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A New Classification Technique in Mobile Robot Navigation Nurmaini, Siti; Tutuko, Bambang
TELKOMNIKA Telecommunication, Computing, Electronics and Control Vol 9, No 3: December 2011
Publisher : Universitas Ahmad Dahlan

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Abstract

This paper presents a novel pattern recognition algorithm that use weightless neural network (WNNs) technique.This technique plays a role of situation classifier to judge the situation around the mobile robot environment and makes control decision in mobile robot navigation. The WNNs technique is choosen due to significant advantages over conventional neural network, such as they can be easily implemented in hardware using standard RAM, faster in training phase and work with small resources. Using a simple classification algorithm, the similar data will be grouped with each other and it will be possible to attach similar data classes to specific local areas in the mobile robot environment. This strategy is demonstrated in simple mobile robot powered by low cost microcontrollers with 512 bytes of RAM and low cost sensors. Experimental result shows, when number of neuron increases the average environmental recognition ratehas risen from 87.6% to 98.5%.The WNNs technique allows the mobile robot to recognize many and different environmental patterns and avoid obstacles in real time. Moreover, by using proposed WNNstechnique mobile robot has successfully reached the goal in dynamic environment compare to fuzzy logic technique and logic function, capable of dealing with uncertainty in sensor reading, achieving good performance in performing control actions with 0.56% error rate in mobile robot speed.
Perancangan Pembacaan Data KRS/KPRS Berbasis Mikrokontroler AT89S52 Tutuko, Bambang; Sembiring, Sarmayanta
Jurnal GENERIC Vol 4, No 1 (2009)
Publisher : Fakultas Ilmu Komputer - Universitas Sriwijaya

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Abstract

Perancangan Pembacaan Data KRS/KPRS Berbasis Mikrokontroler AT89S52
Perancangan Pembacaan Data KRS/KPRS Berbasis Mikrokontroler AT89S52 Tutuko, Bambang; Sembiring, Sarmayanta
Jurnal GENERIC Vol 4, No 1 (2009)
Publisher : Fakultas Ilmu Komputer - Universitas Sriwijaya

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Perancangan Pembacaan Data KRS/KPRS Berbasis Mikrokontroler AT89S52
Intelligent Mobile Olfaction of Swarm Robots Nurmaini, Siti; Tutuko, Bambang; Rahman Thoharsin, Aulia
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (511.068 KB) | DOI: 10.11591/ijra.v2i4.pp189-198

Abstract

This work presents intelligent mobile olfaction design and experimental results of intelligent swarm robots to detection a gas/odour source in an indoor environment by using multi agent based on hybrid algorithm. We examine the problem for deciding when, how and where the gas/odour sensor should be activated. Simple form of cooperation between Interval Type-2 Fuzzy Logic and Particle Swarm Optimization (IT2FL-PSO) algorithm is implemented in the olfaction strategies. The real experiments performed on smaller five mobile robots equipped with dynamic gas/odour sensor TGS2600 and three infra-red sensors. The results show that single robot-based olfaction system with 5 behaviors capable for searching source of a simulated chemical leak in unknown environment and flooking behavior can be done by 3 robots to find the source of gas/odour.
Gas Leak Localization Using Mobile Sensor Networks Tutuko, Bambang; Nurmaini, Siti; Triadi, Agus
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 2: EECSI 2015
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eecsi.2.558

Abstract

A swarm robotics localization strategy based on deliberates fuzzy and swarm behavior is proposed in this paper. Localization is the process of determining the positions of robots or targets in whole swarms environment. To localize the target in real environment, experiment is conducted utilize three identical robots with different color as mobile sensor node. Fuzzy logic and swarm behavior are keeping the swarm robots position and direction with a certain distance to the target position.
Pattern Recognition Approach for Formation Control for Swarm Robotics Using Fuzzy-Kohonen Networks Nurmaini, Siti; Tutuko, Bambang; Aditya, PP, Aditya, PP
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 2: EECSI 2015
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eecsi.2.586

Abstract

Recent advances in robotics have started making it feasible to deploy large numbers of inexpensive robots for tasks such as surveillance and search. However, coordination of multiple robots to accomplish such tasks remains a challenging problem. This paper describes new algorithm Fuzzy-Kohonen Networks (FKN) to achieve real-time reactive formation control for swarm robots.
Pengaturan Gerakan Hover dan Roll pada Quadcopter dengan Menggunakan Metode PI Ziegler-Nichols dan PID Tyreus-Luyben ubaya, huda; Tutuko, Bambang; Richardson, Borisman; Sutrimo, Sutrimo
Annual Research Seminar (ARS) Vol 2, No 1 (2016)
Publisher : Annual Research Seminar (ARS)

