Articles
<![CDATA[The Map-Based Shortest Route Selection by Using Ant Colony Optimization Algorithm ]]>
<![CDATA[Gaffar, Achmad Fanany Onnilita]]>;
<![CDATA[Wajiansyah, Agusma]]>;
<![CDATA[Supriadi, Supriadi]]>
<![CDATA[ Indonesian Journal of Artificial Intelligence and Data Mining Vol 1, No 1 (2018): March 2018 ]]>
Publisher : <![CDATA[Universitas Islam Negeri Sultan Syarif Kasim Riau ]]>
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DOI: 10.24014/ijaidm.v1i1.4600
<![CDATA[The shortest path problem is one of the optimization problems where the optimization value is a distance. In general, solving the problem of the shortest route search can be done using two methods, namely conventional methods and heuristic methods. The Ant Colony Optimization (ACO) is the one of the optimization algorithm based on heuristic method. ACO is adopted from the behavior of ant colonies which naturally able to find the shortest route on the way from the nest to the food sources. In this study, ACO is used to determine the shortest route from Bumi Senyiur Hotel (origin point) to East Kalimantan Governor's Office (destination point). The selection of the origin and destination points is based on a large number of possible major roads connecting the two points. The data source used is the base map of Samarinda City which is cropped on certain coordinates by using Google Earth app which covers the origin and destination points selected. The data pre-processing is performed on the base map image of the acquisition results to obtain its numerical data. ACO is implemented on the data to obtain the shortest path from the origin and destination point that has been determined. From the study results obtained that the number of ants that have been used has an effect on the increase of possible solutions to optimal. The number of tours effect on the number of pheromones that are left on each edge passed ant. With the global pheromone update on each tour then there is a possibility that the path that has passed the ant will run out of pheromone at the end of the tour. This causes the possibility of inconsistent results when using the number of ants smaller than the number of tours.]]>
<![CDATA[Performa Komunikasi Arduino Mega2560 Melalui Wifi ESP8266 Pada Baudrate 115200 kbps ]]>
<![CDATA[Supriadi, Supriadi]]>;
<![CDATA[Wajiansyah, Agusma]]>
<![CDATA[ Prosiding SAKTI (Seminar Ilmu Komputer dan Teknologi Informasi) Vol 3, No 2 (2018): Prosiding Seminar Nasional Ilmu Komputer dan Teknologi Informasi (SAKTI) ]]>
Publisher : <![CDATA[Mulawarman University ]]>
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<![CDATA[Proses pengiriman data (Data Transmitter) antar mikrokontroller sudah sering dilakukan. Proses pengiriman data biasanya harus menyediakan Board mikrokontroller yang mampu mengirimkan data dengan cepat dan akurat, Salah satunya ialah arduino mega 2560. arduino mega 2560 mampu melakukan proses transmisi data dengan menggunakan media komunikasi wireless. Pada beberapa project arduino yang sering diteliti media komunikasi wirelees yang sering digunakan untuk melakukan transmisi dataadalah ESP8266. ESP8266 merupakan sebuah perangkat wifi yang kompatibel dengan arduino mega 2560. selain itu juga ESP8266 memiliki kemampuan pengiriman data mencapai 2,4 Mbps. modul arduino yang terhubung dengan ESP8266 menggunakan protokol komunikasi Serial RS232 dengan baudrate Sebesar 112500 kbps. Pada penelitian ini arduino mega 2560 mampu melakukan pengiriman data sebanyak 926byte data dengan durasi waktu ratarata1027ms - 1188ms.]]>
<![CDATA[Optimasi Manuver Lepas Landas Pada Quadcopter Menggunakan Jaringan Syaraf Tiruan Propagasi Balik ]]>
<![CDATA[Pratiwi, Adinda Putri]]>;
<![CDATA[Wajiansyah, Agusma]]>;
<![CDATA[Gaffar, Achmad Fanany Onnilita]]>
<![CDATA[ Prosiding SAKTI (Seminar Ilmu Komputer dan Teknologi Informasi) Vol 3, No 1 (2018): Prosiding Seminar Nasional Ilmu Komputer dan Teknologi Informasi (SAKTI) ]]>
Publisher : <![CDATA[Mulawarman University ]]>
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<![CDATA[Quadcopter merupakan pesawat tanpa awak yang digerakan menggunakan propeller pada keempat sisinya. Saat melakukan lepas landas Quadcopter tidak stabil dikarenakan beberapa faktor salah satunya adalah nilai dari sudut-sudut rotasi pada Quadcopter tidak tepat. Oleh karena itu dibutuhkan kendali agar saat melakukan gerakan lepas landas Quadcopter stabil. Kendali yang dipilih merupakan JST-BP. Percobaan dilakukan dengan mengakuisisi data latih menggunakan orde satu, dua, dan tiga. Setelah didapat hasilnya lalu data di latih dengan jumlah neuron yang berbeda yaitu 50, 70, dan 100. Selanjutnya dilakukan pengujian pada system Quadcopter, pengujian dilakukan dengan berbagai macam nilai ketinggian yaitu, 1, 3, 5, 7, 9, 11, 13, dan 15. Output keluaran dari percobaan tidak sesuai dengan input yang ditetapkan.]]>
