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Pengendalian Mobile Robot Non-Holonomic Berdasarkan Gestur Jari Menggunakan Template Matching Chaidir, Ali Rizal; Herdiyanto, Dedy Wahyu; Kalandro, Guido Dias
JURNAL NASIONAL TEKNIK ELEKTRO Vol 9, No 1: March 2020
Publisher : Jurusan Teknik Elektro Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (447.083 KB) | DOI: 10.25077/jnte.v9n1.741.2020

Abstract

Control of non-holonomic mobile robots based on gestures is a technique for controlling non-holonomic mobile robot movements using finger gestures. Mobile robots can move forward, backward, turn right, and turn left based on finger gestures. The task can be done based on the operator's command. One of the techniques used by operators to control robots is to use sensors installed in the operator's hands. In addition to requiring sensor components, the use of sensors requires additional hardware to acquire sensor readings. This research offers another solution for controlling non-holonomic mobile robots. The solution is to use a camera to recognize the robot operator's hand gestures. Each gesture is stored as a binary image, then each gesture captured by the camera is compared with the previously saved image using template matching, so that the movement of the non-holonomic wheeled robot moves based on the operator's finger gesture. The results of this study indicate the camera can recognize finger gestures to give commands to the robot. Finger gestures are used to give commands to the robot to move forward, backward, turn right and left, and stop, the percentage of success of the test is 95%.Keywords : Gesture, Mobile robot dan Template matchingAbstrakPengendalian mobile robot non-holonomic berdasarkan gestur adalah suatu teknik untuk mengatur gerakan mobile robot non-holonomic menggunakan gestur jari, setiap gestur mewakili gerakan robot. Mobile robot dapat bergerak maju, mundur, belok kanan, dan belok kiri berdasarkan gestur jari. Tugas tersebut dapat dilakukan berdasarkan perintah operator. Dengan memanfaatkan perintah operator, pergerakan robot tidak tergantung pada lingkungan yang tetap. Salah satu teknik yang digunakan operator untuk mengendalikan robot adalah menggunakan sensor yang terpasang di tangan operator. Selain membutuhkan komponen sensor, penggunaan sensor membutuhkan perangkat keras tambahan untuk mengakuisisi data hasil pembacaan sensor. Penelitian ini menawarkan solusi lain untuk mengendalikan mobile robot non-holonomic, yaitu menggunakan kamera untuk mengenali gestur tangan operator robot. Setiap gestur disimpan dalam bentuk citra biner, kemudian setiap citra gestur yang tertangkap kamera dibandingkan dengan citra yang tersimpan sebelumnya menggunakan template matching. Sehingga pergerakan robot beroda non-holonomic bergerak berdasarkan gestur jari operator. Hasil dari penelitian ini menunjukkan kamera mampu mengenali gestur jari untuk memberikan perintah kepada robot. Gestur jari digunakan untuk memberikan perintah kepada robot agar bergerak maju, mundur, belok kanan dan kiri, dan berhenti, persentase keberhasilan dari pengujian tersebut adalah sebesar 95%.Kata Kunci : Gestur, Mobile robot dan Template matching 
Pengendalian Mobile Robot Non-Holonomic Berdasarkan Gestur Jari Menggunakan Template Matching Ali Rizal Chaidir; Dedy Wahyu Herdiyanto; Guido Dias Kalandro
JURNAL NASIONAL TEKNIK ELEKTRO Vol 9, No 1: March 2020
Publisher : Jurusan Teknik Elektro Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (447.083 KB) | DOI: 10.25077/jnte.v9n1.741.2020

