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All Journal ComEngApp : Computer Engineering and Applications Journal Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control
Fradina Septiarini
Politeknik Negeri Sriwijaya
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Fuzzy Logic Controller Application for Automatic Charging System Design of a Solar Powered Mobile Manipulator Fradina Septiarini; Tresna Dewi; Rusdianasari Rusdianasari
Computer Engineering and Applications Journal Vol 10 No 3 (2021)
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (666.725 KB) | DOI: 10.18495/comengapp.v10i3.380

Abstract

Agriculture is a vital industry that affects the livelihoods of many people. Given the reduction in agricultural employees and the increasing strain on farmers, this sector requires convenience, which the automation system may provide. One of the automations is mobile manipulator implementation to substitute farmers. This study investigates the automatic battery charging system supported by the Fuzzy Logic Controller (FLC) to power a mobile manipulator. The application of solar charging is an ideal power source for the robot applied in the open field with high irradiance all year long. This charging system is equipped with IoT monitoring online to monitor the available power produced by solar panel and the battery capacity condition. The effectiveness of the proposed method is proven by experiments conducted for ten times charging in ten days, where the highest power produced by the panel is 1.080 W with 0.563 W charged to the battery. The highest irradiance comes with the highest surface panel temperature of 58.9OC at the irradiance rate of 1021 W/m2. The experimental results show the possibility of the solar-powered robot, which is ideal for agriculture implementation.
Autonomous Visual Servoing for Alternately Working Arm Robots Tresna Dewi; Rusdianasari Rusdianasari; RD Kusumanto; Siproni Siproni; Fradina Septiarini; M. Muhajir
Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Vo. 6, No. 3, August 2021
Publisher : Universitas Muhammadiyah Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22219/kinetik.v6i3.1285

Abstract

Robots have infiltrated many aspects of human life up to this point, and with the term Industry 4.0, robots have even become the primary workforce in various factories. This condition necessitates that the robots collaborate without clashing. This paper discusses the application of two arm robot manipulators working alternately in sorting agricultural products. The proposed method employs simple image processing to detect the object and becomes the input to the system to control the robots. The effectiveness of the proposed method is enhanced by the application of a Fuzzy Logic Controller to smoothen robots’ joints motions. The average time required by the robot to finish their task from detecting to returning to standby position is 11.76 s for green tomatoes and 12.86 s for red tomatoes. The experimental results show that the proposed method is effective in controlling two robots to pick and place agricultural products using visual servoing.
Co-Authors M. Muhajir RD Kusumanto Rusdianasari Rusdianasari Siproni Siproni Tresna Dewi