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All Journal Sinergi ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Journal of Robotics and Control (JRC) International Journal of Electrical, Energy and Power System Engineering (IJEEPSE)
Shamsudin, Abu Ubaidah
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Aerospace Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Mechanical Engineering

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Design for Optimization of Solatube Lighting System and Lights with GA-PID Controller Setya Dwi Koerniawan; Andi Adriansyah; Shamsudin, Abu Ubaidah
International Journal of Electrical, Energy and Power System Engineering Vol. 5 No. 2 (2022): International Journal of Electrical, Energy and Power System Engineering (IJEEP
Publisher : Electrical Engineering Department, Faculty of Engineering, Universitas Riau

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31258/ijeepse.5.2.55-60

Abstract

Solatube is a pipe casing used to channel sunlight from the roof of a building into an enclosed space. The advantage of using Solatube is that it can avoid excess light being directed. However, there is no mechanism for controlling the intensity of sunlight entering the room through the Solatube. By adding control settings, the intensity of incoming sunlight can be adjusted so that it can help visually comfort. It is necessary to control the opening and closing valves to adjust the power of the light produced by the Solatube and the lamp. So, it is needed to design an optimal lighting source to regulate the quantity of light received by the room and the people in the room. The paper aims to achieve good control results by valve controlling using PID control which tunes the parameter by the Genetic Algorithm. Thus, the light intensity entering the room will be stable 24 hours a day. So, that eye comfort, visual coolness and energy savings can be achieved.
Lighting System Optimisation Design using Solatube with GA-PID Controller ADRIANSYAH, ANDI; KOERNIAWAN, SETYA DWI; SHAMSUDIN, ABU UBAIDAH
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 11, No 3: Published July 2023
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v11i3.744

Abstract

ABSTRAKSolatube adalah sebuah sistem pencahayaan ruangan yang digunakan untuk menghemat listrik yang dihasilkan dari energi yang tidak terbarukan. Namun, jumlah sinar matahari yang masuk ke ruangan melalui Solatube belum diatur. Tujuan riset ini adalah menghasilkan intensitas cahaya yang lebih stabil pada 350 Lux sepanjang hari selama 24 jam. Penelitian ini mencoba merancang sistem optimasi pencahayaan dengan metode desain eksperimental berbasiskan pengendali PID. Sistem terdiri dari sebuah mikrokontroller, sebuah sensor cahaya dan beberapa motor dengan penggeraknya. Penalaan parameter PID dimulai dengan metode Ziegler-Nichols dan mengoptimalkannya dengan metode Algoritma Genetika (GA). Hasil terbaik diperoleh dengan metode GA dengan jumlah populasi 50, dengan nilai Kp = 0.105210, Ki 0.052901, dan Kd = 0.046443, dengan waktu tuning 94 detik. Nilai penghematan dalam penggunaan energi listrik adalah 22,07% per tahun.Keywords: Solatube, Pencahayaan Lampu, Pengendali PID, Algoritma Genetika (GA), Pengehamatan EnergiABSTRACTA Solatube is a daylight system that used to save electricity generated from nonrenewable energy sources. However, the amount of solar entering the room via the Solatube had not been controlled. The goal of the research is maintaining a more consistent light intensity of 350 Lux for 24 hours. The study attempts to create a lighting optimization system based on an experimental design based on a PID controller. The system consists of a microcontroller, a light sensor, some motors and drivers. The PID parameter is tune beginning with the Ziegler-Nichols method and optimizing it with the Genetic Algorithm (GA) approach. The GA approach produced the best results with a population of 50, a Kp value of 0.105210, a Ki of 0.052901, a Kd of 0.046443, and a tuning time of 94 seconds. The annual savings value of using electrical energy is 22.07%.Keywords: Solatube, Lighting Lamps, PID Controllers, Genetic Algorithm (GA), Energy Saving
An Effective Way for Repositioning the Beacon Nodes of Fast RRT Results Utilizing Grey Wolf Optimization Suwoyo, Heru; Adriansyah, Andi; Andika, Julpri; Shamsudin, Abu Ubaidah; Tian, Yingzhong
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i1.22062

Abstract

Conceptually, Fast-RRT applies fast sampling and random steering which makes the initial path quickly obtained. Referring to the initial path, the optimality of the path is improved by applying path fusion and path optimization. Theoretically, path fusion will only be optimal if there is always a unique/different path to be fused with the previously obtained path. However, in the conditions of solving path planning problems in narrow corridors, the potential for obtaining a different path from the previous one is very small. So that fusion does not run properly, but checking the relationship between nodes to nodes still occurs. Instead of getting an optimal path in conditions like this, the computation will increase, the solution time will be long, and the resulting path will still be sub-optimal. As an effort to solve this problem, Grey Wolf Optimization (GWO) is involved through this study. While an initial path is found, the beacons are repositioned. From the path, the number of nodes is unpredictable, causing the decision variables in optimization to become large. For this reason, the GWO is chosen because it is independent of population representation and is not affected by the number of decision variables. This proposed method is claimed to be more effective in solving path planning problems in terms of convergence rate and optimality. Therefore, the proposed method is evaluated and compared with previous methods and gives the result that the average working speed of Fast-RRT is improved by 90.25% and the optimality average increased by 5.67%.
Adaptive high-level control for robot-assisted rehabilitation: A Discrete Event System approach Shamsudin, Abu Ubaidah; Sidek, Shahrul Na'im; Haja Mohideen, Ahmad Jazlan; Mohd Kazim, Mohd Noor Fakhzan; Yahya, Mohd Faid; Salaan, Carl
SINERGI Vol 29, No 3 (2025)
Publisher : Universitas Mercu Buana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22441/sinergi.2025.3.021

Abstract

This research introduces a two-degree-of-freedom rehabilitation robotic platform to enhance Constraint-Induced Movement Therapy (CIMT) for post-stroke upper limb rehabilitation. Unlike conventional CIMT, that depends on therapist intervention, the proposed system integrates a control framework balancing assistance and autonomy to improve patient engagement and recovery efficiency. The main contribution is a hybrid control architecture combining a low-level impedance controller with a high-level discrete event system (DES) controller. This dual-layer control enables real-time adaptation to a patient’s motor impairment stage, offering dynamic and personalized rehabilitation. The high-level controller, structured around the Chedoke-McMaster Assessment (CMA), facilitates intelligent transitions between rehabilitation states, ensuring robotic assistance matches recovery progress. The design emphasizes simplicity, portability, and user-friendliness, employing a lightweight, cable-driven mechanism that produces smooth and natural movements, closely replicating manual therapy. Experiments with healthy subjects simulating impaired conditions demonstrated the system’s ability to adjust assistance levels and movement velocities according to motor function stages. The results confirm the feasibility of an adaptive, patient-centric control framework that enhances motor engagement and supports progressive rehabilitation. Future work will focus on clinical validation with stroke patients, expanding movement directions, and long-term evaluation of therapeutic outcomes in real-world settings. Overall, this study offers a scalable, data-driven approach bridging robotic automation and therapist-guided rehabilitation, opening new possibilities for improving neuroplasticity and motor recovery after stroke.
Co-Authors Andi Adriansyah Andi Adriansyah Haja Mohideen, Ahmad Jazlan Julpri Andika KOERNIAWAN, SETYA DWI Mohd Kazim, Mohd Noor Fakhzan Salaan, Carl Setya Dwi Koerniawan Sidek, Shahrul Na'im Suwoyo, Heru Tian, Yingzhong Yahya, Mohd Faid