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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) Majalah Ilmiah Teknologi Elektro ELKHA : Jurnal Teknik Elektro Mechatronics, Electrical Power, and Vehicular Technology Jurnal Sains dan Teknologi Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Jurnal Teknik Elektro Indonesian Journal of Electrical Engineering and Informatics (IJEEI) Journal of ICT Research and Applications JURNAL NASIONAL TEKNIK ELEKTRO Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Techne : Jurnal Ilmiah Elektroteknika CYCLOTRON J-Dinamika: Jurnal Pengabdian Kepada Masyarakat Jurnal Mantik Indonesian Journal of Electrical Engineering and Computer Science Jurnal Nasional Teknik Elektro dan Teknologi Informasi Konstelasi: Konvergensi Teknologi dan Sistem Informasi Magistrorum et Scholarium: Jurnal Pengabdian Masyarakat Jurnal Rekayasa elektrika
Gunawan Dewantoro
Universitas Kristen Satya Wacana
Agriculture, Biological Sciences & Forestry Humanities Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Languange, Linguistic, Communication & Media Law, Crime, Criminology & Criminal Justice

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Enhancement of motionability based on segregation of states for holonomic soccer robot Dewantoro, Gunawan; Suprayudi, Anton; Santoso, Daniel
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 9, No 2 (2018)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (986.431 KB) | DOI: 10.14203/j.mev.2018.v9.73-80

Abstract

One of the critical issues when navigating wheeled robot is the ability to move effectively. Omnidirectional robots might overcome these nonholonomic constraints. However, the motion planning and travel speed of the movement has been in continuous research. This study proposed segregation of states to improve the holonomic motion system with omnidirectional wheels, which is specially designed for soccer robots. The system used five separate defined states in order to move toward all directions by means of speed variations of each wheel, yielding both linear and curved trajectories. The controller received some parameter values from the main controller to generate robot motion according to the game algorithm. The results show that the robot is able to move in an omnidirectional way with the maximum linear speed of 3.2 m/s. The average error of movement direction is 4.3°, and the average error of facing direction is 4.8°. The shortest average time for a robot to make a rotational motion is 2.84 seconds without any displacement from the pivot point. Also, the robot can dribble the ball forward and backward successfully. In addition, the robot can change its facing direction while carrying the ball with a ball shift of less than 15 cm for 5 seconds. The results shows that state segregations improve the robots capability to conduct many variations of motions, while the ball-handling system is helpful to prevent the ball gets disengaged from the robot grip so the robot can dribble accordingly.
Implementasi Kendali PID Menggunakan Jaringan Syaraf Tiruan Backpropagation Dewantoro, Gunawan; Sukamto, Johanes Nico
ELKHA : Jurnal Teknik Elektro Vol. 11 No. 1, April 2019
Publisher : Faculty of Engineering, Universitas Tanjungpura

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26418/elkha.v11i1.29959

Abstract

Jaringan syaraf tiruan adalah salah satu representasi dari Artificial Intelligence yang dapat melatih suatu sistem menjadi cerdas. Pada penelitian ini, jaringan syaraf tiruan akan dilatih dengan metode Backpropagation untuk menggantikan pengendali konvensional, yaitu pengendali PID yang diimplementasikan dengan Matlab. Dataset pelatihan jaringan syaraf tiruan diambil dari input dan output pengendali PID pada sebuah sistem closed loop. Dengan setpoint dan plant yang sama, jaringan syaraf tiruan dapat memiliki unjuk kerja yang menyerupai pengendali PID. Pengujian dilakukan dengan tools simulink di Matlab. Hasil data yang dilatih dapat dilihat dari grafik dan parameter pelatihan. Pada parameter pelatihan dapat menunjukkan jumlah epochs, validation checks dan gradient descent, sedangkan hasil grafik dapat menjelaskan informasi Performance, Training State dan Regression. Percobaan dilakukan dua kali, dengan gangguan luar dan tanpa gangguan luar. Hasil percobaan akan membandingan kestabilan dan kehandalan terhadap gangguan dari luar dibandingkan dengan pengendali PID.
A Fuzzy Logic-Based Automation toward Intelligent Air Conditioning Systems Dewantoro, Gunawan; Nugraha, Benedictus Edwin; Setiaji, Fransiscus Dalu
Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Vol. 5, No. 4, November 2020
Publisher : Universitas Muhammadiyah Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22219/kinetik.v5i4.1135

