Articles

Performance Evaluation of MMA7260QT and ADXL345 on Self Balancing Robot Ferdinando, Hany; Khoswanto, Handry; Purwanto, Djoko
TELKOMNIKA Telecommunication, Computing, Electronics and Control Vol 11, No 1: March 2013
Publisher : Universitas Ahmad Dahlan

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Abstract

A Self Balancing Robot (SBR) controller needs to detect platform inclination. For this purpose, an accelerometer is used. From various types of accelerometer, we can divide into digital and analog ones. The problem is how to select the right type for the SBR.This paper evaluates the performance of the ADXL345 and the MMA7260QT. The Arduino is used to read data from the sensor and send it to PC for plotting. Both sensors use the lowest sensitivity. The sensors are evaluated with three criteria, i.e. stationary, dynamical response and collaborating with ITG3200 3-axis gyroscope for Kalman Filter fusion. For stationary criterion, the ADXL345 is better than the other sensor for all stationary position. For dynamical response, both sensors suffer from the noise due to acceleration of the platform. The sensors do not only sense the gravity but also the acceleration of the platform when it is moved. But the noise level for the ADXL345 is lower than the other. Using Kalman Filter makes both sensors show good performance for a SBR application. If three criteria are combined with hardware aspect, then the authors recommend using the ADXL345. Besides, it has several useful features to handle abrupt acceleration.
Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision Budiharto, Widodo; Santoso, Ari; Purwanto, Djoko; Jazidie, Achmad
TELKOMNIKA Telecommunication, Computing, Electronics and Control Vol 9, No 3: December 2011
Publisher : Universitas Ahmad Dahlan

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In this paper, we propose a multiple moving obstacles avoidance using stereo vision for service robots in indoor environments. We assume that this model of service robot is used to deliver a cup to the recognized customer from the starting point to the destination. The contribution of this research is a new method for multiple moving obstacle avoidance with Bayesian approach using stereo camera. We have developed and introduced 3 main modules to recognize faces, to identify multiple moving obstacles and to maneuver of robot. A group of people who is walking will be tracked as a multiple moving obstacle, and the speed, direction, and distance of the moving obstacles is estimated by a stereo camera in order that the robot can maneuver to avoid the collision. To overcome the inaccuracies of vision sensor, Bayesian approach is used for estimate the absense and direction of obstacles. We present the results of the experiment of the service robot called Srikandi III which uses our proposed method and we also evaluate its performance. Experiments shown that our proposed method working well, and Bayesian approach proved increasing the estimation perform for absence and direction of moving obstacle.
Electronic Nose using Gas Chromatography Column and Quartz Crystal Microbalance Rivai, Muhammad; Purwanto, Djoko; Juwono, Hendro; Agus Sujono, Hari
TELKOMNIKA Telecommunication, Computing, Electronics and Control Vol 9, No 2: August 2011
Publisher : Universitas Ahmad Dahlan

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Abstract

The conventional electronic nose usually consists of an array of dissimilar chemical sensors such as quartz crystal microbalance (QCM) combined with pattern recognition algorithm such as Neural network. Because of parallel processing, the system needs a huge number of sensors and circuits which may emerge complexity and inter-channel crosstalk problems. In this research, a new type of odor identification which combines between gas chromatography (GC) and electronic nose methods has been developed. The system consists of a GC column and a 10-MHz quartz crystal microbalance sensor producing a unique pattern for an odor in time domain. This method offers advantages of substantially reduced size, interferences and power consumption in comparison to existing odor identification system. Several odors of organic compounds were introduced to evaluate the selectivity of the system. Principle component analysis method was used to visualize the classification of each odor in two-dimensional space. This system could resolve common organic solvents, including molecules of different classes (aromatic from alcohols) as well as those within a particular class (methanol from ethanol) and also fuels (premium from pertamax). The neural network can be taught to recognize the odors tested in the experiment with identification rate of 85 %. It is therefore the system may take the place of human nose, especially for poisonous odor evaluations.
PENGGUNAAN TERRASIL SEBAGAI MATERIAL MODIFIER UNTUK PERBAIKAN DAYA DUKUNG SUBGRADE Wasis, Hanif Firman Hakim; Utami, Hardiyanti Setia; Purwanto, Djoko; Setiadji, Bagus Hario
JURNAL KARYA TEKNIK SIPIL volume 1, Nomer 1, tahun 2012
Publisher : Jurusan Teknik Sipil Fakultas Teknik Universitas Diponegoro

