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Desain dan Implementasi Visual Object Tracking Menggunakan Pan and Tilt Vision System Yunardi, Riky Tri; Mardhiyah, Ajeng W.; Yahya, M. Hafi; Arisgraha, Franky Chandra Satria
ELKHA : Jurnal Teknik Elektro Vol.11 No.2, October 2019
Publisher : Faculty of Engineering, Universitas Tanjungpura

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (2856.244 KB) | DOI: 10.26418/elkha.v11i2.34351

Abstract

Object tracking is a technique for detecting and following the moving object. It can be used to helping security officers to monitor the room that has a large monitoring working area. The aim of research is to design the visual system of object tracking by using pan and tilt vision system. The orientation of camera can move in vertically and horizontally path. Visualization program for this project is consist of motion detection, edge detection and center of mass. The detected object position can be used for controlling the pan and tilt at mechanical system which is mounted on the camera to track the moving object. The results of research show the design of object tracking can detecting and following walking human with an ideal distance of 6 meters and directional angular shift is 5 degrees on the visual resolution of 360 × 240 pixels
Short-term photovoltaics power forecasting using Jordan recurrent neural network in Surabaya Aji Akbar Firdaus; Riky Tri Yunardi; Eva Inaiyah Agustin; Tesa Eranti Putri; Dimas Okky Anggriawan
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 2: April 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i2.14816

Abstract

Photovoltaic (PV) is a renewable electric energy generator that utilizes solar energy. PV is very suitable to be developed in Surabaya, Indonesia. Because Indonesia is located around the equator which has 2 seasons, namely the rainy season and the dry season. The dry season in Indonesia occurs in April to September. The power generated by PV is highly dependent on temperature and solar radiation. Therefore, accurate forecasting of short-term PV power is important for system reliability and large-scale PV development to overcome the power generated by intermittent PV. This paper proposes the Jordan recurrent neural network (JRNN) to predict short-term PV power based on temperature and solar radiation. JRNN is the development of artificial neural networks (ANN) that have feedback at each output of each layer. The samples of temperature and solar radiation were obtained from April until September in Surabaya. From the results of the training simulation, the mean square error (MSE) and mean absolute percentage error (MAPE) values were obtained at 1.3311 and 34.8820, respectively. The results of testing simulation, MSE and MAPE values were obtained at 0.9858 and 1.3311, with a time of 4.591204. The forecasting has minimized significant errors and short processing times.
Analisa Kinerja Sensor Inframerah dan Ultrasonik untuk Sistem Pengukuran Jarak pada Mobile Robot Inspection Riky Tri Yunardi
Setrum : Sistem Kendali-Tenaga-elektronika-telekomunikasi-komputer Vol 6, No 1 (2017): Edisi Juni 2017
Publisher : Fakultas Teknik Elektro - Universitas Sultan Ageng Tirtayasa

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (768.095 KB) | DOI: 10.36055/setrum.v6i1.1583

Abstract

Kinerja sebuah sensor untuk mengumpulkan informasi dalam mendeteksi objek sangat penting dalam teknologi elektronika dan instrumentasi. Sensor inframerah dan ultrasonik sesuai digunakan iuntuk mengukur jarak menggunakan sinyal pantulan dari pemancar untuk memperkirakannya. Mobile robot inspaction yang digunakan dalam penelitian ini dilengkapi dengan roda sehingga bisa bergerak dan memberi informasi dari jarak jauh. Makalah ini menyajikan analisa kinerja sensor inframerah dan ultrasonik untuk pengukuran jarak pada mobile robot inspection. Sensor dipasang pada prototipe mobile robot. Sensor digunakan untuk memantau dan mengukur jarak antara robot mobile dengan sisi permukaan bagian bawah beton. Hasil analisa kinerja dalam penelitian ini dievaluasi pada lingkungan laboratorium dengan menggunakan balok beton pada ketinggian 15 - 150 cm dari tanah. Hasilnya menunjukkan sensor inframerah dan ultrasonik mampu mengukur jarak dengan persentase akurasi antara 96,88 - 98,16%.
Perancangan Sistem Kendali pada Lengan Assistive Social Robot menggunakan Kamera Yunardi, Riky Tri; Mardiyanto, Ronny
JURNAL NASIONAL TEKNIK ELEKTRO Vol 6, No 2: Juli 2017
Publisher : Jurusan Teknik Elektro Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25077/jnte.v6n2.402.2017

