Article Per Year (5 Year)
p-Index From 2021 - 2026
1.286
P-Index
This Author published in this journals
All Journal Mechatronics, Electrical Power, and Vehicular Technology ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Jurnal Otomasi Kontrol dan Instrumentasi Teknomekanik
Tua Agustinus Tamba
Department of Electrical Engineering – University of Notre Dame, 275 Fitzpatrick Hall of Engineering, Notre Dame, IN 46556
Chemical Engineering, Chemistry & Bioengineering Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Mechanical Engineering

Published : 8 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 8 Documents
Search

 1 
Modelling and Identification of Oxygen Excess Ratio of Self-Humidified PEM Fuel Cell System Leksono, Edi; Pradipta, Justin; Tamba, Tua Agustinus
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 3, No 1 (2012)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (958.679 KB) | DOI: 10.14203/j.mev.2012.v3.39-48

Abstract

One essential parameter in fuel cell operation is oxygen excess ratio which describes comparison between reacted and supplied oxygen number in cathode. Oxygen excess ratio relates to fuel cell safety and lifetime. This paper explains development of air feed model and oxygen excess ratio calculation in commercial self-humidified PEM fuel cell system with 1 kW output power. This modelling was developed from measured data which was limited in open loop system. It was carried out to get relationship between oxygen excess ratio with stack output current and fan motor voltage. It generated fourth-order 56.26% best fit ARX linear polynomial model estimation (loss function = 0.0159, FPE = 0.0159) and second-order ARX nonlinear model estimation with 75 units of wavenet estimator with 84.95% best fit (loss function = 0.0139). The second-order ARX model linearization yielded 78.18% best fit (loss function = 0.0009, FPE = 0.0009).
Event-triggered robust formation control of multi quadrotors for transmission line inspection Tamba, Tua Agustinus; Cinun, Benedictus Christo Geroda; Nazaruddin, Yul Yunazwin; Romdlony, Muhammad Zakiyullah; Hu, Bin
Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 15, No 2 (2024)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/j.mev.2024.1106

Abstract

This paper proposes an event-triggered formation control scheme to manage the operation of multiple quadrotors in performing the inspection of a power transmission line. In particular, the problem of controlling such multi quadrotors to track the tower and/or cables of the transmission lines is considered. A multi-agent sliding mode control method is used for this purpose and is equipped with both a radial basis function neural network as an estimator of environmental wind disturbances, as well as an event-triggered scheduling scheme for the control execution framework. The proposed multi quadrotors control method is designed by considering the transmission tower/cable as the reference sliding surface. Simulation results are presented to illustrate the effectiveness of the proposed multi quadrotors control scheme when implemented in a case scenario of tracking the commonly-encountered shape of transmission cables. Simulation results are presented and show how the implementation of a position error-based event-triggered control enables all UAVs to track the desired position and maintain a pre-determined formation. In particular, all UAVs can minimize the tracking error within 0.05 m after reaching the desired positions since the control signal is updated if the error reaches such an error bound.
Rancang Bangun Purwarupa Manipulator Lengan Robot Dengan Tiga Derajat Kebebasan AYEGA, IDHAM HANIF; TAMBA, TUA AGUSTINUS; ARTHAYA, BAGUS MADE
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 11, No 3: Published July 2023
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v11i3.796

Abstract

ABSTRAKMakalah ini melaporkan hasil penelitian terkait rancang bangun suatu purwarupa manipulator lengan robot dengan tiga derajat kebebasan. Proses perancangan dilakukan dalam tiga tahap yang mencakup pemodelan matematis kinematika maju dan balik pada robot, desain dan simulasi purwarupa robot menggunakan pemrograman MATLAB dan SOLIDWORKS terintegrasi, dan konstruksi perangkat keras robot menggunakan teknolog 3D printing.Proses simulasi dan eksperimen selanjutnya dilakukan untuk membandingkan kesesuaian operasional dan kinerja perangkat keras dan model simulasi komputer yang telah dirancang. Berdasarkan hasil simulasi dan eksperimen, disimpulkan bahwa desain perangkat keras robot memiliki tingkat kepresisian yang sangat baik dengan batas kesalahan maksimum untuk solusi kinematika maju yang dihasilkan adalah sebesar 2.745% serta batas kesalahan maksimum untuk solusi kinematika balik adalah sebesar 0.06%.Kata kunci: lengan robot, kinematika, robotic toolbox, 3D printing ABSTRACTThe research reported in this paper was aimed at developing a prototype of a robotic arm/manipulator with three degrees of freedom. The prototype was developed in three main stages, namely forward and inverse kinematics modeling of the robot, simulation modeling of the prototype in MATLABSOLIDWORKS integrated environment, and finally the hardware development of the robot using 3D printing techniques. The operational performance of the constructed robotic hardware was then analyzed and compared with that of the developed simulation model. The experimental results of the robot performance evaluations suggested that the robot prototype has good operational precision performance in which the resulting maximum error for forward kinematics task is only about 2.745% whereas the resulting maximum error for inverse kinematics task is only about 0.06%.Keywords: robotic arm, forward kinematics, robotic toolbox, 3D printing
Perancangan Sistem Communication-Based Train Control (CBTC) Berbasis Sensor Fusion Nazaruddin, Yul Yunazwin; Faruqi, Ismail; Waluya, Muhammad Brahma; Tamba, Tua Agustinus; Widyotriatmo, Augie
Jurnal Otomasi Kontrol dan Instrumentasi Vol 10 No 2 (2018): Jurnal Otomasi Kontrol dan Instrumentasi
Publisher : Pusat Teknologi Instrumentasi dan Otomasi (PTIO) - Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/joki.2018.10.2.4