Abstract

Control of non-holonomic mobile robots based on gestures is a technique for controlling non-holonomic mobile robot movements using finger gestures. Mobile robots can move forward, backward, turn right, and turn left based on finger gestures. The task can be done based on the operator's command. One of the techniques used by operators to control robots is to use sensors installed in the operator's hands. In addition to requiring sensor components, the use of sensors requires additional hardware to acquire sensor readings. This research offers another solution for controlling non-holonomic mobile robots. The solution is to use a camera to recognize the robot operator's hand gestures. Each gesture is stored as a binary image, then each gesture captured by the camera is compared with the previously saved image using template matching, so that the movement of the non-holonomic wheeled robot moves based on the operator's finger gesture. The results of this study indicate the camera can recognize finger gestures to give commands to the robot. Finger gestures are used to give commands to the robot to move forward, backward, turn right and left, and stop, the percentage of success of the test is 95%.Keywords : Gesture, Mobile robot dan Template matchingAbstrakPengendalian mobile robot non-holonomic berdasarkan gestur adalah suatu teknik untuk mengatur gerakan mobile robot non-holonomic menggunakan gestur jari, setiap gestur mewakili gerakan robot. Mobile robot dapat bergerak maju, mundur, belok kanan, dan belok kiri berdasarkan gestur jari. Tugas tersebut dapat dilakukan berdasarkan perintah operator. Dengan memanfaatkan perintah operator, pergerakan robot tidak tergantung pada lingkungan yang tetap. Salah satu teknik yang digunakan operator untuk mengendalikan robot adalah menggunakan sensor yang terpasang di tangan operator. Selain membutuhkan komponen sensor, penggunaan sensor membutuhkan perangkat keras tambahan untuk mengakuisisi data hasil pembacaan sensor. Penelitian ini menawarkan solusi lain untuk mengendalikan mobile robot non-holonomic, yaitu menggunakan kamera untuk mengenali gestur tangan operator robot. Setiap gestur disimpan dalam bentuk citra biner, kemudian setiap citra gestur yang tertangkap kamera dibandingkan dengan citra yang tersimpan sebelumnya menggunakan template matching. Sehingga pergerakan robot beroda non-holonomic bergerak berdasarkan gestur jari operator. Hasil dari penelitian ini menunjukkan kamera mampu mengenali gestur jari untuk memberikan perintah kepada robot. Gestur jari digunakan untuk memberikan perintah kepada robot agar bergerak maju, mundur, belok kanan dan kiri, dan berhenti, persentase keberhasilan dari pengujian tersebut adalah sebesar 95%.Kata Kunci : Gestur, Mobile robot dan Template matching 
PERAMALAN BEBAN LISTRIK YANG TERSAMBUNG PADA PENYULANG PT PLN (PERSERO) ULP TANGGUL TAHUN 2020-2024 MENGGUNAKAN METODE ADAPTIVE NEURO FUZZY INFERENCE SYSTEM (ANFIS) Andi Wahyudi; Moch Gozali; Guido Dias Kalandro
Jurnal Arus Elektro Indonesia Vol 6 No 2 (2020)
Publisher : Fakultas Teknik, Universitas Jember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.19184/jaei.v6i2.19100

Abstract

Peramalan beban listrik yang tersambung pada PT PLN (Persero) ULP Tanggul menggunakan data beban bulanan 5 tahun kebelakang yaitu tahun 2015-2019 untuk meramalkan beban listrik pada tahun 2020-2024. Metode yang digunakan pada penelitian peramalan beban listrik ini adalah metode Adaptive Neuro Fuzzy Inference System (ANFIS) yang dirancang menggunakan software MatLab R2016b. Data beban listrik tahun 2015-2019 dibagi menjadi 2 yaitu sebagai data training dan data testing. Training data dilakukan dengan menggunakan 8 jenis fungsi keanggotaan yaitu triangular (trimf), trapezoidal (trapmf), generalized-bell (gbellmf), Gaussian (gaussmf), Gaussian 2 (gauss2mf), different between of two sigmoidal (dsigmf), pi-shape (pimf) dan product of two sigmoidal (psigmf). Dari semua percobaan training menggunakan 8 jenis fungsi keanggotaan, 6 variasi jumlah fungsi keanggotaan, 2 tipe output fungsi keanggotaan dan 6 variasi jumlah epoch menghasilkan error paling kecil dan dikatakan struktur jaringan ANFIS terbaik hasil training ketika menggunakan fungsi keanggotaan triangular, 3 jumlah fungsi keanggotaan, tipe output linear, dan 2500 jumlah epoch yaitu sebesar 2,6544E-07. Testing peramalan tahun 2018 menghasilkan nilai MAPE sebesar 0,0000103988%, sedangkan testing peramalan tahun 2019 menghasilkan nilai MAPE sebesar 0,0000158672%. Dari nilai MAPE hasil testing tahun 2018 dan tahun 2019 dapat diketahui bahwa nilai MAPE kurang dari 10% sehingga dapat dikatakan kemampuan prediksi sangat baik.
RANCANG BANGUN MOTOR BLDC AXIAL FLUX MENGGUNAKAN DUA KAWAT EMAIL PADA LILITAN KUMPARAN STATOR M Fariz Azizi; Widyono Hadi; Guido Dias Kalandro
Jurnal Arus Elektro Indonesia Vol 6 No 2 (2020)
Publisher : Fakultas Teknik, Universitas Jember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.19184/jaei.v6i2.19617

