Articles
<![CDATA[Hover Position of Quadrotor Based on PD-like Fuzzy Linear Programming ]]>
<![CDATA[Iswanto Iswanto]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Adha Imam Cahyadi]]>
<![CDATA[ International Journal of Electrical and Computer Engineering (IJECE) Vol 6, No 5: October 2016 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijece.v6i5.pp2251-2261
<![CDATA[The purpose of this paper is to present the altitude control algorithm for quadrotor to be able to fly at a particular altitude. Several previous researchers have conducted studies on quadrotor altitude by using PID control but there are problems in the overshoot and oscillation. To optimize the control, tunning on PID algorithm must be first conducted to determine proportional and derivative constants. Hence, the paper presents altitude control modification by using PID-like fuzzy without tuning. The PID algorithm is a control algorithm for linear systems. While, system to be controlled is a non-linear, so that linearization is needed by using equilibrium. The proposed algorithm is a modification of the PID algorithm used as an altitude control which enables quadrotor to be stable when hovering. The algorithm used is not PID algorithm with tuning using fuzzy, but this is a single input single output (SISO) control PID-like fuzzy linear programming. The result of the research shows that quadrotor can hover in a rapid raise time, steady state and settling time without performing overshoot and oscillation.]]>
<![CDATA[Speed Control of a Single Taipei Mass Rapid Transit System Train by Using a Single Input Fuzzy Logic Controller ]]>
<![CDATA[Hari Maghfiroh]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Adha Imam Cahyadi]]>;
<![CDATA[Kuo Lung Lian]]>;
<![CDATA[Bwo Ren Ke]]>
<![CDATA[ International Journal of Electrical and Computer Engineering (IJECE) Vol 6, No 2: April 2016 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijece.v6i2.pp621-629
<![CDATA[The purpose of this study was to design a speed controller for mass rapid transit (MRT) train by using a single input fuzzy logic controller (SIFLC). A complete train model, which was designed according to the design of a Taipei MRT train was used for analyzing both mechanical and electrical parts. The SIFLC was used for improving a fuzzy logic controller (FLC) by reducing its number of control rules. The results indicated that the SIFLC exhibited more favorable performance than the FLC did and a substantial reduction in the number of fuzzy rules and processing time. Therefore, tuning the SIFLC was easier compared with tuning the FLC; furthermore, the simulation time of the SIFLC was shorter than that of the FLC, exhibiting reductions of up to 17.3% in a constant track (track without gradient and curvature) and up to 12.27% in a variable track (track with gradient and curvature).]]>
<![CDATA[Quadrotor Path Planning Based on Modified Fuzzy Cell Decomposition Algorithm ]]>
<![CDATA[Iswanto Iswanto]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Adha Imam Cahyadi]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 14, No 2: June 2016 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
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DOI: 10.12928/telkomnika.v14i2.2989
<![CDATA[The purpose of this paper is to present an algorithm to determine the shortest path for quadrotor to be able to navigate in an unknown area. The problem in robot navigation is that a robot has incapability of finding the shortest path while moving to the goal position and avoiding obstacles. Hence, a modification of several algorithms are proposed to enable the robot to reach the goal position through the shortest path. The algorithms used are fuzzy logic and cell decomposition algorithms, in which the fuzzy algorithm which is an artificial intelligence algorithm is used for robot path planning and cell decomposition algorithm is used to create a map for the robot path, but the merger of these two algorithms is still incapable of finding the shortest distance. Therefore, this paper describes a modification of the both algorithms by adding potential field algorithm that is used to provide weight values on the map in order for the quadrotor to move to its goal position and find the shortest path. The modification of the algorithms have shown that quadrotor is able to avoid various obstacles and find the shortest path so that the time required to get to the goal position is more rapid.]]>
<![CDATA[An Optimum Database for Isolated Word in Speech Recognition System ]]>
<![CDATA[Syifaun Nafisah]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Lukito Edi Nugroho]]>
<![CDATA[ TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 14, No 2: June 2016 ]]>
Publisher : <![CDATA[Universitas Ahmad Dahlan ]]>
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DOI: 10.12928/telkomnika.v14i2.2353
