Budi Setiyono
Departemen Teknik Elektro, Fakultas Teknik, Universitas Diponegoro, Jl. Prof. Sudharto, SH, Kampus UNDIP Tembalang, Semarang 50275, Indonesia

Published : 131 Documents
Articles

PEMODELAN DAN SIMULASI ROLL, PITCHDANYAW PADA QUADROTOR Saputra, Oka Danil; Triwiyatno, Aris; Setiyono, Budi
TRANSMISI Vol 14, No 4 (2012): TRANSMISI
Publisher : TRANSMISI

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Abstract

Abstrak Penelitian ini fokus membahas tentang pengaruh input Roll, Pitch dan Yaw pada Quadrotor. Metode Euler-Newton digunakan untuk memodelkan persamaan dinamika Quadrotor. Pengujian pemodelan dilakukan dengan menggunakan program matlab simulink. Dari hasil perhitungan, diperoleh nilai parameter dinamika yaitu massa Quadrotor m =1,2 [Kg], momen inersia pada sumbu x IXX = 8,3 × 10-3 [N.m.s2], momen inersia pada sumbu y IYY = 8,8 × 10-3 [N.m.s2], momen inersia pada sumbu z IZZ = 15,5 × 10-3 [N.m.s2], jarak pusat Quadrotor dengan pusat baling-baling l =230 ×10-3 [m], momen inersia total sekitar sumbut motor JTP = 2,3 × 10-5 [N.m.s2], konstanta elektrik motor KE = 5,8 × 10-3 [V.s/rad] dan hambatan motor R = 41,2 × 10-3 [Ω]. Dari hasil simulasi, disimpulkan bahwa nilai output sudut (phi) ditentukan oleh nilai inputRoll, nilai output sudut (theta) ditentukan oleh nilai inputPitch dan nilai output sudut (psi) ditentukan oleh nilai input Yaw. Kata kunci: Quadrotor,Roll, Pitch, Yaw Abstract This research work focused on the study of Roll, Pitch and Yaw (Input) a Quadrotor. The Euler-Newton formalism was used to model the dynamic system. The Matlab Simulink program was developed to test the result. From the calculation result, the value of dynamic parameter were consisting mass of the Quadrotor m =1,2[Kg], body moment of inertia around the x-axis IXX = 8,3 × 10-3 [N.m.s2], body moment of inertia around the y-axis IYY = 8,8 × 10-3 [N.m.s2], body moment of inertia around the z-axis IZZ = 15,5 × 10-3 [N. m .s2], length center of propeller from center of Quadrotor l = 230 × 10-3 [m], total rotational moment of inertia around the propeller axis JTP= 2,3 × 10-5 [N.m.s2], electric motor constant KE = 5,8 × 10-3 [V.s/rad] and motor resistance R = 41,2 × 10-3 [Ω]. From the simulation result, it can be concluded that the (phi) angle was determined the Roll input, the (theta) angle was determined the Pitch input and the (psi) angle was determined the Yaw input. Keywords: Quadrotor,Roll, Pitch, Yaw
PENGENDALIAN LEVEL AIR PADA PLAN TANGKI PENAMPUNGAN SISTEM PENGOLAHAN AIR LIMBAH MENGGUNAKAN METODE KONTROL PI Nugroho Hadi, Ditya Satriya; Triwiyatno, Aris; Setiyono, Budi
TRANSMISI Vol 15, No 1 (2013): TRANSMISI
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Abstrak   Air limbah adalah cairan buangan dari rumah tangga, industri, maupun tempat-tempat umum lainnya yang mengandung bahan-bahan yang dapat membahayakan kehidupan manusia serta mengganggu kelestarian lingkungan. Oleh karena itu, diperlukan suatu alat untuk mengolah air dari kualitas air yang kurang bagus( limbah ) agar mendapatkan kualitas air pengolahan standart yang di inginkan, salah satunya adalah menggunakan water treatment system. Untuk membangun suatu water treatment system diperlukan beberapa tangki penampungan  yang salah satu diantaranya perlu dijaga level airnya. Pada penelitian ini telah dilakukan rancang bangun sistem pengontrolan level air pada tangki penampungan  water treatmen sistem berbasis mikrokontroler. Pengontrolan ini digunakan untuk mengetahui seberapa tinggi level air  yang ada pada tangki penampungan dan mengontrol level air pada ketinggian tertentu dengan menggunakan sensor jarak (Ping) dan pompa penghisap sebagai aktuatornya serta menampilkannya pada LCD (Liquid Crystal Display). Pengendalian dilakukan melalui metode PI Ziegler Nichols I.Dari hasil pengujian didapatkan bahwa kontrol PI dapat diaplikasikan dengan baik untuk mengontrol level air dengan menggunakan metode penalaan Ziegler Nichols. Dengan metode penalaan tersebut didapatkan parameter kontrol PI yaitu Kp = 16,1dan Ti = 13,2. Pada pengujian dengan penalaan parameter PI mampu menghasilkan tanggapan keluaran dengan rise time dan waktu penetapan yang cepat tanpa overshoot dan ketika sistem diberi gangguan,tanggapan keluaran akan tetap terjaga dalam kestabilan.  Kata kunci: Kontrol PI, Kontrol level air, Sensor Ping,Water treatment System Abstract Waste water is the liquid waste from households, industry, and other public places which contain ingredients that can endanger human life and interfere with environmental sustainability. Therefore, it is necessary a tool to manipulate the water from the water quality which is less good (waste) water quality processing in order to obtain the desired standards, one of which is using water treatment system. To build a water treatment system needed some tanks that shelter one of which needs to be taken care of its water level.At the end of this Task has been carried out the control system architecture of water level in tank water treatmen shelter microcontroller-based systems. This control is used to find out how high the water level in the tank water level and control shelter at a certain height by using the proximity sensor (Ping) and suction pumps as aktuator  and display it on the LCD (Liquid Crystal Display). Control is done through the methods of PI Ziegler Nichols I. From the test results that can be obtained by PI control is applied properly to control the water level by using the method of tuning the Ziegler Nichols. With the obtained parameters tuning method of control PI the Kp = 16, 1dan Ti = 13.2. On tuning PI parameters with testing is capable of generating a response with output rise time and the time of the assignment quickly without overshoot and when the system was given the disruption, the output response will be maintained in both. Keywords: PI Control, level control of water, Ping Sensor, Water treatment System 
IDENTIFIKASI IRIS MATA MENGGUNAKAN TAPIS GABOR WAVELET DAN JARINGAN SYARAF TIRUAN LEARNING VECTOR QUANTIZATION (LVQ) Setiyono, Budi; Isnanto, R. Rizal
TEKNIK Volume 30, Nomor 1, Tahun 2009
Publisher : Fakultas Teknik, Universitas Diponegoro

