each sensor is to detect obstacles or objects that exist in the use of ultrasonic sensors to avoid bumping into obstacles, to detect the position and determine the distance of the robot using a rotary sensor encoder and to determine the direction toward, direction and elevation angle of the robot using IMU sensor. Whole of the sensor is set by the microcontroller STM32F407VGT6 that sent data from each sensor to a PC using XBee Pro. Therefore, robot create a mapping with OpenGL on the PC. Mapping system plays an important role for fast and accurate to the destination. We conclude, in the robot SLAM method depends on the precision of the data in the sensor US2 (Right), US4 (Left) and the rotary encoder. The test results of the output data at the right ultrasonic sensor produces error US2 16.9%, 14.6% US4 left ultrasonic and rotary encoder sensor error to 19.45%.]]>
<![CDATA[PENCARIAN JALUR TERPENDEK DALAM PROSES AUTODOCKING PADA MOBILE ROBOT MENGGUNAKAN ARTIFICIAL BEE COLONY ]]>
<![CDATA[Safriudin Rifandi]]>;
<![CDATA[Indra Adji Sulistijono]]>;
<![CDATA[Son Kuswadi]]>
<![CDATA[ INOVTEK POLBENG Vol 9, No 2 (2019): INOVTEK VOL.9 NO 2 - 2019 ]]>
Publisher : <![CDATA[POLITEKNIK NEGERI BENGKALIS ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
Full PDF (205.146 KB)
|
DOI: 10.35314/ip.v9i2.1009
<![CDATA[Proses autodocking pada mobile robot merupakan sebuah kemampuan tambahan yang dapat dimiliki oleh sebuah robot. Untuk dapat melakukan proses tersebut, robot terlebih dahulu harus dapat mencari tempat docking station terdekat. Selain itu, robot membutuhkan pemandu agar dapat menuju ke docking station terdekat dengan tepat dan aman. Untuk mendapatkan jalur terdekat, dibutuhkan posisi terakhir robot saat mendeteksi baterai dalam keadaan akan habis. Posisi robot tersebut sebagai masukan bagi artificial bee colony untuk menghasilkan jalur terdekat yang dapat memandu robot menuju docking station terdekat. Artificial bee colony digunakan sebagai optimasi pencarian tempat docking station yang jarak tempuhnya terdekat atau terpendek dari posisi robot serta aman dari halangan atau obstacle. Dari hasil percobaan, metode artificial bee colony mampu untuk mendapatkan jalur terpendek menuju lokasi docking station serta jalur yang didapatkan juga aman dari halangan. Jumlah populasi lebah yang digunakan sangat mempengaruhi jarak terdekat yang didapatkan oleh metode artificial bee colony. Semakin banyak populasi yang digunakan, maka semakin dekat jarak yang didapatkan oleh metode artificial bee colony. Jumlah iterasi juga mempengaruhi jarak terdekat yang didapatkan oleh artificial bee colony. Semakin banyak jumlah iterasi yang digunakan, maka semakin dekat jarak yang didapatkan meskipun jumlah populasi yang digunakan sama.]]>
<![CDATA[PEMETAAN 3 DIMENSI UNTUK MENENTUKAN JALUR EVAKUASI ALTERNATIF PADA SMART ROBOT RESCUE ]]>
<![CDATA[Rodik Wahyu Indrawan]]>;
<![CDATA[Indra Adji Sulistijono]]>;
<![CDATA[Achmad Basuki]]>
<![CDATA[ INOVTEK POLBENG Vol 9, No 2 (2019): INOVTEK VOL.9 NO 2 - 2019 ]]>
Publisher : <![CDATA[POLITEKNIK NEGERI BENGKALIS ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.35314/ip.v9i2.1013
<![CDATA[Penanganan evakuasi pasca bencana sangat membahayakan bagi korban maupun tim penyelamat yang akan melakukan evakuasi, khususnya area di dalam ruangan, ini disebabkan karena area yang belum terpetakan. Pada penelitian ini kami mengaplikasikan robot rescue untuk melakukan surve pada daerah pasca bencana, khususnya area di dalam ruangan (indoor area), Robot didesain dengan mekanik yang memungkinkan untuk melewati medan pasca bencana, sensor posisi yang diproses menggunakan metode odometry untuk melakukan rekam data pergerakan yaitu posisi dan orientasi dari robot, sensor observasi yang di proses dengan Kalman filter untuk melakukan deteksi lingkungan area robot pada saat melakukan navigasi, data sensor dan aktuator pada robot akan diproses lebih lanjut oleh GCS (Ground Control Station) untuk menghasilkan informasi berupa peta atau denah area (indoor) dan jalur evakusi alternatif dengan metode Flood Fill. Hasil penelitian menunjukkan bahwa, sistem navigasi menggunakan odometry pada area pasca bencana menghasilkan rekam posisi dan diperlukan perbaikan data posisi dan orientasi dengan menambahkan sensor absolute (menggunkan lokal GPS Global Positioning System atau IMU Intertial Measurement Unit). Fusion data motion model dan observation model menghasilkan pemetaan 3 dimensi dari area navigasi robot dan informasi jalur terpendek antara posisi victim dengan pintu emergencyyang terdekat, sehingga data peta dan jalur memungkinkan tim SAR (Search And Rescue) untuk lebih efektif dalam melakukan evakuasi terhadap korban pasca bencana pada area di dalam ruangan.]]>
