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All Journal Mechatronics, Electrical Power, and Vehicular Technology Jurnal Teknologi Elektro JHP17 (Jurnal Hasil Penelitian) INTEGER: Journal of Information Technology Jurnal Sains dan Informatika JEEMECS (Journal of Electrical Engineering, Mechatronic and Computer Science) Elsains : Jurnal Elektro Gema Wiralodra JE-Unisla Seminar Nasional Hasil Riset dan Pengabdian (SNHRP) ALINIER: Journal of Artificial Intelligence & Applications SinarFe7 Prosiding Seminar Nasional Teknik Elektro, Sistem Informasi, dan Teknik Informatika (SNESTIK) Innovative: Journal Of Social Science Research Pelita: Jurnal Pengabdian kepada Masyarakat Jurnal Pengabdian Masyarakat dan aplikasi Teknologi Jurnal JEETech
hartayu, ratna
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Humanities Automotive Engineering Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Languange, Linguistic, Communication & Media Law, Crime, Criminology & Criminal Justice Library & Information Science Mathematics Public Health Social Sciences Other

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Implementasi Filter Complementary untuk Perbaikan Estimasi Sudut pada Robot Roda Dua san, Santoso; Hartayu, Ratna; Ridho'i, Ahmad; Setyadjit, Kukuh; Swarga, Lutfi Agung
ALINIER: Journal of Artificial Intelligence & Applications Vol. 6 No. 1 (2025): ALINIER Journal of Artificial Intelligence & Applications
Publisher : Program Studi Teknik Elektro S1 ITN Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.36040/alinier.v6i1.14468

Abstract

Penelitian ini bertujuan merancang sistem robot roda dua berbasis Arduino Uno dengan menggunakan sensor gyroscope MPU6050 untuk mengukur sudut kemiringan, menjaga keseimbangan menggunakan kontrol PID sederhana. Data sensor diproses menggunakan filter complementary untuk menggabungkan data gyroscope dan accelerometer. Nilai konstanta PID terbaik diperoleh pada Kp=35, Ki=0.8, Kd=25. Hasil pengujian menunjukkan robot mampu mempertahankan keseimbangan dengan error rata-rata ±2° dari sudut vertikal. Penggunaan filter complementary efektif mengurangi noise dan drift sensor. Penelitian ini membuktikan bahwa kombinasi Arduino, MPU6050, filter complementary, dan kendali PID sederhana mampu menghasilkan sistem keseimbangan robot dua roda yang stabil dan responsif. This study aims to design a two-wheeled robot system based on Arduino Uno using the MPU6050 gyroscope sensor to measure the tilt angle, maintain balance using simple PID control. Sensor data is processed using a complementary filter to combine gyroscope and accelerometer data. The best PID constant value is obtained at Kp = 35, Ki = 0.8, Kd = 25. The test results show that the robot is able to maintain balance with an average error of ± 2 ° from the vertical angle. The use of complementary filters effectively reduces noise and sensor drift. This study proves that the combination of Arduino, MPU6050, complementary filters, and simple PID control can produce a stable and responsive two-wheeled robot balance system
Analisis Jarak Deteksi dan Respon Robot Pendeteksi Api Berbasis Sensor Cahaya san, Santoso; Hartayu, Ratna; Basyarach, Niken; Riyanti, Kurnia; Ridho'i, Ahmad; Setyadjit, Kukuh
ALINIER: Journal of Artificial Intelligence & Applications Vol. 6 No. 1 (2025): ALINIER Journal of Artificial Intelligence & Applications
Publisher : Program Studi Teknik Elektro S1 ITN Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.36040/alinier.v6i1.14469