<![CDATA[Speech recognition system (ASR) is a technology that allows computers receive the input using the spoken words. This technology requires sample words in the pattern matching process that is stored in the database. There is no reference as the fundamental theory to develop database in ASR. So, the research of database development to optimize the performance of the system is required. Mel-scale frequency cepstral coefficients (MFCCs) is used to extract the characteristics of speech signal and backpropagation neural network in quantized vector is used to evaluate likelihood the maximum log values to the nearest pattern in the database. The results shows the robustness of ASR is optimum using 140 samples of data reference for each word with an average of accuracy is 99.95% and duration process is 27.4 msec. The investigation also reported the gender doesn’t have significantly influence to the accuracy. From these results it concluded that the performance of ASR can be increased by optimizing the database.]]>
<![CDATA[BUS TRAVEL TIME IN THE MIXED TRAFFIC BASED ON STATISTICA NEURAL NETWORK ]]>
<![CDATA[Ibrahim Kamaruddin]]>;
<![CDATA[Suwardo Suwardo]]>;
<![CDATA[Madzlan Napiah]]>;
<![CDATA[Oyas Wahyunggoro]]>
<![CDATA[ Jurnal Transportasi Vol. 10 No. 1 (2010) ]]>
Publisher : <![CDATA[Forum Studi Transportasi antar Perguruan Tinggi (FSTPT) ]]>
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DOI: 10.26593/jtrans.v10i1.370.%p
<![CDATA[This paper presents the assessment of a number of factors affecting bus travel time and a relationship model between those factors and bus travel time. Statistica Neural Network (SNN) tool is used to solve this complex phenomenon. Data collected include bus travel time, distance, average speed, and number of bus stop. The results show that bus travel time is well predicted using variables of distance, average speed, and number of bus stops. The bus travel time increased due to the increase of distance and number of bus stops, while the higher the average speed from one stop to another, the lower bus travel time.Keywords: bus travel time prediction, distance, average speed of bus, number of bus stop]]>
<![CDATA[Pengolahan Isyarat Load cell Menggunakan Metode Simple Moving Average Tingkat Dua dan Weighted Moving Average Tingkat Dua untuk Pencarian Titik Referensi ]]>
<![CDATA[Prayadi Sulistyanto]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Adha Imam Cahyadi]]>
<![CDATA[ Seminar Nasional Aplikasi Teknologi Informasi (SNATI) 2015 ]]>
Publisher : <![CDATA[Jurusan Teknik Informatika, Fakultas Teknologi Industri, Universitas Islam Indonesia ]]>
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<![CDATA[Abstrak— Load cell telah banyak digunakan untuk mengukurkekuatan dan torsi. Pada saat load cell digunakan dengan benar,maka sensor load cell akan memberikan hasil yang akurat dandapat diandalkan. Berbagai metode analisa isyarat load celldilakukan oleh peneliti sebelumnya untuk melakukanpendekatan dan pengolahan isyarat load cell seperti self-balancedmethod, self-adaptive-pseudo Moving Average Filter denganpengolahan isyarat secara hardware dengan bantuan op-amp danfilter. Pada penelitian ini, akan dicoba melakukan pengolahanisyarat load cell secara software yaitu mengambil nilai dariisyarat load cell dan mengolahnya. Penelitian ini merupakanlanjutan dari penelitian sebelumnya yang berjudul “Pengolahanisyarat Load cell SEN128A3B Menggunakan Metode MovingAverage ” dan mengembangkannya guna memudahkan dalammencari titik referensi atau titik acuan dari isyarat load cell.Hasil dari penelitian dan pengamatan menggunakan MetodeSMA Tingkat Dua dan Metode WMA Tingkat Dua, keduaMetode tersebut sama-sama memiliki kemampuan meredamosilasi dengan baik, sedangkan dalam penentuan titik referensiMetode SMA Tingkat Dua memiliki kemampuan yang lebih baikdibandingkan Metode WMA Tingkat Dua, dikarenakanpencarian titik referensi diambil dari nilai data pada saat kondisistabil dari load cell tersebut. Selisih simpangan baku MetodeSMA Tingkat Dua dan Metode WMA Tingkat Dua pada saatkondisi stabil adalah sebesar 0,015572.Kata kunci: load cell; titik referensi; Metode Simple MovingAverage; Metode Weighted Moving Average]]>
<![CDATA[Implementasi Eliminasi Derau Dengan Metode Tapis FIR Pada Feedback Pengeras Amplifier dan Microphone Berbasis SAM3X8E ]]>
<![CDATA[Irwan Novianto]]>;
<![CDATA[Risanuri Hidayat]]>;
<![CDATA[Oyas Wahyunggoro]]>
<![CDATA[ Seminar Nasional Aplikasi Teknologi Informasi (SNATI) 2016 ]]>
Publisher : <![CDATA[Jurusan Teknik Informatika, Fakultas Teknologi Industri, Universitas Islam Indonesia ]]>
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<![CDATA[Tapis FIR merupakan salah satu tapis digital yang mempunyai unit sample response yang tak terhingga. Struktur tapis FIR selalu stabil dan relatif lebih sederhana jika dibandingkan dengan IIR. Implementasi eliminasi derau menggunakan tapis digital FIR membutuhkan processor yang cepat, serta dukungan memori yang cukup. Dengan microcontroller SAM3X8E ARM Cortex-M3 memiliki komputasi 32bit serta didalamnya terdapat ADC dan DAC, cocok digunakan sebagai media pemroses sinyal digital (DSP). Percobaan pengambilan sampel derau, pada umpan balik speaker merek labtec terhadap microphone, diperoleh derau pada jarak ± 30cm dengan rentang frekuensi 300Hz sampai 450Hz. Hasil implementasi eliminasi derau dengan tapis FIR pada microcontroller SAM3X8E menggunakan jumlah tap 133 serta dengan fungsi jendela yang berbeda-beda, namun pada jendela bartlett diperoleh hasil kurang bagus, masih terdapat derau meskipun dengan magnitude yang rendah.]]>