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Abstract

Biometric represents the human identification method development using natural characteristic of humanbeing as its bases. Every iris has the detail and unique texture, even differ between right and left eye.Theeye iris identification process in this research are data acquisition, early processing, feature exctractionand classification. Algorithm used for classification of texture slice the eye is Gabor wavelet filtering, andclassification process of slice the eye texture will be used by a Artificial Neural Network LVQ. Recognitionthe value of feature vektor in each iris obtained from to the number of right recognition value or thepercentage of right one. The best recognition percentage is 87,5 %.
Sistem Navigasi untuk Individu Pejalan Kaki Berbasis Prinsip Dead Reckoning Setiawan, Iwan; Setiyono, Budi; Kawuri, Laras Dwi
TRANSMISI Vol 14, No 2 (2012): TRANSMISI
Publisher : TRANSMISI

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Abstract

 This paper discusses a pedestrian navigation system based on the principle of dead reckoning. Early prototype of the system has been developed using only two internal sensors of MEMS accelerometer and electronic compass that is worn over the shoes of the individual. Functionally, accelerometer in this system is used to detect the two state individual legs as walking: stance and swing state, while the electronic compass are functionally used to estimate the direction of individual pedestrian step. Based on initial testing, the navigation system that developed capable of detecting individual steps that are normal walking with 100% success rate, whereas the electronic compass readout accuracy is still room for improvement. Keyword : Navigation, Positioning, Dead Reckoning, Pedestrian, Accelerometer, Electronic Compass
Hasil Uji Kalibrasi Sensor Accelerometer ADXL335 Setiawan, Iwan; Setiyono, Budi; Susilo, Tri Bagus
TRANSMISI Vol 11, No 3 (2009): TRANSMISI
Publisher : TRANSMISI