Abstract

Robotics technology has widely applied and developed in the rehabilitation field. Assistive Social Robot is a technology that can interact with users and improve progress in rehabilitation. Accessibility when taking an object using a robotic arm system is needed. A camera is the optical sensor that has been applied to detect the position of the object. In this paper explain a design of control system of robotic arm by using a camera. Information of the distance and position are used to organizing the control of the robotic arm movement, that form of a gripper. Tests conducted include: testing to detect the contour of the object, testing the measurement of object distance, and testing the robot arm control. From the results shows the speed of performance of control system that has been designed in performing the task to pick up an object from the initial position to the end takes 28.05 seconds.Keywords : Assistive social robot, robotic arm , cameraAbstrak—Teknologi robotika telah banyak diaplikasi dan dikembangkan dalam bidang rehabilitasi. Assistive Social Robot merupakan suatu teknologi robotika yang dapat berinteraksi dengan pengguna dan memberi bantuan dalam pemulihan proses rehabilitasi. Aksesibilitas ketika mengambil sebuah benda dengan menggunakan sistem lengan robot sangat dibutuhkah. Kamera merupakan sensor optik yang paling banyak diaplikasikan untuk mendeteksi posisi objek. Artikel ini membahas mengenai sistem kendali lengan robot menggunakan kamera. Informasi jarak dan posisi objek digunakan untuk mengendalikan gerakan lengan robot robot yang berbentuk gripper. Pengujian yang dilakukan meliputi: pengujian mendeteksi kontur objek, pengujian pengukuran jarak objek, serta pengujian kendali lengan robot. Dari hasil menunjukkan kecepatan kinerja sistem kendali yang telah dirancang dalam melakukan tugas untuk mengambil sebuah objek dari posisi awal sampai akhir memerlukan waktu 28,05 detik.Kata Kunci : Assistive social robot, lengan robot, kamera
Robotic Leg Design to Analysis the Human Leg Swing from Motion Capture Riky Tri Yunardi; Aji Akbar Firdaus; Eva Inaiyah Agustin
Bulletin of Electrical Engineering and Informatics Vol 6, No 3: September 2017
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (766.684 KB) | DOI: 10.11591/eei.v6i3.645

Abstract

In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.
An improved control for MPPT based on FL-PSo to minimize oscillation in photovoltaic system Aji Akbar Firdaus; Riky Tri Yunardi; Eva Inaiyah Agustin; Sisca D. N. Nahdliyah; Teguh Aryo Nugroho
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 11, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (639.01 KB) | DOI: 10.11591/ijpeds.v11.i2.pp1082-1087

Abstract

Photovoltaic (PV) is a source of electrical energy derived from solar energy and has a poor level of efficiency. This efficiency is influenced by PV condition, weather, and equipments like Maximum Power Point Tracking (MPPT). MPPT control is widely used to improve PV efficiency because MPPT can produce optimal power in various weather conditions. In this paper, MPPT control is performed using the Fuzzy Logic-Particle Swarm Optimization (FL-PSO) method. This FL-PSO is used to get the Maximum Power Point (MPP) and minimize the output power oscillation from PV. From the simulation results using FL-PSO, the values of voltage, and output power from the boost converter are 183.6 V, and 637.7 W, respectively. The ripple of output power from PV with FL-PSO is 69.5 W. Then, the time required by FL-PSO reaches MPP is 0.354 s. Compared with MPPT control based on the PSO method, the MPPT technique using FL-PSO indicates better performance and faster than the PSO.
Inverse Kinematics and PID Controller Implementation of Hexapod Robot for Wall Follower Navigation Riky Tri Yunardi; Arief Muchadin; Kurnia Latifa Priyanti; Deny Arifianto
INAJEEE (Indonesian Journal of Electrical and Electronics Engineering) Vol. 2 No. 2 (2019)
Publisher : Department of Electrical Engineering, Faculty of Engineering, Universitas Negeri Surabaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26740/inajeee.v2n2.p23-28

