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All Journal IPTEK Journal of Proceedings Series PROtek : Jurnal Ilmiah Teknik Elektro JAVA Journal of Electrical and Electronics Engineering Elektrika Borneo Journal Zetroem Journal of Electrical Engineering and Computer (JEECOM) JEEE-U (Journal of Electrical and Electronic Engineering-UMSIDA) As-Sidanah : Jurnal Pengabdian Masyarakat Proceedings Series on Physical & Formal Sciences SinarFe7 Jurnal Borneo Informatika dan Teknik Komputer (JBIT) JPMP
Joko Subur
Universitas Hang Tuah
Religion Humanities Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Languange, Linguistic, Communication & Media Mathematics Mechanical Engineering Medicine & Pharmacology Social Sciences Other

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Braille Character Recognition Using Find Contour And Artificial Neural Network Subur, Joko; Sardjono, Tri Arief; Mardiyanto, Ronny
JAVA Journal of Electrical and Electronics Engineering Vol 14, No 1 (2016)
Publisher : JAVA Journal of Electrical and Electronics Engineering

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (2096.265 KB)

Abstract

Abstract—Braille letters is characters designed for the blind, composed of six embossed points, arranged in a standard braille character. Braille letters is touched and read using fingers, therefore the sensitivity of the fingers is important. Those characters need to be memorized, so it is very difficult to be learned. The aim of this research is to create a braille characters recognition system and translate it to alpha-numeric text. Webcam camera is used to capture braille image from braille characters on the paper sheet. Cropping, grayscale, thresholding, erotion, and dilation techniques are used for image preprocessing. Then, find contour and artificial neural network method are used to recognize the braille characters. The system can recognize braille characters with 99% accuracy even when the braille image is tilted up to 1 degrees. Keywords— Artifial neural network; braille characters; find contour; image processing; webcam
Identifikasi Posisi Robot Quadpod pada Arena Pertandingan Menggunakan Jaringan Syaraf Tiruan - Algoritma Backpropagation Dimas Hutomo Daud Saputro; Joko Subur; M Taufiqurrohman
PROtek : Jurnal Ilmiah Teknik Elektro Vol 7, No 2 (2020): PRotek : Jurnal Ilmiah Teknik Elektro
Publisher : Program Studi Teknik Elektro Universitas Khairun

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33387/protk.v7i2.1953

Abstract

The Indonesian Robot Contest (KRI) is an event to develop creativity and enrich science and technology in the field of robotics. In KRI, there are several branch categories, one of which is the KRPAI (Indonesian Fire Fighting Robot Contest) category. In the KRPAI category competition, the robot aims to find a room where there is a fire, then the robot will extinguish the fire in the room, and return to the starting point. This requires the robot to know its own actual position so that it can return to the starting point. This can be solved by adding artificial intelligence (Artificial Intelligence) artificial neural networks. One of the neural network models used for the learning process is backpropagation. It should be noted that in artificial intelligence systems, artificial neural networks in order to work optimally in identifying robot positions, it is necessary to do a learning process (learning) first in order to get the optimal weight value. The learning system is carried out by entering 280 position data samples that present 28 positions. Learning data is obtained by reading the distance between the robot and the maze wall and the direction facing the robot. To test the artificial neural network system, a running process is carried out to determine the position of the robot. From 140 trial data conducted, the artificial neural network was able to recognize the position of the robot correctly with an accuracy of 92.85%. The simulation results are expected to be applied to the actual quadpod robot.
Braille Character Recognition Using Artificial Neural Network Joko Subur; Tri Arief Sardjono; Ronny Mardiyanto
IPTEK Journal of Proceedings Series No 1 (2015): 1st International Seminar on Science and Technology (ISST) 2015
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (320.825 KB) | DOI: 10.12962/j23546026.y2015i1.1048

