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All Journal International Journal of Electrical and Computer Engineering ComEngApp : Computer Engineering and Applications Journal Teliska Perfecting a Video Game with Game Metrics Bulletin of Electrical Engineering and Informatics Proceeding of the Electrical Engineering Computer Science and Informatics Annual Research Seminar Proceeding of the Electrical Engineering Computer Science and Informatics VOLT : Jurnal Ilmiah Pendidikan Teknik Elektro Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Journal of Applied Smart Electrical Network and System (JASENS) International Journal of Research in Vocational Studies (IJRVOCAS) Aptekmas : Jurnal Pengabdian Kepada Masyarakat

Tresna Dewi

Politeknik Negeri Sriwijaya

Author-ID : 252957

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Vision-Based Pipe Monitoring Robot for Crack Detection Using Canny Edge Detection Method as an Image Processing Technique Syahrian, Nur Mutiara; Risma, Pola; Dewi, Tresna
Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Vol 2, No 4, November-2017
Publisher : Universitas Muhammadiyah Malang

Piping setup is very important to ensure the safety and eligibility of the piping system before applied in industry. One of the techniques to facilitate perfect piping setup is by employing pipe monitoring robot. Pipe monitoring robot is designed in this research to monitor cracks or any other defects occur inside a pipe. This automatic monitoring is conducted by the application of image processing with canny edge detection. Canny edge detection method detects the edges or lines of any cracks inside the pipe and processes them to create differences in image, therefore only the cracks can be shown and finally, those cracks can be well analyzed. Canny edge detection has 5 processing techniques that are smoothing, finding gradients, non-maximum suppression, double thresholding, and edge tracking by hysteresis. In this research, the experiment was conducted by letting a robot monitoring new pipe and detecting cracks. Two cracks samples were taken and analyzed. The results show that the best value for smoothing is 10 and 5 for thresholding in getting not too blurred or to sharp result.

Fuzzy Logic Controller Design for Leader-Follower Robot Navigation Dewi, Tresna; Wijanarko, Yudi; Risma, Pola; Oktarina, Yurni
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 5: EECSI 2018
Publisher : IAES Indonesia Section

Mobile robots are applied everywhere in the human's life, starting from industries to domestics. This phenomenon makes it one of the most studied subjects in electronics engineering. Navigation is always an issue for this kind of robot, to ensure it can finish its task safely. Giving it a â€œbrainâ€ is one of the ways to create an autonomous navigating robot. The Fuzzy logic controller is a good choice for the â€œbrainâ€ since it does not need accurate mathematical modeling of the system. Only by utilizing the inputs from sensors are enough to design an effective controller. This paper presents an FLC design for leader-follower robot. This FLC design is the improvement of FLC application in a single two differential-driven mobile robot. The relation between leader and follower robot is modeled linearly as a spring-damper system. Simulation proves the feasibility of the proposed method in several environment setting, and this paper also shows that the method can be easily extended to one leader and more than one follower's formation. The research in this paper has introduced in the classroom as the teaching-learning media to improve students' involvement and interest in robotics and robotics related class. This paper is also part of our campaign and encouragement for teachers and students to use low-cost and open source software since not all the universities in developing country can afford the expensive high-end software.

Arm Robot Manipulator Design and Control for Trajectory Tracking; a Review Yudha, Hendra Marta; Dewi, Tresna; Risma, Pola; Oktarina, Yurni
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 5: EECSI 2018
Publisher : IAES Indonesia Section

Arm robot manipulator heavily applied in industries ranging from welding, pick-and-place, assembly, packaging, labeling, etc. Trajectory planning and tracking is the fundamental design of an arm robot manipulator. The trajectory is set and determined to satisfy a certain criterion effectively and optimally. Optimization of robot trajectory is necessary to ensure the good quality product and to save energy, and this optimization can be provided by the right modeling and design. This paper presents a review study of arm-robot manipulator design and control for trajectory tracking by investigating the modeling of an arm robot manipulator starting from kinematics, dynamics and the application of the more advanced methods. The idea of this paper comes from the popularity of inverse kinematics among students.

The Kinematics and Dynamics Motion Analysis of a Spherical Robot Dewi, Tresna; Risma, Pola; Oktarina, Yurni; Prasetyani, Lin; Mulya, Zarqa
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 6: EECSI 2019
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eecsi.v6.1937

Mobile robot application has reach more aspect of life in industry and domestic. One of the mobile robot types is a spherical robot whose components are shielded inside a rigid cell. The spherical robot is an interesting type of robot that combined the concept of a mobile robot and inverted pendulum for inner mechanism. This combination adds to more complex controllerdesignthantheothertypeofmobilerobots.Asidefrom these challenges, the application of a spherical robot is extensive, from being a simple toy, to become an industrial surveillance robot. This paper discusses the mathematical analysis of the kinematics and dynamics motion analysis of a spherical robot. The analysis combines mobile robot and pendulum modeling as the robot motion generated by a pendulum mechanism. This paper is expected to give a complete discussion of the kinematics and dynamics motion analysis of a spherical robot.