<![CDATA[Sistem Navigasi dari Holonomic Mobile Robot untuk Membantu Tenaga Kesehatan dalam Pengiriman Logistik kepada Pasien ]]>
<![CDATA[Andy Yuniawan]]>;
<![CDATA[Muhammad Rois]]>;
<![CDATA[Indra Adji Sulistijono]]>;
<![CDATA[Ali Ridho Barakbah]]>;
<![CDATA[Zainal Arief]]>
<![CDATA[ Jurnal Inovtek Polbeng Seri Informatika Vol 6, No 2 (2021) ]]>
Publisher : <![CDATA[P3M Politeknik Negeri Bengkalis ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.35314/isi.v6i2.1989
<![CDATA[Saat ini banyak tenaga kesehatan yang meninggal akibat terinfeksi oleh COVID-19. Hal tersebut terjadi akibat dari salah satu tugas tenaga kesehatan yaitu untuk menjalankan pengiriman logistik kepada pasien sehingga kontak antara tenaga kesehatan dan pasien COVID-19 sering terjadi. Mobile robot dianggap sebagai solusi yang tepat untuk mengatasi permasalahan tersebut. Dengan mobile robot, rumah sakit atau tempat untuk isolasi dapat meminimalkan kontak antara pasien yang terinfeksi dengan tenaga kesehatan dengan melakukan tugas pengiriman logistik. Untuk dapat mewujudkan tugasnya, mobile robot harus berinteraksi dengan lingkungan. Jika harus berinteraksi dengan lingkungan, ia harus dapat bernavigasi. Sistem navigasi merupakan sistem yang memandu mobile robot dari satu tempat ke tempat lainnya. Dalam penelitian ini, diterapkan sistem navigasi menggunakan position driver dan obstacle avoidance dengan fuzzy controller agar mobile robot mampu bergerak menghindari halangan ketika mencapai targetnya. Fuzzy controller digunakan pada obstacle avoidance karena merupakan algoritma untuk pengambilan keputusan yang memilik variabel lingustik yang mudah dipahami oleh manusia. Berdasarkan hasil pengujian yang telah dilakukan, mobile robot dengan sistem navigasi yang diusulkan dapat melakukan tugas pengiriman logistik sehingga dapat mengurangi kontak antara pasien COVID-19 dengan tenaga kesehatan.]]>
<![CDATA[Automatic Cardiac Segmentation Using Triangle and Optical Flow ]]>
<![CDATA[Riyanto Sigit]]>;
<![CDATA[Ali Ridho Barakbah]]>;
<![CDATA[Indra Adji Sulistijono]]>;
<![CDATA[Adam Shidqul Aziz]]>
<![CDATA[ Indonesian Journal of Electrical Engineering and Computer Science Vol 8, No 2: November 2017 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.11591/ijeecs.v8.i2.pp315-326
<![CDATA[Cardiac function assessment plays an important role in daily cardiology and ultrasound. Full automatic cardiac segmentation is a challenging study because cardiac ultrasound imaging has low contrast and irregular moves. In this research, full automatic cardiac segmentation for cardiac diseases is presented. The technique used Initial Center Boundary, Pre-processing, Triangle Segmentation and Optical Flow. The first step is determining the initial center boundary. The second step is using Pre-processing to eliminate noise. The third step is Triangle Segmentation to detect cardiac boundary and reconstruct the accurate border. The last step is applying Optical Flow method to detect and track the border for every frame in a cardiac video. The performance segmentation for assessment errors cardiac cavity obtained an average triangle 8.18%, snake 19.94% and watershed 15.97%. The experiments showed that triangle method is able to find and improve the segmentation of cardiac cavity images with accurate. The result can be seen that error between system and average of users is only less than 5.6%. This indicates that this method is effective to segment and tracking cardiac cavity in a cardiac video.]]>
