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All Journal TEKNIK Rotasi MATEMATIKA Politika: Jurnal Ilmu Politik JURNAL TEKNIK MESIN Wahana Teknik Sipil: Jurnal Pengembangan Teknik Sipil Unnes Political Science Journal Jurnal Teknologi dan Sistem Komputer Animal Production : Indonesian Journal of Animal Production Jurnal Teknik Mesin Indonesia Resolusi: Jurnal Sosial Politik Marine Science and Technology Journal Jurnal Penyakit Dalam Indonesia
Munadi Munadi
Depaertemen Teknik Mesin, Universitas Diponegoro, Jl. Prof. Sudarto, SH. Tembalang, Semarang.
Aerospace Engineering Agriculture, Biological Sciences & Forestry Humanities Automotive Engineering Biochemistry, Genetics & Molecular Biology Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Earth & Planetary Sciences Electrical & Electronics Engineering Engineering Environmental Science Industrial & Manufacturing Engineering Mathematics Mechanical Engineering Medicine & Pharmacology Social Sciences Transportation Veterinary

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Analisa Forward dan Inverse Kinematics pada Simulator Arm Robot 5 Derajat Kebebasan Budi Utomo; Munadi Munadi
JURNAL TEKNIK MESIN Vol 1, No 3 (2013): VOLUME 1, NOMOR 3, JULI 2013
Publisher : Jurusan Teknik Mesin, Fakultas Teknik, Universitas Diponegoro

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (851.07 KB)

Abstract

An arm robot simulator 5 dof (degree of freedom) which is equipped with a two-finger gripper is designed to determine the movement of the robot manipulator. To make an arm robot simulator, we used acrylic as a base material, servomotor as a driver and an Arduino Uno SMD as microcontroller. Acrylic was chosen because it is light, strong and durable. Arduino Uno SMD was chosen because it can interact with LabVIEW that will be able to control the movement angle of servomotor manually. The purpose of this final project is to make an arm robot simulator 5 dof which equipped a gripper and continued with analysis forward and inverse kinematics. An arm robot simulator 5 dof can be used as demonstration tool in education. For making the link of simulator, we use the acrylic laser cutting machine to be more precision cutting. Servomotor’s movement is controlled by using a program that was created using LabVIEW. Servomotor’s angle position error was corrected by using program functions of numerical multiply and numerical divided on LabVIEW. Analysis forward and inverse kinematcis used MATLAB software as a tool for the calculation and we used verification with RoboAnalyzer software. For calculation forward kinematics is required notation Denavit-Hartenberg parameters will result the orientation and position of the end-effector. The orientation and position obtained by transformasi matrix. Then inverse kinematics obtained by performing decrease in transformasi matrix so that is obtained the angle at each joint.
RANCANG BANGUN PROTOTIP SNOOPER HEXAPOD ROBOT UNTUK SISTEM KEAMANAN Jalu Rahmadi Mukti; Munadi Munadi
JURNAL TEKNIK MESIN Vol 2, No 3 (2014): VOLUME 2, NOMOR 3, JULI 2014
Publisher : Jurusan Teknik Mesin, Fakultas Teknik, Universitas Diponegoro