<![CDATA[Implementasi Master-slave pada Embedded system menggunakan komunikasi RS485 ]]>
<![CDATA[Wajiansyah, Agusma]]>;
<![CDATA[Supriadi, Supriadi]]>
<![CDATA[ ELKHA : Jurnal Teknik Elektro Vol. 12 No. 1, April 2020 ]]>
Publisher : <![CDATA[Faculty of Engineering, Universitas Tanjungpura ]]>
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DOI: 10.26418/elkha.v12i1.39166
<![CDATA[The use of multiprocessor methods in robotics systems has a significant impact on overall robot performance. The Master-slave method is a model of a multiprocessor system where there are several processors that communicate with each other to carry out the robot's overall function. RS-485 can be used as a communication model in the master-slave method. RS-485 is a development of RS-232 which has the ability to communicate with several nodes. In this research, an experiment will be conducted to implement RS-485 to support the master-slave processor communication. Stages of research began with making system design, which includes the design of embedded hardware systems, the design of data communication protocols on RS-485 networks, software design, followed by implementation and testing. The test is carried out to measure the time response of the device to three data transmission models, namely broadcast, addressing slaves without responding and addressing slaves with responses. The test results carried out on three slaves with a communication speed of 9600 bps. Measured response time on broadcast data transmission is 8ms, and address slave without response is 7ms. Whereas delivery by addressing slaves with responses, shows that the measurement method cannot be applied.]]>
<![CDATA[Modeling of 2-DOF Hexapod Leg Using Analytical Method ]]>
<![CDATA[Wajiansyah, Agusma]]>;
<![CDATA[Supriadi, Supriadi]]>;
<![CDATA[Gaffar, Achmad Fanany Onnilita]]>;
<![CDATA[Putra, Arief Bramanto Wicaksono]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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<![CDATA[Walking robot is one type of mobile platform that has locomotion type "walking." DOF (Degree Of Freedom) is one of essential character for the design of robot mechanism based on its models. Legs are the critical parts of the walking robot structure. The legged robot is the walking robot biologically adopted from animal or insect behavior, especially in their walking routine. The hexapod robot is one of the most statically stable legged robots and has high flexibility when standing or moving which supported by six legs that can be easily manipulated. For modeling needs and its validation, it is desirable to control each DOF in the space of Cartesian coordinate although motor system needs the reference inputs in the joint space. In this case, it needs to know the conversion between Cartesian and joint space, inverse, and forward kinematics. This study presents a kinematic model of the 2-DOF hexapod leg. This study aimed to build a kinematic model of the 2-DOF hexapod leg using an analytical approach. Analytically, the working mechanism of the robot can be modeled using forward and inverse kinematic models. In this method, this modeling is derived mathematically from the projection analysis of the movement in a certain coordinate space. The model validation was performed using the MATLAB tool and the Robotic Toolbox. The results of this study showed that the results of the inverse kinematic process have the same output signal pattern compare to the input signal pattern of the forward kinematic process.]]>
<![CDATA[Prototipe Peringatan Dini Banjir dengan Menerapkan Teknologi Internet of Thing ]]>
<![CDATA[Supriadi, Supriadi]]>;
<![CDATA[Wajiansyah, Agusma]]>;
<![CDATA[Putra, Arief Bramanto Wicaksono]]>
<![CDATA[ JEPIN (Jurnal Edukasi dan Penelitian Informatika) Vol 7, No 1 (2021): Volume 7 No 1 ]]>
Publisher : <![CDATA[Program Studi Informatika ]]>
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DOI: 10.26418/jp.v7i1.43052