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Abstract

ABSTRAK Tanah dasar merupakan lapisan terbawah dari sistem perkerasan jalan yang berfungsi untuk mendukung lapisan di atasnya dalam menahan beban kendaraan. Di sisi lain, tanah dasar merupakan komponen terlemah, karena mudah berkurang daya dukungnya sebagai akibat pengaruh air. Untuk mengatasi masalah tersebut, maka penelitian ini melakukan kegiatan perbaikan daya dukung tanah dengan menggunakan material modifier berupa Terrasil, yang berfungsi sebagai penolak air (water repellent atau waterproofing). Untuk mengevaluasi keefektifan penggunaan Terrasil maka pada penelitian ini digunakan tiga proporsi Terrasil terhadap air, yaitu 1:400, 1:600 dan 1:800, yang diaplikasikan pada sampel tanah di dua lokasi pengujian. Sampel tanah yang dipilih diperlakukan pada dua kondisi, yaitu kondisi kering dan kondisi terekspos air. Untuk mengevaluasi daya dukung tanah pada dua kondisi tersebut pada keadaan sebelum dan sesudah Terrasil digunakan, maka dilakukan pengukuran parameter California Bearing Ratio (CBR). Hasil dari penelitian ini menunjukkan bahwa penggunaan Terrasil pada tanah tidak akan memberikan dampak yang signifikan pada hilangnya nilai CBR antara dua kondisi tersebut, kecuali tanah tersebut dalam kondisi padat. Penelitian ini juga merekomendasikan proporsi Terrasil terhadap air 1:600 karena dapat menghasilkan nilai CBR wet losses yang paling minimum. Dengan proporsi ini, dapat diperoleh nilai CBR wet losses hanya sebesar 11,93%, yaitu pada lokasi dengan kepadatan tertinggi. Kata kunci: Subgrade, soil improvement, bahan modifier, Terrasil, CBR   ABSTRACT Subgrade is the bottom layer that functions to support the upper layer to withstand against vehicle loads. However, subgrade is also the weakest component of the structure due to losses of carrying capacity as a result of water infiltration. To minimize the losses of carrying capacity of the subgrade, a study was conducted by proposing a modifier, namely Terrasil, that function as water repellent. In this reaserch, three proportions of Terrasil to water, i.e. 1:400, 1:600, and 1:800, were used in two test locations. Two conditions were applied on soil in the test locations, i.e. dry condition (unsoaked) and wet condition (soaked). To evaluate the carrying capacity of the subgrade before and after Terrasil application, California Bearing Ratio (CBR) measurement was conducted. The results showed that the use of Terrasil on the soil did not affected significantly on the carrying capacity losses due to water infiltration, unless soil compaction has been formerly applied. In addition, proportion of Terrasil to water 1:600 was recommended as optimum proportion for maximum water-repellent, with the condition that it should be applied on compacted soil. With this proportion, it can be obtained CBR wet losses only 11.93% at location with better density. Keywords: Subgrade , soil improvement, modifier material, Terrasil, CBR
ANALISIS PERBANDINGAN ANTARA BIAYA OPERASIONAL KENDARAAN (BOK) DI JALAN ARTERI PRIMER DENGAN RENCANA JALAN TOL RUAS : UNGARAN - SALATIGA Cipto Saputro, Danang Setiyo; Wirayoga, Rendy Augusta; Purwanto, Djoko; Kushardjoko, Wahyudi
JURNAL KARYA TEKNIK SIPIL Volume 2, Nomor 1, Tahun 2013
Publisher : Jurusan Teknik Sipil Fakultas Teknik Universitas Diponegoro

