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DC Brushless Motor Control Design and Preliminary Testing for Independent 4-Wheel Drive Rev-11 Robotic Platform Saputra, Roni Permana; Ardiansyah, Rizqi Andry; Mirdanies, Midriem; Santoso, Arif; Nugraha, Aditya Sukma; Muqorobin, Anwar; Saputra, Hendri Maja; Susanti, Vita; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 2, No 2 (2011)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

This paper discusses the design of control system for brushless DC motor using microcontroller ATMega 16 that will be applied to an independent 4-wheel drive Mobile Robot LIPI version 2 (REV-11). The control system consists of two parts which are brushless DC motor control module and supervisory control module that coordinates the desired command to the motor control module. To control the REV-11 platform, supervisory control transmit the reference data of speed and direction of motor to control the speed and direction of each actuator on the platform REV-11. From the test results it is concluded that the designed control system work properly to coordinate and control the speed and direction of motion of the actuator motor REV-11 platform.Â

Optimized object tracking technique using Kalman filter Taylor, Liana Ellen; Mirdanies, Midriem; Saputra, Roni Permana
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 7, No 1 (2016)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

This paper focused on the design of an optimized object tracking technique which would minimize the processing time required in the object detection process while maintaining accuracy in detecting the desired moving object in a cluttered scene. A Kalman filter based cropped image is used for the image detection process as the processing time is significantly less to detect the object when a search window is used that is smaller than the entire video frame. This technique was tested with various sizes of the window in the cropping process. MATLABÂ® was used to design and test the proposed method. This paper found that using a cropped image with 2.16 multiplied by the largest dimension of the object resulted in significantly faster processing time while still providing a high success rate of detection and a detected center of the object that was reasonably close to the actual center.

Experimental review of distance sensors for indoor mapping Mirdanies, Midriem; Saputra, Roni Permana
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 8, No 2 (2017)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

One of the most important required ability of a mobile robot is perception. An autonomous mobile robot has to be able to gather information from the environment and use it for supporting the accomplishing task. One kind of sensor that essential for this process is distance sensor. This sensor can be used for obtaining the distance of any objects surrounding the robot and utilize the information for localizing, mapping, avoiding obstacles or collisions and many others. In this paper, some of the distance sensor, including Kinect, Hokuyo UTM-30LX, and RPLidar were observed experimentally. Strengths and weaknesses of each sensor were reviewed so that it can be used as a reference for selecting a suitable sensor for any particular application. A software application has been developed in C programming language as a platform for gathering information for all tested sensors. According to the experiment results, it showed that Hokuyo UTM-30LX results in random normally distributed error on measuring distance with average error 21.94 mm and variance 32.11. On the other hand, error measurement resulted by Kinect and RPLidar strongly depended on measured distance of the object from the sensors, while measurement error resulted by Kinect had a negative correlation with the measured distance and the error resulted by RPLidar sensor had a positive correlation with the measured distance. The performance of these three sensors for detecting a transparent object shows that the Kinect sensors can detect the transparent object on its effective range measurement, Hokuyo UTM-30LX can detect the transparent object in the distance more than equal to 200 mm, and the RPLidar sensor cannot detect the transparent object at all tested distance. Lastly, the experiment shows that the Hokuyo UTM-30LX has the fastest processing time significantly, and the RPLidar has the slowest processing time significantly, while the processing time of Kinect sensor was in between. These processing times were not significantly affected by various tested distance measurement.

Distributed Control System Design for Portable PC Based CNC Machine Saputra, Roni Permana; Atmaja, Tinton Dwi; Prawara, Budi
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 5, No 1 (2014)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

The demand on automated machining has been increased and emerges improvement research to achieve many goals such as portability, low cost manufacturability, interoperability, and simplicity in machine usage. These improvements are conducted without ignoring the performance analysis and usability evaluation. This research has designed a distributed control system in purpose to control a portable CNC machine. The design consists of main processing unit, secondary processing unit, motor control, and motor driver. A preliminary simulation has been conducted for performance analysis including linear accuracy and circular accuracy. The results achieved in the simulation provide linear accuracy up to 2 Î¼m with total cost for the whole processing unit is up to 5 million IDR.

Desain dan Implementasi Sistem Kendali CNC Router Menggunakan PC untuk Flame Cutting Machine Saputra, Roni Permana; Muqorobin, Anwar; Santoso, Arif; Purwanto, Teguh Pudji
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 2, No 1 (2011)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

This paper focuses on design of router control systems based on computer numerical control (CNC) using personal computer (PC) implemented in flame cutting machine (FCM). NC-Code entered into the computer translated to be a command signal sent by the PC to a microcontroller to control the end effectorâ€™s movement alongthe X and Y axis simultaneously based on linear and circular interpolations calculation on the PC. This control system is implemented on FCM by connecting the output control of the microcontroller with the driver actuator of the FCM in the form of a DC motor. The obtained result is in the form of a CNC router control system prototype to be implemented in the FCM which is capable to perform linear interpolation and circular interpolation.Â

Key Factors that Negatively Affect Performance of Imitation Learning for Autonomous Driving Rijanto, Estiko; Changgraini, Nelson; Saputra, Roni Permana; Abidin, Zainal
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20371