Abstract

Braille letter is characters designed for the blind, consist of six embossed points, arranged in a standard braille character. Braille letters is touched and read using fingers, therefore the sensitivity of the fingers is important. Those characters need to be memorized, so it is very difficult to be learned. The aim of this research is to create a braille characters recognition system and translate it to alpha-numeric text. Webcam camera is used to capture braille image from braille characters on the paper sheet. Cropping, grayscale, thresholding, erotion, and dilation techniques are used for image preprocessing. Then, artificial neural network method are used to recognize the braille characters. The system can recognize braille characters with 99% accuracy even when the braille image is tilted up to 1 degrees.
Rancang Bangun Prototype Smart Traffic Light Menggunakan Metode Background Subtraction dan Find Contour Hartoyo Hartoyo; Joko Subur
Journal of Electrical Engineering and Computer (JEECOM) Vol 3, No 2 (2021)
Publisher : Universitas Nurul Jadid

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33650/jeecom.v3i2.2707

Abstract

Kemacetan di Indonesia sering terjadi dikota-kota besar. Hal tersebut terjadi dikarenakan banyaknya volume kendaraan yang terus bertambah dan bertambahnya volume kendaaran tersebut tidak sebanding dengan kondisi ruas jalan yang tentunya cepat atau lambat akan terjadi penumpukan sejumlah kendaraan sehingga terjadi kemacetan. Sistem pengaturan lampu lalu lintas (traffict light) dengan menggunakan pengaturan berbasis waktu tetap seperti sekarang ini maka banyak atau sedikit-nya jumlah kendaraan yang berada pada jalur-jalur persimpangan tidak mempengaruhi kinerja lampu lalulintas. Disamping itu kemacetan juga dapat mempengaruhi berbagai macam kegiatan masyarakat karena disamping berdampak pada kelancaran kegiatan masyarakat dan tak kalah pentingnya pada dampak pendapatan masyarakat. Maka pada penelitian ini akan dibuat sebuah perancangan Prototype Smart traffic light untuk mendeteksi tingkat kepadatan kendaraan yang berada pada persimpangan ruas jalan, sehingga dapat memperkirakan ruas jalan mana yang membutuhkan waktu hijau lebih banyak (kondisi ruas jalan padat) dan memperkirakan ruas jalan yang tidak membutuhkan waktu lampu hijau lebih ( kondisi jalan kosong / Sedikit kendaraan ). Dalam pendeteksian tingkat kepadatan kendaraan di traffic light, didapatkan sebuah hasil persentase kepadatan anatar lain 100%, 90%, 70%, 50%, dan 30%. Pada persentase 100% sistem mendeteksi kepadatan jalur sehingga dilakukan penambahan waktu, Persentase 90% sistem mendeteksi kepadatan jalur sehingga dilakukan penambahan waktu. Persentase 70% sistem mendeteksi kepadatan jalur sehingga dilakukan penambahan waktu. Persentase 50% sistem tidak mendeteksi kepadatan jalur sehingga tidak dilakukan penambahan waktu. Persentase 30% sistem tidak mendeteksi kepadatan jalur sehingga tidak dilakukan penambahan waktu.
Rancang Bangun Robot Lengan Pemindah Barang 3 DOF Menggunakan Metode Inverse Kinematics Berbasis Android Afrizal Septiano Arisandi; Joko - Subur; Suryadhi - Suryadhi
Elektrika Borneo Vol 6, No 2 (2020): Elektrika Borneo Edisi Oktober
Publisher : Jurusan Teknik Elektro, Fakultas Teknik, Universitas Borneo Tarakan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35334/jeb.v6i2.1558

