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All Journal JEECS (Journal of Electrical Engineering and Computer Sciences)
Ahmadi
Universitas Bhayangkara Surabaya
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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Image Based Object Tracking Target on Ship Robot for Oil Waste Cleaner Richa Watiasih; Ahmadi; Adiananda
JEECS (Journal of Electrical Engineering and Computer Sciences) Vol. 7 No. 2 (2022): JEECS (Journal of Electrical Engineering and Computer Sciences)
Publisher : Fakultas Teknik Universitas Bhayangkara

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1111.069 KB) | DOI: 10.54732/jeecs.v7i2.17

Abstract

The existing oil waste water contains oil, solids, water and heavy metals. This oil waste is a contaminant material that can cause negative impacts to the aquatic environment as well as the existing living creatures around it so that it requires a careful and fast handling to clean. The research resulted in the tracking system on the image-based-ship robot by using the method of histogram and fuzzy logic controller that can detect the image of waste water well. The result of the testing of the ship robot done on the pool indicated that it took about ± 196.92 seconds for the robot to detect the image of oil waste objects. The oil waste suctioning process took a maximum of 60 seconds for once.
Gait Control Applications on Four Legged Robot Richa Watiasih; Galuh Widia Rohman; Prihatsono; Ahmadi
JEECS (Journal of Electrical Engineering and Computer Sciences) Vol. 6 No. 2 (2021): JEECS (Journal of Electrical Engineering and Computer Sciences)
Publisher : Fakultas Teknik Universitas Bhayangkara

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (938.528 KB) | DOI: 10.54732/jeecs.v6i2.198

Abstract

A common problem faced by four-legged robots is when they encounter obstacles that have structures that force the robot to lift its legs higher than the robot's ability limit and can disrupt the robot's balance, so it is necessary to add a gait control method. This research has resulted in controlling the movement of a four-legged robot using the wave gait control method to pass obstacles in the form of stairs and uneven floors, where the movement of the robot by lifting one leg at a time makes the balance of the robot very awake. So that the robot can make decisions if the robot encounters obstacles in the form of stairs and uneven floors, the role of the ultrasonic sensor is very decisive in reading the environment. The way for the robot to climb stairs and not fall backwards is to slide the robot's hind legs back so that each robotic footstep will form a triangle. When the robot detects the presence of a stairs, the robot will lift its legs by 50o, while when it detects an uneven floor, the robot's legs will lift its legs by 40o. Based on the results of research conducted with 4 experiments, namely the success of the robot in passing through the trajectory without obstacles by 100%, the success of the robot in crossing the uneven floor by 60%, the success of the robot in passing the stairs by 50%, while the success of the robot in passing the stairs and the uneven floor by 70%.
Co-Authors Adiananda Adiananda Galuh Widia Rohman Prihatsono Richa Watiasih