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All Journal Indonesian Journal of Electronics and Instrumentation Systems IJCCS (Indonesian Journal of Computing and Cybernetics Systems) Jurnal Buana Informatika ELINVO (Electronics, Informatics, and Vocational Education) BANGUN REKAPRIMA TELEKONTRAN: Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan Buletin Ilmiah Sarjana Teknik Elektro Jurnal Abdi Masyarakat Indonesia Journal of Robotics, Automation, and Electronics Engineering Control Systems and Optimization Letters Media of Computer Science
Oktaf Agni Dhewa
Department Of Electronics And Informatics Engineering, Universitas Negeri Yogyakarta, Yogyakarta
Aerospace Engineering Humanities Automotive Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Languange, Linguistic, Communication & Media Library & Information Science Public Health Other

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Design and Implementation of Update Script in the IoT-Based Smart Indoor Farming System Module at PT Inastek Using Over-the-Air Programming Aditya, Tomi; Dhewa, Oktaf Agni
Media of Computer Science Vol. 1 No. 2 (2024): December 2024
Publisher : CV. Digital Innovation

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.69616/mcs.v1i2.201

Abstract

Extreme climate change significantly impacts Indonesia’s agricultural sector, a country with a large agrarian economy. Reduced crop productivity and in- creased risk of pest infestations threaten national food security. This study aims to develop a smart indoor farming system based on the Internet of Things (IoT) to enhance agricultural resilience and competitiveness through efficient technology. The method involves designing a system that integrates hardware and software, applying Over-The-Air (OTA) technology to update firmware on the ESP32 microcontroller. The system includes sensors, actuators, and a Human Machine Interface (HMI) that allows real-time monitoring and con- trol of plant growth conditions. Testing and validation were carried out to ensure the system’s reliability and stability. The results show that the in- tegration of OTA technology into the smart indoor farming system enables efficient firmware management, reducing the need for physical intervention, and improving flexibility in system maintenance. This system enhances the efficiency of managing plant growth in indoor environments and supports con- tinuous operational adjustments to dynamic conditions.
SISTEM MITIGASI LONGSOR BERBASIS INTERNET OF THINGS (IoT) PADA KELOMPOK SI BEJO DI KELURAHAN KALIREJO, KULON PROGO: SISTEM MITIGASI LONGSOR BERBASIS INTERNET OF THINGS (IoT) PADA KELOMPOK SI BEJO DI KELURAHAN KALIREJO, KULON PROGO Yuli Fajarwati; Elviana; Oktaf Agni Dhewa
Bangun Rekaprima Vol. 12 No. 1 (2026): April 2026
Publisher : Politeknik Negeri Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.32497/bangunrekaprima.v12i1.7523

Abstract

Kalirejo Village, Kokap Subdistrict, Kulon Progo Regency, is one of the areas with a high level of vulnerability to landslides due to the geological conditions and hilly topography as well as high rainfall. The lack of vulnerability zoning maps and evacuation routes makes it difficult for the community to take quick and appropriate mitigation measures. This Community Service Program (PkM) aims to develop a landslide mitigation system based on Internet of Things (IoT) technology through the Sibejo Rescue application and by installing evacuation signs at strategic points. The implementation method includes a field survey to identify locations prone to landslides, soil characteristic testing, vulnerability mapping using a Geographic Information System (GIS), designing the IoT-based Sibejo Rescue application, testing the application with village officials, and installing evacuation route signs and assembly points. The results of the activity showed that the landslide vulnerability map was successfully compiled into three categories (low, medium, high) and integrated into the Sibejo Rescue application. Limited trials with village officials showed that the application can display spatial information in the form of vulnerability maps, evacuation routes, and shelter points functionally. In addition, the installed evacuation signs facilitate the identification of Rescue routes when a disaster occurs. The conclusion of this activity is that the integration of vulnerability maps, IoT applications, and evacuation signs can be a first step towards improving landslide mitigation in Kalirejo, although broader public awareness campaigns are still needed in the next phase
Exploring RRT and BiRRT Algorithms: A Review and Simulation-Based Comparison for Fixed-Wing UAV Path Planning Gilang Nugraha Putu Pratama; Oktaf Agni Dhewa; Mentari Putri Jati; Indra Hidayatulloh; Teddy Surya Gunawan; Syaiful Ardy Gunawan
Buletin Ilmiah Sarjana Teknik Elektro Vol. 8 No. 2 (2026): April
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v8i2.14511

