Helmy Widyantara
STMIK STIKOM Surabaya

Published : 15 Documents
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Perancangan Dan Pembuatan Ackerman Mobile Robot Dengan Kendali Pid Untuk Menghindari Halangan Berbasis Hybrid System Kesuma Dewi, Ratih; Widyantara, Helmy; Christrian W., Madha
Journal JCONES Vol 1, No 2 (2012): Rekaya Aplikasi Robotika pada Berbagai Bidang
Publisher : Journal JCONES

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Robot is a key driver of modern industry, it is a symbol of technological progress in the 21st century. With the robots can alleviate human work because robots have the advantage over men, among others, in terms of speed, accuracy, and most importantly, are able to perform dangerous work that humans can not be done directly, for example, data collection in the area of the volcano and clean up spills radioactive. It required a robot that has the ability to avoid obstacles (obstacle avoidance) in order to achieve the mission of a robot. So that the robot can walk with subtle needed a controller, which is used to control system with PID control parameters are input using proximity sensors (position sensitive device). The proximity sensor is a sensor types in the form of an analog voltage output. It required an analog processor, one is the FPAA. FPAA is an integrated circuit that can be configured to create multiple analog functions using multiple CAB (Configurable Analog Blocks) and interconection CAB network to connect between each other and are equipped with input - output (I / O) block and memory storage media type of RAM (Read Access Memory). In this study, the sensor output is used FPAA with PID control to adjust the speed of the motor. To avoid bumping into obstacles added a proximity sensor on the left and right front. However, in this study the PID controller as expected yet. Keyword: Robot, PID, dan FPAA
PENGENDALIAN MOTOR DC BRUSHLESS DENGAN PID PADA ROBOT PENGHINDAR HALANGAN (OBSTACLE AVOIDANCE ROBOT) Pribadi, Bayu Dadang; Widyantara, Helmy; Harianto, Harianto
Journal of Control and Network Systems Vol 3, No 1 (2014)
Publisher : Journal of Control and Network Systems

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Detection system using a robot to walk lot as a reference sensor to avoid obstacles in the application of obstacle avoidance robot get input from sensors Ultrasonic Distance to generate movement toward desired goals. Input can use camera as a sensor on the robot obstacle avoidance. Functions expected in a robot that has the ability to avoid an obstacle  (obstacle avoidance) in order to achieve a mission of the robot, so the robot can walk with subtle needed a controller , which is used for system control is PID control with input parameters use the ping sensor Ultrasonic Distance. Ultrasonic Distance Sensor is a type of sensor that has output far distance range 3cm - 3 meters . The characteristics of this sensor can only be on a plane at an angle of 90 ° . In this research, the data output from the sensor will be processed on the Microcontroller to respond to the motor and control system are used as a rudder servo motor . In order to obstacle avoidance in front, left side, and, right then it needs to be added to the sensor on the front , right and left the base of the robot . Process the input from the sensors will provide information on where obstructions are . Ackreman steering system steering the robot as a solution to be able to avoid the obstacle . Setting speed on PID control can fix the sensor response to the hitch . In the calculation of this final plant PID worth Kp = 1 , Ki = 0 , Kd = 0.
Rancang Bangun Pendeteksi Gerak Menggunakan Metode Image Subtraction Pada Single Board Computer (Sbc) Perkasa, Therzian Richard; Widyantara, Helmy; Susanto, Pauladie
Journal of Control and Network Systems Vol 3, No 2 (2014)
Publisher : Journal of Control and Network Systems

