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All Journal Mechatronics, Electrical Power, and Vehicular Technology CommIT (Communication & Information Technology) EMITTER International Journal of Engineering Technology Jurnal ELTEK
Niam Tamami
Electronics Engineering Polytechnic Institute of Surabaya
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

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A Combination of PD Controller and PIAFC for Stabilization of “x” Configuration Quadcopter Tamami, Niam; Pitowarno, Endra; Astawa, I Gede Puja
EMITTER International Journal of Engineering Technology Vol 2, No 1 (2014)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v2i1.13

Abstract

This paper presents a stabilization control method for “x” configuration quadcopter. The control method used the combination of PD (Proportional Derivative) controller and PIAFC (Proportional Integral Active Force Control). PD is used to stabilize quadcopter, and PIAFC is used to reject uncertainty disturbance (e.g. wind) by estimating disturbance torque value of quadcopter. The PD with PIAFC provided better result where PIAFC could minimize uncertain disturbance effect. The simulation has successfully give comparation about controller performance (PD, PD-AFC, PD-PIAFC) by calculate RMS (Root Mean Square) value. PD with AFC gives better result than PD. AFC optimization using PI (PD-PIAFC) give best result if compared with PD or PD-AFC. PD-PIAFC has lowest RMS value of result control signal, 0.0389 for constant disturbance and 0.1008 for fluctuated disturbance.Keywords:“x” configuration quadcopter, stability, PD, PIAFC.
An Implementation of Grouping Nodes in Wireless Sensor Network Based on Distance by Using k-Means Clustering Azhar, Rizqi Fauzil; Zainudin, Ahmad; Kristalina, Prima; Prakoso, Bagas Mardiasyah; Tamami, Niam
CommIT (Communication and Information Technology) Journal Vol 12, No 2 (2018): CommIT Vol. 12 No. 2 Tahun 2018
Publisher : Bina Nusantara University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21512/commit.v12i2.4714

Abstract

Wireless Sensor Network (WSN) is a network consisting of several sensor nodes that communicate with each other and work together to collect data from the surrounding environment. One of the WSN problems is the limited available power. Therefore, nodes on WSN need to communicate by using a cluster-based routing protocol. To solve this, the researchers propose a node grouping based on distance by using k-means clustering with a hardware implementation. Cluster formation and member node selection are performed based on the nearest device of the sensor node to the cluster head. The k-means algorithm utilizes Euclidean distance as the main grouping nodes parameter obtained from the conversion of the Received Signal Strength Indication (RSSI) into the distance estimation between nodes. RSSI as the parameter of nearest neighbor nodes uses lognormal shadowing channel modeling method that can be used to get the path loss exponent in an observation area. The estimated distance in the observation area has 27.9% error. The average time required for grouping is 58.54 s. Meanwhile, the average time used to retrieve coordinate data on each cluster to the database is 45.54 s. In the system, the most time-consuming process is the PAN ID change process with an average time of 14.20 s for each change of PAN ID. The grouping nodes in WSN using k-means clustering algorithm can improve the power efficiency by 6.5%.
Proportional Derivative Active Force Control for “X? Configuration Quadcopter Tamami, Niam; Pitowarno, Endra; Astawa, I Gede Puja
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 5, No 2 (2014)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (3066.116 KB) | DOI: 10.14203/j.mev.2014.v5.67-74

Abstract

This paper present a control method “x? configuration quadcopter. The control method used PDAFC (Proportional Derivative Active Force Control). PD is used to stabilize quadcopter, and AFC is used to reject uncertainty disturbance (e.g. wind) by estimate disturbance torque value of quadcopter. By adding PD with AFC, better result is obtained, AFC can minimize uncertainty disturbance effect. The sensitivity toward uncertainty disturbance can be set from sensitivity constant to get best performance of disturbance rejection. Stability analysis of PDAFC was evaluated by Lyapunov stability theory.
Rancang bangun bobot kartesian tiga axis untuk penyiraman tanaman yang akurat dan efisien Tamami, Niam; Hermawan, Hendhi; Hanafi, Nofria; Madyono, Madyono; Perdana, Galang; Ramadhan, Farhan
JURNAL ELTEK Vol. 20 No. 2 (2022): Oktober 2022
Publisher : Politeknik Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33795/eltek.v20i2.351

Abstract

Untuk menunjang lahan pertanian yang subur, diperlukan proses penyiraman agar kadar air dalam tanah tetap terjaga. Kegiatan penyiraman yang dilakukan secara manual membutuhkan banyak energi. Selain itu kadar air yang diberikan dengan penyiraman manual tidak dapat terukur secara akurat. Dalam makalah ini, kami mengusulkan penyiraman otomatis dengan robot kartesian tiga aksis untuk lahan dengan ukuran 3 meter x 1.5 meter dengan 171 titik tanam. Kontrol penyiraman berbasis fuzzy agar kadar air yang diberikan bisa akurat. Sebelum penyiraman, rata-rata kelembapan tanah pada lahan tersebut adalah 45.28% dengan nilai minimal 40%, nilai maksimal 50%. Target kelembapan tanah untuk setiap titik adalah 60%. Robot dapat menyiram seluruh titik tanam tanpa campur tangan manusia. Nilai kadar air rata-rata setelah penyiraman adalah 62.10%, dengan nilai minimal 60%, nilai maksimal 65%. Selain itu, juga telah dibandingkan mekanisme penyiraman dengan metode fuzzy dengan metode on-off, metode fuzzy mampu menghasilkan penyiraman yang lebih akurat dengan tingkat kesalahan rata-rata 2.10%, sedangkan metode on-off memiliki tingkat kesalahan rata-rata 5.32% terhadap target nilai kelembapan tanah. Metode fuzzy juga lebih efisien waktu dalam penyiraman yaitu 7 detik hingga 8 detik, sedangkan metode onoff membutuhkan waktu penyiraman 10 detik hingga 15 detik.   ABSTRACT To support fertile agricultural land, a watering process is needed so that the water content in the soil is maintained. Watering activities carried out manually require a lot of energy. In addition, the water content given by manual watering cannot be measured accurately. In this paper, we propose automatic watering with a three-axis Cartesian robot for land with a size of 3 meters x 1.5 meters with 171 planting points. Fuzzy based watering control so that the water content given can be accurate. Before watering, the average soil moisture on the land was 45.28% with a minimum value of 40%, a maximum value of 50%. The target soil moisture for each point is 60%. The robot can water the entire planting point without human intervention. The average water content value of watering is 62.10%, with a minimum value of 60%, a maximum value of 65%. In addition, also compared with the application error with the fuzzy method with the on-offmethod, the fuzzy method is able to produce more accurate watering with an average error rate of 2.10%, while the on-off method has an average error of 5.32% against the soil moisture target. The fuzzy method is also more time efficient in watering, which is 7 seconds to 8 seconds, while the on-off method requires a watering time of 10 seconds to 15 seconds.
Co-Authors Abd. Rasyid Syamsuri Azhar, Rizqi Fauzil Endra Pitowarno Hanafi, Nofria Hendhi Hermawan I Gede Puja Astawa Madyono, Madyono Perdana, Galang Prakoso, Bagas Mardiasyah Prima Kristalina Ramadhan, Farhan