Abstract

Meningkatnya jumlah penduduk, terutama di kota-kota besar dunia menyebabkan kebutuhan akan transportasi juga meningkat. Salah satu moda transportasi yang banyak dikembangkan untuk menjawab kebutuhan tersebut adalah kereta api. Communication-Based Train Control (CBTC) adalah salah satu pengembangan dari sistem pengoperasian kereta api yang menggunakan sistem blok bergerak. Pada sistem blok bergerak, jarak aman antar kereta api tidak lagi ditentukan oleh blok-blok rel dengan panjang yang tetap, melainkan berdasarkan kecepatan serta posisi dari kereta api yang beroperasi pada suatu rel. Dengan demikian jarak aman antar kereta api dapat diminimalkan. Pada penelitian ini, digunakan miniatur kereta api untuk merancang sistem CBTC. Sensor yang digunakan adalah enkoder, Indoor Positioning System (IPS), Radio Frequency Identification (RFID). Data posisi dan kecepatan dari ketiga sensor tersebut diolah menggunakan algoritma sensor fusion berbasis Unscented Kalman Filter (UKF) untuk mendapatkan data posisi kereta api yang lebih akurat. Estimasi posisi kemudian digunakan untuk merancang algoritma kontrol sinkronisasi pada blok bergerak. Dari penelitian ini diketahui bahwa algoritma UKF dapat menghasilkan estimasi posisi kereta api dengan baik sehingga algoritma kontrol sinkronisasi pada blok bergerak juga dapat diterapkan dengan baik.
Implementasi Metode Kontrol Model Prediksi Terdistribusi untuk Kontrol Kereta Api Berbasis Sistem Komunikasi Tamba, Tua Agustinus; Dwi Putra, Ivan; Sadiyoko, Ali
Jurnal Otomasi Kontrol dan Instrumentasi Vol 13 No 1 (2021): Jurnal Otomasi Kontrol dan Instrumentasi
Publisher : Pusat Teknologi Instrumentasi dan Otomasi (PTIO) - Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/joki.2021.13.1.6

Abstract

Makalah ini memaparkan teknik pemodelan dan desain pengontrol pada dinamika kereta api yang beroperasi dengan sistem persinyalan blok bergerak pada kerangka teknologi pengontrolan kereta api berbasis sistem komunikasi atau communication-based train control (CBTC). Model dinamika sistem diturunkan berdasarkan diagram benda bebas sistem, sedangkan pengontrolan rangkaian kereta dirancang dengan algoritme kontrol model prediksi terdistribusi atau distributed model predictive control (DMPC). Gerak konvoi rangkaian kereta diasumsikan menggunakan topologi komunikasi searah dimana setiap rangkaian kereta hanya memperoleh informasi dari kereta di depannya. Dalam hal ini, setiap rangkain kereta memformulasikan permasalahan kontrol optimal lokal dan menentukan solusinya berdasarkan informasi variabel keadaan dari kereta lain terdekat. Tujuan implementasi metode DMPC yang ditinjau adalah untuk memastikan setiap rangkaian kereta pada konvoi mampu melacak kecepatan kendaraan referensi di posisi paling depan sambil mempertahankan jarak aman referensi tertentu dengan kereta terdekat lain. Hasil simulasi numerik terkait implementasi metode DMPC yang diusulkan menunjukkan bahwa baik deviasi antara kecepatan aktual dan kecepatan referensi maupun deviasi antara jarak antar kereta aktual dengan jarak antar kereta referensi pada konvoi menuju nol secara asimptotik. Hasil simulasi ini mengilustrasikan efektivitas dari metode kontrol berbasis DMPC yang diusulkan.      
Sistem Penentuan Lokasi Objek Target Untuk Manipulator Lengan Robot Berbasis Sensor Penglihatan Biaya Rendah Justin S. Budiman; Radifsya L. Desvabrahma; Idham H. Ayega; Tamba, Tua Agustinus
Jurnal Otomasi Kontrol dan Instrumentasi Vol 14 No 1 (2022): Jurnal Otomasi Kontrol dan Instrumentasi
Publisher : Pusat Teknologi Instrumentasi dan Otomasi (PTIO) - Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/joki.2022.14.1.3

