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Walking Trajectory Optimization Algorithm For Robot Humanoid on Synthetic Grass Dimas Pristovani Riananda; Ardik Wijayanto; Ali Husein Alasiry; A. Subhan Khalilullah
EMITTER International Journal of Engineering Technology Vol 6 No 1 (2018)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1223.267 KB) | DOI: 10.24003/emitter.v6i1.229

Abstract

Synthetic grass surface is a new rule in international robot soccer competition (RoboCup). The main issue in the development of the RoboCup competition today is about how to make a humanoid robot walk above the field of synthetic grass. Because of that, the humanoid robot needs a system that can be implemented into the walking algorithm. This paper describes how to maintain the stability of humanoid robot called EROS by using walking trajectory algorithm without a control system. The establishment of the walking trajectory system is combined with a process of landing optimization using deceleration and heel-strikes gait optimization. This system has been implemented into a humanoid robot with 52 cm of height and walking on synthetic grass with different speeds. By adding optimization, the robot walks more stable from 32% to 80% of stability. In the next research, the control system will be added to improve the stability.
Implementation of Genetic Algorithm for Parameter Tuning of PID Controller in Three Phase Induction Motor Speed Control Dedid Cahya Happyanto; Ardik Wijayanto
IPTEK The Journal of Engineering Vol 1, No 1 (2014)
Publisher : Lembaga Penelitian dan Pengabdian kepada Masyarakat

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23378557.v1i1.a442

Abstract

Induction motor at low speeds has a tough speed setting sets the width of the range. This study tested by giving the load motor disorders to describe the condition. The method used for vector control system so that the resulting performance is good at setting the motor speed and torque. This method is used in setting the Proportional Integral Derivative (PID) Tuning parameter settings based on Genetic Algorithm (GA) to provide a dynamic response to changes in speed and load torque on the motor, so we get smoothness at any speed change and braking and maximum torque motors. Optimization function is required to obtain a new PID parameter values each input value changes or load disturbances, in terms of the initial determination of these parameters using Ziegler-Nichols method based on frequency response. Tests were performed at a speed of approximately 1800 rpm value rise time of about 10 seconds after generation added, at a rate of 1800 rpm rise time value of the average remains around 9 seconds, but slightly reduced the oscillations in the response, and the speed of approximately 1700 rpm rise time value of the average is 9 seconds. The test results show that GA-based PID controller has a good response in approximately 0.85% overshoot at the motor speed change and braking
Penerapan Machine Learning Pada Smart Socket Dengan Multi Sensor Untuk Adaptasi Pola Pemakaian Pengguna Muhammad Furqon; Agus Indra Gunawan; Bambang Sumantri; Ardik Wijayanto
SinarFe7 Vol. 1 No. 1 (2018): Sinarfe7-1A 2018
Publisher : FORTEI Regional VII Jawa Timur

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (399.279 KB)

Abstract

Peralatan elektronik masa kini tidak hanya dituntut untuk mampu memenuhi kebutuhan manusia yang semakin kompleks dan mendetail, namun telah menghadapi tantangan baru, yaitu tuntutan kemampuan alat dalam beradaptasi dengan kebutuhan manusia itu sendiri. Oleh karena itu, pada penelitian ini akan dibuat sebuah prototype alat berupa stopkontak yang dilengkapi dengan multi sensor yang bertujuan untuk mendapatkan behavior dari user yang nantinya akan digunakan sebagai konfigurasi ON/OFF sistem pada stopkontak tersebut, yang kemudian disebut dengan smart socket. Terdapat beragam metode yang relevan telah diuji dan diaplikasikan pada penelitian-penelitian sebelumnya, salah satunya adalah stopkontak multi-fitur multi-sensor dengan kontroler kondisional namun, metode tersebut kurang efektif karena user diharuskan melakukan konfigurasi awal untuk menggunakan smart socket tersebut, dan sistemnya yang bersifat statis sehingga user diharuskan mengubah konfigurasi setiap kali kondisi yang diinginkan berubah. Adapun metode y ng digunakan pada penelitian ini adalah menggunakan KMeans clustering, dimana metode tersebut akan mengolah data respon user yang direkam oleh sistem menjadi sebuah konfigurasi ON/OFF otomatis yang dapat flexible berubah mengikuti behavior dari user tersebut. Hasil dari pengujian sistem terhadap dua subjek user didapatkan konfigurasi user1 (sistem akan menyala dari jam 12:21:37 hingga jam 17:53:18 dengan rata-rata konsumsi daya dalam satu hari adalah 165.61 Watt), user2 (sistem akan menyala dari jam 21:29:55 hingga jam 08:41:31, akan menyala lagi dari jam 17:40:13 hingga jam 18:14:51 dengan rata-rata konsumsi daya dalam satu hari adalah 543.14 Watt).
Design and Development of Soil Nutrients Level Detection System based on Soil Color and pH for Crop Recommendations using Fuzzy Algorithms Novanna Rahma Zani; Ali Husein Alasiry; Ardik Wijayanto
The Indonesian Green Technology Journal Vol 11, No 1 (2022)
Publisher : Program Pascasarjana Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

In recent years, modern farmers usually taking a soil sample to the laboratory or using a soil test kit to know soil macronutrients, i.e., nitrogen (N), phosphorus (P), and potassium (K), and pH to determine what kind of crop plant is suitable for their agriculture land. However, these manual methods are costly and time consumed. The characteristic of soil samples also possibly changing by time or contact during transport. This paper presents the design and development of a portable integrated soil macronutrient level and pH detection system that can analyze soil samples quickly. To give crop recommendations, IoT components and cloud-based fuzzy inference systems are used. The fuzzy algorithm decides the crop recommendation from the soil pH and level content of N, P, and K. The user can receive the crop recommendation via the android application. Data is sent from the portable system to the cloud system and vice versa using the internet network with HTTP request protocol. The accuracy test results of system plant decision on agricultural land were compared with the fuzzy logic method have a quite uniform crop output with a small error rate of 1,66%.
Design and Development of Soil Nutrients Level Detection System based on Soil Color and pH for Crop Recommendations using Fuzzy Algorithms Novanna Rahma Zani; Ali Husein Alasiry; Ardik Wijayanto
The Indonesian Green Technology Journal Vol. 11 No. 1 (2022)
Publisher : Postgraduate School Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21776/ub.igtj.2022.011.01.05

Abstract

In recent years, modern farmers usually taking a soil sample to the laboratory or using a soil test kit to know soil macronutrients, i.e., nitrogen (N), phosphorus (P), and potassium (K), and pH to determine what kind of crop plant is suitable for their agriculture land. However, these manual methods are costly and time consumed. The characteristic of soil samples also possibly changing by time or contact during transport. This paper presents the design and development of a portable integrated soil macronutrient level and pH detection system that can analyze soil samples quickly. To give crop recommendations, IoT components and cloud-based fuzzy inference systems are used. The fuzzy algorithm decides the crop recommendation from the soil pH and level content of N, P, and K. The user can receive the crop recommendation via the android application. Data is sent from the portable system to the cloud system and vice versa using the internet network with HTTP request protocol. The accuracy test results of system plant decision on agricultural land were compared with the fuzzy logic method have a quite uniform crop output with a small error rate of 1,66%. Keywords: Color sensor, Soil pH sensor, Soil NPK, Fuzzy Logic, Plant recommendation