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All Journal Journal of Telematics and Informatics Elektrika International Journal of Engineering Continuity SmartComp
La Ode Muhamad Idris
Teknik Elektro, Universitas Semarang
Civil Engineering, Building, Construction & Architecture Computer Science & IT Electrical & Electronics Engineering Engineering Materials Science & Nanotechnology Mechanical Engineering

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Forward and Inverse Kinematic on Wheeled Soccer Robot La Ode Muhamad Idris; Sri Arttini Dwi Prasetyowati; Imam Much Ibnu Subroto
Journal of Telematics and Informatics Vol 6, No 4: December 2018
Publisher : Universitas Islam Sultan Agung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/jti.v6i4.

Abstract

In this research rotary encoder sensor and gyroscope sensor are used as main sensor for moving wheeled soccer robot. Rotary encoder is used to measure the speed and distance of each robot wheel and the gyroscope is used to measure the orientation of the robot, then both of them expressed in cartesian diagrams (x, y, θ). A rotary encoder type magnetic incremental encoder is used in this research and it mounted on each wheel. Inverse kinematic and forward kinematic are used to control the movement of the robot when positioning in the field or making decision when kicking the ball towards the opponent’s side and the other decision. From the test results, robot can move to any direction from the starting position to the end position with a different robot orientation and robot can measure the coordinates of the robot with average error of x = 5.37%, y = 5.2%, and Theta = 0.26%. The robot is also able to move in the direction of the coordinates given with a traveling time of 3-4 seconds.
Evaluating of DC-DC Buck-Boost Converter implementation for Integrated Solar Photovoltaic and Thermoelectric Cooler System Priyo Adi Sesotyo; La Ode Muhamad Idris; Taufik Dwi Cahyono; Ery Sadewa
International Journal of Engineering Continuity Vol. 4 No. 1 (2025): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58291/ijec.v4i1.372

Abstract

The growing demand for compact, efficient, and eco friendly cooling solutions has driven research into integrating thermoelectric coolers (TECs) with solar photovoltaic (PV) systems, where solar irradiance variability impacts cooling efficacy and energy efficiency. This challenge is addressed using DC-DC Buck-Boost converters whose performance is heavily influenced by control strategies such as Proportional Integral Derivative (PID) controllers employing tuning approaches that balance performance and prioritize disturbance rejection. This study investigates the implementation and performance of a DC-DC buck-boost converter in a solar photovoltaic and thermoelectric cooling (PV-TEC) system. Simulation-based analysis compared tuning methods for their ability to maintain thermal stability, reduce electrical input fluctuations, and enhance the TEC's Coefficient of Performance (COP). Results show that the PID controller significantly improves responsiveness and energy efficiency in dynamic solar conditions, achieving a 23% reduction in power consumption and a 36% increase in COP, highlighting the importance of adaptive control strategies.
Performance Analysis of an Integrated PV/T–TEC System with a PID enabled DC–DC Boost Converter for Photovoltaic Thermal Management Priyo Adi Sesotyo; La Ode Muhamad Idris; Taufik Dwi Cahyono; Ery Sadewa
International Journal of Engineering Continuity Vol. 4 No. 2 (2025): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58291/ijec.v4i2.450