<![CDATA[Comparative Study Between Internal Ohmic Resistance and Capacity for Battery State of Health Estimation ]]>
<![CDATA[M. Nisvo Ramadan]]>;
<![CDATA[Bhisma Adji Pramana]]>;
<![CDATA[Sigit Agung Widayat]]>;
<![CDATA[Lora Khaula Amifia]]>;
<![CDATA[Adha Cahyadi]]>;
<![CDATA[Oyas Wahyunggoro]]>
<![CDATA[ Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 2 (2015) ]]>
Publisher : <![CDATA[National Research and Innovation Agency ]]>
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DOI: 10.14203/j.mev.2015.v6.113-122
<![CDATA[In order to avoid battery failure, a battery management system (BMS) is necessary. Battery state of charge (SOC) and state of health (SOH) are part of information provided by a BMS. This research analyzes methods to estimate SOH based lithium polymer battery on change of its internal resistance and its capacity. Recursive least square (RLS) algorithm was used to estimate internal ohmic resistance while coloumb counting was used to predict the change in the battery capacity. For the estimation algorithm, the battery terminal voltage and current are set as the input variables. Some tests including static capacity test, pulse test, pulse variation test and before charge-discharge test have been conducted to obtain the required data. After comparing the two methods, the obtained results show that SOH estimation based on coloumb counting provides better accuracy than SOH estimation based on internal ohmic resistance. However, the SOH estimation based on internal ohmic resistance is faster and more reliable for real application]]>
<![CDATA[Design and Implementation of a Magnetic Levitation System Controller using Global Sliding Mode Control ]]>
<![CDATA[Rudi Uswarman]]>;
<![CDATA[Adha Iman Cahyadi]]>;
<![CDATA[Oyas Wahyunggoro]]>
<![CDATA[ Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 5, No 1 (2014) ]]>
Publisher : <![CDATA[National Research and Innovation Agency ]]>
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DOI: 10.14203/j.mev.2014.v5.17-26
<![CDATA[This paper presents global sliding mode control and conventional sliding mode control for stabilization position of a levitation object. Sliding mode control will be robusting when in sliding mode condition. However, it is not necessarily robust at attaining phase. In the global sliding mode control, the attaining motion phase was eliminated, so that the robustness of the controller can be improved. However, the value of the parameter uncertainties needs to be limited. Besides that, the common problem in sliding mode control is high chattering phenomenon. If the chattering is too large, it can make the system unstable due the limited ability of electronics component. The strategy to overcome the chattering phenomenon is needed. Based on simulation and experimental results, the global sliding mode control has better performance than conventional sliding mode control. ]]>
<![CDATA[Burg power spectral density-based characterization of Doppler blood flow sound during hemorrhoidal artery ligation ]]>
<![CDATA[Daniel Santoso]]>;
<![CDATA[Oyas Wahyunggoro]]>;
<![CDATA[Prapto Nugroho]]>
<![CDATA[ Bulletin of Electrical Engineering and Informatics Vol 11, No 3: June 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/eei.v11i3.3309
<![CDATA[Hemorrhoidal artery ligation (HAL) has become universally accepted minimally invasive treatment of hemorrhoids disease. HAL involves precise identification of the superior rectal arteries supplying hemorrhoidal tissues using ultrasonic Doppler principles. During this process, at least there are three distinct sounds may be encountered by the surgeon. Only the pulsing Doppler sound is useful as it indicates the presence of hemorrhoidal artery. The accuracy based on traditional auscultation is commonly affected by surgeon’s hearing sensitivity and clinical experience. Therefore, automatic Doppler blood flow sound will be a great help in locating hemorrhoidal arteries. In this paper, a method based on the center frequency and kurtosis features extracted from Burg’s power spectral density (PSD) to distinguish three different types of Doppler blood flow sound signal during HAL procedure is proposed. Separability measurement was carried out using K– means clustering with the city block distance and three clusters corresponding to different sound types are successfully formed. In terms of arterial sound detection, an accuracy of 94.11% can be achieved. This result suggests that centre frequency, kurtosis, and maybe some other statistical features extracted from Burg PSD have the potential to be utilized as a means in automatic Doppler blood flow sound recognition.]]>