<![CDATA[Pengukuran Nilai Densitas pada Minyak Pelumas Sepeda Motor dengan Gelombang Ultrasonik ]]>
<![CDATA[Ahmad Fauzi Firmansyah]]>;
<![CDATA[Agus Indra Gunawan]]>;
<![CDATA[Indra Adji Sulistijono]]>;
<![CDATA[Denny Hanurawan]]>
<![CDATA[ Jurnal Rekayasa Elektrika Vol 18, No 1 (2022) ]]>
Publisher : <![CDATA[Universitas Syiah Kuala ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
Full PDF (2191.742 KB)
|
DOI: 10.17529/jre.v18i1.24919
<![CDATA[Density is a measure of the mass of each unit volume of an object, the higher the density of an object, the greater the mass of each volume. The density value can be used to distinguish the characteristics of lubricating oils that are prone to contamination with solid or liquid particles. The density value is also affected by changes in temperature, the higher the temperature of the lubricating oil, the smaller the density value. The regulations in force in Indonesia with the ASTM D1298-12b standard density test method state that the measurement uses a temperature of 15℃. In this study, the density measurement value was obtained at a temperature of 28℃ so it required a value conversion using the ASTM 53B table about the density correction factor. The technique of testing the material without damaging the test object using an ultrasonic sensor is used to measure the density value of motorcycle lubricating oil. Measurements are made by transmitting a 3 MHz ultrasonic trigger signal that can penetrate each medium with different characteristics. The received echo signal produces information about the distance between the medium, the speed of sound, and the acoustic impedance. The results of the measurement of 11 samples of motorcycle lubricating oil both in new and used conditions using the acoustic impedance method resulted in an accuracy of 93,6% or 0,058 kg/dm3 when compared to the value measured using a pycnometer. The MPX-2-C sample measurement showed the lowest error of 0,41% or 0,004 kg/dm3.]]>
<![CDATA[Pengukuran Nilai Densitas pada Minyak Pelumas Sepeda Motor dengan Gelombang Ultrasonik ]]>
<![CDATA[Ahmad Fauzi Firmansyah]]>;
<![CDATA[Agus Indra Gunawan]]>;
<![CDATA[Indra Adji Sulistijono]]>;
<![CDATA[Denny Hanurawan]]>
<![CDATA[ Jurnal Rekayasa Elektrika Vol 18, No 1 (2022) ]]>
Publisher : <![CDATA[Universitas Syiah Kuala ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.17529/jre.v18i1.24919
<![CDATA[Density is a measure of the mass of each unit volume of an object, the higher the density of an object, the greater the mass of each volume. The density value can be used to distinguish the characteristics of lubricating oils that are prone to contamination with solid or liquid particles. The density value is also affected by changes in temperature, the higher the temperature of the lubricating oil, the smaller the density value. The regulations in force in Indonesia with the ASTM D1298-12b standard density test method state that the measurement uses a temperature of 15℃. In this study, the density measurement value was obtained at a temperature of 28℃ so it required a value conversion using the ASTM 53B table about the density correction factor. The technique of testing the material without damaging the test object using an ultrasonic sensor is used to measure the density value of motorcycle lubricating oil. Measurements are made by transmitting a 3 MHz ultrasonic trigger signal that can penetrate each medium with different characteristics. The received echo signal produces information about the distance between the medium, the speed of sound, and the acoustic impedance. The results of the measurement of 11 samples of motorcycle lubricating oil both in new and used conditions using the acoustic impedance method resulted in an accuracy of 93,6% or 0,058 kg/dm3 when compared to the value measured using a pycnometer. The MPX-2-C sample measurement showed the lowest error of 0,41% or 0,004 kg/dm3.]]>
<![CDATA[ANALISIS KINERJA SAYAP ORNITHOPTER SEPERTI-BURUNG SEDERHANA ]]>
<![CDATA[Sandi, Aris]]>;
<![CDATA[Sulistijono, Indra Adji]]>;
<![CDATA[Ningrum, Endah Suryawati]]>
