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Zidni, Hasan
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Agriculture, Biological Sciences & Forestry Chemistry Electrical & Electronics Engineering Engineering Materials Science & Nanotechnology

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Rancang Bangun Robot Amphibi Sebagai Sistem Monitoring Gorong-Gorong Mustar, Muhamad Yusvin; Nugraha, Aditiyo Eka; Hidayat, Ahmad Imam; Zidni, Hasan; Oktaviani, Rara Dwi
Semesta Teknika Vol 20, No 2 (2017): NOVEMBER 2017
Publisher : Semesta Teknika

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

Abstract

This research proposes a design and implementation of a culvert monitoring system, based on amphibious robots that resemble ship shapes. This robot, enable to work on land or on the surface of water. A robot control algorithm, based on Arduino microcontroller programming designed and modeled as human and robot interaction, so users can interact directly with the robot in movement control. The outputs generated on this monitoring system are images and sound. Images and sounds obtained from Mobius camera installed on the robot. The results of monitoring and control of robots is controlled wirelessly, so it can perform robot control and monitoring of long-distance culvert and different places. The system proposed in this study can be implemented and applied in real terms, as a system that can help and facilitate the monitoring of water tunnel
Rancang Bangun Robot Amphibi Sebagai Sistem Monitoring Gorong-Gorong Mustar, Muhamad Yusvin; Nugraha, Aditiyo Eka; Hidayat, Ahmad Imam; Zidni, Hasan; Oktaviani, Rara Dwi
Semesta Teknika Vol 20, No 2 (2017): NOVEMBER 2017
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/st.v20i2.2924

Abstract

This research proposes a design and implementation of a culvert monitoring system, based on amphibious robots that resemble ship shapes. This robot, enable to work on land or on the surface of water. A robot control algorithm, based on Arduino microcontroller programming designed and modeled as human and robot interaction, so users can interact directly with the robot in movement control. The outputs generated on this monitoring system are images and sound. Images and sounds obtained from Mobius camera installed on the robot. The results of monitoring and control of robots is controlled wirelessly, so it can perform robot control and monitoring of long-distance culvert and different places. The system proposed in this study can be implemented and applied in real terms, as a system that can help and facilitate the monitoring of water tunnel
IDENTIFIKASI SISTEM BERBASIS DATA KE DALAM MODEL NARX-FNN DENGAN EXTENDED KALMAN FILTER DALAM KONDISI PENGUKURAN YANG NOISY UNTUK SISTEM KOLOM DISTILASI Nasution, Muhammad Alifsyah Putra; Mahayana, Dimitri; Rusmin, Pranoto Hidaya; Amalia, Hayati; Zidni, Hasan
Instrumentasi Vol 48, No 1 (2024)
Publisher : National Standardization Agency of Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31153/instrumentasi.v48i1.625

Abstract

Pada penelitian ini, digunakan plant sistem kolom distilasi tipe batch untuk memisahkan larutan biner campuran etanol dan air. Agar dapat mengimplementasikan skema sistem kendali, diperlukan pemodelan sistem kolom distilasi. Namun, masalahnya plant sistem kolom distilasi tersebut adalah sistem yang highly nonlinear dengan terbatasnya jumlah sensor yang dimiliki untuk memperoleh semua informasi states. Akibatnya, sistem kolom distilasi diidentifikasi menggunakan pendekatan black-box modeling berbasis data input-output eksperimen memanfaatkan Artificial Neural Network (ANN) untuk memperoleh model Nonlinear Autoregressive with eXogenous inputs (NARX). Hasil dengan MSE terbaik dicapai pada kasus tanpa noise pengukuran menggunakan algoritma EKF dengan hyperparameter  yang menghasilkan MSE sebesar 6,9896e-05. Selanjutnya, dapat dilihat pula pada kasus dengan noise ringan, algoritma EKF dengan hyperparameter  mampu konvergen dengan paling cepat, yaitu pada sekitar instance ke-6. Untuk setiap kasus, secara umum, semakin kecil nilai  maka semakin cepat identifikasi sistemnya konvergen, namun dengan trade-off di mana MSE yang dihasilkan menjadi sedikit memburuk. Kata Kunci: sistem kolom distilasi, identifikasi sistem berbasis data, model NARX, algoritma EKF
Co-Authors Amalia, Hayati Dimitri Mahayana Hidayat, Ahmad Imam Hidayat, Ahmad Imam Mustar, Muhamad Yusvin Nasution, Muhammad Alifsyah Putra Nugraha, Aditiyo Eka Nugraha, Aditiyo Eka Oktaviani, Rara Dwi Oktaviani, Rara Dwi Pranoto Hidaya Rusmin