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All Journal Jurnal Pedagogi dan Pembelajaran SinarFe7
Ermanu Azizul Hakim
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Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Other

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PID Trajectory Tracking Control 4 Omni-Wheel Robot Ghufron Wahyu Kurniawan; Novendra Setyawan; Ermanu Azizul Hakim
SinarFe7 Vol. 2 No. 1 (2019): Sinarfe7-2 2019
Publisher : FORTEI Regional VII Jawa Timur

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Abstract

Penelitian ini membahas tentang trajectory tracking pada 4 omniwheel robot menggunakan kontrol PID (Proporsional, Integral, Derivative), penggunaan kontrol PID ini dimaksutkan untuk meminimalisir error pergerakan robot, sehingga saat terjadi error pergerakan diharapkan robot dapat kembali ke lintasannya.Cara kerja dari sistem ini didapatkan dengan cara membandingkan hasil dari tracking trajectory terhadap trajectory planing sehingga didapatkan nilai beda (error) yang digunakan sebagai massukan dari kontrol PID, keluaran dari PID ini berupa sinyal kontrol yang diubah kedalam besaran nilai PWM (pulse widh modulation) dan digunakan untuk mengendalikan kecepatan dari masing motor yang terhubung ke roda omnidrive. Hasil pengujian menunjukkan nilai rata rata error sebesar 6,48% pada tracking target nilai X=-185 cm dan target Y =260 cm, dan 6.83% pada tracking target nilai X=185 cm dan target Y =260, sedangkan pada gambar 10 dan 11 menunjukkan grafik dimana garis warna biru(path/trajectory planning) berhimpit dengan garis bewarna biru(path/trajectory tracking) hal tersebut menunjukkan bahwa pola gerak robot dapat mengikuti pola planning yang telah ditentukan dengan baik.
The Influence of Teacher-Student Talk Strategy in Reducing Cognitive Anxiety in Facing SNBT Competition Siti Yuliyanti; Ria Arista Asih; Ermanu Azizul Hakim
Jurnal Pedagogi dan Pembelajaran Vol. 8 No. 2 (2025): July
Publisher : Universitas Pendidikan Ganesha

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23887/jp2.v8i2.94000

Abstract

The high level of cognitive anxiety experienced by students in facing the National Test-Based Selection (SNBT)  is  a  serious  problem  because  it  can  interfere  with  concentration,  motivation  and  learning readiness. This anxiety has a negative impact on students' academic performance and achievement. This study aims to analyse the effectiveness of the Teacher-student Talk (TST) strategy in reducing students' cognitive anxiety facing SNBT. The research subjects consisted of 62 students who had the highest  level of cognitive anxiety, who were selected  using  a  purposive sampling technique.  Data collection was carried out through a questionnaire using a Likert scale, then analyzed with the Wilcoxon test using the help of SPSS version 25.00 software. The results showed that there was a significant decrease in the average score of students' cognitive anxiety, from 126.2 (pretest) to 90 (posttest), after being given an intervention in the form of TST. This finding shows that the TST strategy is effective as a counselling approach that can significantly reduce cognitive anxiety. This strategy can bean applicable alternative intervention for teachers and counselors in helping students prepare for academic exams with more calm and confidence.
Co-Authors Ghufron Wahyu Kurniawan Novendra Setyawan Ria Arista Asih Siti Yuliyanti, Siti