Abstract

Most of the energy used in residential buildings originates from air conditioners. Meanwhile, air conditioner manufacturers are addressing this issue by the production of efficient air conditioners. However, the convertible frequency air conditioners are expensive, up to 60% higher than the fixed frequency control air conditioners. Besides the human behavior in determining the temperature, setpoint plays an important role regardless of the air conditioners technology used. This study incorporated intelligence in setting up the temperature by means of specially designed remote control. The Tsukamoto fuzzy reasoning was utilized as a decision making system with two inputs, namely the outdoor temperature and the number of occupants. The device used DHT22 as the temperature sensor and HC-SR04 to detect incoming and outgoing occupants. Furthermore, the fuzzy inference system generated infrared signal associated with the temperature setpoint. This signal was received by the air conditioner receiver to adjust the temperature setpoint accordingly. The result of this study showed that the fuzzy inference system determines the temperature setpoint appropriately under variations of surrounding temperature and the number of occupants. The proposed approach yielded a satisfactory perception of thermal comfort and also a promising approach to energy conservation.
SELF-BALANCING ROBOT BERODA DUA DENGAN METODE PID Setiawan, Agus; Susilo, Deddy; Dewantoro, Gunawan
JST (Jurnal Sains dan Teknologi) Vol 10, No 1 (2021)
Publisher : Universitas Pendidikan Ganesha

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (461.137 KB) | DOI: 10.23887/jst-undiksha.v10i1.32407

Abstract

Perkembangan teknologi membuat para peneliti berkeinginan mengembangkan robot lebih dari dua dekade ini, salah satu pengembangannya yaitu dengan menambahkan fitur self-balancing pada robot trainer untuk edukasi. Fitur ini menggunakan konsep pendulum terbalik yang harus menyeimbangkan pusat massa agar dapat berada di posisi seimbang. Untuk dapat membuat robot dapat berdiri dengan seimbang, maka dipakailah sebuah metode yaitu kendali PID. Metode ini bertujuan untuk membuat error sudut sekecil-kecilnya sehingga dapat membuat robot beroda dua pada posisi tegak. Robot yang digunakan merupakan robot Trainer Edukasi yang dirancang untuk media pembelajaran dan telah digunakan di beberapa sekolah yang terdapat di Kota Salatiga. Hasil pengujian menunjukkan bahwa robot dapat menyeimbangkan diri dan tahan terhadap gangguan luar dengan baik, dengan error kemiringan sebesar 1,14 derajat. Robot ini juga mampu bergerak dalam posisi tegak dengan  kecepatan maksimal yang dapat ditangani robot adalah 15,07 cm/detik.
Rancang Bangun Sistem Pakar Pemantau Kualitas Air Berbasis IoT Menggunakan Fuzzy Classifier Ramadhan, Muhammad Hisyamudin; Dewantoro, Gunawan; Setiaji, Fransiscus Dalu
Jurnal Teknik Elektro Vol 12, No 2 (2020): Jurnal Teknik Elektro
Publisher : Jurusan Teknik Elektro, Fakultas Teknik, Universitas Negeri Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.15294/jte.v12i2.25351