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Abstract

Accelerometer is a sensor that can measure acceleration of object. This sensor can be used for till sensing detection, 3D game interface, computer’s mouse, and vehicle navigation system. Operating of this sensor need a good calibration to get parameters which determines the acceleration. This paper present result of calibration of 3 Axis ADXL335 accelerometer. Calibration of this sensor consist of 3 step testing on every axis of this sensor, sensor’s natural characteristic testing, ZeroG voltage testing, and sensor’s sensitivity testing. The result of testing ZeroG voltage and sensitivity must be compare with information from datasheet. From this testing can be concluded that the ADXL335 accelerometer has responsive output. Percentage of deviation standard is 0.257397% and the minimum is 0%. The value of ZeroG voltage from testing are 1,637390 volt for X axis, 1,638319 volt for Y axis, dan 1,736877 volt for Z axis. And the sensitivity are 0,3096 V/g for X axis, 0,3296925 V/g for Y axis, Z axis is 0,3103370 V/g. Keywords: Accelerometer, accelereration, calibration, ZeroG voltage, sensitivity.
Desain Sistem Kendali pada Ulisar (UUV) Unmanned Underwater Vehicle Rachim, Vega Pradana; Triwiyatno, Aris; Setiyono, Budi
TRANSMISI Vol 14, No 2 (2012): TRANSMISI
Publisher : TRANSMISI

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Abstract

Unmanned Underwater Vehicle (UUV) is one of the systems that have a complex characteristic. UUV usually used to obtain data, mapping and underwater survey. One of a complexity that UUV have is based onuncertainty and non-linearity of hydrodynamics parameter. Besides that, UUV which studied in this paper have 6 degree of freedom, so it has also a lot parameter. And to handle that, a bigger system need to divide into some sub-system, the divided is based on control needed. To handle a movement of UUV, it’s important to build a control system that effective and efficient and a writer choose PID and Sliding-PID (SMC-PID) as a controller Modeling system used to linearize a non-linier system from UUV, linearizing around the equilibrium point. Then make a model into a state space, these state space uses for a controlling. For a control system building and respond system from an UUV movement, MATLAB program is needed Keywords: UUV, PID control, Sliding-PID, MATLAB Simulink, Linier System
Simulasi Kendali Daya Reaktor Nuklir dengan Teknik Kontrol Optimal Tadeus, Dista Yoel; Setiyono, Budi; Setiawan, Iwan
TRANSMISI Vol 12, No 1 (2010): TRANSMISI
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Nuclear reactors is one of systems that have complex characteristics. To control the reactor power optimally, it needs an effective and efficient control system design. Optimal control system is designed based on the method of state feedback to provide optimum control signal based on predetermined performance index. Nuclear reactor dynamics are modeled by mathematical equations as an approach to model of real reactor. Power reactor to be controlled is modeled by a point kinetics method with one group of delay neutrons. Optimal control system design and simulation of the response of a nuclear reactor is accomplished using  MATLAB. In the Linear Quadratic Regulator (LQR) control scheme with various value of q and r, the fastest response of control system in order to regulate output of the system occur at q=0,0001 and r=20. In the LQI control scheme with various value of wo, the fastest response of the system to reach the reference occur at wo=1 where q=0,0001 and r=10. LQG control scheme with Tracking System is able to make the reactor power output to set point after the disturbance applied to system. Keyword :   Nuclear Reactor, Optimal Control, Kalman Filter
Tuning Parameter Proporsional – Integral dengan Fuzzy Logic untuk Pengaturan Suhu Air pada Plant Heat Exchanger Rindho S., Prestian; Setiyono, Budi; Setiawan, Iwan
TRANSMISI Vol 12, No 3 (2010): TRANSMISI
Publisher : TRANSMISI

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Abstract

Metode kontrol Proporsional-Integral (PI) merupakan sebuah metode kontrol yang banyak diterapkan di bidang industri sampai saat ini. Kontroler ini memiliki parameter-parameter pengontrol, yaitu konstanta proporsional (Kp) dan konstanta integral (Ki). Pada metode PI konvensional, kedua parameter tersebut diturunkan dari perhitungan matematis. Kesulitan penalaan parameter-parameter tersebut akan ditemui bila plant yang dikendalikan adalah sistem dengan orde tinggi. Maka dari itu, diperlukan suatu metode penala PI yang lebih baik dan dapat diterapkan dalam sistem orde tinggi.Metode penalaan PI dengan logika fuzzy dapat dilakukan secara otomatis tanpa melakukan pemodelan sistem. Pada metode ini nilai Kp dan Ki ditentukan berdasarkan sejumlah aturan-aturan yang ditetapkan oleh Logika  fuzzy. Input fuzzy berupa error dan delta error .  Plant pengendalian suhu cairan pada Heat Exchanger menggunakan mikrokontroler ATmega8535 sebagai kontroler dan heater sebagai aktuator. Pada pengujian didapatkan hasil penalaan parameter PI dengan logika fuzzy mampu menghasilkan tanggapan keluaran dengan rise time yang cepat, selisih tunak yang kecil, overshoot yang kecil,  dan ketika sistem diberi gangguan, tanggapan keluaran akan tetap terjaga dalam kestabilan. Keyword :   PI (Proporsional-Integral), metode Penalaan PI dengan logika fuzzy, Mikrokontroler ATmega 8535, Heat Exchanger
Analisis Metode Pendeteksian Langkah Kaki pada Pedestrian Dead Reckoning Wisnurahutama, Surya; Setiawan, Iwan; Setiyono, Budi
TRANSMISI Vol 12, No 3 (2010): TRANSMISI
Publisher : TRANSMISI

