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All Journal TRANSIENT: Jurnal Ilmiah Teknik Elektro STATOR: Jurnal Ilmiah Mahasiswa Teknik Mesin Jurnal Asy-Syukriyyah Journal of Applied Geology Mamba'ul 'Ulum
Muhammad Asrofi, Muhammad
Jurusan Teknik Elektro, Universitas Diponegoro Semarang Jl. Prof. Sudharto, SH, Kampus UNDIP Tembalang, Semarang 50275, Indonesia
Religion Humanities Civil Engineering, Building, Construction & Architecture Earth & Planetary Sciences Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Law, Crime, Criminology & Criminal Justice Social Sciences Other

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STABILISASI ROBOT BERKAKI 6 (HEXAPOD) PADA BIDANG MIRING MENGGUNAKAN 9 DOF IMU BERBASIS INVERS KINEMATIC Asrofi, Muhammad; Sumardi, Sumardi; Setiyono, Budi
Transient: Jurnal Ilmiah Teknik Elektro TRANSIENT, VOL. 4, NO. 1, MARET 2015
Publisher : Universitas Diponegoro

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (729.833 KB) | DOI: 10.14710/transient.4.1.97-105

Abstract

Abstrak Robot merupakan alat yang dikembangkan dengan pesat dewasa ini. Salah satu jenis robot itu adalah robot bekaki 6 (Hexapod). Permasalahan yang sering timbul pada robot berkaki 6 ini adalah ketika dihadapkan pada permukaan yang miring. Ini akan mengakibatkan pergerakan robot terhambat dikarenakan titik beban robot yang tidak seimbang. Pada penelitian ini dilakukan perancangan dan pembuatan sistem stabilisasi hexapod pada bidang miring menggunakan sensor 9 DOF IMU berbasis invers kinematic. Sensor IMU terbagi atas sensor accelerometer, gyroscope dan magnetometer. Sensor ini akan memberikan masukan sudut kemiringan dan heading robot sehingga akan diolah dalam kontroller fuzzy-pid untuk dapat mempertahankan body robot tetap datar pada bidang miring. Sebagai kontroller pergerakan robot dirancang sebuah invers kinematic. Hasil pengujian menunjukkan bahwa robot akan bergerak translasi depan apabila sumbu x invers di ubah dari posisi semula, bergerak translasi samping apabila sumbu y diubah dan bergerak translasi ke atas apabila sumbu z diubah terhadap nilai awal di invers kinematic.Pada pengujian sensor IMU didapat bahwa nilai RMSE total sumbu pitch adalah 1,73%, roll =1,67% dan yaw = 1,24%. Pada pengujian keseluruhan sistem didapat respon yang paling stabil yaitu dengan konstanta deffuzyfikasi Kp yaitu k1=0,5,  k2=1 , k3 = 3 , Ki yaitu memiliki nilai k1=0,5 , k2=0,5, k3=0,5 dan pada Kd memiliki k1=0,25 , k2=0,35 dan k3=0,45. Kata kunci :Hexapod, IMU, Fuzzy-PID  Abstract Robot is toll which developed very fast now. One of type of robot is 6 legged robot (Hexapod). The Problem from this robot is if hexapod find the tilt surface. This is will result the movement of robot can be late and the center of gravity not balanced. In this research makes a designed stabilization hexapod in tilt surface with 9 DOF IMU based on invers kinematic. IMU sensor devided by accelerometer, gyroscope and magnetometer. This sensor will gave the input of tilt degree and heading of robot so can be processed in fuzzy-pid controller to can balance the body of robot in tilt surface. As the controller of the movement hexapod is design to invers kinematic. The results show that the robot will move forward when the x-axis translation inverse changed from its original position, move aside when the y-axis translational modified and move in up and down  if the translation to the z-axis was changed. From the testing of IMU get the total of RMSE pitch is 1,73%, roll =1,67% and yaw = 1,24%. In controller fuzzy-pid get the good respon is on the value Kp have k1=0,5,  k2=1 , k3 = 3 , Ki have k1=0,5 , k2=0,5, k3=0,5 and Kd have k1=0,25 , k2=0,35 dan k3=0,45. Keyword : Hexapod, IMU, Fuzzy-PID
IMPLEMENTATION OF INTEGRATIVE THEMATIC LEARNING IN ISLAMIC EDUCATION AND CIVIL SUBJECTS AT SD N GIRIWUNGU BANTUL YOGYAKARTA Amanah, Isti Faidatul; Asrofi, Muhammad
Jurnal Asy-Syukriyyah Vol. 24 No. 2 (2023): Jurnal Asy-Syukriyyah
Publisher : STAI Asy-Syukriyyah

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.36769/asy.v24i2.421

Abstract

This research explored the implementation of integrative thematic learning in Islamic Education (PAI) and Characteristics at SD N Giriwungu Bantul, Yogyakarta. Researchers used qualitative research methods. The research results showed several stages in implementing integrative thematic learning, including 1) Planning the RPP in detail, 2) carrying out two stages, namely core and closing material, and 3) Assessing the implementation results in various stages. The obstacles teachers faced in integrative thematic learning were the need for more learning media provided by the school and the unavailability of thematic teaching materials (books).
ANALISIS STRUKTUR RANGKA MESIN VACUM FORMING MENGGUNAKAN FINITE ELEMENT ANALYSIS Jamil, Farur; Asrofi, Muhammad; Sidartawan, Robertus; Triono, Agus; Sholahudin, Imam; Kristianta, FX; Nurdiansyah, Haidzar
STATOR: Jurnal Ilmiah Teknik Mesin Vol 6 No 2 (2023): JURNAL STATOR
Publisher : Jurusan Teknik Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