Abstract

Moving object process from one place to another is usually done with the conventional way using human power, then it can certainly getting heavy objects and the farther the distance of displacement, manpower required objects are also getting bigger. It is judged ineffective considering the limitations of human capability in the shift of weight and time limitations of humans in the work. Based on these problems required a robot arm that is able to moving an object from one place to another. The robot arm was designed to have 3 DOF (Degree of Freedom) and the whole joint is revolute and implemented using servo dynamixel AX-12A. Input from this robot is initial coordinates and final coordinates are then computing by the method of inverse kinematics with an output in the form of large angle of each joint required in order for the robot arm reaches the point coordinates. Results from research that has been done, the robot is able to move the object from one point coordinate to another within an average period of 6 to 7 seconds as well as the level error that occurred in the achievement of the desired angle of 0.64%. Based on the results of the implementation system of the arm robot assessed transporter 3DOF using inverse kinematics method is very effective in carrying out its functions to move an object.
Implementation of Ball Tracking Systems in Image Processing Using the Find Contour Method Ari Muhammad Rizal; Muhammad Taufiqurrohman; Joko Subur
JEEE-U (Journal of Electrical and Electronic Engineering-UMSIDA) Vol 4 No 2 (2020): October
Publisher : Muhammadiyah University, Sidoarjo

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21070/jeeeu.v4i2.314

Abstract

One technology that is experiencing rapid development is digital image processing. Digital image processing is a scientific discipline that studies image processing techniques. The use of image management is increasing and is used in various fields, one of them in the field of robotics can be applied as an object detector. Image management is chosen in terms of detection because it is able to recognize objects and colors quickly. In the field of robotics these advantages are used to control robots to navigate, one example is in soccer robots. Soccer robots must be able to detect the presence of the ball to find and carry the ball and kick it towards the goal. The ball in the match system has been determined with a definite color, in this case it is orange. Therefore, the robot must be able to detect the orange ball to detect it. In detecting the ball, the parameters produced in this system are the distance of the robot to the ball, the angle of direction of the ball and also the ball according to the color or not. To solve this problem in this study using a method that is processing the RGB image produced by the camera into HSV after which color filtering is done and then finished using the find contour method. The results of this study noted the accuracy of the system in tracking ball objects by 92.87 percent at the distance of the ball to the camera and 88.19 percent at the angle of direction of the ball to the ball. The level of accuracy is due to the position of the camera when shooting.
RANCANG BANGUN PENENTUAN POSISI SEPAK BOLA BERODA MENGGUNAKAN METODE ODOMETRY DAN KONTROL PID (PROPORTIONAL INTEGRAL DERIVATIVE) Aditya Ramdahani; M Taufiqurrohman; Joko Subur
Jurnal Borneo Informatika dan Teknik Komputer Vol 1, No 1 (2021): Edisi Oktober-Maret
Publisher : Jurusan Teknik Komputer, Fakultas Teknik, Universitas Borneo Tarakan

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (2654.902 KB) | DOI: 10.35334/jbit.v1i1.2120

Abstract

Pada Kontes Robot Sepak Bola Indonesia Beroda (KRSBI) robot diharapkan dapat bermain layaknya manusia. Salah satu bagian terpenting dari sistem kendali robot adalah penentuan posisi robot. metode odometry adalah metode yang paling umum digunakan untuk menentukan posisi robot menggunakan pembacaan dari rotary encoder. Namun penggunaan rotary encoder rawan mengalami slip sehingga akan menghasilkan error pada sistem umpan balik odometry yang semakin besar dengan seiring waktu. Salah satu akibat dari slip adalah perubahan arah hadap robot yang akan memengaruhi pergerakan robot selanjutnya. Sehingga diperlukan penggunaan sensor yang kesalahannya tidak terpengaruh oleh kesalahan sebelumnya. Sistem yang stabil juga diperlukan untuk meningkatkan kinerja aktuator dan efektifitas sumber daya robot. Untuk mengatasi permasalahan tersebut dalam penelitian ini menerapkan metode odometry untuk memetakan posisi robot dilapangan, dengan berdasarkan pembacaan rotary encoder dan pembacaan sensor gyroscope serta menerapkan metode PID untuk mengontrol sudut arah hadap robot. Dengan diterapkannya kombinasi ini pada robot sepak bola beroda dapat meningkatkan kemampuan robot dalam menentukan posisi.
Pengaturan Kecepatan Motor Penggerak Propeller pada Kapal Menggunakan Metode PID dan MA Filter Joko Subur
ZETROEM Vol 4 No 2 (2022): ZETROEM
Publisher : Prodi Teknik Elektro Universitas PGRI Banyuwangi