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Abstract

Snooper hexapod robot merupakan robot berkaki yang rancangannya terinspirasi dari serangga laba-laba. Dalam pembuatan prototype yang terdiri dari 18 dof tersebut digunakan akrilik sebagai bahan dasar material, servomotor sebagai penggerak setiap joint pada setiap kakinya dan ATmega128 sebagai mikrokontrolernya. Akrilik dipilih karena ringan, kuat dan memiliki ketahanan yang cukup. Hexapod robot adalah sebuah mobile robot yang berjalan dengan menggunakan enam kaki yang dapat dimanfaatkan untuk menjangkau tempat-tempat yang sulit atau bahkan tidak mungkin untuk dapat dijangkau oleh mobile robot beroda. Sehingga dengan kemampuannya itu hexapod robot bisa diaplikasikan sebagai robot inspeksi maupun evakuasi pada bencana alam maupun tindak terorisme, dan juga dapat memperkecil kemungkinan jumlah korban manusia akibat bahaya di daerah yang rawan konflik. Dalam tugas akhir sarjana ini, sebuah prototip hexapod robot digunakan untuk misi pengintaian sehingga disebut snoopeer hexapod akan didesain dan dibuat sehingga memenuhi kemampuan yang diperlukan sebagai robot pengintai yang mampu menjangkau medan sulit dan dapat mengirimkan informasi visual kepada operator yang mengendalikannya. Analisa dilakukan pada algoritma gerak robot pada tiga macam metode jalan dengan beberapa parameter yang ditentukan
DESAIN MODEL SMARTHOME SYSTEM BERBASIS MIKROKONTROLER ATMEGA8535 Hermawan Setiadi; Munadi Munadi
JURNAL TEKNIK MESIN Vol 3, No 2 (2015): VOLUME 3, NOMOR 2, APRIL 2015
Publisher : Jurusan Teknik Mesin, Fakultas Teknik, Universitas Diponegoro

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Abstract

Smarthome system is the computer-based system to regulate the house that will give comfort, safety, security, and energy saving, in which it was held automatically programmed by computer. This is motivated by the limited sources of energy such as electricity or other energy, so we have to be really efficient in energy use. In this study, the smarthome system that is designed is to be used to adjust the lighting of the room, opening and closing of the gate system, switching on and off water pump system, and roof of clothes line system. In this study, we started to design a model of smarthome system by using SolidWorks software, then we create a model smarthome system using acrylic. After that, we started to programme with a CodeVisionAVR software for ATmega8535 microcontroller as brain of smarthome system. Based on the testing results that has been done, the model smarthome system is able to save electricity usage of about 28.8 percent of the ordinary house with the assumption that we set
DESAIN PROPORTIONAL INTEGRAL DERRIVATIVE (PID) CONTROLLER PADA MODEL ARM ROBOT MANIPULATOR Adhityanendra Pandu Pratama; Munadi Munadi
JURNAL TEKNIK MESIN Vol 2, No 3 (2014): VOLUME 2, NOMOR 3, JULI 2014
Publisher : Jurusan Teknik Mesin, Fakultas Teknik, Universitas Diponegoro

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Abstract

Dalam rangka menuju proses industrialisasi modern di negara Indonesia, harus didukung dengan teknologi yang canggih, contoh nya adalah arm robot manipulator. sebagai pelaku proses produksi sehingga dihasilkan ketepatan,kepresisian, dan kefektifan pada proses produksi. Dengan hal tersebut dibuat sebuah  desain  kontrol PID pada arm robot manipulator dengan tujuan menghasilkan tingkat presisi dan kestabilan   yang lebih baik. Kontroler tersebut didesain, disimulasikan, dan diaplikasikan pada hardware dengan menggunakan software  MATLAB/Simulink, kemudian dianalisa kestabilannya dengan metode root locus. Akrilik digunakan sebagai material pada body arm robot. Selanjutnya komponen utama seperti,  potensiometer sebagai analog input, motor DC sebagai penggerak setiap link, serta Arduino Mega 2560 sebagai mikrokontroler. Akrilik dipilih karena ringan, kuat dan tahan lama.Dalam penelitian ini akan dilakukan penyempurnaan konstruksi mekanik arm robot manipulator yang sudah ada, pemasangan hardware elektronik, dan pemrograman mikrokontroler dengan menggunakan software MATLAB pada Arduino Toolbox. Dari penelitian yang telah dilakukan, model arm robot manipulator  dapat bergerak lebih smooth sesuai dengan input pergerakan potensiometer, dan berada posisi kestabilan saat dianalisa dengan menggunakan root locus.
Optimasi Gripper Dua Lengan dengan Menggunakan Metode Genetic Algorithm pada Simulator Arm Robot 5 DOF (Degree of Freedom) Andy Rahmawan; Munadi Munadi; Toni Prahasto
JURNAL TEKNIK MESIN Vol 1, No 2 (2013): VOLUME 1, NOMOR 2, APRIL 2013
Publisher : Jurusan Teknik Mesin, Fakultas Teknik, Universitas Diponegoro