The SME sector is the source of all aspects related to the pattern of human life, starting from the clothing, food and housing sectors. In the process of forming the packaging there are several methods used, the method that is often used is thermoforming. One of the simplest thermoforming methods is vacuum forming. In this research, research will be carried out to identify the strength of the frame structure of a vacuum forming machine with ST 37 iron material. This research focuses on vacuum forming machine frames. The weight of each component includes a 5.2 Kg Box Heater, 7.2 Kg Vacuum Chamber and 3.2 Kg Vacuum. The results obtained from this study are that the vacuum forming machine frame is able to withstand other machine frames. Where the results of the simulation and analytical calculations are not much different. Visualization of the loading of the vacuum forming machine can be seen immediately where the location of the critical load during the simulation is the Maximum Normal Stress of 1.1689 Mpa. The Minimum Normal Stress is -0.88281 and the shear stress is 0.3865 Mpa. And for the safety factor of this simulation is 31.44. The frame of the vacuum forming machine holds the load of the entire component.
Flood Disaster Prediction Model Using Long Short-Term Memory (LSTM) in Pekalongan, Central Java. Asrofi, Muhammad; Septyandy, Muhammad Rizqy; Indra, Tito Latif
Journal of Applied Geology Vol 8, No 2 (2023)
Publisher : Geological Engineering Department Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/jag.92417

Abstract

Pekalongan is located in the northern part of Java Island, directly adjacent to the sea in the north. Natural disasters that often occur in Pekalongan are floods, especially in the north of the area, which has a height of 0 meters above sea level. In addition, Pekalongan also has a relatively low land slope of around 0 – 5%, which makes it challenging to distribute water and construct drainage. This study aims to be able to perform predictive modeling of flood-prone areas for the next five years. This study used eight parameters: rainfall, elevation, slope, distance to the river, distance to the sea, groundwater table to surface, soil type, and land use. This research used the Long Short-Term Memory (LSTM) method to predict rainfall parameters using the Python programming language with Jupyter Notebook software. Later, the data will be used as training and test data. Training data testing and tests are conducted to find the minimum failure or error value. The weight scoring method is carried out on each parameter to indicate areas with a high flood vulnerability level. The results showed that Pekalongan has a medium to very high vulnerability level, with a dominant high vulnerability level. The very high level of vulnerability is prevalent in the northern part of the research area, which is directly adjacent to the sea or in the North Pekalongan District. Floods that occur in the northern part of the study area are not only due to high levels of rainfall but can also occur due to the inflow of seawater towards the mainland resulting from high tides and high sea waves. The southern region of the study area has a smaller vulnerability level than the northern region, which has a medium to high vulnerability level.Keywords: Flood ∙ Hazard ∙ Precipitation ∙ LSTM ∙ Rainfall
PENDEKATAN BERDIFERENSIASI DALAM MODEL INQUIRY LEARNING TERHADAP PENINGKATAN HASIL BELAJAR PAI MATERI ANAK SALEH SISWA KELAS IV SD NEGERI 2 DONOTIRTO BANTUL Yuniatun, Ismi; Asrofi, Muhammad; Amin, Lailla Hidayatul
MAMBA'UL 'ULUM Vol. 20, No. 2 Oktober 2024
Publisher : Institut Islam Mamba'ul 'Ulum Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.54090/mu.578

Abstract

The purpose of this class action research is to determine the improvement of PAI learning outcomes for pious children through a differentiated approach in the inquiry learning model for grade IV students of SD Negeri 2 Donotirto Bantul. Through a differentiated approach, it seeks to find out the learning needs of students to the maximum, combined with an inquiry learning model that involves students to the maximum so that students are more actively involved. This class action research was carried out in two cycles. The subject of this study is a fourth grade student of SD Negeri 2 Donotirto Kretek totaling 20 children. Data collection techniques are carried out through tests, observations, and documentation. The data analysis technique uses quantitative descriptive analysis. The results of this study show that a differentiated approach in the inquiry learning model to improve the learning outcomes of PAI material for pious children in grade IV students of SD Negeri 2 Donotirto Bantul can improve the learning outcomes of grade IV students of SD Negeri 2 Donotirto. The improvement of learning outcomes can be seen based on the value of student learning outcomes from pre-cycle, cycle I, and cycle II. This can be seen from the completeness of the first cycle which shows 65% while in the second cycle it shows a completeness of 100%, from this there is an increase in completeness of 35%.
Co-Authors Agus Triono Amanah, Isti Faidatul Budi Setiyono Haidzar Nurdiansyah Jamil, Farur Kristianta, FX Muhammad Rizqy Septyandy Robertus Sidartawan Sholahudin, Imam Sumardi . Tito Latif Indra Yuniatun, Ismi