Abstract

Amri, H.S. (2010) ‘Sensor UVtron sebagai pendeteksi api pada robot pemadam api berbasis mikrokontroler atmega8535’. Available at: https://digilib.uns.ac.id/dokumen/15413/Sensor-UVtron-sebagai-pendeteksi-api-pada-robot-pemadam-api-berbasis-mikrokontroler-atmega8535 (Accessed: 18 May 2025). Arias, L. et al. (2008) ‘Photodiode-based sensor for flame sensing and combustion-process monitoring’, Applied Optics, 47(29), pp. 5541–5549. Available at: https://doi.org/10.1364/AO.47.005541. Cahyadi, H.D., Mirza, Y. and Laila, E. (2022) ‘Rancang Bangun Alat Pendeteksi Kebakaran Menggunakan Flame Sensor dan Sensor Asap Berbasis Arduino’, Jurnal Laporan Akhir Teknik Komputer, 2(1). Available at: https://jurnal.polsri.ac.id/index.php/JLATK/article/view/6193 (Accessed: 18 May 2025). Cheong, P. et al. (2011) ‘A ZigBee-Based Wireless Sensor Network Node for Ultraviolet Detection of Flame’, IEEE Transactions on Industrial Electronics, 58(11), pp. 5271–5277. Available at: https://doi.org/10.1109/TIE.2011.2119455. Fatimah, S. and Santoso, S. (2015) ‘Robot pendeteksi api’, Jurnal Sains dan Informatika, 1(1), pp. 71–80. Gaur, A. et al. (2019) ‘Fire Sensing Technologies: A Review’, IEEE Sensors Journal, 19(9), pp. 3191–3202. Available at: https://doi.org/10.1109/JSEN.2019.2894665. Hutagalung, D.D. (2018) ‘RANCANG BANGUN ALAT PENDETEKSI KEBOCORAN GAS DAN API DENGAN MENGGUNAKAN SENSOR MQ2 DAN FLAME DETECTOR | JURNAL REKAYASA INFORMASI’. Available at: https://ejournal.istn.ac.id/index.php/rekayasainformasi/article/view/279 (Accessed: 18 May 2025). Juwariyah, T. (2018) ‘Perancangan Sistem Deteksi Dini Pencegah Kebakaran Rumah Berbasis ESP8266 dan Blynk’, TRANSISTOR Elektro dan Informatika, 3(2), pp. 120–126. Available at: https://doi.org/10.30659/ei.3.2.120-126. Maspiyanti, F. and Hadiyanti, N. (2017) ‘ROBOT PEMADAM API MENGGUNAKAN METODE FUZZY LOGIC’, Jurnal Teknologi Terpadu, 3(2). Available at: https://doi.org/10.54914/jtt.v3i2.77. Monica P Suresh (2022) An Arduino Uno Controlled Fire Fighting Robot for Fires in Enclosed Spaces. Available at: https://ieeexplore.ieee.org/document/9987432 (Accessed: 18 May 2025). Rosit, H.A. et al. (2023) ‘Identifikasi dan Mitigasi Kebakaran Hutan dan Lahan melalui Zonasi Wilayah Rawan Kebakaran dengan Teknologi Geospasial’, Widya Bhumi, 3(1), pp. 13–30. Available at: https://doi.org/10.31292/wb.v3i1.53. Santoso et al. (2023) ‘Design and Build Two Wheel Balancing Robot Simulation with Fuzzy PID’, in. International Conference on Advanced Engineering and Technology, SCITEPRESS, pp. 124–128. Available at: https://doi.org/10.5220/0012108300003680. Santoso, S. and Mursyid, S. (2017) ‘KONTROL PROPORTIONAL INTEGRAL (PI) PADA ROBOT LINE FOLLOWER’, Jurnal Sains dan Informatika, 1(1), pp. 10–10. Wijaya, M.A., Ikhsan, R.N. and Sugianto, E. (2022) ‘Analisis Perbandingan Kinerja Antara Sensor Api Flame 5 Channel Dengan Sensor Asap MQ2’, Bulletin of Information Technology (BIT), 3(4), pp. 231–238. Available at: https://doi.org/10.47065/bit.v3i4.364. Zhang, F. et al. (2012) ‘The design and implementation of intelligent inspection robot system using combined flame sensors and infrared sensors’, in 2012 International Symposium on Instrumentation & Measurement, Sensor Network and Automation (IMSNA). 2012 International Symposium on Instrumentation & Measurement, Sensor Network and Automation (IMSNA), pp. 297–301. Available at: https://doi.org/10.1109/MSNA.2012.6324572. Zhang, Z. and Li, J. (2023) ‘A Review of Artificial Intelligence in Embedded Systems’, Micromachines, 14(5), p. 897. Available at: https://doi.org/10.3390/mi14050897.
Design and control of an automatic cable-cutting machine with the implementation of a stepper control program using PLC Prayogo, Haris; Hartayu, Ratna
Gema Wiralodra Vol. 14 No. 3 (2023): Gema Wiralodra
Publisher : Universitas Wiralodra