<![CDATA[Salah satu dampak nyata dari perubahan iklim adalah banjir yang telah terjadi lebih sering di banyak wilayah padat penduduk dan menyebabkan dampak pada kehidupan manusia dan mata pencaharian. Tujuan penelitian ini adalah membangun algoritma untuk memudahkan seseorang atau pengguna dapat mengetahui kondisi dan mendapat peringatan tentang ketinggian permukaan air terhadap permukaan jalan raya. Pengguna dapat memonitor ketinggian air dengan menggunakan smartphone apabila ketinggian permukaan air kanal dibawah permukaan jalan, dan pengguna akan mendapat peringatan apabila tiba-tiba permukaan air meningkat melebihi permukaan jalan secara real time. Untuk medapatkan ketinggian permukaan air kanal, dengan cara memanfaatkan rambatan gelombang suara ultrasonit yang dipantulkan pada obyek. Dengan diketahuinya jarak obyek, maka dapat dilakukan komputasi untuk mengetaui ketinggian permukaan air kanal. Nilai ketinggian permukaan air kanal dikrim melalui jaringan internet menuju Internet of Thing (IoT) cloud server yang dapat di monitor oleh pengguna. Sedangkan nilai ketinggian permukaan air kanal yang tidak normal akan menjadi keputusan untuk memberi interupsi peringatan kepada pengguna, apabila pengguna sedang tidak dalam keadaan sedang memantau. Hasil percobaan pada prototipe ini mampu memberikan representasi variabel ketinggian permukaan air dalam bentuk grafis dan nilai numerik, serta mampu memberi peringatan pada pengguna melalui smartphone. Sistem peringatan dini banjir mampu merepresentasikan data dalam bentuk level vertikal dan data numerik dengan tinggkat ketinggian air paling rendah adalah -150 cm dan paling tinggi 130 cm, dengan representasi nilai 0 cm apabila tingkat ketinggian permukaan air sejajar dengan permukaan badan jalan. Interupsi peringatan muncul apabila nilai tingkat ketinggian air lebih dari 0 cm.]]>
<![CDATA[Optimization of Humanoid Robot Leg Movement Using Open CM 9.04 ]]>
<![CDATA[Wajiansyah, Agusma]]>;
<![CDATA[Malani, Rheo]]>;
<![CDATA[Supriadi, Supriadi]]>;
<![CDATA[Gaffar, Achmad Fanany Onnilita]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 5 (2022): September ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i5.15071
<![CDATA[The Indonesian Robot Dance Contest (KRSTI) is a branch of the Indonesian Robot Contest (KRI) with the theme of dance. The robot used is a humanoid robot that can dance. Every year at the event, the provisions for robots constantly change, both the type of dance being demonstrated and the requirements for the robot's height. The taller the robot, the more difficult it is to control its walking movements because of the load it carries. This study uses a suitable algorithm to make the walking movement more natural and minimize the robot's falling. Human ROM data is used as a parameter for the range of motion of the servos that act as joints in the robot's legs. The algorithm created serves to determine the initial position of the angle on the servo to avoid the wrong initial movement position between one servo and another. The robot used is the Bioloid Robot’s leg Type A and uses OpenCM 9.04-A as the controller. The results showed that ROM on human feet could not be fully implemented on robot legs due to the robot's structure and the need for a robot that only relies on an algorithm to find the correct fulcrum to maintain balance. The comparison results show that the movement when walking on the ankle (ID servo 15) ranges from 749-567, while the ROM range is only between 580-512. When walking (servo ID 16), movement ranges from 460-291, while the ROM range ranges from 580-512.]]>
<![CDATA[Optimization of Proportional Integral Derivative Controller for Omni Robot Wheel Drive by Using Integrator Wind-up Reduction Based on Arduino Nano ]]>
<![CDATA[Supriadi, Supriadi]]>;
<![CDATA[Wajiansyah, Agusma]]>;
<![CDATA[Zainuddin, Mohammad]]>;
<![CDATA[Putra, Arief Bramanto Wicaksono]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 5, No 6 (2024) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v5i6.21807
<![CDATA[The experimental object used is a three-wheeled omni-robot frame, where the wheel axes have an angle difference of 120 degrees from each other. The Omni wheels have a diameter of 48 mm connected to the DC motor axis through a gearbox, which has a ratio of 80 to 1. Each wheel has been controlled using a proportional plus integral plus derivative (PID) controller embedded in a microcontroller, which is an Arduino nano board. The motor axis is equipped with a two-phase optical encoder that definitively generates four cycles per revolution for wheel speed acquisition as the controller input. The wheel speed control signal is distributed to the wheel through the H bridge as the controller output. The controller