The impact of Nodes Distance on Wireless Energy Transfer System Risma, Pola; Dewi, Tresna; Oktarina, Yurni
Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Vol. 5, No. 2, May 2020
Publisher : Universitas Muhammadiyah Malang

Wireless energy transfer (WET) reemerges as the method for transmitting electric power without the necessity to deal with cable losses and an aesthetically pleasing environment. The problem with WET is how to maintain magnetic induction as the distance gets further. This paper investigates the impact of nodes distance on the WET system. The experimental results show that the most effective distance among transmitter, nodes, and receiver are 4 cm. The measurement is taken with and without load. The without load application give that for node 1; the results are 6 V, 110 mA, and 2.85 mT for voltage, current, and magnetic flux, respectively. At the application of 2 nodes, the voltage is 6.8 V, the current is 0.124 mA, and the magnetic flux is 3.83 mT, and at three nodes installation, it is 7 V, 134 mA, and 3.83 mT. During the application of 3-Watt and 5-Watt lamp, at 4 cm distance, the power received is 1.66 W and 3.66 W at 3-Watt and 5-Watt lamp for one node, 1.84 W, and 3.84 for two nodes, and 1.93 W and 3.93 for three nodes. The experimental results show that the transmitted signal can be prolonged by installing nodes. Even though this study shows that 4 cm is the most effective, it is possible to increase up to 20 cm to power a 3-Watt lamp and 5-Watt lamp.

Experimental Study on The Effect of Arches Setting on Semi-Flexible Monocrystalline Solar Panels Arissetyadhi, Iwan; Dewi, Tresna; Kusumanto, RD
Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Vol. 5, No. 2, May 2020
Publisher : Universitas Muhammadiyah Malang

Indonesia has a high potential for renewable energy, especially solar power, due to its location in the equator and blessed with an abundance of sunlight. However, the energy potential from the sun is not maximally utilized. One of the efforts to increase the generated electricity and efficiency is by applied the panels in arches setting. This setting is made possible by the availability of the semi-flexible monocrystalline solar panel. This paper investigates the increment of harvested power and efficiency by arranging the solar panel in concave, convex, and plane settings. The data were taken in August 2019, where Palembang experiences the dry season and January 2020 during the rainy season. The highest power produced (20.27 Watt) and efficiency (13.14%) were achieved in a concave setting during the dry season. The convex setting produced more power and efficiency (13.26 Watt and 9.30%) compared to the plane setting (10.24 Watt and 9.71%). These results show that arches setting are more efficient to harvest solar power and give more extensive applications such as to power a dynamics mobile robot applied in agriculture.

Neural Network Controller Design for a Mobile Robot Navigation; a Case Study Dewi, Tresna; Risma, Pola; Oktarina, Yurni; Roseno, M. Taufik
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 4: EECSI 2017
Publisher : IAES Indonesia Section

Mobile robot are widely applied in various aspect of humanÂ life. The main issue of this type of robot is how to navigate safely to reach the goal or finish the assigned taskÂ when applied autonomously in dynamic and uncertain environment. TheÂ ap- plication of artificial intelligence, namely neuralÂ Â network,Â can provide a â€brainâ€ for the robot to navigate safely in completing the assigned task. By applying neural network, the complexity of mobile robot control can beÂ reduced by choosing the right model of the system, eitherÂ Â from mathematical modeling or directly taken from the input of sensory dataÂ information. In this study, we compare the presented methods of previousÂ researches that applies neural network to mobile robot navigation. The comparisonÂ is startedÂ by consideringÂ the rightÂ mathematical model for the robot, getting the JacobianÂ matrixÂ for online training, and giving the achieved input model toÂ the designed neural network layers in order to get the estimated position of the robot. From this literature study, itÂ is concluded that the consideration of both kinematics and dynamics modelingÂ of the robot will result in better performance since the exact parameters of the system are known.

The Potential Overview of PV System Installation at the Quarry Open Pit Mine PT. Bukit Asam, Tbk Tanjung Enim Junaedi, Ketut; Dewi, Tresna; Yusi, Muhammad Syahirman
Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Vol. 6, No. 1, February 2021
Publisher : Universitas Muhammadiyah Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22219/kinetik.v6i1.1148

