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All Journal Jurnal Abdimas Indonesia : Jurnal Abdimas Indonesia Journal of Embedded Systems, Security and Intelligent Systems
Sutarsi Suhaeb
Universitas Negeri Makassar, Indonesia
Religion Agriculture, Biological Sciences & Forestry Humanities Computer Science & IT Economics, Econometrics & Finance Education Languange, Linguistic, Communication & Media Library & Information Science Other

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Adaptive Pulse-Width Modulation Algorithm for Energy-Efficient Control of Robotic Arm Actuators Sutarsi Suhaeb; Ahmad Risal
Journal of Embedded Systems, Security and Intelligent Systems Vol 6, No 3 (2025): September 2025
Publisher : Program Studi Teknik Komputer

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59562/jessi.v6i3.10318

Abstract

The development of energy-efficient robotic systems has become increasingly important, particularly in servo-driven robotic arms where continuous PWM signals lead to unnecessary energy loss and thermal stress. This study proposes an adaptive pulse-width modulation (PWM) algorithm designed to activate servo signals only during motion phases and automatically deactivate them once the target position is reached. A four-degree-of-freedom robotic arm prototype was developed using an ESP32 microcontroller, MG90S servos, and ACS712-based current monitoring to evaluate power efficiency under conventional continuous PWM and the proposed adaptive control. Experimental results demonstrate a 28–33% reduction in average power consumption, a decrease of 6–8 °C in servo operating temperature, and the preservation of positional accuracy within ±5%. These findings confirm that significant energy savings and thermal improvements can be achieved without modifying hardware components. The proposed algorithm offers a practical, lightweight, and software-based optimization approach suitable for educational, research, and low-power robotic applications. This work introduces a distinct adaptive activation strategy that fully disables PWM in steady-state conditions, representing a low-cost and effective contribution to sustainable servo control.
Pelatihan Sistem Manajemen Ritel pada UMKM Katering Ayam Goreng Rempah Sulawesi untuk Mendukung Transformasi Digital Aulia Sabril; Hasanah Nur; Sutarsi Suhaeb; Dian Atma Sani
Jurnal Abdimas Indonesia Vol. 5 No. 4 (2025)
Publisher : Perkumpulan Dosen Muslim Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.34697/jai.v5i4.2535

Abstract

Kegiatan pengabdian kepada masyarakat ini bertujuan meningkatkan kemampuan digital pemilik UMKM Catering Ayam Goreng Rempah Sulawesi, yaitu usaha berbasis pesan-antar yang menyediakan nasi kotak, tumpeng, dan produk ayam kampung frozen. Program ini memperkenalkan penggunaan Retail Management System (RMS) untuk meningkatkan pencatatan pesanan, pengelolaan stok bahan baku, serta pelaporan penjualan secara digital. Pelaksanaan dilakukan melalui tiga tahap: analisis kebutuhan, pelatihan berbasis workshop, dan pendampingan intensif. Pemilik usaha mengikuti praktik langsung meliputi input pesanan, manajemen inventori, dan pembuatan struk digital. Hasil kegiatan menunjukkan bahwa penggunaan RMS mampu mengurangi pencatatan manual lebih dari 50%, meningkatkan ketepatan pemantauan stok, dan mempercepat respons terhadap pesanan masuk. Temuan ini membuktikan bahwa pelatihan literasi digital yang terstruktur mampu memperkuat transformasi digital pada usaha mikro berbasis pesan-antar serta meningkatkan efisiensi operasional harian. Program ini juga menegaskan pentingnya penggunaan teknologi yang terkontekstual untuk mendukung UMKM menjadi lebih adaptif dan berbasis data.
Co-Authors Ahmad Risal Aulia Sabril Dian Atma Sani Hasanah Nur