Abstract

The classification of water quality is vital to ensure that the water has been properly utilized. As of today, the water treatment plant employs a conventional method by taking water sample, measuring all of water quality parameters, and analyzing each sample. Besides, the conclusion-drawing processes have not been incorporated which might lead to water quality misclassification and prolonged efforts. In this study, an expert system was developed to monitor the water quality in real time fashion, therefore it could be accessed anytime and anywhere. The water quality analysis process was conducted by means of fuzzy classifier, and implemented on Arduino Mega 2560 board. The fuzzy inputs included pH value, total dissolved solid (TDS), and turbidity. A fuzzy inference system was employed to classify the water quality into three classes, namely good (meet the hygiene standards), fair, and poor (polluted). The expert system successfully yielded the inference results with a success rate of 100%. The water quality monitoring and classification could be accessed online through Internet of Things (IoT) platform Thingspeak.
Perancangan Penguat Awal Menggunakan Tabung Hampa Pada Aras Tegangan Rendah Budhiantho, Matias H.W.; Dewantoro, Gunawan; Sabatino, Demas
JURNAL NASIONAL TEKNIK ELEKTRO Vol 4, No 1: Maret 2015
Publisher : Jurusan Teknik Elektro Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (470.105 KB) | DOI: 10.25077/jnte.v4n1.98.2015

Abstract

Vacuum tube amplifiers have been known as softly-cliping audio amplifiers, as opposed to solid-state based amplifiers which exhibit hard-cliping properties. However, vacuum tubes are operated in high voltage level. Meanwhile, in order to work in low voltage level, a vacuum tube amplifier must employ step down transformers that leads to complexity. This study aims to make use of vacuum tubes in a pre-amplifier working on 12 VDC level. First, several measurements were done to obtain graphics of characteristic of triode 12AT7 in low voltage level. Common-cathode topology was cascaded with a common-anode topology to realize such amplifier. The results show that the preamplifier has an input impedance of 1.11 MΩ, output impedance of 3.5 kΩ for the right channel and 3.2 kΩ for the left channel. Maximum Total Harmonic Distortion of 1.7% occurs on frequency of 4 kHz. Voltage gains of 20.08 dB and 20 dB were obtained for the right and left channels, respectively. This pre-amplifier also shows sensitivity of 212 mVrms, maximum output level of 2 Vrms, and relatively flat frequency response within 60 Hz–20 kHz with ripple of ± 0.5dB. This pre-amplifier can be alternatively used in two modes, namely linear mode and distorted mode.Keywords : Pre-amplifier, Vacuum Tube, Linear Mode, Distorted ModeAbstrakPenguat tabung hampa telah dikenal sebagai penguat audio dengan sifat soft-clipping, dan tidak seperti penguat transistor yang bersifat hard-clipping. Tabung hampa umumnya merupakan suatu komponen aktif yang bekerja pada aras tegangan tinggi (ratusan volt), namun pada aras tegangan tinggi penguat tabung membutuhkan transformator keluaran untuk menurunkan aras tegangan isyarat keluaran. Penelitian ini bertujuan untuk merancang penguat awal dengan menggunakan tabung hampa pada tegangan kerja 12 VDC. Untuk merancang untai tabung hampa pada aras tegangan rendah, telah dilakukan pengukuran untuk mendapatkan grafik karakteristik trioda 12AT7. Untai tabung hampa direalisasikan dengan topologi katoda bersama yang dikaskade dengan anoda bersama. Dari hasil pengukuran didapatkan spesifikasi penguat awal yaitu impedansi masukan sebesar 1.11 MΩ, impedansi keluaran 3.5 kΩ pada kanal kanan dan 3.2 kΩ pada kanal kiri, THD maksimal terjadi pada frekuensi 4 kHz di kanal kanan yaitu sebesar 1.7%, bati tegangan 20,08 dB pada kanal kanan dan 20 dB pada kanal kiri, sensitivitas 212 mVrms, aras keluaran maksimal 2 Vrms, tanggapan frekuensi yang rata pada rentang 60 Hz – 20 kHz dengan fluktuasi ± 0.5 dB. Penguat awal ini dapat digunakan secara bergantian dalam dua ragam, yaitu ragam linier dan ragam cacat berupa efek flanger.Kata Kunci : Penguat Awal, Tabung Hampa, Mode Linear, Mode Distorsi//
Penguat Audio Kelas D Dengan Umpan Balik Tipe Butterworth Dewantoro, Gunawan; Setiaji, Franciscus Dalu; Pragustha, Tio
JURNAL NASIONAL TEKNIK ELEKTRO Vol 5, No 1: Maret 2016
Publisher : Jurusan Teknik Elektro Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (506.977 KB) | DOI: 10.25077/jnte.v5n1.178.2016