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Abstract

An arm robot simulator 5dof (degree of freedom) which is equipped with a two-finger gripper is designed to determine the movement of the robot manipulator. To make an arm robot simulator, we used acrylic as a base material, servomotor as a driver and an Arduino Uno SMD as microcontroller. Acrylic was chosen because it is light, strong and durable. Arduino Uno SMD was chosen because it can interact with LabVIEW that will be able to control the movement angle of servomotor manually. The purpose of this final project is to make an arm robot simulator 5 dof which equipped a gripper and optimization of two finger gripper configuration use one of optimization techniques, the genetic algorithm optimization. For making the link of simulator, we use the acrylic laser cutting machine to be more precision cutting. Servomotor’s movement is controlled by using a program that was created using LabVIEW. Servomotor’s angle position error was corrected by using program functions of numerical multiply and numerical divided on LabVIEW. Optimization of gripper configuration using MATLAB software as a tool for the calculation. A genetic algorithm optimization used the default parameters, then the calculation result are always different. All the results of these calculations are correct and it affects the shape of the gripper configuration at zmax. Then the torque of gripper before optimized and after optimized can be obtained.
Perancangan Suctioning dan Koefisien Gesek Roda Prototype Robot Pembersih Kaca Ermanu Hanindityo; Toni Prahasto; Munadi Munadi
JURNAL TEKNIK MESIN Vol 2, No 2 (2014): VOLUME 2, NOMOR 2, APRIL 2014
Publisher : Jurusan Teknik Mesin, Fakultas Teknik, Universitas Diponegoro

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Abstract

Penelitian ini bertujuan untuk mengetahui pusat massa dari mobil pembersih kaca pada posisi horizontal dan vertical  pada saat menempel pada dinding Mengetahui gaya hisap (Fs) yang dibutuhkan untuk menahan beban maksimum dari mobil pembersih kaca. Mengetahui koefisien gesek (µ) pada roda saat diam, maju – mundur dan naik – turun. Hasil perhitungan pusat massa pada saat posisi horizontal (x = 121,8 dan y = 47,5), dan pada posisi vertical (x = 47,5 dan y = 121,8 ). Untuk kebutuhan gaya hisap pada saat posisi horizontal dengan beban 1.090 kg membutuhkan gaya hisap sebesar 10.693 N, saat posisi vertical dengan beban 1.660 kg membutuhkan gaya hisap sebesar 16.284 N. Sedangkan nilai koefisien gesek dari tiap roda pada saat menempel pada kaca dalam keadaan horizontal diam dan vertical diam adalah µs = 0.44 dan  µs = 0.29, Adapun untuk keadaan horizontal bergerak maju dan mundur adalah µk = 0.015 dan  µk = 0.017, dan dalam keadaan vertical bergerak naik dan turun adalah µk = 0.24 dan  µk = 0.29.
PENGEMBANGAN MANAJEMEN PELAYANAN KALIBRASI ALAT NAVIGASI PENERBANGAN DENGAN PENDEKATAN METODE IMPORTANCE-PERFORMANCE ANALYSIS (IPA) Munadi Munadi; Ismiyati Ismiyati; Mudjiastuti Handajani
Wahana Teknik Sipil: Jurnal Pengembangan Teknik Sipil Vol 26, No 1 (2021): Wahana Teknik Sipil
Publisher : Politeknik Negeri Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.32497/wahanats.v26i1.2646

