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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

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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.
Utilizing Inverse Kinematics for Precise Guidance in Planning 6-DoF Robot End-Effector Movements Suwoyo, Heru; Adriansyah, Andi; Andika, Julpri; Ibnu Hajar, Muhammad Hafizd; Dinata, Rizky; Triwidya Mochtar, Thathit Gumilar; Yusuf, Muhammad; Hutomo, Fajri Rezki
International Journal of Engineering Continuity Vol. 3 No. 1 (2024): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58291/ijec.v3i1.148

Abstract

The solution of the kinematic inverse determines a substantial part of the robotic arm's control accuracy. Researchers frequently employ standard problem-solving techniques such as numerical, algebraic, iterative, and geometric methods. Although geometric like trigonometrical method has been widely studied, and their application is strongly dependent on the shape and dimensions of the robot. The complexity of the steps makes this approach difficult for researchers. In order to give a clearance and easiness, the step-by-step features of inverse kinematics are described in this research. The study begins with forward kinematics and refers to the DH-parameter in Homogeneous Matrix Transformations calculation. The existence of specific elements applied to mathematical derivation constituted the basis of forward kinematic discussions. And based on geometrical analysis, the inverse kinematic is then derived. Furthermore, simulations are performed to demonstrate the actual implementation of IK and the solution is then used to initiate the path planning process.
Review Paper: Key Points on Robot Navigation and Its Practical Uses in the Field of Manufacturing Suwoyo, Heru; Andika, Julpri; Hidayat, Taufik
International Journal of Engineering Continuity Vol. 3 No. 1 (2024): ijec
Publisher : Sultan Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58291/ijec.v3i1.227

Abstract

Key aspects are covered in this review article, along with a brief explanation of mobile robot navigation and its uses in the industrial sector. This study emphasizes the significance of robot navigation in enhancing productivity, efficiency, and safety in manufacturing processes by compiling important ideas from the body of research and literature. This study investigates several robot navigation algorithms and strategies, from simple algorithms to sophisticated ones like SLAM (Simultaneous Localization and Mapping). This study also examines particular issues and concerns about the application of robot navigation systems in industrial settings, such as path planning, obstacle avoidance, and worker cooperation. This paper presents some noted applications of robot navigation, such as material handling, assembly, quality control, and logistics, using case studies and examples. The conversation also touches on new developments and prospective paths for robot navigation technology, highlighting the possibility for more innovation and connection with Industry 4.0 projects. All things considered, this review article is an invaluable tool for scholars, practitioners, and business experts who want to comprehend the function of robot navigation in contemporary manufacturing processes and how it will affect industrial automation in the future.
Co-Authors Adi Juliyanto Akhmad Wahyu Dani Akhmad Zakky Andi Adriansyah Andika Arrizki Angela Dirman Annisa Hakim Zamzami Burhanudin, Achmad Coto Julianto Dafit Feriyanto Dinata, Rizky Elly Yuliawati Erna Setiany Fadli Sirait Fina Supegina Harun Usman Ghifarsyam Hastomi, Yudi Hongmin Gao Hutomo, Fajri Rezki 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 Said Attamimi Setiyo Budiyanto Shamsudin, Abu Ubaidah Suwoyo, Heru Taufik Hidayat Tian, Yingzhong Triwidya Mochtar, Thathit Gumilar Triyanto Pangaribowo Yananto Mihadi Putra Yayu Lestari Yudhi Gunardi Yudhi Gunardi Zendi Iklima