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Abstract

Pedestrian Dead Reckoning merupakan salah satu bagian dari sistem navigasi personal yang diterapkan untuk pejalan kaki. Posisi ditentukan oleh posisi sebelumnya, jarak yang ditempuh dan arah melangkah. Deteksi langkah merupakan salah satu faktor penting pada sistem navigsi PDR. Jarak yang ditempuh dapat ditentukan dengan mengetahui jumlah langkah ketika berjalan dikalikan dengan jarak untuk satu kali melangkah yang dianggap konstan. Banyak penelitian yang telah dilakukan untuk mendeteksi langkah manusia dan dalam tugas akhir ini akan mengulas tentang metode pendeteksian langkah kaki manusia. Pendeteksian langkah dilakukan dengan melihat nilai sensor akselerometer ketika berjalan. Sensor akselerometer yang digunakan adalah sensor 3 axis HITACHI H48C yang dipasang pada sepatu. Nilai percepatan ketiga axis yang terbaca oleh sensor ketika berjalan kemudian dikirim ke netbook. Nilai percepatan ketiga axis tersebut diolah sehingga didapatkan sinyal magnitude, sinyal energi, sinyal product, dan sinyal sum. Pendeteksian langkah kaki dilakukan dengan menganalisis sinyal yang didapatkan menggunakan pendekatan nilai threshold dan nilai variansi. Berdasarkan pengujian dan analisis yang dilakukan dapat diketahui bahwa fase stance merupakan fase yang paling mudah dideteksi karena pada fase stance sinyal akan stabil pada rentang nilai tertentu. Penggunaan nilai variansi pada pendeteksian langkah berguna untuk membuat sinyal pada fase stance akan berada pada nilai nol. Pendeteksian menggunakan nilai variansi memiliki tingkat keberhasilan lebih besar dibandingkan  dengan sinyal aslinya. Keyword :   stance, swing, magnitude, threshold, variansi.
Pengendalian Putaran Kipas Ventilator pada Smart Smooking Area Menggunakan Mikrokontroler At Mega 8535 dan Sensor Gas MQ7 Pradika, Ganis Rama; Sumardi, Sumardi; Setiyono, Budi
TRANSMISI Vol 12, No 4 (2010): TRANSMISI
Publisher : TRANSMISI

