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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

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

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

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

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.

Design of Mobile Robot Transporter Prototype Using Sensor Vision and Fuzzy Logic Method Setiawan, Aan Eko; Mardiati, Rina; Firdaus, Haddy
Operations Research: International Conference Series Vol. 6 No. 4 (2025): Operations Research International Conference Series (ORICS), December 2025
Publisher : Indonesian Operations Research Association (IORA)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.47194/orics.v6i4.437

The industrial field has experienced significant developments in the automation process, especially robots play an important role in the world of automation. One type of robot used in industry is a transporter robot. This research designs and develops a prototype mobile robot transporter that uses Pixy camera as a visual sensor and Mamdani fuzzy logic control method to control the speed of DC motor. This robot is able to move objects based on color using Arduino UNO as a microcontroller, motor driver shield L298N, two DC motors, and gripper module as actuators. The distance and speed of the robot are determined to ensure the ability to approach and move objects based on color appropriately. Testing of the robot system is done with X position value and area as parameters. Simulation of the experiment was carried out with a case study of the X position value of 73 and an area of 1012. Robot testing is done using simulation software and Arduino IDE which is then calculated manually for comparison. The results obtained in testing with simulation software are 88.70 PWM for the right DC motor and 76.10 PWM for the left DC motor. Based on the data obtained from simulation software, testing with Arduino IDE, and manual calculations, an error value of 0.158% for the right DC motor and 0.092% for the left DC motor was found. Additional tests were carried out with variations in the distance of the object being moved as well as the transfer of the object to the destination. These results show that Mamdani fuzzy logic control is effective in controlling the transporter robot, allowing accurate maneuvering and adaptive to environmental changes.

Implementation of Fuzzy Logic Control on a Robotic Arm Prototype for Object Position Detection Suryaman; Pangestu, Tegar Dwi; Mardiati, Rina; Setiawan, Aan Eko; Yuningsih, Siti Hadiaty; Zakaria, Kiki
International Journal of Research in Community Services Vol. 7 No. 1 (2026): International Journal of Research in Community Service (IJRCS)
Publisher : Research Collaboration Community (Rescollacom)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.46336/ijrcs.v7i1.1101

The rapid advancement of robotics technology has significantly enhanced industrial automation, enabling continuous, precise, andefficient operations. This study aims to design and implement a Fuzzy Logic Control (FLC) system based on the Mamdanimethod in a robotic arm prototype capable of detecting and classifying object positions automatically. The prototype utilizes anArduino Mega 2560 microcontroller as the main controller and a Pixy2 CMUCam5 vision sensor for object detection. Two maininput parameters are used: Turn (object position) and Area (object distance from the camera). The control outputs are the angularpositions of the base and elbow servos. Experimental results show that the FLC system achieves high accuracy with a mean errorof 0.25% for the base servo and 0.27% for the elbow servo, compared to simulation and manual calculations. Furthermore, thefuzzy-based system demonstrated superior efficiency in detecting object positions (center, left, right) compared to non-fuzzycontrol. These findings indicate that implementing Mamdani Fuzzy Logic significantly improves the precision and responsivenessof robotic arm movement in object detection and manipulation tasks

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