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Abstract

Semarang is one of the big cities, where many centers of economic, political, socio-cultural and educational center. The existence attractive to residents outside of Semarang to travel to Semarang. Most Salatiga’s residents doing trip - roundtrip to the Semarang city. However, the operation conditions of public transportation that led to and leaving  Semarang still not up and there are a few obstacles along the way such as markets, factories and other activities that disrupt the trip. This transport problems will cause a variety of negative effects, such as lost time due to the long trip and the increase in Vehicle Operating Costs (VOC) to existing roads, so that the government develop a national road network in particular in areas of Java such as Trans Java Toll road construction Semarang - Solo segment. The purpose of this evaluation is to analyze the velocity space (space mean speed) and the Vehicle Operating Costs comparison between existing roads and toll roads segment Ungaran - Salatiga. Vehicle Operating Costs (VOC) using the Pacific Consultants International (PCI) formula. Data that obtained from the survey results for the velocity space (space mean speed) toward Ungaran - Salatiga for each vehicle and departure times both morning and afternoon, for the morning bus speeds faster 1.55 km / h of speed during the day is 31.14 km / h; 2 axle trucks during the day faster 4.67 km / h of speed in the morning is 30.76 km / h; as daytime tuk 3 faster 1.37 km / h from speed in the morning is 27.05 km / h; while the direction of Salatiga - Ungaran for the bus in the morning faster 1.21 km / h of speed during the day is 36.36 km / h; 2 axle trucks during the day more fast 3.77 km / h of speed in the morning is 34.29 km / hr; 3 axle truck in the morning faster 3.09 km / h of speed during the day is 26.81 km / h. The average speed for the Toll Road is taken based on a minimum speed of 60 km / h. The results of the comparison vehicle operating cost (VOC), it costs when crossing the Toll road is more economical when compared to the existing road. Where is the economic value of the vehicle in the morning for the bus is more efficient to IDR 37.132,38 (27.19%); 2 axle trucks more efficient IDR 32,802.99 (30.17%); and 3 axle trucks more efficient IDR 22,842.59 (13.58%). While in the afternoon, when crossing the Toll road for the bus will be more efficient IDR 39,564.97 (28.47%); for 2 axle trucks more efficient IDR 26,220.25 (25.67%); while for 3 axle trucks would be more efficient IDR 23,083.17 (13.70%).
MANAJEMEN LALU LINTAS SATU ARAH PADA JALAN PANDANARAN, JALAN MH.THAMRIN, JALAN GAJAH MADA, JALAN DEPOK, DAN JALAN PEMUDA KOTA SEMARANG Kusnanda, Osa Maulwy; Rendry, Putra; Purwanto, Djoko; Yulipriyono, Epf. Eko
JURNAL KARYA TEKNIK SIPIL Volume 2, Nomor 3, Tahun 2013
Publisher : Jurusan Teknik Sipil Fakultas Teknik Universitas Diponegoro

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Abstract

Semarang is the capital of Central Java province having many potential, likes economic, social, cultural, and tourism. In increasing the potential of Semarang, need to be supported with adequate the road transport facilities. In some locations, such as Pandanaran street which has a value degrees of saturation (DS) between 0.79-1.02, MH.Thamrin street with DS 0.78, and Pemuda street with DS 0.85. This indicates that on the roads have high traffic density so that it does not cover the possibility in the coming year can increase returns. The purpose of this study is to identify the performance of intersections and road segments and distribution solutions for efficient traffic management by implementing a one way traffic system. The implementation of one way system is expected to produce the traffic an orderly, smoothly, safe, comfortable, and efficient. The research methodology used is descriptive quantitative. This study was preceded by a preliminary literature review and survey and followed by data collection through traffic counting and related measurements. Analysis of data based on mkji 1997 in order to evaluate the performance of existing road and do an analysis by applying a system of one way system. Based on the analysis of performance of the existing conditions on the roads, there are a few low performing street with DS>0.75, as in Pandanaran street with DS 0.79-1.02, MH.Thamrin street with DS 0.78, and Pemuda street with DS 0.85. In addition, existing conditions analysis of the results obtained with low performing “simpang” with DS>0.75, is Simpang Gajah Mada/Depok with DS between 1.09-2.17 and Simpang Pandanaran/MH.Thamrin with DS between 0.92-1.66 and some other parameters, such as capacity, average delay, the length of the queue, the number of vehicles lining up, and the cycle time parameter support. Analysis of the results obtained two scenarios plan offered, scenario 1 (Pemuda street, MH.Thamrin street, Pandanaran street, and Gajah Mada street impose one way system) and scenario 2 (Pemuda street, MH.Thamrin street, and Pandanaran street impose one way system, except Gajah Mada street who keep developing two way system). After compared with method scoring, scenario 2 obtain highest score to street and simpang, is 82 and 28, to create value DS in Pandanaran street being declined between 0.09-0.53 and Pemuda street 0.26; as well as Simpang Gajah Mada/Depok between 0.82-0.87.
ANALISIS PERBANDINGAN ANTARA BIAYA OPERASIONAL KENDARAAN (BOK) DI JALAN ARTERI PRIMER DENGAN RENCANA JALAN TOL RUAS : UNGARAN - SALATIGA Wirayoga, Rendy Augusta; Cipto Saputro, Danang Setiyo; Purwanto, Djoko; Kushardjoko, Wahyudi
JURNAL KARYA TEKNIK SIPIL Volume 2, Nomor 2, Tahun 2013
Publisher : Jurusan Teknik Sipil Fakultas Teknik Universitas Diponegoro

