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All Journal Emerging Science Journal Journal of Innovation Information Technology and Application (JINITA) Scientific Journal of Engineering Research Scientific Journal of Computer Science
Furizal
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Computer Science & IT Decision Sciences, Operations Research & Management Engineering Environmental Science

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Journal : Emerging Science Journal

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Ball Detection System for a Soccer on Wheeled Robot Using the MobileNetV2 SSD Method Puriyanto, Riky D.; Yunandha, Isro D.; Maghfiroh, Hari; Ma'arif, Alfian; Furizal; Suwarno, Iswanto
Emerging Science Journal Vol. 9 No. 5 (2025): October
Publisher : Ital Publication

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28991/ESJ-2025-09-05-028

Abstract

This paper discusses the research on the use of Artificial Intelligence in autonomous robot object identification. The specific focus of this research is on a wheeled soccer playing robot. The goal is to recognize a ball as an object using the Single Shot MultiBox Detector MobileNetV2 model. This system has multi-vision inputs such as distance measurements and angle values ​​for object detection. This methodology is based on deep learning with the TensorFlow Object Detection API with the MobileNetV2 SSD model. This model is trained with a dataset of 3707 ball images over 617 thousand steps on Google Collaboratory. It was found that the average measurement error of the ball object is 6.58% for the distance when viewed through the robot's front camera. In addition, the omnidirectional camera is able to detect the ball object and angle values ​​from the front of the robot. What makes this research different is the use of distance and angle measurements for detection and the omnidirectional camera for system performance in dynamic environments. This research aims to address the improvement of AI-based object detection systems for autonomous robotics in the context of real-world use cases.
DC Motor Angular Speed Controller Using an Embedded Microcontroller-Based PID Controller Ma'arif, Alfian; Nugraha, Ikhwan; Maghfiroh, Hari; Furizal; Suwarno, Iswanto
Emerging Science Journal Vol. 9 No. 6 (2025): December
Publisher : Ital Publication

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28991/ESJ-2025-09-06-03

Abstract

This research presents the implementation of a Proportional Integral Derivative (PID) controller to control the angular speed of a Direct Current (DC) motor using an embedded system (microcontroller). The system’s hardware consists of an Arduino microcontroller, a DC motor with an encoder sensor, a driver motor, and a power supply. Proportional control regulates the response proportionally to the calculated error, while integral control manages the cumulative error over time, and derivative control responds to the rate of change of the error, preventing overshoot. With a proper combination, PID control achieves stability, speeds up response, and reduces overshoot, improving overall system performance. Based on experimental data, the DC motor angular speed control system using PID control achieves the best results, in which the parameter values are Kp=1; Ki=0.3; and Kd=0.6. The augmented system responded with 0.0890 seconds of the rise time, 11.772 seconds of settling time, and 0.12 seconds of the peak time, with an overshoot of less than 10% (7%).
Co-Authors Abdel-Nasser Sharkawy Abdul Syukur Ahmed Jaber Abougarair Alfian Ma’arif Anton Yudhana Arif Rahman Asno Azzawagama Firdaus Dianda Rifaldi Fahmi, Miftahuddin Gabriel Diemesor Gunawan, Rahmad Imam Riadi Maghfiroh, Hari Muis, Alwas Nugraha, Ikhwan Oyeyemi, Babatunde Bamidele Phichitphon Chotikunnan Puriyanto, Riky D. Rangga Alif Faresta Rustiawan, Angga Sunardi Suprihatin Suwarno, Iswanto Tawar Tri Stiyo Famuji Wijaya, Setiawan Ardi Yunandha, Isro D.