Abstract

A class D amplifier would, in ideal sense, amplify signals without any noises and distortions which yield 100% efficiency and 0% Total Harmonic Distortion (THD). However, class D amplifiers have some drawbacks that lead to nonlinearity and increasing THD. Therefore, a feedback mechanism was employed to enhance THD performance of amplifier. Some feedback techniques have been using first order filter in the feedback path to retrieve audio signals. This research proposed a second order filter with Butterworth approach. A power amplifier was realized using full-bridge amplifier with MOSFETs to provide greater power. This class D amplifier was designed to meet following specifications: maximum output power up to 32.6 W with an 8 Ω load, sensitivity of 90 mV/W, frequency response ranging from 20 Hz – 20 kHz with tolerance ± 1 dB, THD as low as 1.1 %, SNR up to 90.16 dB, and efficiency of 82.1%.    Keywords : Class D Amplifier, Feedback, Butterworth, Total Harmonic Distortion                                                                                    Abstrak—Proses penguatan sinyal pada penguat kelas D idealnya tidak terdapat derau dan distorsi sehingga penguat kelas D dapat menghasilkan efisiensi hingga 100 % dan THD (Total Harmonic Distortion) 0%. Namun pada praktisnya, penguat kelas D memiliki beberapa kekurangan yang menyebabkan keluaran penguat kelas D menjadi tidak linear sehingga mengakibatkan naiknya THD. Oleh karena permasalahan tersebut, diberikan sutau mekanisme umpan balik negatif yang dapat memperbaiki kualitas THD dari penguat. Beberapa teknik umpan balik negatif menggunakan tapis orde 1 pada umpan balik untuk mendapatkan frekuensi audio. Penelitian ini merancang teknik umpan balik negatif menggunakan tapis orde 2 dengan pendekatan Butterworth. Penguat daya diwujudkan menggunakan penguat jembatan penuh dengan MOSFET yang dapat menghasilkan daya lebih besar. Penguat kelas D yang dibuat mempunyai spesifikasi antara lain: daya keluaran maksimum mencapai 32,6 Watt pada beban 8 Ω, dengan kepekaan penguat 90 mV/W, memiliki tanggapan frekuensi 20 Hz – 20 kHz dengan toleransi ± 1 dB, THD dengan umpan balik mencapai 1,1 % , SNR hingga 90,16 dB serta efisiensi penguat mencapai 82,1%.                                                       Kata Kunci : Penguat Kelas D, Umpan Balik, Butterworth, Total Harmonic Distortion
Multi-objective Optimization Scheme for PID-Controlled DC Motor Gunawan Dewantoro
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 7, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijpeds.v7.i3.pp734-742

Abstract

DC Motor is the most basic electro-mechanical equipment and well-known for its merit and simplicity. The performance of DC motor is assessed based on several qualities that are most-likely contradictory each other, i.e. settling time and overshoot percentage. Most of controllers optimization problems are multi-objective in nature since they normally have several conflicting objectives that must be met simultaneously. In this study, the grey relational analysis (GRA) was combined with Taguchi method to search the optimum PID parameter for multi-objective problem. First, a L9 (33) orthogonal array was used to plan out the processing parameters that would affect the DC motor’s speed. Then GRA was applied to overcome the drawback of single quality characteristics in the Taguchi method, and then the optimized PID parameter combination was obtained for multiple quality characteristics from the response table and the response graph from GRA. Signal-to-noise ratio (S/N ratio) calculation and analysis of variance (ANOVA) would be performed to find out the significant factors. Lastly, the reliability and reproducibility of the experiment was verified by confirming a confidence interval (CI) of 95%.
Development of Microcontroller-Based Ball and Beam Trainer Kit Gunawan Dewantoro; Deddy Susilo; Ditya Clarisa Amanda
Indonesian Journal of Electrical Engineering and Informatics (IJEEI) Vol 3, No 1: March 2015
Publisher : IAES Indonesian Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.52549/ijeei.v3i1.138