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31943/gw.v14i3.498

Abstract

Proper control design will reduce energy losses and production costs for the industry. Control system design also reduces the role of humans in production. An automatic cable-cutting control system can reduce cable manufacturing time so that a company's human resources do not need to carry out the cable-cutting process manually. This cable cutter uses a PLC for its central control, which will convert the length value into the number of pulses and calculate the number of cables to be cut. The HMI inputs the length of the cable to be cut and the number of cables to be missed. The stepper motor is used to run the cable-pulling mechanic, which will pull according to the size stated on the HMI. This system can cut AWG20 and AWG16 cables in various lengths from 50 mm to 3000 mm with the number or number of wires that can be set from 1 cut to 10 cuts for each size.
Sistem Sortir Ikan Lele Otomatis Menggunakan Counter dan IoT Saputra, Rian Hadi; Hartayu, Ratna; Setyadjit, Kukuh
Innovative: Journal Of Social Science Research Vol. 5 No. 4 (2025): Innovative: Journal Of Social Science Research
Publisher : Universitas Pahlawan Tuanku Tambusai

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31004/innovative.v5i4.20787

Abstract

Proses sortir ikan lele yang masih dilakukan secara manual sering kali menimbulkan ketidakefisienan dalam hal waktu dan tenaga. Untuk menjawab permasalahan tersebut, penelitian ini mengembangkan sistem sortir otomatis yang dapat menghitung jumlah dan mengukur berat ikan lele secara real-time. Sistem ini dibangun menggunakan mikrokontroler Arduino Mega yang terhubung dengan tiga sensor Loadcell dan tiga sensor Proximity Infrared. Data dari sensor ditampilkan melalui LCD 20x4 dan dikirim ke pengguna melalui Bot Telegram sebagai bagian dari integrasi Internet of Things (IoT). Hasil pengujian menunjukkan bahwa sistem mampu bekerja dengan cukup baik, dengan rata-rata error pengukuran berat sebesar 0,13 kg (0,87%) dan rata-rata kesalahan jumlah ikan sebesar 3,5 ekor. Sistem ini terbukti dapat menyederhanakan proses sortir ikan lele secara otomatis, mengurangi ketergantungan terhadap tenaga kerja manual, dan memberikan kemudahan pemantauan dari jarak jauh.
Solar Panel Education as a Renewable Energy System for Students of SMAN 20 Surabaya Widagdo, Reza Sarwo; Slamet, Puji; Hariadi, Balok; Hartayu, Ratna; Wardah, Izzah Aula
Pelita: Jurnal Pengabdian kepada Masyarakat Vol. 4 No. 1 (2024): Pelita: Jurnal Pengabdian kepada Masyarakat
Publisher : Perkumpulan Kualitama Edukatika Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51651/pjpm.v4i1.483

Abstract

Introduction of Solar Panels as a Renewable Energy System for high school students in Surabaya City. In particular, the city of Surabaya can be an effort to support the realization of the Sustainable Development Goals (SDGs) program. The team has held online discussions with partners, namely SMAN 20 Surabaya to carry out the introduction of solar panels as a renewable energy system to students at SMAN 20 Surabaya. The purpose of community service is to socialize the use of solar power plants through learning activities (education) and solar power plants training for school students and teachers. The method used in this activity is divided into three stages. In the first stage, field observations were carried out to find problems related to the availability of electrical energy in schools. In the second stage, the implementation of community service includes the delivery of solar panel material with lectures, demonstrations, and the design of solar power plants systems at schools. In the third stage, it is an evaluation or feedback stage by giving questionnaires to participants. The results of this community service activity provide information on understanding solar panels and batteries in the good category. Practical activities need to be taught to student, so solar power plants teaching aids are needed at the school. The team made an educational activity for students, namely a demo of converting solar energy into electrical energy. The implementation of this community service has been carried out well.
BUMDes Development Program by Creating Packaging Design and Marketing Through Online Stores to Increase Economic Value in Balongmojo Village, Mojokerto Widagdo, Reza Sarwo; Ardianik, Ardianik; Hartayu, Ratna; Setyadjit, Kukuh; Kusmiyati, Kusmiyati
Pelita: Jurnal Pengabdian kepada Masyarakat Vol. 4 No. 2 (2024): Pelita: Jurnal Pengabdian kepada Masyarakat
Publisher : Perkumpulan Kualitama Edukatika Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51651/pjpm.v4i2.503

