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All Journal Mechatronics, Electrical Power, and Vehicular Technology Community Development Journal: Jurnal Pengabdian Masyarakat
Muhammad Hilmi Farras
Universitas Negeri Semarang
Humanities Economics, Econometrics & Finance Education Electrical & Electronics Engineering Health Professions Public Health

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IMPLEMENTASI DRIP IRRIGATION BERBASIS IOT DAN ENERGI SURYA PADA KELOMPOK TANI KUBIS Rizky Ajie Aprilianto; Subiyanto Subiyanto; Nur Anita; Fauzul Adzim; Faiq Mananul Faqih; Aisya Fathimah; Wildatul Afiah; Apriansyah Wibowo; I Gede Bagus Jayendra; Listiana Sukaesi; Bayu Adi Pambudi; Yohanes Lenaldo Sinaga; Febrian Adi; Muhammad Hilmi Farras
Community Development Journal : Jurnal Pengabdian Masyarakat Vol. 7 No. 2 (2026): Vol. 7 No. 2 (2026)
Publisher : Universitas Pahlawan Tuanku Tambusai

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31004/cdj.v7i2.56109

Abstract

Irigasi yang efektif sangat penting untuk memenuhi kebutuhan air tanaman sekaligus mencegah penguapan berlebih dan kekurangan air. Praktik konvensional seringkali menyebabkan pemborosan air dan pupuk sehingga menurunkan efisiensi produksi pertanian, Kegiatan ini bertujuan untuk menerapkan sistem drip irrigation berbasis Internet of Things (IoT) dan energi terbarukan meningkatkan efisiensi penggunaan air dan nutrisi pada budidaya kubis di Kelompok Tani Bangkit Merbabu. Sistem ini mengintegrasikan sensor kelembapan tanah, suhu, dan kelembapan udara yang terhubung ke mikrokontroler untuk melakukan monitoring dan kontrol otomatis. Irigasi dan fertigasi dijadwalkan sesuai kebutuhan tanaman dengan mode otomatis. Hasil penerapan menunjukkan bahwa sistem fertigasi tetes berbasis IoT mampu meningkatkan efisiensi waktu kerja sebesar 80%, dibandingkan metode konvensional, dengan penghematan air mencapai 40%. Penerapan sistem ini menunjukkan potensi signifikan dalam mengoptimalkan sumber daya pertanian, meningkatkan produktivitas, serta mendukung penerapan pertanian presisi dan berkelanjutan berbasis energi terbarukan.
An efficient motion planning framework for four-wheel steering autonomous vehicles using Lazy Edge-Based A* and adaptive RK4-MPC Deyndrawan Sutrisno; Subiyanto Subiyanto; Arimaz Hangga; Aldias Bahatmaka; Nur Azis Salim; Elfandy Yunus; Muhammad Hilmi Farras; Setya Budi Arif Prabowo
Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 17, No 1 (2026): In Progress
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/j.mev.2026.1073

Abstract

This work presents an efficient motion planning framework for four-wheel steering (4WS) autonomous vehicles operating in complex and unknown environments. To improve planning efficiency, the framework employs a lazy edge-based A* (LEA*) algorithm for global path planning, adaptive fourth-order Runge–Kutta model predictive control (RK4-MPC) for trajectory tracking and motion execution, and wheel force distribution control (WFDC) to ensure stable motion during steering maneuvers. Quantitative results show that the LEA* reduces planning time by 87.5 % edge evaluations by 96.1 % compared to conventional A*, while improving path smoothness by 51 %. The integration of adaptive RK4-MPC with WFDC achieves the lowest tracking error and heading error of 34.8 % and 37.5 % compared to OMNI, and 28.6 % compared to S-4WS. In addition, the proposed method reduces the wheel slip ratio 88.4 % better than OMNI and 46.7 % better than S-4WS, while also reducing yaw acceleration by 50 % compared to both baselines. For computational efficiency, the proposed framework achieves a search time of 0.5234 s, 83.1 % faster than OMNI, and 37.1 % faster than S-4WS, and an optimization time of 1.4892 s, 30.3 % faster than S-4WS. Overall, the proposed framework improves motion planning efficiency while maintaining smooth and stable motion in simulation.
Co-Authors Aisya Fathimah Aldias Bahatmaka Apriansyah Wibowo Arimaz Hangga Bayu Adi Pambudi Deyndrawan Sutrisno Elfandy Yunus Faiq Mananul Faqih Fauzul Adzim Febrian Adi I Gede Bagus Jayendra Listiana Sukaesi Nur Anita Nur Azis Salim Rizky Ajie Aprilianto Setya Budi Arif Prabowo Wildatul Afiah Yohanes Lenaldo Sinaga