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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control) Infotekmesin
Mufid Ridlo Effendi
UIN Sunan Gunung Djati Bandung
Computer Science & IT Electrical & Electronics Engineering Mechanical Engineering

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Desain dan Implementasi Pengolahan Citra Pada Sistem Autonomous Sentry Gun Menggunakan CMUCam5 dan Arduino Mega 2560 Eki Ahmad Zaki Hamidi; Firman Febrianto Asmoro; Mufid Ridlo Effendi
Infotekmesin Vol 15 No 2 (2024): Infotekmesin, Juli 2024
Publisher : P3M Politeknik Negeri Cilacap

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35970/infotekmesin.v15i2.2309

Abstract

Security is a top priority in various sectors, including military, industrial, and household security. Conventional security systems often require continuous human surveillance, reducing effectiveness and responsiveness. This research aims to address these issues by designing and implementing an Autonomous Sentry Gun system using the CMUCam5 module and Arduino Mega 2560 microcontroller. The system detects and tracks targets automatically, utilizing CMUCam5's vision tracking capabilities to identify objects based on color and shape. The Arduino Mega 2560 serves as the main processing unit, controlling motor movements and firing mechanisms based on data from the camera module. Test results show that the system can detect and follow targets with high accuracy under various lighting conditions. The color yellow with RGB code 255, 255, 0 has the longest tracking distance of 450 cm, while the color purple with RGB code 128, 0, 128 has the shortest tracking distance of 250 cm. This implementation is expected to be applicable in various fields requiring automated security systems.
Adaptive fuzzy proportional integral derivative control for azimuth rotational positioning system Mufid Ridlo Effendi; Rina Mardiati; Muhammad Bagja Nasrulloh; Aan Eko Setiawan
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 24, No 5: October 2026
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v24i5.27906

Abstract

This paper presents an adaptive fuzzy logic-based proportional integral derivative (PID) control strategy for an azimuth rotational positioning system characterized by nonlinear angular dynamics. Conventional fixed gain PID controllers often experience performance degradation when operating across varying error regions, resulting in slower responses and residual steady-state errors. To address this limitation, a region-based fuzzy gain scheduling mechanism is proposed to dynamically adjust the proportional (??), integral (??), and derivative (??) gains according to the instantaneous angular error. The proposed controller is implemented on a laboratory-scale embedded platform consisting of a stepper motor actuator, potentiometer-based angular feedback, and an Arduino Nano controller. Experimental evaluations were conducted at reference angles of 45°, 90°, 135°, and 180° and compared with a conventional PID controller. Results demonstrate that the adaptive fuzzy–PID controller completely eliminates steady-state error at all tested setpoints and reduces rise time by up to 56.7%, depending on the operating condition. The adaptive gain adjustment enables faster transient response for large angular deviations while maintaining stable convergence near the setpoint. These findings demonstrate that the proposed embedded region-based adaptive fuzzy–PID approach provides an effective and practical solution for improving positioning accuracy and dynamic performance in rotational positioning systems.
Co-Authors Aan Eko Setiawan Eki Ahmad Zaki Hamidi Firman Febrianto Asmoro Muhammad Bagja Nasrulloh Rina Mardiati