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Abstract

The higher the risk of poisoning for passive and active smokers if they smoked in a closed room. More than 4,000 chemicals and carcinogens contained in cigarettes would be more dangerous as cigarette smoke trapped in confined spaces. Poisons can enter the body in the maximum amount and in a short time. Leaving the window open space will not solve the problem. Cigarette smoke is often blew back into the room and continue to stay in the room for hours. In this final project, designed a special room to smoke a smart, using a special ventilator that will absorb the smoke of ciagrette combustion. Ventilator will do the absorption of gases from burning cigarettes based on the many levels of CO gas in the room. Control is performed by the microcontroller ATmega 8535 using Proportional Control method based on carbon monoxide gas sensor MQ7. Based on tests performed, it is known that proportional control with Kp=0.625 can produce a pretty good system response. Keyword:  cigarette smoke, microcontroller ATmega 8535, proportional control, carbon monoxide gas sensor MQ7
Co-Authors Abdul Syakur Achmad Abdul Jabbar Achmad Taufiq Agung Imam Rahmanto, Agung Imam AHMAD IMRON Ahmad Taufiq Akbar Yoga Prastya, Akbar Yoga Al Mufti, Muhammad Khoirul Anam Al Vandy Reactor Muhammad Alfrian Dwi Vamiko Anam Hady Nugroho, Anam Hady Ananto Bilowo, Ananto Andhika Dwipradipta Andreas Surya, Andreas Anggita P. Septiani Anindya Liani Arbye S Arif Widagdo Aris Triwiyatno Aristya Panggi Wijaya Azhar Rosad Alfauji, Azhar Rosad Azlansyah, Muhammad Bagas Adi Luhung, Bagas Adi Bagus Daru Hari Respati Bambang Nur Cahyono Bayu Bagas Wara, Bayu Bagas Bayu Gigih Prasetyo Berlianta Syiamora Dekrita, Berlianta Syiamora Catur Ardy Bayu Pamungkas Cosa Pamungkas Prabaswara Darjat Darjat Diah Meitasari, Diah Dini Yasa Istiqomah Dista Yoel Tadeus Ditya Satriya Nugroho Hadi Diyah Amiati Rochmana, Diyah Amiati Dzunuwanus Ghulam Manar Ebtian Apriantoro Edo Herwinantyo, Edo Erwin Adriono Erwin Nashrullah Esa Apriaskar Ezufatrin Ezufatrin, Ezufatrin Fadilah, Aldi Nur Fahmi Rezza Djuliandri, Fahmi Rezza Fakhruddin Mangkusasmito Faqih, Muhammad Asna Fergy Romadhany Fitriyah . Frans Scifo Gani, Stephanie Ganis Rama Pradika Ghina Febrina, Ghina Hadyan Gilang K, Hadyan Gilang Hafidz Aly Hidayat Hepy Riska Ilham, Hepy Riska I Gede Parguna Wisesa Ica Paramastri Iltizam Hanif Al Fikri, Iltizam Hanif Al Imam Mukhlash Iwan Setiawan Jan Pieter Candra Siahaan, Jan Pieter Candra Juan Maurice, Juan Jusagemal Aria EL Kevin Adelin, Kevin Kurniawan Nur Aryadi, Kurniawan Nur Kusuma Achmad Harianto, Kusuma Achmad Laras Dwi Kawuri Larasaty Ekin Dewanta, Larasaty Ekin Lusia Astrika Mauridhi Hery Purnomo Mauridhi Hery Purnomo Moch. Akbar Ramadhan A.F Mochamad , Hariadi, Mochamad , Mochamad Hariadi Mohamad hijrah saputro Mohammad Adhitama Muarif Fandhi A, Muarif Fandhi Muhamad Iqbal Muhammad Adnan Muhammad Agam Ashari Muhammad Asrofi, Muhammad Muhammad Danang Nuralamsyah Muhammad Fadli Nasution Muhammad Manshur, Muhammad Munawar Agus Riyadi Nisma Okidah, Nisma Nunik Retno H Oka Danil Saputra Olief Ilmandira Ratu Farisi, Olief Ilmandira Ratu Praptiandari Raras Puspitasari, Praptiandari Raras Prestian Rindho S. Puguh Gambiro Putra, Florian Destito R. Imbang Danandjojo, R. Imbang R. Rizal Isnanto Rachmad Hendriyanto Radhitya Pujosakti, Radhitya Rafdito Harisuryo, Rafdito Rahadian Nurfansyah Rahmat Rizeki, Rahmat Ramadhan, Miftahur Danar Reimansyah, Muhammad Fajri Nur Rg Setiawan S Ridho Al Sandra, Ridho Al Ridwan Tri Prasetyo Rina Martini Rizka Febri Ramadhanni, Rizka Febri Rohmat Hidayat Rosdiana Fajar Mardhika, Rosdiana Fajar Rosyidah, Lailatur Rousyan Faikar Rr. Farasita Anggit Purnandini, Rr. Farasita Anggit Rr. Kartika Kusuma Winahyu, Rr. Kartika Kusuma Ruzianto, Rega Sakti Sani Salimah Arub, Sani Salimah Saputra, Bangun Scenda Bernados Purba Selamat Marylin Manroe Sinaga, Selamat Marylin Manroe Shabrina Adlina Purnamasari, Shabrina Adlina Solichul Huda, Solichul Sonya Fitri Situmorang, Sonya Fitri Sudjadi Sudjadi Suhud Wahyudi Sulistyowati . Sumardi Sumardi Surya Wisnurahutama Susilo Utomo Sutapa, Reza Baskara TATAG TAUFANI ANWAR, TATAG TAUFANI Tito Tuesnadi, Tito Tri Bagus Susilo Trias Andromeda Turtiantoro . Vega Pradana Rachim Veriningrat Wijaya, Veriningrat Wachid Abdurahman, Wachid Wahyudi Wahyudi Warsito Warsito Yoga Adi Candra, Yoga Adi Yohanes Ricky Basuki Yonatan Riyaneka Putra Yulfiani Fikri Yuli Christyono Yulius Krisna Deva Purusha, Yulius Krisna Deva Yustian Bayu Prihandika, Yustian Bayu