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Abstract

Semarang is one of the big cities, where many centers of economic, political, socio-cultural and educational center. The existence attractive to residents outside of Semarang to travel to Semarang. Most Salatiga’s residents doing trip - roundtrip to the Semarang city. However, the operation conditions of public transportation that led to and leaving  Semarang still not up and there are a few obstacles along the way such as markets, factories and other activities that disrupt the trip. This transport problems will cause a variety of negative effects, such as lost time due to the long trip and the increase in Vehicle Operating Costs (VOC) to existing roads, so that the government develop a national road network in particular in areas of Java such as Trans Java Toll road construction Semarang - Solo segment. The purpose of this evaluation is to analyze the velocity space (space mean speed) and the Vehicle Operating Costs comparison between existing roads and toll roads segment Ungaran - Salatiga. Vehicle Operating Costs (VOC) using the Pacific Consultants International (PCI) formula. Data that obtained from the survey results for the velocity space (space mean speed) toward Ungaran - Salatiga for each vehicle and departure times both morning and afternoon, for the morning bus speeds faster 1.55 km / h of speed during the day is 31.14 km / h; 2 axle trucks during the day faster 4.67 km / h of speed in the morning is 30.76 km / h; as daytime tuk 3 faster 1.37 km / h from speed in the morning is 27.05 km / h; while the direction of Salatiga - Ungaran for the bus in the morning faster 1.21 km / h of speed during the day is 36.36 km / h; 2 axle trucks during the day more fast 3.77 km / h of speed in the morning is 34.29 km / hr; 3 axle truck in the morning faster 3.09 km / h of speed during the day is 26.81 km / h. The average speed for the Toll Road is taken based on a minimum speed of 60 km / h. The results of the comparison vehicle operating cost (VOC), it costs when crossing the Toll road is more economical when compared to the existing road. Where is the economic value of the vehicle in the morning for the bus is more efficient to IDR 37.132,38 (27.19%); 2 axle trucks more efficient IDR 32,802.99 (30.17%); and 3 axle trucks more efficient IDR 22,842.59 (13.58%). While in the afternoon, when crossing the Toll road for the bus will be more efficient IDR 39,564.97 (28.47%); for 2 axle trucks more efficient IDR 26,220.25 (25.67%); while for 3 axle trucks would be more efficient IDR 23,083.17 (13.70%).
PEMANFAATAN LIMBAH AMPAS TEBU SEBAGAI PENGGANTI FILLER UNTUK CAMPURAN ASPAL BETON JENIS “HOT ROLLED SHEET– WEARING COURSE“ Wijanarko, Fajar Himawan; Mulia, Moh. Bachtiar; Wicaksono, YI.; Purwanto, Djoko
JURNAL KARYA TEKNIK SIPIL Volume 2, Nomor 2, Tahun 2013
Publisher : Jurusan Teknik Sipil Fakultas Teknik Universitas Diponegoro