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.36526/ztr.v4i2.2158

Abstract

Abstract - The propeller serves as a tool to produce the thrust of the ship's motion. To produce thrust the propeller is rotated with a shaft driven by the main mover in the engine room, called an electric motor. To produce a constant and stable speed of the ship, the driving motor rotates the propeller with a rotating speed that is adjusted to the desired speed of the ship, although sometimes there are obstacles in the movement of the ship in the form of water currents or other obstacles. Based on these problems, in this study a control system was created to control the speed of the propeller motor on the ship using the Proportional, Integral, Derivative (PID) control method and the Moving Average (MA) Filter method. The PID control method works based on the desired ship speed value, and compares it with the actual ship speed, the two values ​​will be compared to get an error value which is then used in the PID control computation process. The computational result of the PID method is the Pulse Width Modulation (PWM) value to regulate the amount of voltage supplied to the propeller drive motor. While the MA filter method is used to adjust the stages of the rotational speed of the driving motor resulting from the PID control, which is adjusted to the speed characteristics of the ship. From the observation of experimental data in this research, the system is able to maintain the speed of the ship well. Keywords — Ship Speed, PID Control, Moving Average Filter Abstrak—Baling-baling berfungsi sebagai alat untuk menghasilkan gaya dorong gerak kapal. Untuk menghasilkan gaya dorong baling-baling diputar dengan poros yang digerakkan oleh penggerak utama di ruang mesin yaitu motor listrik. Untuk menghasilkan kecepatan kapal yang konstan dan stabil, motor penggerak memutar baling-baling dengan kecepatan putar yang disesuaikan dengan kecepatan kapal yang diinginkan, walaupun terkadang terdapat kendala dalam pergerakan kapal berupa arus air atau hambatan lainnya. Berdasarkan permasalahan tersebut, pada penelitian ini dibuat suatu sistem kendali untuk mengendalikan kecepatan motor propeller di kapal dengan menggunakan metode kendali Proportional, Integral, Derivative (PID) dan metode Moving Average (MA) Filter. Metode kontrol PID bekerja berdasarkan nilai kecepatan kapal yang diinginkan, dan membandingkannya dengan kecepatan kapal yang sebenarnya, kedua nilai tersebut akan dibandingkan untuk mendapatkan nilai error selanjutnya digunakan pada proses komputasi kontrol PID. Hasil komputasi metode PID berupa nilai Pulse Width Modulation (PWM) untuk mengatur besarnya tegangan yang disuplai ke motor penggerak propeller. Sedangkan metode MA filter digunakan untuk mengatur tahapan kecepatan putaran motor penggerak yang dihasilkan dari kontrol PID, yang disesuaikan dengan karakteristik kecepatan kapal. Dari pengamatan data eksperimen pada penelitian ini, sistem mampu menjaga kecepatan laju kapal dengan baik. Kata Kunci—Kecepatan Kapal; Kontrol PID; Moving Average Filter;
PENGEMBANGAN WISATA BAHARI PULAU GILI LABAK MELALUI DIGITAL MARKETING Nirmalasari Idha Wijaya; Wienta Diarsvitri; Joko Subur; Herman Herman
As-Sidanah Vol 5 No 1 (2023): APRIL
Publisher : LP2M Universitas Ibrahimy

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35316/assidanah.v5i1.250-264