Conditional imitation learning (CIL) has proven superior to other autonomous driving (AD) algorithms. However, its performance evaluation through physical implementations is still limited. This work contributes a systematic evaluation to identify key factors potentially improving its performance. It modified convolutional neural network parameter values, such as reducing the number of filter channels and neuron units, and implemented the model into a vision-based autonomous vehicle (AV). The AV has front-wheel steering with an Ackermann mechanism since it is commonly used by passenger cars. Using the Inertia Measurement Unit, we measured the vehicle’s location and yaw angle along the experimental route. The AV had to move autonomously through new road sectors in the morning, afternoon, and night. First, an overall performance evaluation was carried out. The results showed a 99% success rate from 648 evaluation experiments under different conditions in which the 1% failure rate happened at new intersections. Then, a turning performance evaluation was conducted to identify key factors leading to failure at new intersections. They include fast speed, dazzling light reflection, late navigation command change instant, and the untrained turning driving pattern. The AV never failed while driving on the trained routes. It had a 100% success rate when driving slower, even under various lighting conditions and at various driving patterns, including untrained intersections. Although this study is limited to identifying key factors at three constant speeds, the results become the foundation for future research to improve CIL performance for AD, including by incorporating multimodal fusion and multi-route networks.

Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicle Pratama, Rakha Rahmadani; Baskoro, Catur Hilman Adritya Haryo Bhakti; Setiawan, Joga Dharma; Dewi, Dyah Kusuma; Paryanto, Paryanto; Ariyanto, Mochammad; Saputra, Roni Permana
Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 15, No 2 (2024)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/j.mev.2024.1105

The advancement of autonomous vehicle technology has markedly evolved during the last decades. Reliable vehicle control is one of the essential technologies in this domain. This study aims to develop a proposed method for controlling an autonomous personal mobility vehicle called SEATER (Single-passenger Electric Autonomous Transporter), using Non-linear Model Predictive Control (NMPC). We propose a single-shooting technique to solve the optimal control problem (OCP) via non-linear programming (NLP). The NMPC is applied to a non-holonomic vehicle with a differential drive setup. The vehicle utilizes odometry data as feedback to help guide it to its target position while complying with constraints, such as vehicle constraints and avoiding obstacles. To evaluate the method's performance, we have developed the SEATER model and testing environment in the Gazebo Simulation and implemented the NMPC via the Robot Operating System (ROS) framework. Several simulations have been done in both obstacle-free and obstacle-filled areas. Based on the simulation results, the NMPC approach effectively directed the vehicle to the desired pose while satisfying the set constraints. In addition, the results from this study have also pointed out the reliability and real-time performance of NMPC with a single-shooting method for controlling SEATER in the various tested scenarios.

Rancang bangun dan analisa trial and eror prosthethic servo power handa Yanalseta, Rifaldi; Suryadi, Dedi; Saputra, Roni Permana
Rekayasa Mekanika: Jurnal Ilmiah Teknik Mesin Vol. 9 No. 1 (2025): April 2025
Publisher : UNIB Press

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33369/rekayasamekanika.v9i1.39847

Prosthetic hands are designed to help people with disabilities work. This research aims to make a prosthetic hand using a 3D printing machine with a focus on using Solidworks software for model design, Ultimaker Cura software for slicing printing in the form of G-Code, and filler material in the form of PLA filament. The main components used involve a servo motor (MG996), Arduino Uno, and breadboard. This research focuses on making designs using solidworks, using servo motors (MG996), and using PLA filament material. The data collection process is divided into three stages: design creation, G-code creation, and printing, as well as the data collection process which involves trial and error on the prosthetic hand. The results of this research show that although in general all the fingers of the prosthetic hand can move, there are some fingers that experience problems following program commands. Factors such as design, manufacturing defects, hinges, and connecting straps between the servo motor and the finger affect the movement of the prosthetic hand's fingers. Although some fingers can move well, there are also those who experience difficulty in movement.

Rancang bangun dan analisa trial and eror prosthethic servo power handa Yanalseta, Rifaldi; Suryadi, Dedi; Saputra, Roni Permana
Rekayasa Mekanika: Jurnal Ilmiah Teknik Mesin Vol. 9 No. 1 (2025): April 2025
Publisher : UNIB Press

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33369/rekayasamekanika.v9i1.39847

Prosthetic hands are designed to help people with disabilities work. This research aims to make a prosthetic hand using a 3D printing machine with a focus on using Solidworks software for model design, Ultimaker Cura software for slicing printing in the form of G-Code, and filler material in the form of PLA filament. The main components used involve a servo motor (MG996), Arduino Uno, and breadboard. This research focuses on making designs using solidworks, using servo motors (MG996), and using PLA filament material. The data collection process is divided into three stages: design creation, G-code creation, and printing, as well as the data collection process which involves trial and error on the prosthetic hand. The results of this research show that although in general all the fingers of the prosthetic hand can move, there are some fingers that experience problems following program commands. Factors such as design, manufacturing defects, hinges, and connecting straps between the servo motor and the finger affect the movement of the prosthetic hand's fingers. Although some fingers can move well, there are also those who experience difficulty in movement.

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