Abstract

Achieving social welfare in all aspects is one of Indonesia's national goals. The village, as the smallest unit in the structure of society, is often neglected in efforts to achieve this goal. Therefore, regulations were created to address village issues in the hope of improving their welfare. One of the aspects regulated in village regulations is BUMDes, an entity that has a significant role in improving the village economy. This article will discuss the role of BUMDes in advancing the economy, with a case study of Balongmojo Village. Several work programs are proposed, including diversifying the production of kerupuk kelor, creating attractive packaging designs using Canva, and utilizing sugarcane bagasse waste to make it marketable. The results show that BUMDes can be effective in improving the economy of Balongmojo Village by developing local entrepreneurs through strong branding strategies and product market expansion.
Pengembangan Kontrol Robot ARM 4 DOF Berbasis Robot Operating System (ROS) Ramadhany, Mustopa Dwi; Santoso, Santoso; Ratna Hartayu, Ratna; Setyadjit, Kukuh; Hariadi, Balok; Swarga, Lutfi Agung; Adriaty Basyarach, Niken
SinarFe7 Vol. 7 No. 1 (2025): SinarFe7-7 2025
Publisher : FORTEI Regional VII Jawa Timur

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

Abstrak- Penelitian ini mengembangkan sistem kontrol untuk robot lengan (ARM) 4 DOF menggunakan Robot Operating System (ROS) dengan antarmuka joystick. Robot 4 DOF memberikan maneuverabilitas yang memadai untuk tugas-tugas manipulasi dalam bidang datar dan ruang terbatas. Pemilihan joystick sebagai perangkat input memberikan pengalaman kontrol yang intuitif, memungkinkan operator beradaptasi dengan cepat. Kerangka kerja ROS memfasilitasi integrasi yang lancar antara berbagai komponen perangkat keras dan lunak, menjamin skalabilitas dan kemudahan pengembangan. Hasil eksperimen menunjukkan efektivitas kontrol berbasis ROS dalam mencapai manipulasi yang halus dan akurat pada robot lengan 4 DOF. Sistem yang dikembangkan menunjukkan potensi kuat untuk aplikasi dalam edukasi robotika, prototyping, dan manipulasi objek ringan.
Optimasi Parameter Membership Function pada Sistem Kendali Robot Balancing Menggunakan Algoritma Genetika Santoso, Santoso; Hartayu, Ratna; Kartika Riyanti, Kurnia Paranita; Ridho’i, Ahmad; Setyo Pambudi, Wahyu; Heryanto, M Ary
SinarFe7 Vol. 7 No. 1 (2025): SinarFe7-7 2025
Publisher : FORTEI Regional VII Jawa Timur

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

Penelitian ini mengembangkan sistem kendali robot balancing berbasis logika fuzzy dengan optimasi parameter menggunakan algoritma genetika. Sistem dirancang menggunakan mikrokontroler ESP32 dan sensor MPU6050 untuk mengukur sudut kemiringan dan kecepatan sudut, dengan motor DC sebagai aktuator. Parameter fungsi keanggotaan berbentuk segitiga (a, b, c) dioptimasi secara offline melalui algoritma genetika dengan fungsi fitness yang mempertimbangkan settling time (ts), overshoot (Mp), dan steady-state error (ess). Hasil simulasi menunjukkan peningkatan performa signifikan: settling time berkurang 52.2% (dari 2.3s ke 1.1s), overshoot turun 36% (dari 7.5% ke 4.8%), dan error steady-state berkurang 50% (dari 1.8° ke 0.9%). Analisis phase portrait membuktikan stabilitas global sistem dalam rentang ±90°, sementara heatmap 3D mengungkap hubungan nonlinier yang smooth antara variabel input-output. Implementasi real-time pada prototipe robot berhasil memvalidasi hasil simulasi dengan frekuensi sampling 100 Hz. Penelitian ini memberikan kontribusi metodologi optimasi desain kontroler cerdas yang dapat diaplikasikan pada sistem dinamis nonlinier lainnya.
Peningkatan Kualitas Sinyal Elektrokardiogram dengan Filter Adaptif Recursive Least Squares Santoso, Santoso; Hartayu, Ratna; Slamet, Puji; Andriawan, Aris Heri; Setyadjit, Kukuh; Cahyono, Mochammad Irfan; Jabaruddin, Abdul
INTEGER: Journal of Information Technology Vol 10, No 2 (2025): September
Publisher : Fakultas Teknologi Informasi Institut Teknologi Adhi Tama Surabaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31284/j.integer.0.v10i2.7775

