Article Per Year (5 Year)
p-Index From 2020 - 2025
3.23
P-Index
This Author published in this journals
All Journal Sinergi Jurnal Teknologi Elektro InComTech: Jurnal Telekomunikasi dan Komputer Minda Baharu Jurnal Abdi Masyarakat (JAM) Journal of Robotics and Control (JRC) Indonesian Journal of Electrical Engineering and Computer Science Indonesian Journal for Social Responsibility Jurnal Abdidas International Journal of Advanced Technology in Mechanical, Mechatronics and Material (IJATEC) Journal of Integrated and Advanced Engineering (JIAE) Journal of Community Service International Journal of Engineering Continuity
Julpri Andika
Universitas Mercu Buana
Aerospace Engineering Agriculture, Biological Sciences & Forestry Humanities Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Environmental Science Health Professions Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mathematics Mechanical Engineering Public Health Social Sciences Other

Published : 26 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 26 Documents
Search

 1   2   3 
An Effective Way for Repositioning the Beacon Nodes of Fast RRT Results Utilizing Grey Wolf Optimization Suwoyo, Heru; Adriansyah, Andi; Andika, Julpri; Shamsudin, Abu Ubaidah; Tian, Yingzhong
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i1.22062

Abstract

Conceptually, Fast-RRT applies fast sampling and random steering which makes the initial path quickly obtained. Referring to the initial path, the optimality of the path is improved by applying path fusion and path optimization. Theoretically, path fusion will only be optimal if there is always a unique/different path to be fused with the previously obtained path. However, in the conditions of solving path planning problems in narrow corridors, the potential for obtaining a different path from the previous one is very small. So that fusion does not run properly, but checking the relationship between nodes to nodes still occurs. Instead of getting an optimal path in conditions like this, the computation will increase, the solution time will be long, and the resulting path will still be sub-optimal. As an effort to solve this problem, Grey Wolf Optimization (GWO) is involved through this study. While an initial path is found, the beacons are repositioned. From the path, the number of nodes is unpredictable, causing the decision variables in optimization to become large. For this reason, the GWO is chosen because it is independent of population representation and is not affected by the number of decision variables. This proposed method is claimed to be more effective in solving path planning problems in terms of convergence rate and optimality. Therefore, the proposed method is evaluated and compared with previous methods and gives the result that the average working speed of Fast-RRT is improved by 90.25% and the optimality average increased by 5.67%.
A Bidirectional-RRT*-Connect-Assisted RRT*-Smart for a path planning algorithm Suwoyo, Heru; Hastomi, Yudi; Andika, Julpri
SINERGI Vol 29, No 2 (2025)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2025.2.017

Abstract

Although Rapidly Exploring Random Tree Star (RRT*) has been considered to be able to achieve convergence to an optimal solution, this method has a slow convergence speed and requires an infinite amount of time to produce a truly optimal solution. For this reason, RRT*-Smart which includes path optimization and intelligent sampling processes was introduced. Although the addition of these methods can directly complete infinite-duration RRT* searches, they will work once the initial path obtained with RRT* is available. The effectiveness of reducing the optimality time is determined by the initial path formed. If this path is not close to optimal, the path optimization and intelligent sampling process will take a long time, and vice-versa. For this reason, RRT*-Connect, which has the advantage of searching from two directions, is proposed in this study. The goal is to replace the RRT* algorithm to produce a more optimal initial formed path. Based on this approach, this method will be named Connect-RRT*-Smart. Several methods, such as RRT, RRT*, RRT*-Connect, and RRT*-Smart, are compared to see their performance in producing the feasible path. Regarding this comparative result, the proposed method shows better performance in terms of convergence speed and path optimality. 
Design of path planning robot simulator by applying sampling based method Suwoyo, Heru; Andika, Julpri; Adriansyah, Andi
SINERGI Vol 29, No 2 (2025)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2025.2.016

Abstract

This research aims to create a simulator for solving the global path planning of mobile robots. Various sampling-based methods such as Rapidly-exploring Random Tree (RRT), RRT*, and Fast-RRT, along with other derivative algorithms, have been widely used to solve path-planning problems in mobile robots. The level of computational efficiency, path optimality, and the ability to adapt to variant environments are some of the issues that still arise, although these techniques have shown good results in many cases. Although the existing solutions are innovative, comparison between the existing methods is still difficult due to significant differences in convergence speed, implementation complexity, and quality of the resulting paths. This makes choosing the most suitable method for a particular application difficult. The simulator uses sampling-based path planning algorithms such as RRT*, Fast RRT*, RRT*-Smart, informed-RRT*, and Honey Bee Mating Optimization-based Fast-RRT*. With this simulator, users can easily compare the performance of each algorithm and see the characteristics and efficiency of each algorithm in various situations. By running all methods through this simulator, the user can easily compare the methods based on convergence speed and optimality. Therefore, it will effectively help users understand robot navigation, improve the quality of learning, and promote the development of path-planning technology for mobile robots.
Pengembangan Metode Penyelesaian Permasalahan Feature-Based SLAM berbasis Adaptive Extended Kalman Filter, Fuzzy Inference System, dan Particle Swarm Optimization Kusuma, Hiero; Suwoyo, Heru; Andika, Julpri
InComTech : Jurnal Telekomunikasi dan Komputer Vol 14, No 3 (2024)
Publisher : Department of Electrical Engineering