Abstract

Flight safety is very much determined by the performance of navigation aids, as well as thecorrectness of flight procedure guidelines. The BBKFP Center as the only aviationequipment calibration service agency has a strategic role for aviation safety in asustainable manner. The purpose of this research is to map the performance of BBKFPand the assessment of users of calibration services to provide recommendations, inparticular, the future calibration service development strategy, and the management ofcalibration of aviation navigation equipment in general. The research method uses a casestudy with the Importance-Performance Analysis method approach to measuring the extentof the relationship between the level of user satisfaction and the performance of flightnavigation tool calibration services based on 12 standard service indicators. The resultsfound that the highest level of service was the standard document calibration process of100% and the lowest level of service was timeliness of service by 64%. The factor that stillneeds immediate improvement is the timeliness of service and the Management System andService Procedures. While the factors that must be corrected but not immediately theircharacteristics include Complaint Services; Demand-Supply Balance, Service Rates,Service and Internal Supervision Meeting.
Model dan prototipe inkubator mobile menggunakan kontroler PID berbasis Arduino Uno Munadi Munadi; R. Andhika Pandu; Rizky Wiradinata; Hari Peni Julianti; Rudy Setiawan
Jurnal Teknologi dan Sistem Komputer Volume 8, Issue 1, Year 2020 (January 2020)
Publisher : Department of Computer Engineering, Engineering Faculty, Universitas Diponegoro

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14710/jtsiskom.8.1.2020.69-77

Abstract

One of the causes of the high infant mortality rate in Indonesia is the lack of health support facilities in remote areas, including incubators, to keep the baby's body warm at a specific temperature. This research develops a model and prototype of a mobile incubator to carry and maintain the baby's temperature during emergencies to get further treatment to hospitals that have better facilities than incomplete health clinic facilities. The mobile incubator prototype uses a PID controller system with the optimum gain value Kp 1.501, Ki 0.016, and Kd -1,319 from the results of modeling and tuning in Matlab. The results of the bode plot analysis show that system stability was achieved with a gain margin of 109 dB. The incubator's operational mobility can last up to 59.6 minutes with two 12 V, 5 Ah batteries.
Correlation of Forced Expiratory Volume in 1 Second Prediction with Mean Pulmonary Arterial Pressure Using Echocardiography in Stable Chronic Obstructive Pulmonary Disease Munadi, Munadi; Yamin, M.; Ujainah, Anna; Rumende, Cleopas Martin
Jurnal Penyakit Dalam Indonesia Vol. 3, No. 4
Publisher : UI Scholars Hub

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Abstract

Co-Authors Achmad Widodo Adhityanendra Pandu Pratama Aditiyo, Bob Afrisal, Hadha Agus Mukhtar Agustina Agustina Ahmad Fauzan Suryono Ahmad, Zakki Kurniawan Andy Rahmawan Anna Ujainah, Anna Ariyanto, Moch. Atanasius Priharyoto Bayuseno Aulia Syukri Aulia, Dito Rahmat Bakhtiar Alldino Ardi Sumbodo Beni Anggoro Budi Setiyana Budi Utomo Cleopas Martin Rumende D Ningsih, D Dedi Suryadi Djoko Santoso Ermanu Hanindityo Gunawan Dwi Haryadi Hari Peni Julianti Hermawan Setiadi I Haryoko, I Ismiyati Ismiyati Ismoyo Haryanto Iswanto, Budi J. Jamari Jalu Rahmadi Mukti Joga D Setiawan Joga D. Setiawan Joga Dharma Setiawan M Yamin M. Amirullah Akbar M. Yamin Meilianda, Rifki Mochammad Ariyanto Mochammad Ariyanto Mohammad Imam Wirduni Mohammad Tauviqirrahman Mudjiastuti Handajani Muhammad Faris, Muhammad Muhammad Surya Noorasheed, Willy Norman Iskandar Parabowo, Teguh Purwiantoro, Arman R. Andhika Pandu Rifky Ismail Rizky Wiradinata Royyan Saputra Rudy Setiawan Rudy Setiawan Sunarsih Sunarsih Suriadi Suriadi Toni Prahasto Zubaidah, Duwi