<![CDATA[ Scientific Journal of Mechanical Engineering Kinematika Vol 8 No 2 (2023): SJME Kinematika Desember 2023 ]]>
Publisher : <![CDATA[Mechanical Engineering Department, Faculty of Engineering, Universitas Lambung Mangkurat ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
<![CDATA[An ornithopter or flapping-wing is a robot that resembles the wings’ mechanics of birds, insects or bats. The application of this type of UAV ranges from photography to the military. This study's main discussion is designing and constructing the ornithopter wing mechanical system with a double-joint wing flapping system. The novelty submitted in this study was the material used to construct the ornithopter wing, namely rod carbon for the skeleton and plastic for the wing. The aim was to discover the aerodynamic performance of the wing and the whole ornithopter. The study results showed that for single wing, the value of CL/CD was high. However, the ornithopter design should be improved to get the thrust force higher than drag force. In addition, the velocity starts to increase stably at throttle 33.3%. Furthermore, for the ornithopter, it was found that the lift force was greater than the down force, so that, theoretically, the robot could fly. The largest lift occurred when the frequency values were 0.88 and 0.97]]>
<![CDATA[Parameter Adjustment of EROS Humanoid Robot Soccer using a Motion Visualization ]]>
<![CDATA[Risnumawan, Anhar]]>;
<![CDATA[Febrianto, Rokhmat]]>;
<![CDATA[Sulistijono, Indra Adji]]>;
<![CDATA[Kusumawati, Eny]]>
<![CDATA[ Journal of Computer, Electronic, and Telecommunication (COMPLETE) Vol. 3 No. 1 (2022): July ]]>
Publisher : <![CDATA[Telkom University ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.52435/complete.v2i1.203
<![CDATA[Humanoid robot is a robot whose overall appearance is formed based on the human body and can interact with equipment and the environment created by humans. The robot's balance becomes fundamental in carrying out various tasks in designing humanoid robots. To deal with this, the adjustment of the humanoid robot movement is crucial in this work, research related to the virtual visualization of robots. Virtual robot visualization can be done by creating a simulator that contains dynamic parameters, including the physics of the robot. With the simulation containing dynamic parameters, the humanoid robot movement can be tried many times until the robot movement is robust. Applying the URDF (Unified Robot Description Format) model to the Gazebo simulator, which is supported by the ROS (Robot Operating System) framework, can make a simulator with dynamic parameters mimicking a real environment. In order to make a robust robot motion, feedback is needed in position and torque to find out the difference between simulation and reality. On the other hand, simulations can be done without cost or risk and, most importantly, mimic the actual robot soccer environment.]]>
<![CDATA[Sistem Lokalisasi Mobile-Robot Pertanian Otonom Berbasis Ultra-Wideband (UWB) dan Sensor Inersia ]]>
<![CDATA[Bagus Muliawan, Nobby]]>;
<![CDATA[Sulistijono, Indra Adji]]>
<![CDATA[ The Indonesian Journal of Computer Science Vol. 12 No. 1 (2023): The Indonesian Journal of Computer Science ]]>
Publisher : <![CDATA[AI Society & STMIK Indonesia ]]>
Show Abstract
|
Download Original
|
Original Source
|
Check in Google Scholar
|
DOI: 10.33022/ijcs.v12i1.3135
<![CDATA[Sitem kendali pergerakan kendaraan pertanian otonom membutuhkan sistem lokalisasi yang akurat. Pada penelitian ini, penentuan posisi robot otonom berbasis DWM1000 dan sensor inersia diusulkan. Algoritma Trilaterasi digunakan untuk mendapatkan posisi berdasarkan 3 titik anchor terhadap robot. Sistem UWB (Ultra-Wideband) menghitung jarak dengan menggunakan TDOA (Time Difference of Arrival) dengan perhitungan SDS-TWR (Symetrical Double Sided-Two Way Ranging) untuk menentukan jarak. Data posisi yang didapatkan kemudian disaring dengan Kalman-filter pada aksis X dan Y. Berdasarkan pengujian experimen sensor UWB pada mobile robot pertanian otonom, didapatkan hasil akurasi yang cukup baik dengan nilai eror simpangan rata-rata sebesar 0,33m]]>