Abstract

Path planning plays a vital role in ensuring the safe and efficient navigation of fixed-wing unmanned aerial vehicles (UAVs), particularly in cluttered and complex environments. The increasing demand for autonomous UAV operations highlights the need for reliable algorithms capable of generating optimal and collision-free trajectories. This study addresses the challenge by reviewing recent uses of the Rapidly-exploring Random Tree (RRT) algorithm in various robotic platforms and navigation tasks. The research contribution of this paper is a comparative analysis of RRT and BiRRT for fixed-wing UAV path planning, quantifying trade-offs between path length, computation time, and obstacle clearance using a real-world 2D urban map. This addresses a gap in the literature, as few studies have directly compared these algorithms specifically for fixed-wing UAV surveillance missions. The methods involve implementing both RRT and BiRRT in a simulated environment where each algorithm is evaluated over 100 runs to measure performance metrics such as path length, computation time, and obstacle clearance. A realistic urban map is used to test the algorithms under consistent starting and goal positions. The results show that both RRT and BiRRT achieve a 100% success rate in finding collision-free paths. BiRRT consistently generates shorter paths and requires less computation time, making it more suitable for time-sensitive missions. However, RRT produces safer trajectories with greater average clearance from obstacles, which is advantageous in environments with high collision risk. The findings demonstrate a clear trade-off between safety and efficiency. In conclusion, BiRRT is recommended for missions where speed and efficiency are prioritized, while RRT is better suited for operations emphasizing safety and obstacle avoidance.
Attitude Stabilization of a Tricopter UAV Using Integral-Augmented Linear Quadratic Regulation Dika Saputra; Oktaf Agni Dhewa
Journal of Robotics, Automation, and Electronics Engineering Vol. 3 No. 2 (2025): September 2025
Publisher : Universitas Negeri Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21831/jraee.v3i2.1295

Abstract

Attitude stabilization of a tricopter unmanned aerial vehicle (UAV) is challenging because its asymmetric three-rotor configuration and servo-actuated rear rotor introduce coupled and disturbance-sensitive rotational dynamics. This study develops and experimentally evaluates an integral-augmented Linear Quadratic Regulator (LQR-I) for roll, pitch, and yaw stabilization of a physical tricopter UAV. The controller was implemented on an embedded flight controller using inertial measurements from an MPU6050 and was evaluated through tuning-rig experiments and outdoor free-flight tests under measured wind disturbances. A conventional LQR was used as the baseline controller. To ensure a consistent comparison, the performance of both controllers was evaluated under the same measured wind speed of 4.4 m/s. Under this condition, LQR-I reduced pitch overshoot from 9.03° to 2.85° and yaw overshoot from 13.43° to 3.35°, corresponding to reductions of approximately 68.4% and 75.1%, respectively. Roll overshoot increased slightly from 5.25° to 5.47°. The magnitude of the steady-state error was reduced by approximately 56.6%, 16.6%, and 50.6% for the roll, pitch, and yaw axes, respectively. In addition, the root mean square error (RMSE) decreased from 2.451° to 2.065° for roll, from 3.397° to 2.542° for pitch, and from 2.744° to 1.227° for yaw. These experimental results demonstrate that integral augmentation improves the overall disturbance-rejection and attitude-tracking performance of the tricopter, particularly in the pitch and yaw axes, although a slight increase in roll overshoot was observed.
Sistem Pelabelan Otonom pada Kemasan Parfum Laundry dengan Dukungan Pemrosesan Citra menggunakan YOLO V11 Dio Faziko Pratama Pratama; Oktaf Agni Dhewa
Journal of Robotics, Automation, and Electronics Engineering Vol. 3 No. 2 (2025): September 2025
Publisher : Universitas Negeri Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21831/jraee.v3i2.1885