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Abstract

Highway pavement in Indonesia generally use a mix asphalt concrete as a surface layer consisting of a mixture of constituent materials coarse aggregate, fine aggregate, filler and bitumen. HRS is a mixture suitable for use in tropical areas like Indonesia because it has high elasticity and resistance to fatigue plastic (Rantetoding, 1984). HRS mixture consists of coarse aggregate, fine and asphalt. Fine aggregate form filler, which is necessary to fill voids between the aggregate particles so as to increase the density of the mixture. In general filler used is stone ash, stone ash filler but is relatively expensive, so it is necessary to find other alternatives to the use of cheaper materials for filler substitutes standard. One of the waste materials that can be used is the waste from sugar mills bagasse. Refiners produce waste in the form of bagasse, the percentage content of chemical compounds (Silica) on bagasse ash was 70.94% which is expected to improve the quality of asphalt mix. The purpose of this research is to determine the performance of asphalt concrete type of HRS-WC when using bagasse ash filler compared with stone ash filler, with the goal of getting an alternative filler in the form of bagasse ash. Test characteristics of aggregate, filler and bitumen done before making Marshall specimens to determine whether the materialis qualified or not as asphalt mix material. This study refers to the Spesifikasi Umum Bina Marga 2010, of the Directorate General of Highways. The results showed the test aggregate, filler and bitumen, as well as all the HRS-WC mixed with bagasse ash filler and stones ash filler qualify. The use of bagasse ash filler mixed with HRS-WC increasing bitumen content is 6.95%, resulting in values, VIM: 5.96%, VMA: 21:36% and VFB: 72.12%, is higher than the HRS-WC mixture using stones ash filler that is 6.75%, with a value of VIM: 5.95%, VMA: 20.64% and VFB: 71.68%. In addition to the value of bagasse ash filler Stability: 1231.07 Kg, Marshall Quotient: 260.58 Kg / mm and flow: 4.72 mm being lower than the value of Stability: 1280.98 Kg, Marshall Quotient: 268.97 Kg / mm and flow: 4.76 mm in stone ash filler. This suggests that the HRS-WC mixture using bagasse ash filler bitumen requires more than the HRS-WC mixture using stone ash filler. From the results of this analysis indicate that the use of bagasse ash filler mixed with HRS-WC to qualify as an alternative filler materials stone ash, so that the bagasse ash can be used for asphalt concrete mix HRS-WC, in which the results are not much different from mixed HRS-WC using stone ash filler. 
ANALISIS KEBUTUHAN RUANG PARKIR TERINTEGRASI UNTUK FIB, FH, DAN FISIP UNDIP KAMPUS TEMBALANG Ferwira, Anda; Widihandoko, Andri; Purwanto, Djoko; Supriyono, Supriyono
JURNAL KARYA TEKNIK SIPIL Volume 2, Nomor 1, Tahun 2013
Publisher : Jurusan Teknik Sipil Fakultas Teknik Universitas Diponegoro

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Abstract

Diponegoro University is a State University in Central Java. FIB, FH, and FISIP is part of some faculty at UNDIP. The layout of the three faculty are close each other. One of the problems from the three faculty is parking space requirements. Although it has provided a parking space (off street parking) in each faculty, but in reality there are many vehicles parked on the roadside (on street parking). This final report aims to evaluate the need of existing parking spaces and planned capacity expansion of existing parking spaces. Methodologies used include: field surveys, problem identification, data collection, test of the validity with chi-square test, data analysis, calculation of SRP needs, arrangement of the old park and planning of new park. The number of the current shortage of parking space requirements for overall three faculty is 91 SRP for cars and 59 SRP for motorcycles. Meanwhile for the development of the next 5 years is 138 SRP for cars and 466 SRP for motorcycles. Development of parking area with the integrated construction for FIB, FH, and FISIP are given alternative. Construction of the integrated parking building is planned 3 floors with total floor area of 5775 m². 1st floor with area of 1925 m² can serve 468 SRP motorcycles and 15 SRP cars. 2nd floor and 3rd floor with the same area is able to serve 62 SRP cars. Based on the analysis of the calculation, planning is considered to have been able to solve the needs of today and the parking spaces for the development of the next 5 years is until 2017. To solving the possibility of the occurrence of on-street parking, the solution is given by the installation of parking prohibition signs around the side of the road.
ANALISIS KINERJA SIMPANG TIRTO AGUNG DAN SIMPANG JALUR MASUK KELUAR TOL SEKSI B SEMARANG Gitario Ajitama, Adhetea Anggun; Setiawan, Ari; Purwanto, Djoko; Adi, Rudi Yuniarto
JURNAL KARYA TEKNIK SIPIL Volume 2, Nomor 3, Tahun 2013
Publisher : Jurusan Teknik Sipil Fakultas Teknik Universitas Diponegoro