Abstract

The rapid development of technology in this era of globalization has an impact on the development of electric motor technology in Indonesia. There are two types of electric motors based on the voltage source used namely DC electric motor and AC electric motor. Because the use of DC motor or AC motor has not been able to meet the needs, the use of BLDC motor (Brushless Direct Current) is a very appropriate choice. In this research, the design of BLDC Axial Flux motor used a single rotor attached to a neodymium magnet and a stator made of two email wires wrapped together. From testing the motor no-load when the source voltage is 18 V it has an input power of 4,038 W and motor speed of 1513 RPM. While when the source voltage is 24 V has an input power of 8,716 W and motor speed 1606 RPM. As for testing motors with loads when the source voltage is 24 V has an input power of 11,432 W, output power 3,579 W, efficiency 31,311%, motor speed 1098 RPM, mechanical torque 0.031 Nm, and electromagnetic torque 0.099 Nm. Coconut laying on overpressed blade roll results in the motor not being able to provide torque according to load needs, so the speed of the motor will drop, and torque increases. Besides, the greater the voltage of the source then the greater the power and speed of the motor.
Sistem Pemantauan Hasil Tampung Nira Kelapa Berbasis IoT (Internet of Things) Daru Quthni Firdaus; Ali Rizal Chaidir; Wahyu Muldayani; Guido Dias Kalandro; Dodi Setiabudi
J-Innovation Vol. 11 No. 1 (2022): Jurnal J-Innovation
Publisher : Politeknik Aceh

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (288.32 KB) | DOI: 10.55600/jipa.v11i1.133

Abstract

An IoT-based monitoring system is a system that can monitor the situation by utilizing an internet connection. This system can be applied to simplify a production process, for example monitoring the results of the storage of coconut sap. Nira is a liquid from coconut flowers which has a sugar content ranging from 7.5 to 20%. The way to get sap is to climb a coconut tree and put the container on top, then wait for the container to fill up with sap. The monitoring process can be simplified by utilizing IoT technology. There is a sensor installed in the container, namely a water level float sensor which functions as a sensor to monitor the results of the storage of sap. The sensor provides information to the user via the eps8266 electronic board and LoRa module. Information can be read by users through the telegram application. The results of the test show that the water level float sensor can detect coconut sap that has filled the container. The use of the LoRa SX1278 module is effective in plantation areas. The signal capture power is good even though it is placed on a coconut tree where there are several obstacles that block around the module.
ANALISIS EFISIENSI TRAFO TOROID STEP DOWN DENGAN MENGGUNAKAN MATERIAL INTI BESI SILICON STEEL DAN GALVALUM Titik Nurhana; Guido Dias Kalandro; Bambang Sri Kaloko
Jurnal JE-UNISLA : Electronic Control, Telecomunication, Computer Information and Power System Vol 7, No 2 (2022): JE-UNISLA
Publisher : Universitas Islam Lamongan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30736/je-unisla.v7i2.844

Abstract

Trafo toroid merupakan salah satu jenis trafo yang memiliki bentuk inti bulat seperti donat. Prinsip kerjanya sama dengan trafo pada umumnya yaitu dengan menggunakan prinsip induksi elektromagnetik. Dalam bidang industri, trafo biasa digunakan untuk menaikkan tegangan (Step Up) dan menurunkan tegangan (Step Down). Trafo jenis toroid memiliki efisiensi yang lebih baik dibanding dengan trafo jenis lainnya karena bentuk inti yang bulat sehingga tidak ada kebocoran fluks magnetik. Efisiensi trafo dipengaruhi oleh lilitan dan material inti besinya. Penelitian mengenai pengaruh lilitan terhadap kinerja trafo telah banyak dilakukan, sehingga penelitian ini membahas tentang pengaruh material inti besi terhadap efisiensi. Material yang digunakan adalah Grain Oriented Silicon Steel dan seng talang galvalum. Dari kedua material tersebut, diambil nilai daya yang digunakan untuk membandingkan besar efisiensi yang dihasilkan dengan beberapa variasi beban dari tanpa beban, hingga beban lampu pijar 500 watt.
Rancang Bangun Mesin Pengering Kulit Pohon Kina Menggunakan Kontrol Pid Berbasis Mikrokontroler Guido Dias Kalandro; Dodi Setiabudi; Ali Rizal Chaidir
J-Innovation Vol. 11 No. 2 (2022): Jurnal J-Innovation
Publisher : Politeknik Aceh