South Sumatra has an established state-own enterprise exploring the Quarry Open Pit Mine. This mining process leaves some abondance open field that has a high potential to install a PV system. The Government has undertaken an initial analysis of 200 hectares of ex-mining land for this purpose. This paper analyzes the potential for PV panels to be installed at PTBA Tanjung Enim Quarry Open Pit Mine. The location of the PV panel in the open pit Quarry for this analysis is at an altitude of +140 m above sea level. Meanwhile, the PTBA Tanah Putih Township housing site where the PV comparison panel is installed is located on the altitude of +100 m above sea level, and within 2.97 km from the mine. PV panels installed in Open Pit mines generate better electricity and efficiency compared to PV panels installed outside the mine (in PTBA Township Housing). The difference of Isc between PV Panel installed in Quarry Open Pit Mine and Township is 0.0075 A. The Iload measured on the Quarry Open Pit Mine PV panel is 0.5478 A higher than the Township PV panel. Meanwhile, Voc measured on Quarry Open Pit Mine PV panel is smaller than Township PV panel, approximately 0.266 V and Vload of Quarry Open Pit Mine PV panel is 0.266 V larger than Township PV panel. The produced power of Quarry Open Pit Mine PV panel is 11.02 W larger than the Township PV panel. From the total value, the average efficiency produced by Quarry Open Pit Mine PV panels is 2.31 % higher than the efficiency produced by Township PV panels. This research shows the possibility and advantage of installing a PV system on a Quarry Open Pit Mine.

Inverse kinematic analysis of 4 DOF pick and place arm robot manipulator using fuzzy logic controller Tresna Dewi; Siti Nurmaini; Pola Risma; Yurni Oktarina; Muhammad Roriz
International Journal of Electrical and Computer Engineering (IJECE) Vol 10, No 2: April 2020
Publisher : Institute of Advanced Engineering and Science

The arm robot manipulator is suitable for substituting humans working in tomato plantation to ensure tomatoes are handled efficiently. The best design for this robot is four links with robust flexibility in x, y, and z-coordinates axis. Inverse kinematics and fuzzy logic controller (FLC) application are for precise and smooth motion. Inverse kinematics designs the most efficient position and motion of the arm robot by adjusting mechanical parameters. The FLC utilizes data input from the sensors to set the right position and motion of the end-effector. The predicted parameters are compared with experimental results to show the effectiveness of the proposed design and method. The position errors (in x, y, and z-axis) are 0.1%, 0.1%, and 0.04%. The rotation errors of each robot links (θ1, θ2, and θ3) are 0%, 0.7% and 0.3%. The FLC provides the suitable angle of the servo motor (θ4) responsible in gripper motion, and the experimental results correspond to FLC’s rules-based as the input to the gripper motion system. This setup is essential to avoid excessive force or miss-placed position that can damage tomatoes. The arm robot manipulator discussed in this study is a pick and place robot to move the harvested tomatoes to a packing system.

Improving Posture Accuracy of Non-Holonomic Mobile Robot System with Variable Universe of Discourse Siti Nurmaini; Bambang Tutuko; Kemala Dewi; Velia Yuliza; Tresna Dewi
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 15, No 3: September 2017
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v15i3.6078

This paper presents a method to decrease imprecision and inaccuracy that have the tendency to influence the posture of non-holonomic mobile by using the adaptive tuning of universe of discourse. As such, the primary objective of the study is to force the posture error of x(t), y(t) and θ(t) towards zero. Hence, for each step of tuning the fuzzy domain, about 20% of imprecision and inaccuracy had been added automatically into the variable universe fuzzy, while the control input was bound via scaling gain. Furthermore, the experimental results showed that the tuning of universe fuzzy parameters could increase the performance of the system from the aspects of response time and error for steady state through better control of inaccuracy. Besides, the domains of universe fuzzy input [-4,4] and output [0,6] exhibited good performance in inching towards zero values as the steady state error was about 1% for x(t) position, 0.02% for y(t) position, and 0.16% for θ(t) orientation, whereas the posture error in the given reference was about 0.0002%.

Co-Authors A Rahman Amperawan Amperawan Angga Prasetia Anggraini, Citra Arissetyadhi, Iwan Aulia Ratna Juwita Bambang Tutuko Dadi Setiadi Dicky Astra Yudha Edo Triyandi Evelina Ginting Fradina Septiarini Hendra Marta Yudha Husni, Nyayu Latifah Junaedi, Ketut Kemala Dewi Lin Prasetyani M. Muhajir Mayastri Devana Muhammad Dede Yusuf Muhammad Nawawi Muhammad Nouval Daniesar Muhammad Ridho Kenawas Muhammad Roriz Muhammad Taufik Roseno Mulya, Zarqa Muslikhin Muslikhin Neta Larasati Nur Mutiara Syahrian Oktarina, Yurni Oktarina, Yurni Pola Risma Prasetyani, Lin Putri Repina Kesuma RD Kusumanto RD Kusumanto Rinaldi Rinaldi Ronald Sukwadi Roseno, M. Taufik Rusdianasari Rusdianasari Rusdianasari SELAMET MUSLIMIN Siproni Siproni Siproni Umar Siti Afiyah Qatrunnada Siti Nurmaini Sri Rezki Artini Syahrian, Nur Mutiara Velia Yuliza Wahju, Marsellinus Bachtiar Wijanarko, Yudi Yudha Wira Pratama Yudi Wijanarko Yurika Islamiati Yurni Oktarina Yurni Oktarina Yurni Oktarina Yusi, Muhammad Syahirman Zarqa Mulya

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