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Abstract

Tirto Agung Intersections and the ramp Intersection of Section B Semarang Toll, they located in Prof. Soedarto, SH Street. The third intersection is an unsignalized intersection and has high traffic volume because it is ones access to education and a fairly dense residential area. Other that there is u-turn between ramp intersection Toll Road Semarang Section B dan Tirto Agung intersection that densely. With the problem affects the performance of the fall in traffic intersections. The purpose of this study was to analyze the performance and determine the pattern of traffic movements at each intersection. Primary data were collected by direct observation and survey on all three intersections. The observed data are geometric intersection, intersection volume, vehicle speed, long queues of vehicles, number of vehicles turning, turning vehicle duration, the identification of origin purpose from vehicle. The data obtained are used to analyze the performance of the intersection on the analysis of existing conditions and vehicle turning direction. The method of calculating the performance of intersections refer to Indonesia Jalan Capacity Manual 1997. The research results which are shown the greatest degree of saturation is the entrance intersection of Section B Semarang Toll with the analysis results 0,92 on existing condition. The degree of saturation can be falsified into 0,74 with a median implement an alternative solution extends the reach of Section B pathway Semarang Toll Road and broadening Prof. Soedarto, SH being 15.80 meters. But this solution only lasted two years only, so it becomes less meaningful.
Co-Authors Achmad Jazidie Adhetea Anggun Gitario Ajitama Aji, Garudio Kusuma Amelia Kusuma Indriastuti Amelia Kusuma Indriastuti, Amelia Anda Ferwira Andri Widihandoko Ardina Rahmalia, Ardina Arhamsyah Arhamsyah, Arhamsyah Ari Santoso Ari Setiawan Arief Fath Atiya Arief, Kamal Arifin Dian Wardhanto, Arifin Dian Bagus Hario Setiadji Bagus Hario, Bagus Bambang Pudjianto Bima Sena Bayu Dewantara, Bima Sena Bayu Budi Tri Cahyana, Budi Tri Danang Setiyo Cipto Saputro Diah Kusumawati, Diah Doni Rahmadhan, Doni Doni Ramadhan, Doni Dyah Amalia Wijayanti Elfrin P. Hsb. EPF Eko Yulipriyono, EPF Epf. Eko Yulipriyono Fahd, Muchammad Ainur Fahmi Akmal Hasani, Fahmi Akmal Fajar Himawan Wijanarko Fatoni, Muhammad Hilman Gangsarestu, Muhammad Soleh Handry Khoswanto Hani Avrilyantama Hanif Firman Hakim Wasis Hany Ferdinando Hardiyanti Setia Utami Hari Agus Sujono Harianto Harianto Helmy Widyantara Hendra Kusuma Hendro Juwono Ilham Chandra Feriawan, Ilham Chandra Ismiyati Ismiyati Jeffry Angga J., Jeffry Kami Hari Basuki Kami Hari Basuki M.Sayaiful Afif, M.Sayaiful M.Syaiful Afif, M.Syaiful Marlina Julianti Moh. Bachtiar Mulia Muhammad Rivai Nurul Qomariyah Okty Diana Wulan Sari Osa Maulwy Kusnanda Prima Setiadita Purbaningtyas, Retno Utami Puspasari, Sendang Ayu Putra Rendry Ramadhania Ramanasari Rendy Augusta Wirayoga Rinne Nintasari Ronny Mardiyanto, Ronny Rudi Yuniarto Adi Ryan Manggala, Ryan Siti Rahma Sonny H. Supriyono Supriyono Suryani, Santy Diah Taufiq, Husen Tri Arief Sardjono Uroidhi, Ali Wahyudi Kushardjoko Wahyuni, Retno Tri Widodo Budiharto YI. Wicaksono