Abstract

Wall following is one of the methods used in navigating the movement of robot applications. Because the robot moves along the wall, the ultrasonic sensor is used as a barrier detector capable of measuring the distance between the robot and the wall. The six-legged robot is a hexapod robot has six pieces of legs and each leg has three joints that are used to move. The leg movement is based on the inverse kinematics to obtain the angle value of each joint. Nevertheless, a six-legged robot requires stability in order to move smoothly while following the wall. In this work, a robot was developed using a proportional derivative controller to implemented on wall follower navigation. The PID controller is determined using analytic tuning to produce the controller parameters that are used to make the robot move straighten and keep the position against the wall. Overall, the application of inverse kinematics and PID control on the wall following robot navigation can improve the stability of the robot with a set point value of 8-16 cm on the wall length of 1.5 within 9296 % of average success rate.
Line Follower Robot Training and Introduction of Internet of Things (IoT) for Students in Jombang City Eva Inaiyah Agustin; Riky Tri Yunardi; Winarno Winarno
Darmabakti Cendekia: Journal of Community Service and Engagements Vol. 1 No. 2 (2019): December 2019
Publisher : Faculty of Vocational Studies, Universitas Airlangga

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (879.09 KB) | DOI: 10.20473/dc.V1.I2.2019.50-55

Abstract

Background: During the Industrial Revolution 4.0, the Internet of Things (IoT) is the main pillar of people and machines connected to each other. It can be an intelligent system when combined with a robot. This is what underlies the importance of robotics and IoT training, especially to be introduced early on. Purpose: This activity aimed to improve students' knowledge and skills in technology. The target of this activity is high school students in Jombang City. Methods: It starts from the planning, implementation, and evaluation stages. Auditory, visual and kinesthetic techniques are used in this activity, which is in the form of interesting learning media such as power points, videos, as well as demonstrations and practices. Data collection techniques such as questionnaires, pre-test, and post-test, and running tests were carried out to measure the level of skills, knowledge, and satisfaction of participants. Results: A total of 85% of participants did not know about IOT and 83% of the participants already know what the robot. But only 17% ever make robots. Conclusion:  After this activity the participants' understanding increased by 20%. Their skills also increased as evidenced by the participants programming themselves so that the robot can run well on the track.
Design and Implementation of Solder Paste Dispenser Based on Linear Drive System Riky Tri Yunardi; Moh. Zakky Zulfiar; Rr. Wanda Auruma Putri; Deny Arifianto
JEEE-U (Journal of Electrical and Electronic Engineering-UMSIDA) Vol 3, No 2 (2019): October
Publisher : Universitas Muhammadiyah Sidoarjo

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (248.9 KB) | DOI: 10.21070/jeee-u.v3i2.2637

Abstract

In the technology to create prototypes for electronic hardware is usually constructed using surface mount device printed circuit board (SMD PCB). In this paper introduces the design and implementation of low-cost electrical solder paste dispenser that supports the PCB solder process. The design consists of a nozzle and linear drive systems based on stepper motors operating with electric power to push the plunger down to drop the solder paste on the board. To test the performance of solder paste that has been designed verified by experiment. Solder paste dispenser design was tested using SMD resistor with the solder pads of different sizes for R0603, R0805, and R1206 on PCB. The results showed that the design of the prototype was able to put the pasta in various field pads between 0.54 mm2, 0.91 mm2 and 1.44 mm2 for standard solder pads with an error in the 2% - 5%. Based on the results, the device has been shown to potentially be used to attach electronic components to printed circuit boards.
A smart wearable device based on internet of things for the safety of children in online transportation Elsyea Adia Tunggadewi; Eva Inaiyah Agustin; Riky Tri Yunardi
Indonesian Journal of Electrical Engineering and Computer Science Vol 22, No 2: May 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v22.i2.pp708-716

Abstract

The world needs to pay attention to children who often become victims of violence and cannot escape social problems. Various safety devices that are commonly known as smart wearable devices have been created, but they still have many shortcomings. Thus, in this research a safety device that can be held by children is designed and is equipped with a button that can be pressed, then it will automatically send the location and photo of the scene to the parent's cellphone via the telegram application. It uses the Raspberry Pi Zero W controller, the GNSS HMC5983 SAW LNA GPS Module to determine the location, and the 5MP Raspberry Pi Zero Camera Module to capture the incident. Based on the results, the average time needed to share locations is 0.91 seconds, and the average time needed to capture is 11.57 seconds, if the device and receiving cellphone use the same network. Additionally, the average time needed to share locations is 0.96 seconds, and the average time needed to capture is 12.09 seconds, if the device and receiving cellphone use a different network. Both conditions have 97.5% location accuracy rate and 100% photo accuracy rate.