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All Journal Journal of Robotics and Control (JRC) Teknomekanik Indonesian Journal of Innovation Studies
Arif Wahjudi
Institut Teknologi Sepuluh Nopember Surabaya
Aerospace Engineering Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Engineering Law, Crime, Criminology & Criminal Justice Mechanical Engineering

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Optimizing the Tuning of Fuzzy-PID Controllers for Motion Control of Friction Stir Welding Robots Marliana, Eka; Wahjudi, Arif; Nurahmi, Latifah; Batan, I Made Londen; Wei, Guowu
Journal of Robotics and Control (JRC) Vol 5, No 4 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i4.21697

Abstract

Friction stir welding (FSW) is defined as a solid-state welding method that is required to be accurate, especially for its motion. This requirement can be satisfied by implementing an accurate controller. The aim of this research was to develop an accurate control system based on a fuzzy-proportional integral derivative (PID) controller for parallel manipulator FSW robots. In order to achieve a higher accuracy in motion control, the tuning optimisation process for a fuzzy-PID controller was conducted using a genetic algorithm (GA) and particle swarm optimisation (PSO). The optimisation algorithms were applied to simultane-ously tune the fuzzy rules and output of the membership function from the fuzzy inference system (FIS). The PID controller was designed and tuned using a MATLAB® PID Tuner to obtain the desired response. It was then developed into a fuzzy-PID controller with Sugeno type-1 FIS with 2 inputs and 1 output. The tuning optimisation of the fuzzy-PID controller using GA and PSO was performed to achieve the global minimum integral absolute error (IAE) of the angular velocity. MATLAB® Simulink® was employed to test and simulate the controllers for three motors in the FSW robot model. The IAE values of the PID controller implemented for each motor were 0.03644, 0.04893, and 0.04893. The IAEs of the implemented fuzzy-PID-GA (output and rules) controller were 2.061, 2.048, and 2.048; of the implemented fuzzy-PID-GA (output) controller were 0.03768, 0.05059, and 0.05059; of the fuzzy-PID-PSO (output and rules) controller were 0.01886, 0.0253, and 0.02533; and of the fuzzy-PID-PSO (output) controller were 0.03767, 0.05059, and 0.05059. Therefore, the fuzzy-PID-PSO (output and rules) controller gave the most accurate results and outperformed the others. Keywords—Angular velocity, control system, friction stir welding, fuzzy-PID, genetic algorithm, motion, motor, parallel manipulator, particle swarm optimisation.
Comparative analysis of bio-inspired and topology-optimized lattices under compressive loading Arifin, Ahmad Anas; Batan, I Made Londen; Bici, Michele; Wahjudi, Arif; Pramono, Agus Sigit
Teknomekanik Vol. 9 No. 1 (2026): Regular Issue
Publisher : Universitas Negeri Padang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24036/teknomekanik.v9i1.45472

Abstract

Lattice structure design is still dominated by strut-based forms and surface-based shapes, such as triply periodic minimal surfaces (TPMS), which both exhibit overlapping limitations. Strut lattices often show strong anisotropy because their response depends heavily on cell orientation, while TPMS lattices are difficult to adjust when bounded by geometric constraints. These conditions eventually led to stagnation in the development of lattice morphology. Hybrid and topology-optimization methods have appeared as possible alternatives, but many of them still produce modified versions of classical patterns. This study examined two lattice geometries: the Pyramorph, inspired by the shape of a pyramid, and the Topomorph, generated through a topology optimization framework. Both structures were designed using a CAD unit cell patterning technique and manufactured using the FDM method, with relative densities ranging from 0.40 to 0.44. Their mechanical behaviour was examined through FEA simulation and uniaxial compression testing. The parameter variations included cell orientations of 0°, 15°, 30°, and 45°, and cell sizes of 8 mm and 12 mm within a 24 mm specimen. The Topomorph showed superior strength, reaching 15–20 MPa, while the Pyramorph reached only 7–8 MPa. The highest value, about 20.5 MPa, was obtained from the Topomorph at 0° and with an 8 mm cell size. Failure modes indicated buckling and delamination in the Pyramorph, while the Topomorph tended to collapse progressively. These findings indicate that topology optimization combined with CAD-based patterning could significantly improve lattice performance.
Redesigning Medical Devices with Design for Manufacturing and Assembly (DFMA): Redesain Alat Terapi Kesehatan dengan Design for Manufacturing and Assembly (DFMA) Andrew, Andrew; Karningsih, Putu Dana; Dewi, Dyah Santhi; Batan, I Made Londen; Wahjudi, Arif
Indonesian Journal of Innovation Studies Vol. 27 No. 1 (2026): January
Publisher : Universitas Muhammadiyah Sidoarjo

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21070/ijins.v27i1.1915

Abstract

General Background Product development in medical devices requires careful consideration of manufacturing and assembly to control cost, complexity, and safety. Specific Background An integrated cervical and lumbar traction device prototype exhibited excessive components and fasteners, resulting in low assembly efficiency, high manufacturing cost, and the absence of an emergency button. Knowledge Gap Previous traction device designs had not been systematically evaluated using Design for Manufacturing and Assembly (DFMA) with explicit assessment against Design for Assembly guidelines. Aims This study aims to redesign the integrated cervical and lumbar traction device using DFMA to reduce manufacturing cost and assembly time while incorporating an emergency button. Results The redesign achieved a 77.06% reduction in reorientation operations and a 53.19% decrease in insertion difficulties, leading to a 16.90% increase in assembly efficiency, an 11.07% reduction in total assembly time, and a 9.12% decrease in manufacturing cost. The DFA Index increased from 7.1 to 8.3, indicating improved assembly performance. Novelty The novelty lies in evaluating redesign outcomes through systematic compliance with DFA Guidelines supported by Boothroyd Dewhurst DFMA software. Implications The findings demonstrate that DFMA provides a structured approach for developing medical therapy devices that are easier to assemble, more cost-efficient, and safer for users, offering a practical reference for similar healthcare equipment redesign initiatives. Highlights: Structural simplification and fastener standardization substantially reduced assembly complexity. Quantitative DFA metrics confirmed notable reductions in reorientation and insertion difficulties. Manufacturing and assembly costs per unit decreased while safety functionality was incorporated. Keywords: Assembly Efficiency, DFMA, Manufacturing Cost, Medical Therapy Device Redesign
Co-Authors Agus Sigit Pramono Ahmad Anas Arifin Andrew Andrew, Andrew Bici, Michele Dewi, Dyah Santhi Eka Marliana I Made Londen Batan Nurahmi, Latifah Putu Dana Karningsih Wei, Guowu