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All Journal TEKNIK Jurnal Nasional Teknik Elektro dan Teknologi Informasi
Muhammad Faris
Departemen Teknik Elektro Dan Teknologi Informasi, Universitas Gadjah Mada
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Penjadwalan Pemeliharaan Trek Kereta dengan Metode Distributed Model Predictive Control Muhammad Faris; Ircham Ircham
Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 8 No 2: Mei 2019
Publisher : Departemen Teknik Elektro dan Teknologi Informasi, Fakultas Teknik, Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1087.453 KB)

Abstract

This work addresses the development of Distributed Model Predictive Control (DMPC) approaches for the planning of maintenance operations of large-scale railway infrastructure formulated as a Mixed-Integer Linear Programming (MILP) problem. The proposed optimization problem is solved using two different decomposition schemes: Alternating Direction Method of Multipliers (ADMM) and Distributed Robust Safe But Knowledgeable (DRSBK). The original distributed algorithms are modified to handle the non-convex nature of the optimization problem, hence improving the solution quality. The results of large-scale test instances show that DRSBK can outperform the conventional centralized approach and ADMM, by providing the closest-to-optimum solution while requiring the least computation time.
Pengembangan Robot Humanoid Pemain Bola Otonom Hadha Afrisal; Munadi Munadi; Muhammad Faris; Bakhtiar Alldino Ardi Sumbodo
TEKNIK Vol 40, No 1 (2019)
Publisher : Diponegoro University

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (3231.611 KB) | DOI: 10.14710/teknik.v39i3.22916

Abstract

This research aims to develop an autonomous humanoid soccer robot. The humanoid soccer robot is designed using 20 joints which are equipped with dynamixel servo motor AX-12 (upper body) and RX-24 (lower body) and is controlled by using servo controller board CM-700 (ATMega2561). The humanoid soccer robot is 44 cm in height and is equipped with a balancing system of using gyro sensor LPR530 and accelerometer KXM52-1050. In order to detect object and to navigate autonomously, the humanoid soccer robot is equipped with a CMOS camera which is controlled using CMUCAM board (LPC2016). The experiment shows that the humanoid soccer robot has ability to walk with average speed of 14.37 cm/second and is able to achieve a top speed of up to 20 cm/second. The developed humanoid soccer robot can play soccer autonomously: to locate the ball, to detect the goalpost, and to score the goal to the goalpost.
Co-Authors Afrisal, Hadha Bakhtiar Alldino Ardi Sumbodo Ircham Munadi Munadi