Abstract

This paper presents a comparative analysis of two adaptive filtering algorithms, namely Least Mean Square (LMS) and Recursive Least Square (RLS), for denoising electrocardiogram (EKG) signals contaminated with Gaussian noise. A five-second EKG signal was extracted from a PhysioNet database and artificially corrupted by additive white Gaussian noise. The noisy signal was then processed using both LMS and RLS filters, where parameter tuning was applied to each algorithm to optimize performance. The evaluation metrics used in this study include Mean Squared Error (MSE) and Signal-to-Noise Ratio (SNR). Experimental results demonstrate that the LMS filter achieved its best performance at a learning rate (μ) of 0.01, resulting in an MSE of 0.1218 and an SNR of 4.18 dB. In contrast, the RLS filter provided superior results with a forgetting factor (λ) of 0.99, achieving an MSE of 0.1179 and an SNR of 4.32 dB. These findings indicate that while RLS outperforms LMS in terms of signal recovery accuracy, LMS remains advantageous in computational simplicity and is more suitable for real-time applications. The comparative analysis suggests that the choice between LMS and RLS should consider the trade-off between denoising performance and computational efficiency, especially in portable or embedded biomedical devices.
Pengaruh Penyesuaian Parameter Membership Function pada Sistem Kendali Robot Balancing Berbasis Fuzzy Logic Santoso Santoso; Balok Hariadi; Ratna Hartayu; Reza Sarwo Widagdo; Wahyu Setyo Pambudi; M Ary Heryanto
Jurnal JEETech Vol. 5 No. 2 (2024): Nomor 2 November
Publisher : Universitas Darul Ulum

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.32492/jeetech.v5i2.5205

Abstract

This research develops a balancing robot control system using a fuzzy logic approach, focusing on the adjustment of membership function parameters. The main components of the system include the ESP32 microcontroller, MPU6050 sensor for detecting tilt angle and angular velocity, and L298 motor driver for DC motor actuation. Triangular-shaped membership functions are implemented, and parameters a, b, and c are adjusted through simulation to enhance system performance. Evaluation results indicate an average settling time of 1.2 seconds, a maximum overshoot of 5%, and a steady-state error of less than 2 degrees. This adjustment successfully balances response speed and stability, providing important guidance for developers in designing a more optimal fuzzy logic control system. The research was conducted at the Electrical Engineering Laboratory of 17 August 1945 University (Untag) Surabaya from June to December 2023.
Co-Authors Abraham Octorio Umbu Kaleka Adi Putra Agung Ahmad Ridho’i Ardianik Ardianik Arifin, Mochamad Aris Heri Andriawan Aris Heri Andriawan, Aris Heri Ariyanto, Adhitiya Dwijaya Ayusta Lukita Wardani Ayusta Lukita Wardani Balok Hariadi Balok Hariadi Balok Hariadi Balok Hariadi, Balok Basyarach, Niken Basyarach, Niken Adriaty Cahyono, Mochammad Irfan Dimas Abdul Aziz Fandi Mei Fatma Ami Fandi Mei Fatma Ami Faturrochman, Muhammad Reza Febinur Alito Putra Febinur Alito Putra Alito Putra Gatut Budiono Gatut Budiono Guntara, Iqbal Hariyadi, Balok Hariz, Muhammad Amsyaril Heryanto, M Ary Hima Darmawan I Gusti Bagus Wiksuana Imam Suri Tauladan Jabaruddin, Abdul Kartika Riyanti, Kurnia Paranita Kukuh Setyadjit Kukuh Setyadjit, Kukuh Kusmiyati Kusmiyati Lutfi Agung Swarga M Ary Heryanto Moh. Khilmi Musakhol Muhammad, Reyhan Ihsan OUKaleka, Abraham Prayogo, Haris Puji Slamet Puji Slamet, Puji R, Marcellinus Dias Ramadhany, Mustopa Dwi Reza Sarwo Widagdo Ridho'i, Ahmad Ridhoi, Ahmad Ridho’i, Ahmad Riyanti, Kurnia san, Santoso Santoso Santoso Santoso SANTOSO SANTOSO Saputra, Rian Hadi setyajid, kukuh Stiadjit, Kukuh Swarga, Luti Agung W, Izzah Aula Wahyu Setyo Pambudi Wardah, Izza Aula Wardah, Izzah Aula Yunus Awwalu Romadhon