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Abstract

Quadcopter merupakan jenis robot terbang yang bergerak dengan menggunakan empat buah motor dan memiliki empat gerakan dasar. Diantara gerakan tersebut adalah gerakan hover dan gerakan roll. Gerakan hover dipengaruhi oleh kecepatan putar seluruh motor secara bersamaan sehingga menghasilkan gerakan berpindah tempat dari bawah ke atas dan sebaliknya sedangakan gerakan roll adalah gerakan rotasi pada sumbu x quadcopter. Agar quadcopter dapat melakukan pergerakan tersebut dengan baik, dibutuhkan pengendali. Pengendali yang digunakan pada penelitian ini adalah pengendali PI dan PID. Pengendali PID terdiri dari proportional gain , integral gain  dan derivative gain . Untuk menentukan nilai  proportional gain , integral gain , dan derivative gain , pada penelitian ini digunakan metode tuning Ziegler-Nichols untuk hover dan Tyreus-Luyben untuk roll. Didapatkan nilai pengendali dengan nilai proportional gain  sebesar 5,66914408 dan nilai integral gain  sebesar 0,05281733959 untuk gerakan hover sehingga menghasilkan grafik respon transient dengan overshoot 16%, rise time 3,75 detik, dan settling time 8 detik. Sedangkan untuk gerakan roll, nilai proportional gain  sebesar 67,11547084, nilai integral gain  sebesar 7,6267045, dan nilai derivative gain  sebesar 0,426113135.
Penerapan Metode Pelatihan Langsung (Doing by Learning) untuk Siswa SMA di Kecamatan Ilir Timur 1 Palembang Nurmaini, Siti; Ubaya, Huda; Tutuko, Bambang; Firdaus, Firdaus; Zarkasi, Ahmad
Annual Research Seminar (ARS) Vol 2, No 2 (2016): Special Issue : Penelitian, Pengabdian Masyarakat
Publisher : Annual Research Seminar (ARS)

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Abstract

Robot halang rintang (avoider)  sebagai media pengenalan bidang robotika bagi bagi sekolah menengah atas Muhammadiyah 1 Palembang. Pelatihan ini akan dititik beratkan pada bagaiamana merakit dan membuat suatu aplikasi robot sederhana yang dilengkapi dengan sensor infra merah, kendali motor yang pemrogramannya menggunakan bahasa pemrograman C. Metode kegiatan yang digunakan dalam kegiatan ini yaitu metode pelatihan langsung (learning by doing) berupa pemaparan/presentasi, tutorial serta diskusi tentang bidang ilmu robotika, teknik disain sedernaha sebuah robot dan menjalankan aplikasi robot Halang Rintang (avoider) yang telah ditentukan. Sebelumnya diadakan pre test yang berupa tanya jawab, untuk mengetahui sejauh mana pengetahuan peserta sebelum mengikuti pelatihan dan praktek yang menitikberatkan pada implementasi robot Halang Rintang (avoider).  Post test dilakukan dengan menjalankan aplikasi yang telah dibuat oleh siswa pada halangan yang telah disiapkan . Untuk mengetahui tingkat penyerapan terhadap materi pelatihan yang diberikan oleh para pengajar atau pelatih dan bimbingan konsultasi, robot yang telah dibuat harus bekerja dengan baik sesuai dengan arahan yang diberikan.
Perdagangan Berjangka Komoditi : Berdzikirlah dengan Physical Delivery Tutuko, Bambang
El Dinar: Jurnal Keuangan dan Perbankan Syariah Vol 5, No 2 (2017): El Dinar
Publisher : Faculty of Economics Universitas Islam Negeri Maulana Malik Ibrahim Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18860/ed.v5i2.5239

Abstract

Commodity Futures Trading in Indonesia is administered by the government under the auspices of the Commodity Futures Trading Supervisory Agency (BAPPEBTI) with the aim of establishing the price of primary commodities (price discovery) and as a hedging facility using futures contracts. However, current futures trading is only a means of speculation caused by its specifications and transaction mechanism.The application of the three principles of dhikr: the principle of harmony, the principle of integrity, and the principle of one on the quest for hedging solutions in commodity futures will lead to trade where the parties who transact share the risk (risk sharing). Risk sharing can only occur if there is a common goal between buyers and sellers to manage risk (the principle of the one-an). The similarity of objectives will result in a commitment between buyers and sellers to perform physical handover backed by regulation to create a liquid market (the principle of harmony), so that the wholeness of trade mechanisms involving market participants, markets, and regulators will be maintained. The integrity of the role of the stakeholders of commodity trading is what will lead to the solution of the hedge without having to separate the risk with its trading activities (principle of wholeness).The "dhikr" hedging is a hedge accompanied by the certainty of ownership transfer through physical delivery of physical commodities. Thus, the hedge is not separate from its real trading activity, because the risk is always attached to the profit-making business activity.
Real-Time Lighting Control System with Fuzzy-Mamdani for Smart Home Application Budianto, Dimas; Nurmaini, Siti; Tutuko, Bambang; Raflesia, Sarifah Putri
Computer Engineering and Applications Journal Vol 7 No 3 (2018)
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18495/comengapp.v7i3.267

Abstract

The use of pervasive computing in the context of home automation equipment will greatly facilitate life. Several building still use manual switch  to turn on or turn off the lighting system. It becomes ineffective if the house has a lot of lights, due to it sometimes forget to turn off. Hence, the real-time control system for automatic lighting processing is desirable. An automatic control system will allow to control the illumination and it will decrease the energy costs. In this paper, the Fuzzy logic system-based Mamdani style is used to adjust the intensity of the lights. Based on simple algorithm the controller board is working in a real-time condition. As a result found, the implementation is successfully to control the lighting system with good performance. Thus, the fuzzy system can be built smart home concept that facilitate the human life.