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All Journal Bulletin of Electrical Engineering and Informatics Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Khazanah Informatika: Jurnal Ilmu Komputer dan Informatika INTENSIF: Jurnal Ilmiah Penelitian dan Penerapan Teknologi Sistem Informasi Buletin Ilmiah Sarjana Teknik Elektro Mobile and Forensics Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems International Journal of Social Service and Research Control Systems and Optimization Letters IJMST
Furizal, Furizal
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Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Electrical & Electronics Engineering Engineering Environmental Science Languange, Linguistic, Communication & Media Law, Crime, Criminology & Criminal Justice Library & Information Science Mechanical Engineering Neuroscience Social Sciences

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Journal : Control Systems and Optimization Letters

 1 
Motion System of a Four-Wheeled Robot Using a PID Controller Based on MPU and Rotary Encoder Sensors Sagita, Muhamad Rian; Ma’arif, Alfian; Furizal, Furizal; Rekik, Chokri; Caesarendra, Wahyu; Majdoubi, Rania
Control Systems and Optimization Letters Vol 2, No 2 (2024)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v2i2.150

Abstract

This research addresses the challenge of developing an effective motion system for a four-wheeled omnidirectional robot configured with wheels at a 45-degree angle, allowing for holonomic movement—motion in any direction without changing orientation. In this system, inverse kinematics calculates each wheel's angular velocity to optimize movement. PID control is implemented to stabilize motor speeds, while odometry guides and determines the robot’s position using initial and target coordinates. The robot operates on a 12-volt power supply and two STM32F103C microcontrollers, utilizing an MPU6050 sensor to maintain orientation and optical rotary encoders for accurate positional tracking. Experimental results demonstrate that the robot achieves optimal motion on x and y axes with PID settings of kP = 0.8, kI = 1.0, and kD = 0.08. This configuration yields a rise time of 0.95 seconds, overshoot of 7.36%, and steady-state error of -0.5 RPM at a setpoint of 350 RPM. Using odometry, the robot successfully navigates various movement patterns with average position errors of 1.2% on the x-axis and 1.6% on the y-axis for rectangular patterns, 2.1% on the x-axis and 2.2% on the y-axis for zig-zag patterns, and 1.75% on the x-axis and 1.15% on the y-axis for triangular patterns. The MPU6050 sensor maintains orientation with an error of 0.65% in triangular patterns and 0.85% in rectangular patterns. Through inverse kinematics, PID control, and sensor integration, the robot reliably follows designated coordinate points.
Analysis of the Influence of Number of Segments on Similarity Level in Wound Image Segmentation Using K-Means Clustering Algorithm Furizal, Furizal; Mawarni, Syifa’ah Setya; Akbar, Son Ali; Yudhana, Anton; Kusno, Murinto
Control Systems and Optimization Letters Vol 1, No 3 (2023)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v1i3.33

Abstract

This study underscores the importance of wound image segmentation in the medical world to speed up first aid for victims and increase the efficiency of medical personnel in providing appropriate treatment. Although the body has a protective function from external threats, the skin can be easily damaged and cause injuries that require rapid detection and treatment. This study used the K-Means clustering algorithm to segment the external wound image dataset consisting of three types of wounds, namely abrasion, puncture, and laceration. The results showed that K-Means clustering is an effective method for segmenting wound images. The greater the number of segments used, the better the quality of the resulting segmentation. However, it is necessary to take into account the specific characteristics of each type of wound and the number of segments used in order to choose the most suitable segmentation method. Evaluation using various metrics, such as VOI, GCE, MSE, and PSNR, provides an objective assessment of the quality of segmentation. The results showed that abrasion wounds were easier to segment compared to puncture wounds and lacerations. In addition, the size of the image file also affects the speed of program execution, although it is not always absolute depending on the characteristics of the image.
Co-Authors A. Salah, Wael Abdul Syukur Abidin, Minhajul Adriyanto, Feri Ahmad Azhari Al Madani Kurniawan, Aqsha Aldi Bastiatul Fawait Fawait Alfian Ma’arif ALYA MASITHA Anton Yudhana Ariska Fitriyana Ningrum Arqam, Mhd Lailan Asno Azzawagama Firdaus Atmojo, Ahmad Muslih B. Talirongan, Florence Jean Bintang Grendis, Nuraqilla Waidha D.E Purwadi Putra, Izzan Julda Dianda Rifaldi Faresta, Rangga Hadi San, Ahmad Syahrul Imam Riadi Imantoyo, Adi Insyroh, Nazaruddin Jayed, A K M Kariyamin, Kariyamin Kartoirono, Suprihatin Lora Khaula Amifia Maghfiroh, Hari MAJDOUBI, Rania Maulana, Adrian Mawarni, Syifa’ah Setya Moch. Iskandar Riansyah Mostfa, Ahmed A. Muhammad Ilham Muhammad Mujahid Dakwah Muis, Alwas Munzir, Misbahul Murinto Murinto Murni Murni Nakib, Arman Mohammad Natawangsa, Hari Nusantara Habibi, Ahmad Rizky Palahuddin, Palahuddin Ramelan, Agus REKIK, Chokri Ritonga, Asdelina Sagita, Muhamad Rian Sharkawy, Abdel-Nasser Sherly da Costa, Apolonia Diana Son Ali Akbar Sufiyandi, Ilham Sunardi Sunardi Suprihatin Suprihatin Suwarno, Iswanto Syahrani Lonang Wahyu Caesarendra Wijaya, Setiawan Ardi