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Pangestu, Devin
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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Implementasi Convolutional Neural Network Pada Robot Tikus Micromouse Untuk Navigasi Labirin Dengan Pendeteksi Garis Menggunakan Raspberry Pi Pangestu, Devin; Rippun Gideon Manalu, Ferry
Jurnal Elektro Vol 16 No 2 (2023): Vol.16 No.2 Oktober 2023: Jurnal Elektro
Publisher : Prodi Teknik Elektro, Fakultas Teknik Unika Atma Jaya Jakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/jurnalelektro.v15i2.5113

Abstract

Micromouse is a science and technology project competition that began in the late 1970s. Simply put, the micromouse competition is an event where robotic mice can navigate a 16x16 maze without human assistance. Convolutional Neural Network, also known as CNN, is an extension of the Artificial Neural Network (ANN) designed to process two-dimensional data and is often used for classification, recognition, and prediction tasks. In the conducted research, a robotic mouse was designed using Raspberry Pi to control servo motor movements and utilize a camera to detect maze obstacles, such as intersections, through image scanning. The robotic mouse was tested using a CNN architecture model on TensorFlow, assisted by a line detection algorithm. The testing results indicated that the CNN model architecture showed signs of overfitting (the model learned features too well from the training data) with an accuracy of 96.53%, and the model accuracy evaluation result was 97.97% on the designed dataset. As part of the testing, a maze size of 5x5 was used. The testing of the Convolutional Neural Network model and line detection algorithm, when applied to the robotic mouse, demonstrated that the mouse could navigate according to the path. However, the recorded data was influenced by external light reflecting off the surface of the path, causing the line detection algorithm to perceive it as an obstacle, leading the robot to turn back..
Simulasi Sistem Pengendalian Motor Stepper dengan Metode Pulse Width Modulation Timothy Wijaya, Hans; Pangestu, Devin; Timothy Sutjipto, Marcellus; Surya Widjaja, Williem; Octavianus Bachri, Karel; Nur, Tajuddin
Jurnal Elektro Vol 15 No 1 (2022): Vol.15 No.1 April 2022: Jurnal Elektro
Publisher : Prodi Teknik Elektro, Fakultas Teknik Unika Atma Jaya Jakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25170/jurnalelektro.v15i1.5120

Abstract

This paper discusses the control of a stepper motor using Pulse Width Modulation (PWM) methods. In this paper, the author presents two designs: one using a stepper motor controller with an astable multivibrator as a pulse generator and the other utilizing a microcontroller as the pulse generator. The design of the stepper motor controller with an astable multivibrator involves using the IC timer 555 to control the stepper motor speed and a latch circuit to control the direction of the stepper motor rotation. Meanwhile, the design of the stepper motor controller with a microcontroller employs the Arduino UNO R3 to control both the direction and speed of the stepper motor. Testing is conducted through a simulation of the system design using Proteus software. From the test results, it is observed that an increase in the PWM value leads to a faster rotation speed of the stepper motor, conversely, a decrease in PWM value results in a slower rotation speed of the stepper motor.
Co-Authors Nur, Tajuddin Octavianus Bachri, Karel Rippun Gideon Manalu, Ferry Surya Widjaja, Williem Timothy Sutjipto, Marcellus Timothy Wijaya, Hans