constants have been directly tuned to the robot frame's physical omni-wheel speed control system. The controller is tuned to minimize steady-state error, achieve fast settling times, and minimize overshoot. The best constants obtained are 1.5 (proportional), 0.012 (integral), and 10 (derivative). Using a tolerance band of +/- 2.5%, the system achieved a settling time of 1.1 seconds and a steady-state error of 0.3%. The control system is unstable when the actuator is saturated, which produces oscillations. Controller optimization has been successful by using integrator wind-up reduction. The steady-state average error was reduced to 9.95% without oscillation after optimization, compared to 46.37% with oscillations before optimization. The controller has been validated with speed-tracking tests on all velocity vector regions. The robot frame has been tested with basic maneuvers such as rotation, concerning, forward, and sideways.]]>
<![CDATA[Optimization of Proportional Integral Derivative Controller for Omni Robot Wheel Drive by Using Integrator Wind-up Reduction Based on Arduino Nano ]]>
<![CDATA[Supriadi, Supriadi]]>;
<![CDATA[Wajiansyah, Agusma]]>;
<![CDATA[Zainuddin, Mohammad]]>;
<![CDATA[Putra, Arief Bramanto Wicaksono]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v5i6.21807
<![CDATA[The experimental object used is a three-wheeled omni-robot frame, where the wheel axes have an angle difference of 120 degrees from each other. The Omni wheels have a diameter of 48 mm connected to the DC motor axis through a gearbox, which has a ratio of 80 to 1. Each wheel has been controlled using a proportional plus integral plus derivative (PID) controller embedded in a microcontroller, which is an Arduino nano board. The motor axis is equipped with a two-phase optical encoder that definitively generates four cycles per revolution for wheel speed acquisition as the controller input. The wheel speed control signal is distributed to the wheel through the H bridge as the controller output. The controller constants have been directly tuned to the robot frame's physical omni-wheel speed control system. The controller is tuned to minimize steady-state error, achieve fast settling times, and minimize overshoot. The best constants obtained are 1.5 (proportional), 0.012 (integral), and 10 (derivative). Using a tolerance band of +/- 2.5%, the system achieved a settling time of 1.1 seconds and a steady-state error of 0.3%. The control system is unstable when the actuator is saturated, which produces oscillations. Controller optimization has been successful by using integrator wind-up reduction. The steady-state average error was reduced to 9.95% without oscillation after optimization, compared to 46.37% with oscillations before optimization. The controller has been validated with speed-tracking tests on all velocity vector regions. The robot frame has been tested with basic maneuvers such as rotation, concerning, forward, and sideways.]]>
<![CDATA[SISTEM ABSENSI MENGGUNAKAN SENSOR RFID DAN PLX-DAQ BERBASIS ARDUINO UNO ]]>
<![CDATA[Anggreini, Rhenata]]>;
<![CDATA[Wajiansyah, Agusma]]>;
<![CDATA[Supriadi, Supriadi]]>
<![CDATA[ Jurnal Informatika dan Teknik Elektro Terapan Vol 13, No 2 (2025) ]]>
Publisher : <![CDATA[Universitas Lampung ]]>
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DOI: 10.23960/jitet.v13i2.6227
<![CDATA[Mikrokontroler berkembang pesat dan digunakan dalam berbagai aplikasi kendali otomatis, termasuk sistem absensi berbasis RFID. Sistem absensi ini memanfaatkan RFID untuk mencatat kehadiran dengan efisien dan akurat, mengurangi risiko kesalahan manusia, dan menyediakan data real-time kepada manajemen. Teknologi RFID menggunakan pembaca RFID dan kartu ID untuk mengidentifikasi objek secara otomatis tanpa campur tangan manusia. Penelitian ini bertujuan merancang dan mengimplementasikan sistem absensi otomatis berbasis RFID menggunakan mikrokontroler Arduino, mempermudah pengumpulan dan pengelolaan data kehadiran siswa secara real-time, serta mengevaluasi kecepatan proses absensi. Sistem ini menggunakan sensor RFID Mifare RC522 dan modul RTC DS3231 untuk mencatat waktu dengan akurat. Data absensi disimpan dan diolah menggunakan PLX-DAQ dan Excel untuk memastikan pencatatan yang akurat dan efisien. Hasil pengujian menunjukkan bahwa sistem dapat mencatat data absensi dengan tepat waktu dan real-time, memudahkan pengolahan dan analisis data kehadiran. Sistem ini dapat diandalkan untuk tujuan pengelolaan absensi yang efisien dan transparan]]>
