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All Journal Buletin Ilmiah Sarjana Teknik Elektro International Journal of Robotics and Control Systems
Gralo Yopa Rahmat Pratama
Universitas Ahmad Dahlan
Control & Systems Engineering Electrical & Electronics Engineering

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Indonesian Waste Database: Smart Mechatronics System Haris Imam Karim Fathurrahman; Ahmad Azhari; Tole Sutikno; Li-yi Chin; Prasetya Murdaka Putra; Isro Dwian Yunandha; Gralo Yopa Rahmat Pratama; Beni Purnomo
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.999

Abstract

Waste management is an essential component of urban management. As a waste solution, waste management is critical. The goal of this research is to develop a waste management database that is coupled with a mechatronic robot system. Compiling and gathering data on the sorts of garbage found in Indonesia is the starting point for this research. Indonesian waste is classified into six groups: cardboard, paper, metal, plastic, medical, and organic. The total images of the six groups are estimated at 1880 pictures. According to this picture database, Artificial Intelligence (AI) training was used to create the classification system. In the final AI process, the test method was performed using DenseNet121, DenseNet169, and DenseNet201. Testing using artificial intelligence DenseNet201 across 40 epochs yields the best 92,7% accuracy rate. Simultaneously with Artificial Intelligence testing, a mechatronic system is created as a direct implementation of the Artificial Intelligence output model. A four-servo arm robot with dc motor wheel mobility is included in the mechatronic system. According to these findings, the Indonesian waste database can be categorized correctly using Artificial Intelligence and the mechatronics system. This higher accuracy of the artificial intelligence model may be used to create a waste-sorting robot prototype.
Development of Design and Control Manipulator Arm on Hexapod Robot with Smart Vision Sensor Gralo Yopa Rahmat Pratama; Nuryono Satya Widodo
Buletin Ilmiah Sarjana Teknik Elektro Vol. 5 No. 3 (2023): September
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v5i3.8907

Abstract

In 2021, the Indonesian Search and Rescue Robot Competition underwent significant changes, transitioning from its original name of "Firefighting Robot Contest" to "Search and Rescue Robot Contest." With existing regulations and new races, this robot used in the Indonesian Search and Rescue Robot Contest is an essential addition manipulator robot arm to finish mission victim rescue. With existing study about Design Development and Control Manipulator Arm on this Hexapod Robot with Smart Vision Sensor expected can help the development of the AL-JAZARI team's hexapod robot in mission victim rescue. Research, This does development design and control from a manipulator robot arm that can save victims in the rules of the Indonesian Search and Rescue Robot Contest. This uses input from the Pixy Camera, and its output is from the movement of the manipulator arm of the MG90S servo, which can save the orange victim. A Pixy Camera detects the victim and is picked up by a robotic arm. The manipulator's arm uses the MG90S servo as the actuator. In contrast, the buffer from the servo uses a 3D print designed to adapt to robotic bodies and efficiently, at times, save victims. Result study This robot can run on the victim rescue track by pushing the start button, then the robot will move autonomously with level success casualty rescue by 85% at good lighting and level lighting success dim by 80%.
Co-Authors Azhari, Ahmad Beni Purnomo Fathurrahman, Haris Imam Karim Isro Dwian Yunandha Li-yi Chin Nuryono Satya Widodo Prasetya Murdaka Putra Tole Sutikno