Abstract

Pengembangan manipulator lengan robot cerdas yang fleksibel dan otonom serta dapat berinteraksi dengan lingkungan ruang kerjanya merupakan tantangan mendasar dalam studi dan penelitian robotika. Agar dapat melakukan tugasnya dengan baik, suatu manipulator lengan robot memerlukan sinyal masukan berupa informasi persepsional terkait lingkungan dan bidang kerjanya yang diperoleh dengan menggunakan berbagai jenis sensor. Sinyal masukan tersebut selanjutnya digunakan dalam skema sistem kontrol umpan balik untuk menghasilkan sinyal kontrol yang dapat memastikan robot bergerak secara tepat dan sesuai dengan tujuan operasionalnya. Makalah ini memaparkan metode deteksi objek target dan desain sistem kontrol umpan balik berbasis sensor penglihatan (kamera) biaya rendah. Proses deteksi dan kontrol ini ditujukan untuk menggerakkan end-effector dari suatu purwarupa lengan robot dari posisi awal ke posisi akhir referensi tertentu. Deteksi objek dilakukan dengan menggunakan kamera Pixy2 Cmucam5 yang dilengkapi dengan modul khusus pengolahan citra yang memungkinkannya untuk mendeteksi pola tertentu pada objek target. Dengan menggunakan analisis dan desain berbasis metode kinematika balik (inverse kinematics), informasi posisi awal objek target yang diperoleh kamera digunakan sebagai umpan balik untuk mengontrol pergerakan end-effector menuju posisi referensi yang diinginkan. Hasil eksperimen metode deteksi dan desain pengontrol dipaparkan pada makalah ini untuk mengilustrasikan keefektifan metode yang dikembangkan.
Rancang Bangun Sistem Deteksi Hama Tanaman Whiteflies Berbasis Jaringan Sensor Nirkabel dan Aplikasi Web Tamba, Tua Agustinus; Darwin, Stevanus; Solaiman, Gabriela; Reysan, Jason
Jurnal Otomasi Kontrol dan Instrumentasi Vol 16 No 2 (2024): Jurnal Otomasi Kontrol dan Instrumentasi
Publisher : Pusat Teknologi Instrumentasi dan Otomasi (PTIO) - Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/joki.2024.16.2.8

Abstract

One of the main challenges in farming activities is regarding efforts to detect and monitor pests, which can be used as a basis for determining correct pest control efforts. Greenhouse whitefish (GWF) is a dangerous pest that absorbs plant sap, causing plants to weaken or even die due to lack of nutrition. Efforts to detect GWF pests are generally carried out manually using yellow sticky traps (YST), which require routine and repeated checking efforts from farmers with a long time interval between each checking activity. This research is aimed to design an automatic monitoring solution of GWF pests based on the camera image of YST paper. The proposed design method uses a web-based wireless sensor network system equipped with image processing algorithms that operate in a real-time manner. In the proposed method, the camera sensor is used to capture YST images, which are then processed using a website-based application system. The evaluation of the prototype testing suggests that the designed pest detection system functions well and without problems. With regard to the developed hardware, evaluation results show that the camera sensor can be accessed and send data to the developed website application in a real-time manner. Regarding the image processing algorithm, evaluation results show that the developed histogram based image processing technique can detect GWF on plant leaf being considered with accuracy levels up to a range of 94%-100%.
Monitoring mission for multi-drones using decentralized chaos-bidding consensus with backstepping control via lyapunov barrier functions Romdlony, Muhammad Zakiyullah; Khayr, Rashad Abul; Nazaruddin, Yul Yunazwin; Tamba, Tua Agustinus; Kamal, Md. Abdus Samad
Teknomekanik Vol. 8 No. 2 (2025): Regular Issue
Publisher : Universitas Negeri Padang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24036/teknomekanik.v8i2.36072

Abstract

The mobility and flexibility of a quadrotor make it a popular choice for monitoring missions in remote areas. However, remote environments introduce constraints due to limited charging and communication stations that must be considered, alongside the possibility of collision with the environment. To ensure the quadrotor task was completed, a decentralized chaos-bidding consensus for decentralized task allocation was proposed, accompanied by control, Lyapunov, and barrier functions. These functions were simplified using the backstepping method to ensure the quadrotor's safety during task execution. The proposed method was evaluated through numerical simulation in multiple situations. The results indicate a minimum of 3% reduction in task completion time compared to other methods. When the battery constraint was applied, the proposed method successfully directed the drone to return to base before battery depletion and reassigned the task to other available quadrotors, thereby reducing the overall completion time for the entire system. Furthermore, this framework demonstrates the potential to support long-duration missions where continuous operation is required without relying heavily on ground control. The decentralized nature of the system also increases scalability, allowing multiple quadrotors to cooperate efficiently under dynamic environmental conditions. These advantages highlight the relevance of the proposed control strategy for practical field deployment, particularly in inaccessible locations.
Co-Authors Ali Sadiyoko AYEGA, IDHAM HANIF Bagus Arthaya Bin Hu Cinun, Benedictus Christo Geroda Darwin, Stevanus Dwi Putra, Ivan Edi Leksono Faruqi, Ismail Idham H. Ayega Justin Pradipta Justin S. Budiman Kamal, Md. Abdus Samad Khayr, Rashad Abul Muhammad Zakiyullah Romdlony Radifsya L. Desvabrahma Reysan, Jason Solaiman, Gabriela Waluya, Muhammad Brahma Widyotriatmo, Augie Yul Yunazwin Nazaruddin