Abstract

Gili Labak Island is located in Kombang Village, Talango District, Sumenep Madura Regency. Marine tourism in Gili Labak is in the form of beach tourism (white sand) and snorkeling tours, because Gili Labak has an unspoiled and shallow coral reef ecosystem that is easily accessible to visitors. The current problem is the socio-economic gap between the local residents of Gili Labak Island and tour agents who are people from outside the island. In addition, there is a threat of damage to the coral reef ecosystem due to the activities of tourists who do not understand the code of conduct while traveling on coral reefs. The mentoring method used in this community service is PAR (Participatory Action Research). The UHT community service team built a website with the name https://wonderfulgililabak.com/ for the promotion of Gili Labak coral reef tourism. The dissemination of tour guides on coral reefs using leaflets in the local language (Madura) was quite effective in making local people and visitors understand the importance of preserving coral reef ecosystems. The use of websites for digital marketing of marine tourism in Gili Labak is still not effective due to the limited ability of local people to manage websites.
IMPLEMENTASI METODE FUZZY LOGIC UNTUK MENENTUKAN PROPORSIONAL BADAN BERDASARKAN IMT (INDEKS MASSA TUBUH) Sirrulah Putriani; Muh. Taufiqurrohman; Joko Subur
SinarFe7 Vol. 2 No. 1 (2019): Sinarfe7-2 2019
Publisher : FORTEI Regional VII Jawa Timur

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

Abstract

Badan proporsional merupakan impian semua orang, banyak cara dilakukan untuk mendapatkan badan yang proporsional, diantaranya olahraga teratur, dan banyak mengkonsumsi makanan yang bergizi. Namun kurangnya pengetahuan tentang seberapa nilai yang harus dicapai untuk proporsional sehingga kesulitan dalam menentukan bahwa badannya proporsional atau tidak. Dengan perhitungan IMT (Indeks Massa Tubuh) dapat diketahui apakah badan seseorang sudah mencapai proporsional atau belum. Alat ini memberi kemudahan dalam mengetahui proporsional badan secara praktis dan otomatis, dengan menggunakan metode fuzzy logic sebagai cara penggolongan antara kurus, normal, gemuk, maupun obesitas secara akurat berbasis mikrokontroler. Penggunaan sensor infrared dan sensor load cell sebagai media pengganti alat ukur untuk menghasilkan data ukur yang akan diolah oleh mikrokontroler dan menghasilkan hasil yang akurat. Hasil yang akurat tersebut akan langsung bisa dilihat dan didengar oleh pengguna alat secara langsung melalui LCD dan speaker yang berisi syarat proporsional untuk badan pengguna beserta saran yang mendukung untuk mencapai badan yang proporsional dan informasi suara menyangkut kondisi berat badan yaitu kurus, normal, gemuk dan obesitas. Jadi pengguna tidak kesulitan untuk menentukan badan proporsional, cukup dengan menggunakan alat ini pengguna sudah mengetahui hasil perhitungan IMT dan apabila badan pengguna belum proporsional maka alat tersebut akan memberi saran untuk memiliki badan proporsional.
Co-Authors Aditya Ramdahani Afrizal Septiano Arisandi Agung Rizaldi Wicaksono Ari Muhammad Rizal Cholid Kusyairi Cholid Kusyairi Dimas Hutomo Daud Saputro Eki Arohman Hartoyo Hartoyo Herman Herman Lailul Ahada Lailul Ahada M Taufiqurrohman Muh. Taufiqurrohman Muh. Taufiqurrohman Muh. Taufiqurrohman Muh. Taufiqurrohman, S.T., M.T. Muhammad Taufiqurrohman Muhammad Taufiqurrohman Nirmalasari Idha Wijaya Ronny Mardiyanto, Ronny Rudi S Bintoro Setya Prihatiningtyas Sirrulah Putriani Sirrulah Putriani Suryadhi - Suryadhi Suryadhi Suryadhi Tri Arief Sardjono Widagdo, Supriyatno Wienta Diarsvitri