Abstract

The temperature-induced efficiency loss of 0.4% to 0.5% for every °C above 25 °C alongside the inherent variability in solar irradiance, poses a critical challenge to the efficiency and stability of Photovoltaic (PV) modules. This study addresses this limitation by developing and analyzing an Integrated Photovoltaic Thermal-Thermoelectric Cooler (PV/T–TEC) system designed for robust thermal management and enhanced energy yield. The proposed system utilizes a synergistic hybrid cooling mechanism: a passive PV/T air collector for bulk heat dissipation from the PV panel's rear surface, coupled with an active Thermoelectric Cooler (TEC) for precise temperature stabilization. The electrical energy flow is managed by a DC–DC Boost Converter employing a PID controller, with a focus on input disturbance rejection, ensuring the TEC operates at an optimal, stable power point.Simulation and performance analysis demonstrate the significant advantages of this hybridized approach. The PV/T air collector was confirmed as the primary thermal component, achieving a peak heat dissipation QEmit approximately 7.5 times greater than the TEC-only configuration. This strategic pre-cooling successfully stabilizes the TEC's hot-side temperature, enabling the TEC to operate with a low operational temperature differential ∆T and resulting in an exceptionally high calculated Effective System Coefficient of Performance COP peaking at 14.5. The system maintains a stable operating point during peak solar radiation, maximizing the Net Electrical Power Gain. In conclusion, the integration of passive PV/T cooling, active TEC cooling, and a PID-enabled DC–DC Boost Converter provides an exceptionally efficient and stable solution for PV thermal management. The research strongly supports the efficacy of this hybrid system for significantly improving the overall energy efficiency and sustainability of solar energy applications.
Analisa Kalibrasi Flow Distillate Transmitter Menggunakan PACTware Pada Desal B PT. Indonesia Power Semarang PGU Wisnu Ardyansyah; Elfira Nureza Andini; La Ode Muhammad Idris
Smart Comp :Jurnalnya Orang Pintar Komputer Vol 15, No 1 (2026): Smart Comp: Jurnalnya Orang Pintar Komputer
Publisher : Politeknik Harapan Bersama

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30591/smartcomp.v15i1.8768

Abstract

Abstrak: Perkembangan teknologi semakin meningkat pesat. Teknologi yang semakin canggih membantu industri dalam menangani suatu pekerjaan, terutama pada industri pembangkit listrik tenaga uap. Industri ini menggunakan media air sebagai prosesnya. Dalam suatu proses yaitu Distillate water atau proses distilasi pada Desalination plant. Pada prosesnya menggunakan alat yaitu Transmitter type Differential pressure, yang kemudian dikalibrasi menggunakan software PACTware dan alat bantu pengukuran Handpress. Tujuan dari penelitian ini adalah mengetahui deviasi atau perbedaan aliran air (mmH2O) sebelum dikalibrasi dan sesudah dikalibrasi. Penelitian ini menggunakan metode menentukan nilai LRV (Lower Range Value) dan URV (Upper Range Value). Data yang dihasilkan yaitu nilai dari penurunan mmH2O sebelum dikalibrasi. Nilai dari setiap rasio dari sebelum dan sesudah dibandingkan dengan rumus deviasi. Maka didapatkan hasil terbesar dari rasio 20% yaitu 36.6%. Setiap rasio menunjukan penurunan setelah kalibrasi.Kata Kunci – Kalibrasi, Deviasi, Transmitter Differential Pressure, LRV (Lower Range Value), URV (Upper Range Value)
Sistem Kendali Hybrid Fuzzy-Pid pada Kinematika Robot Berkaki 4 Menggunakan Sensor Gyroscope La Ode Muhamad Idris; Andi Kurniawan Nugroho; Daniyah Daniyah
Elektrika Vol. 15 No. 1 (2023): April 2023
Publisher : Universitas Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26623/elektrika.v15i1.3242