Abstract

A ball and beam trainer kit based on microcontroller was developed for teaching control system course for the sophomore students. This specially-purposed kit consists of a ball located on a beam with a fixed axle at one of its end. At the other end, a servomotor was employed to control the position of the ball by adjusting the rotation angle of the servomotor. Seven predetermined positions were set to 10, 20, 30, 40, 50, 60, and 70 cm relative to the fixed axle of the beam. The Proportional-Integral-Derivative (PID) scheme was then used to compensate the error. This kit is equipped with a user interface to configure controller coefficients, select the set points, plot the actual ball position, and display parameter values. The user interface program runs on PC or notebook connected to microcontroller via serial communications. A questionnaire-based assessment about the use of this kit was conducted by 17 students taking the course, giving a rating value of 94.12%.
Implementasi Pengendali Logika Fuzzy pada Navigasi Robot Penjejak Dinding Gunawan Dewantoro; Deddy Susilo; Prabata Pideksa Adi
Jurnal Teknologi Elektro Vol 16 No 2 (2017): (May - Agustus) Majalah Ilmiah Teknologi Elektro
Publisher : Universitas Udayana

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (634.452 KB) | DOI: 10.24843/MITE.2017.v16i02p13

Abstract

Navigasi merupakan salah satu kendala utama dalam perancangan robot otomatis. Metode kontrol berbasis PID yang popular dipakai menemui sejumah kendala pada sistem yang tidak pasti dan nonlinier. Keunggulan logika fuzzy sebagai metode kontrol dibandingkan kontroler konvensional adalah fleksibilitas dan kemudahan perancangan untuk sistem yang kompleks. Pada penerapan metode kontrol logika fuzzy, robot dirancang agar mampu bernavigasi secara otomatis dan dapat menelusuri peta lapangan pengujian dengan segala kondisi serta variasi secara efektif dan efisien. Peta lapangan yang digunakan sebagai pengujian adalah peta lapangan yang digunakan dalam Trinity College Fire-Fighting Home Robot (TCFFHR) Contest 2016. Untuk perangkat pemroses robot memakai mikrokontroller tipe ATMega128. Robot ini memakai sensor Sonar Range Finder (SRF) sebagai sensor utama serta menggunakan sensor infrared dan sensor garis. Dari hasil pengujian robot yang menggunakan metode kontrol fuzzy mampu bernavigasi dengan rasio kontak per putaran yang lebih baik dibandingkan metode kontrol Propotional-Derivative dan sangat efektif dalam menghadapi berbagai situasi lingkungan yang terjadi ketika bernavigasi.
Co-Authors Aditya Bintang Sri Mukti Adri Gabriel Sooai Agus Setiawan Agustinus Hery Waluyo Andreas Ardian Febrianto Atyanta Nika Rumaksari Budhiantho, Matias H.W. Budihardja Murtianta Daniel Santoso Deddy Susilo Dinar Rahmat Hadiyanto Ditya Clarisa Amanda Franciscus Dalu Setiaji, Franciscus Dalu Fransiscus Dalu Setiaji Fransiscus Dalu Setiaji Gloria Song Abimanyu Handoko Handoko Hartanto Kusuma Wardana Ivanno Alexander Rombang Iwan Setyawan Jamil Mansuri Johanes Nico Sukamto Kristian Visi Subekti Lukas B. Setyawan Lukas Bambang Setyawan Lukas Bambang Setyawan Marcellus Denta Widyapramana Mario Augustino Ivan D. B. Mone, Edwin C. Nugraha, Benedictus Edwin Paula Agrippina Ika Felixia Prabata Pideksa Adi Purnamasidi Sugiyanto Ramadhan, Muhammad Hisyamudin Raynald Saputra Sabatino, Demas Sebastian Hermawan Prasetyo Septian Abednego Sri Hartini Sukamto, Johanes Nico Suprayudi, Anton Teuku Danny Ramdani Tio Pragustha, Tio Yohanes Dino Lowutan Yohanes Haryudanta D.