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/incomtech.v14i3.30277

Abstract

Objektivitas dari menyelesaikan permasalahan Simultaneous Localization and Mapping pada robot bergerak adalah menaksirkan lintasan robot dan secara simultan memodelkan peta lingkungan. Pada kasus SLAM 2-dimensi berbasis fitur, peta yang dimaksud adalah menaksirkan lokasi semua fitur pada lingkungan dalam bentuk koordinat kartesius. Umumnya penaksiran dilakukan dengan cara memanfaatkan filter berbasis gaussian, seperti Extended Kalman Filter. Pada penerapan konvensional, kebisingan statistik baik pada mean dan kovarian untuk kontrol dan pengukuran, ditentukan diawal untuk tetap selama proses penaksiran. Pada kasus yang mengharuskan ketepatan tinggi, hal ini berdampak pada kinerja filter yang bisa saja menunjukkan divergensi. Atas dasar ini, EKF dikembangkan dengan menambahkan kemampuan rekursif menentukan kovariansi proses Q, dan kovariansi pengukuran R dengan menerapkan Innovation Adaptive Estimation (IAE). Namun tidak jarang ketidaktepatan memetakan kondisi dinamis, membuat performansi dari Adaptif EKF (AEKF) justru mengalami degredasi. Sehingga perlu pendekatan khusus yang relevan mendukung kinerja dari algoritma. Pada penelitian ini, diusulkan Fuzzy Inference System dioptimasi dengan Particle Swarm Optimization untuk menentukan besaran perubah baik untuk Q atau pun R berdasarkan Degree of Mathcing. Berdasarkan hasil yang dibandingkan, usulan ini memberikan performansi yang lebih baik berdasarkan RMSE yang telah mengalami penurunan dari metode konvensional, khususnya saat R tetap dan Q rekursif
Sistem Monitoring Tegangan dan Arus Solar Cell Berbasis IoT Dengan Platform Thingspeak Zakariya, Zakky Akhmad; Andika, Julpri
Jurnal Teknologi Elektro Vol 16, No 1 (2025)
Publisher : Electrical Engineering, Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/jte.2025.v16i1.002

Abstract

Solar cell merupakan pembangkit listrik yang mampu mengkonversi sinar matahari menjadi arus listrik. Energi matahari merupakan sumber energi paling mempunyai kontribusi, mengingat sifatnya yang berkelanjutan (sustainable) serta jumlahnya yang sangat besar. Internet of Things (IoT) memiliki gagasan yang berencana untuk memperluas manfaat jaringan web yang terhubung tanpa henti, di samping kemampuan pengontrol, berbagi informasi, dan lainnya. Alat ini digunakan untuk mengolah data yang diterima dari sensor INA219 sehingga data dapat diolah yang kemudian dipublish ke Thingspeak. Hasil output pada sensor INA219 dipengaruhi oleh intensitas cahaya matahari terhitung dari pukul 09.30 sampai dengan 16.00 WIB. Hasil pengujian perbandingan antara 1 dan 2 buah lampu menunjukan kesesuaian. Karena, menunjukan perbedaan hasil pemakaian. Sensor tegangan dan arus yang digunakan berfungsi dengan baik untuk membandingkan efisiensi pemkaian solar panel dan baterai.
Peningkatan Daya Saing Industri Rumah Tangga dan Usaha Mikro Kuliner melalui Rebranding dan Tata Kelola Setiany, Erna; Briandana, Rizki; Andika, Julpri; Putra, Yananto Mihadi; Ramadhan, Kurnia; Adriansyah, Andi; Feriyanto, Dafit; Rahayu, Muthia; Zamzami, Annisa Hakim; Yuliawati, Elly; Pratiwi, Riri
Indonesian Journal for Social Responsibility Vol. 7 No. 02 (2025): December 2025
Publisher : LPkM Universitas Bakrie

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.36782/ijsr.v7i02.449

Abstract

Culinary micro businesses and home industries have a strategic role in local economic development, especially in the Tangerang area. However, obstacles such as low brand awareness, less than optimal business management, and minimal understanding of business regulations hinder the competitiveness of this sector. This study aims to examine how product re-branding and improving business governance can increase the competitiveness of culinary micro businesses. Using the Community-Based Research (CBR) methodology, this community engagement initiative involved 10 business owners selected through purposive sampling, utilizing in-depth interviews and field observations. The results showed that the rebranding strategy, including improving packaging, improving product quality, and strengthening marketing messages, succeeded in increasing sales by up to 30%. In addition, training in financial management, marketing, and operational management improved the skills of business actors. Administrative support in managing permits such as NIB, PIRT, and halal certification also provided more trust to consumers. In conclusion, the combination of an effective rebranding strategy and good business governance can increase the competitiveness of this industry.
Co-Authors Adi Juliyanto Akhmad Wahyu Dani Andi Adriansyah Andi Adriansyah Andika Arrizki Angela Dirman Annisa Hakim Zamzami Burhanudin, Achmad Coto Julianto Dafit Feriyanto Elly Yuliawati Erna Setiany Fadli Sirait Fajri Rezki Hutomo Fina Supegina Harun Usman Ghifarsyam Hastomi, Yudi Hongmin Gao Imelda Uli Vistalina Jibran, Alwan Ketty Siti Salamah Kusuma, Hiero Loura Meilita Saragih Simarmata Luo Qingsheng M. Hafiz Ibnu Hajar Melinda Utami Mirna Yunita Muhammad Hafizd Ibnu Hajar Muhammad Yusuf Pratiwi, Riri Putra, Firoos Safana Qingsheng, Luo Rachmat Muwardi Rahayu, Muthia Ramadhan, Kurnia Ramadhan, Muhamad Husen Rizki Briandana Rizky Dinata Said Attamimi Setiyo Budiyanto Shamsudin, Abu Ubaidah Suwoyo, Heru Taufik Hidayat Thathit Gumilar Triwidya Mochtar Tian, Yingzhong Triyanto Pangaribowo Yananto Mihadi Putra Yayu Lestari Yudhi Gunardi Yudhi Gunardi Zakariya, Zakky Akhmad Zendi Iklima