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55600/jipa.v11i2.132

Abstract

Kina in plants there are several kinds of plant parts that can be taken advantage but in this case, the author will discuss the special problems of cinchona bark between 0.5 meters and 0.5 meters from the bottom and top of the plant kina. Because the bark of cinchona was the producers took to be resold to the pharmaceutical industry. During this time many of the manufacturers of leather kina kina dry the skin by way menjemuran directly in the sun. In this process the skin needs time producers such as 5-6 days if no disruption of nature such as rain, clouds, etc.. For example, if there is rain then the drying process can take up to 2 weeks up to maximum water levels dropped to 60% - 55%. With the above problems the writer needs to design a device where the temperature can be controlled and not influenced by disruption of natural factors.
ANALISIS PERFORMANCE INVERTER FULL BRIDGE SATU FASA Novitasari Novitasari; Bambang Sri Kaloko; Suprihadi Prasetyono; Moch Ghozali; Guido Dias Kalandro
Jurnal JE-UNISLA : Electronic Control, Telecomunication, Computer Information and Power System Vol 8, No 1 (2023)
Publisher : Universitas Islam Lamongan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30736/je-unisla.v8i1.985

Abstract

Technological advances are increasingly rapid and cannot be separated from the use of electricity for various types of electronic devices that use electrical energy. The use of electrical energy cannot be separated from DC and AC energy sources. The electric voltage itself can be done by changing or converting electrical energy from DC to AC using an inverter. The inverter itself is a device that can convert DC voltage to AC with a full bridge configuration that uses a transformer to get the best efficiency using a transformer, using an input voltage of 12 VDC to get 220 VAC by changing the value of the duty cycle used to find the results of the PWM wave and get the efficiency value. From these experiments it was then tested with 15W and 30W loads to get good efficiency values and wave output results.
Pengenalan Gestur Jari Menggunakan Pengolahan Citra untuk Mengendalikan Joint pada Base Robot Lengan Ali Rizal Chaidir; Wahyu Muldayani; Guido Dias Kalandro
Jurnal Rekayasa Elektrika Vol 14, No 3 (2018)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1018.771 KB) | DOI: 10.17529/jre.v14i3.11831

Abstract

The Robot is a technology that can help human to do daily activities. One type of robot is an arm robot, arm robot can work automatically, manually, and a combination of both. Some techniques that can be used to give commands to the robot are to use hand and finger gestures, to do the techniques can utilize the vision machine. One of the advantages of using a vision machine is that it does not require many electronic components to recognize hand and finger gestures. The focus of this research is to implement a camera to recognize the operator’s finger gestures so that the gesture can give commands to the robot. The camera captures the image of operator's finger, the image is a process inside the computer to obtain the pixel coordinate parameters of the index fingertip and right lower pixel of the image, and then the angle obtained from both coordinates using trigonometric equations. The result is that the robot can follow the movement of the finger when the angle between 30° to 150°.
Pengenalan Gestur Jari Menggunakan Pengolahan Citra untuk Mengendalikan Joint pada Base Robot Lengan Ali Rizal Chaidir; Wahyu Muldayani; Guido Dias Kalandro
Jurnal Rekayasa Elektrika Vol 14, No 3 (2018)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v14i3.11831

Abstract

The Robot is a technology that can help human to do daily activities. One type of robot is an arm robot, arm robot can work automatically, manually, and a combination of both. Some techniques that can be used to give commands to the robot are to use hand and finger gestures, to do the techniques can utilize the vision machine. One of the advantages of using a vision machine is that it does not require many electronic components to recognize hand and finger gestures. The focus of this research is to implement a camera to recognize the operator’s finger gestures so that the gesture can give commands to the robot. The camera captures the image of operator's finger, the image is a process inside the computer to obtain the pixel coordinate parameters of the index fingertip and right lower pixel of the image, and then the angle obtained from both coordinates using trigonometric equations. The result is that the robot can follow the movement of the finger when the angle between 30° to 150°.