Abstract

Gaya hidup masyarakat yang semakin praktis membuat layanan laundry kiandiminati, terutama di kota-kota besar. Hal ini turut mendorong permintaanterhadap parfum laundry sebagai pelengkap. Sayangnya, proses pelabelan kemasan masih banyak dilakukan secara manual, yang tidak hanya memakanwaktu, tetapi juga rawan kesalahan dan menghambat kelancaran produksiterutama saat permintaan meningkat. Untuk menjawab tantangan tersebut,penelitian ini mengembangkan sistem pelabelan otomatis berbasis deteksiobjek menggunakan YOLOv11. Sistem ini menggabungkan kamera, gateotomatis, dan conveyor untuk mendeteksi kemasan secara real-time dan menempelkan label secara presisi tanpa intervensi manusia. Tujuannya adalahmeningkatkan efisiensi dan menjaga konsistensi kualitas kemasan. Hasil evaluasi menunjukkan performa sistem sangat baik, dengan mAP@0.5 sebesar 90persen dan waktu inferensi rata-rata 21,5 milidetik per citra. Pada 10 kaliuji coba berturut-turut, akurasi deteksi mencapai 100 persen tanpa kegagalan.Ini membuktikan bahwa sistem mampu bekerja andal dalam waktu nyata danberpotensi diterapkan lebih luas di industri lain yang memerlukan otomasipelabelan.
Design and Experimental Validation of LQR-Based Altitude Regulation for a Tricopter UAV Agus Setyo Adi Saputro; Oktaf Agni Dhewa
Journal of Robotics, Automation, and Electronics Engineering Vol. 3 No. 2 (2025): September 2025
Publisher : Universitas Negeri Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21831/jraee.v3i2.1972

Abstract

Altitude regulation is essential for maintaining stable hovering and supporting autonomous operation in tricopter unmanned aerial vehicles (UAVs), whose asymmetric propulsion and rear-rotor tilt mechanism introduce additional control challenges. This study designs, implements, and experimentally evaluates a Linear Quadratic Regulator (LQR)-based altitude-hold controller for a Y- configured tricopter equipped with an inertial sensing module and a downward-facing ultrasonic range sensor for low-altitude feedback. Attitude stabilization was first evaluated using an indoor tuning rig before the complete system was tested under actual flight conditions. The altitude controller was evaluated at reference altitudes of 0.40, 0.85, and 1.25 m and under intentional downward disturbances at a reference altitude of 1.25 m. Across five disturbance trials, the system achieved a mean rise time of 0.513 ± 0.223 s, a mean settling time of 1.113 ± 0.313 s, and a mean steady- state error of 0.0344 ± 0.0069 m. Overshoot occurred in three trials and remained between 1.39% and 1.56%. Without intentional disturbances, steady-state errors of 0.0115, 0.0233, and 0.0064 m were obtained at reference altitudes of 0.40, 0.85, and 1.25 m, respectively. These results demonstrate that the proposed controller can maintain low-altitude hovering and recover from external vertical disturbances within the predefined performance requirements of the tested tricopter platform.
Co-Authors Ach Maulana Habibi Yusuf Aditya, Tomi Agus Setyo Adi Saputro Aldiasa Pangestu Aji Ardy Seto Priambodo Aris Nasuha Bambang Nurcahyo Prastowo Bambang Nurcahyo Prastowo Bambang Nurcahyo Prastowo Dheni Leo Dika Saputra Dio Faziko Pratama Pratama Elviana Faisal Fajri Rahani Faris Yusuf Baktiar Gilang Nugraha Putu Pratama Gilang Nugraha Putu Pratama Indra Hidayatulloh Indra Hidayatulloh Lukman Awaludin Mashoedah Mashoedah Mentari Putri Jati Nur Achmad Sulistyo Putro Putro, Nur Achmad Sulistyo Putro, Nur Achmad Sulistyo Rizky Hidayat Prasetyo Septian Rahman Hakim Silvia Larasatul Masyitoh Syaiful Ardy Gunawan Teddy Surya Gunawan Tri Hadi Karyono Yuli Fajarwati Yusuf, Ach Maulana Habibi Zulhakim Seftiyana Roviyan