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All Journal Journal of Information Technology and Computer Engineering Infotekmesin Journal of Robotics and Control (JRC)
Rina Mardiati, Rina
Bandung Institute of Technology, Sunan Gunung Djati State Islamic University of Bandung
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Mechanical Engineering

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Combining Finite State Machine and Fuzzy Logic Control for Accuracy Enhancing Performance of a Tomato-Handling Robot Gripper Mardiati, Rina; Firdaus, Hardiansyah; Setiawan, Aan Eko; Zulherman, Dodi
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23579

Abstract

Robotic grippers are becoming increasingly vital in modern agriculture, especially in tasks like harvesting delicate crops such as tomatoes, where precision and care are crucial. These advanced tools are designed to handle tomatoes without causing damage, significantly improving efficiency and reducing labor costs. Research on gripper robots for fruit picking continues to be developed using various methods in an effort to achieve accurate picking results. This study proposes a hybrid method that combines Finite State Machine (FSM) for behavior control with Fuzzy Logic Control (FLC) to optimize the positioning of the gripper. The system utilizes a PixyCam2 CMUcam5 for tomato detection, an Arduino microcontroller for image processing, and a servo mechanism to precisely align the gripper with the target. The experimental results confirm that each component functions as expected, with the gripper successfully performing actions such as idling, gripping, and placing in accordance with the FSM model. Furthermore, the FLC model was tested against simulations, resulting in error rates of 1.004% for the elbow angle and 0.826% for the base angle. The entire system was validated by comparing the performance of the system using FLC and non-FLC in ten tests, each with tomatoes placed in different positions. The results indicate that the proposed gripper, utilizing the FSM-FLC model, achieved a 100% success rate in grasping the target, significantly outperforming the FSM-non-FLC gripper, which achieved only a 20% success rate. These findings have important implications for the agricultural industry. The successful integration of the FSM and FLC models in robotic grippers paves the way for fully automated harvesting systems, potentially reducing costs and enhancing productivity.
Design and Implementation of a Web-Based Relay Maintenance Information System at the Substation Sartika , Nike; Anugrah Firdaus, Aldi; Mardiati, Rina
Infotekmesin Vol 16 No 1 (2025): Infotekmesin: Januari 2025
Publisher : P3M Politeknik Negeri Cilacap

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35970/infotekmesin.v16i1.2492

Abstract

Protection relays detect disturbances or abnormal conditions in the electric power system, isolate disturbances, eliminate abnormal conditions, and produce signals or indications. One of the protection relays used in substations is the Over-Current Relay (OCR) and Ground Fault Relay (GFR). Routine maintenance of OCR and GFR is usually done by resetting or replacing the relay. However, the maintenance process was carried out manually using special test equipment, with the results recorded manually in a form, which was then digitized. This procedure is considered less effective. This study develops a web-based relay maintenance application using the waterfall method. This method was chosen because of its structured approach, complete documentation, and cost and processing time stability. The test results show that the web-based system functions according to the expected functionality. This application has been proven to facilitate and increase officers' effectiveness in relay maintenance based on a user survey. This application's OCR and GFR setting results are simulated using the ETAP 19.01 application for a short circuit fault scenario. The simulation results show that the relay works according to the inverse standard characteristics. The relay trip time for a fault on the 150kV side of the transformer is 2.2 seconds, while for a fault on the 20kV side, it is 7 seconds on Circuit Breaker 2 and 26 seconds on Circuit Breaker 1.
Robot Pembersih Lantai Menggunakan Sensor LM393 dan Ultrasonik Berbasis Arduino Uno Mardiati, Rina; Aziz, Nur; Mulyana, Edi; Yusuf, Teddy
JITCE (Journal of Information Technology and Computer Engineering) Vol. 6 No. 01 (2022)
Publisher : Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25077/jitce.6.01.29-34.2022

Abstract

Pada era zaman modern saat ini teknologi robot mengalami kemajuan yang sangat pesat khususnya pada robot pembersih lantai. Robot pembersih lantai ini berguna untuk meringankan pekerjaan manusia di bidang rumah tangga. Pada penelitian ini dikembangkan sebuah prototipe robot pembersih lantai dengan menggunakan sensor LM393 dan sensor ultrasonik. Robot ini memiliki fitur alat pembersih sebagai vakum dan alat pel. Sensor ultrasonik digunakan sebagai alat pendeteksi jarak, sedangkan sensor LM393 digunakan sebagai penghitung putaran motor sehingga kecepatan motor stabil sesuai dengan yang diprogramkan pada mikrokontroler arduino uno. Input yang digunakan pada sistem ini adalah jarak dari sensor samping kanan, kiri dan depan yang diperoleh dari sensor ultrasonik. Sementara itu, output dari sistem ini adalah PWM motor DC kiri, PWM motor DC kanan, dan LCD yang menampilkan posisi gerakan robot. Pada penelitian ini dilakukan beberapa pengujian meliputi pengujian modul sensor ultrasonik dan sensor LM393, pengujian kinerja fitur vacum, pengujian kinerja alat pel, serta pengujian sistem secara keseluruhan. Berdasarkan hasil pengujian yang dilakukan terhadap sensitifitas jarak pantul sensor ultrasonik memiliki nilai selisih error 0,898% yang menandakan sensor ini berfungsi dengan baik. Hasil dari pengujian vacum diperoleh bahwa vacum dapat menghisap debu rata-rata 2,4 gram dari lima percobaan yang menunjukkan kinerja vacum cukup baik. Hasil pengujian alat pel dan pengujian keseluruhan menunjukan bahwa selisih error kemampuan robot membersihkan ruangan berukuran 2 m x 2 m dengan bahan kain pel greenwoll ditempuh dalam waktu 4,036 menit sedangkan menggunakan bahan katun adalah 4,31 menit.
Design and Implementation of a Web-Based Relay Maintenance Information System at the Substation Sartika , Nike; Anugrah Firdaus, Aldi; Mardiati, Rina
Infotekmesin Vol 16 No 1 (2025): Infotekmesin: Januari 2025
Publisher : P3M Politeknik Negeri Cilacap

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35970/infotekmesin.v16i1.2492

Abstract

Protection relays detect disturbances or abnormal conditions in the electric power system, isolate disturbances, eliminate abnormal conditions, and produce signals or indications. One of the protection relays used in substations is the Over-Current Relay (OCR) and Ground Fault Relay (GFR). Routine maintenance of OCR and GFR is usually done by resetting or replacing the relay. However, the maintenance process was carried out manually using special test equipment, with the results recorded manually in a form, which was then digitized. This procedure is considered less effective. This study develops a web-based relay maintenance application using the waterfall method. This method was chosen because of its structured approach, complete documentation, and cost and processing time stability. The test results show that the web-based system functions according to the expected functionality. This application has been proven to facilitate and increase officers' effectiveness in relay maintenance based on a user survey. This application's OCR and GFR setting results are simulated using the ETAP 19.01 application for a short circuit fault scenario. The simulation results show that the relay works according to the inverse standard characteristics. The relay trip time for a fault on the 150kV side of the transformer is 2.2 seconds, while for a fault on the 20kV side, it is 7 seconds on Circuit Breaker 2 and 26 seconds on Circuit Breaker 1.
Co-Authors Anugrah Firdaus, Aldi Aziz, Nur Dodi Zulherman Edi Mulyana, Edi Firdaus, Hardiansyah Mala, Alvina Nur Sartika , Nike Setiawan, Aan Eko Teddy Yusuf, Teddy