Abstract

Legged robots have attracted the attention of researchers because of their superior adaptation to complex environments compared to wheeled robots. Legged robots are divided into 2 (two) legged Humanoid robots, 4 (four) legged robots, 6 (six) legged robots, and other robots with more legs. Legged robots are robots that can be more adaptable to the terrain compared to wheeled robots in the case of their use in land exploration activities. Although functionally legged robots are more superior, legged robots have their own problems, namely motion control which is more complicated than wheeled robots, therefore the right method is needed to be implemented on the robot.. In this research discusses a 4 (four) legged robot designed in order to move using the inverse kinematic equation on the legs and the body of the robot which is integrated with the MPU6050 gyroscope sensor based on the Hybrid Fuzzy-PID control system. The purpose of this research is to develop a Fuzzy-PID control system that stabilizes the setpoint position in the 4 (four) legged Robot movement system. Fuzzy PID is a combination of PID control and fuzzy logic, where PID control is used to stabilize the system and fuzzy logic is used to improve the system performance. In this research, the Fuzzy-PID control system is developed using the Mamdani (Min-Max) method. The system is later tested by observing the robot's movement response to changes in the gyroscope sensor values. The results obtained were able to get an average output error up to 0.173333% during the response test to the pitch axis of -15°, but in several tests also get the response results that have a considerable error rate is up to 27.31% during the response test to the roll axis of -5°. From the test results of hybrid Fuzzy-PID control, it is obtained that the robot is able to make movements or responses to its stable point by giving reference to the x (roll), y (pitch) and z (yaw) axes where it can be analyzed that the response to the x (roll) and y (pitch) axes will affect the angle of the tibia and femur servo joints, while the response to the z (yaw) axis will affect the angle of the coxa joint servo. Keywords: IMUs (Inertial Measurement Units), Gyroscope, Inverse Kinematics, Hybrid Fuzzy-PID. ABSTRAK Robot berkaki telah menarik perhatian para peneliti karena adaptasinya unggul terhadap lingkungan yang kompleks dibanding robot beroda. Robot berkaki dibagi menjadi robot Humanoid berkaki 2(dua), robot berkaki 4(empat), robot berkaki 6(enam), dan lainnya yang berkaki lebih banyak.Robot berkaki adalah robot yang lebih adaptif terhadap medan tempuh dibandingka robot beroda dalam kasus penggunaannya pada kegiatan eksplorasi daratan. Walaupun secara fungsional robot berkaki lebih unggul, robot berkaki memiliki permasalahan sendiri, yaitu kontrol gerak yang lebih kompleks dibanding robot beroda, maka dari itu dibutuhkan metode yang tepat untuk diterapkan pada robot. Pada penelitian ini membahas tentang robot berkaki 4(empat) yang dirancang untuk dapat bergerak dengan menggunakan persamaan inverse kinematic pada kaki maupun badan robot yang diintegrasikan dengan sensor gyroscope MPU6050 berbasis sistem kendali Hybrid Fuzzy-PID.Tujuan dari penelitian ini adalah mengembangkan sistem kontrol Fuzzy-PID untuk menstabilkan posisi setpoint pada sistem pergerakan Robot berkaki 4(empat). Fuzzy PID adalah gabungan dari kontrol PID dan logika fuzzy, dimana kontrol PID digunakan untuk menstabilkan sistem dan logika fuzzy digunakan untuk memperbaiki performa sistem. Pada penelitian ini sistem kontrol Fuzzy-PID dikembangkan dengan menggunakan metode Mamdani (Min-Max). Sistem ini kemudian diuji dengan mengamati respon pergerakan robot terhadap perubahan nilai sensor gyroscope. Dimana diperoleh hasil mampu memperoleh rata-rata kesalahan hasil keluarannya sampai dengan 0.173333% pada saat pengujian respon terhadap sumbu pitch -15°, namun dibeberapa pengujian juga mendapa tkan hasil respon yang memiliki tingkat kesalahan yang cukup besar sampai dengan 27.31% pada saat pengujian respon terhadap sumbu roll -5°. Dari hasil pengujian kendali hybrid Fuzzy-PID diperoleh hasil robot mampu melakukan pergerakan atau respon untuk menuju titik stabilnya dengan pemberian acuan terhadap sumbu x(roll), y(pitch) dan z(yaw) dimana dapat dianalisa bahwa respon terhadap sumbu x(roll) dan y(pitch) akan mempengaruhi sudut servo sendi tibia dan femur, sedangkan respon terhadap sumbu z(yaw) akan mempengaruhi sudut servo sendi coxa.
Co-Authors Andi Kurniawan Daniyah Daniyah Elfira Nureza Andini Ery Sadewa Imam Much Ibnu Subroto Sesotyo, Priyo Adi Sri Arttini Dwi Prasetyawati Taufik Dwi Cahyono Wisnu Ardyansyah