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Abstract:  Motion detection has been widely used in security systems on an individual or group. But there are some problems if a mounted camera and recording in realtime while there is no movement or event that occurs, namely the wasted memory. It needs a CPU (central processing unit) that require power and considerable cost, to a process of image processing. In addition, if seen from the aspect of the room, the CPU is more bulky. One alternative to overcome this problem is to design a software that can improve the efficiency of the camera, so that the camera will only detect and record when there is motion or moving objects. In this research, the author uses one single board computer i.e. Raspberry Pi to detect a movement, so that the system can be further used as a security system. Raspberry Pi is small computer credit card sized. So the user does not need more room and power to build a system of motion detection. For motion detection, the author will use image subtraction method, namely the reduction of differences between frames (fi) with the previous frame (fi-1) so that the movement is in the area of radar cameras can be detected and the results of the motion detection will be stored in an image file on a single board computer.
RANCANG BANGUN MESIN PENGURANG KADAR AIR AMPAS TAHU DENGAN METODE PENGENDALIAN MOTOR 3 FASE Utomo, Chokoh Setyo; Widyantara, Helmy; Wibowo, Madha Christian
Journal of Control and Network Systems Vol 3, No 2 (2014)
Publisher : Journal of Control and Network Systems

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Ampas tahu merupakan limbah dari proses pembuatan tahu, yang dapat digunakan sebagai bahan pakan ternak seperti sapi, kambing, dan unggas.
RANCANG BANGUN SISTEM NAVIGASI PADA DIFFERENTIAL STEERING MOBILE ROBOT Prabowo, Yanuhar; Widyantara, Helmy; Susanto, Pauladie
Journal of Control and Network Systems Vol 3, No 2 (2014)
Publisher : Journal of Control and Network Systems

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Abstract: In general, a system is composed of several sub-systems that support the system so it can function perfectly as planned. A system that helps people to monitor gas consists of sub-systems that are equipped with gas sensors and other sensors.This study analyzed the design of navigation systems on the differential steering mobile robot, a robot moving (mobile robots) that can be programmed to move towards a certain point coordinates. This Mobile Robot System is a sub-system which supports the Gas Monitoring system. This study uses the method of analysis of literature study of the theories in the book, the data from each of the components as well as articles from the internet. Based on the theories and these data, we design hardware, testing hardware, software manufacture, integrating all sub-systems into a mobile robot system, testing the overall functionality. Modules, components used in the design of mobile robots, among others: microcontrollers ATmega128; DT-AVR ATmega1280 CPU MODULE; Differential Mover Robot; DAGU Rover 5 4WD; CMPS10 Tilt Compensated Magnetic Compass; Rotary Encoder; DC motors; Motor controllers; and Liquid Cristal Display ( LCD ). Designing program that are used in the planning of the mobile robots, among others, for the purpose of determining the direction of the coordinates using the application of the theory of trigonometry, the distance to the determination of the coordinates of the destination using the application of the theory of Pythagoras.These results indicate that the design of navigation system of differential steering mobile robot was successful with insignificant error of totally system testing. These results of totally navigation system testing indicate error average amount 0.14 coordinates or amount 3.29 cm.Keyword: microcontroller, navigation system, trigonometry, Pythagoras, differential steering mobile robot.
RANCANG BANGUN UNMANNED GROUND VEHICLE (UGV) DENGAN MODEL DIFFRENSIAL STEERING BERBASIS GLOBAL POSITIONING SYSTEM (GPS) Albanna, Reza Alauddin; Widyantara, Helmy; Susanto, Pauladie
Journal of Control and Network Systems Vol 3, No 2 (2014)
Publisher : Journal of Control and Network Systems

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The technology which is rapidly developing nowadays is Autopilot Technology. Autopilot technology can be divided into 3 parts: Unmanned Aerial Vehicle (UAV), Remotely Operated Underwater Vehicle (ROUV), Unmanned Ground Vehicle (UGV). UGV is unmanned terrestrial robot, based on how it works UGV can be divided into 2 teleoprated and autonomous. Teleoprated is a vehicle that is controlled by a human operator at a remote location through a communication link. Are autonomous robots that can move automatically which is usually enabled for military purposes.In this final project UGV is design to automatically move toward the point of a pre-determined location. GPS module gives the starting position in the form of longitude and latitude to the microcontroller which then processed by microcontroller and sent to the computer to determine the initial position of UGV. Furthermore, the computer will assign the input in the form of values of X and Y to be addressed by the UGV. This value will be sent to the microcontroller in order to get the angle and distance of the target to be reached by the UGV. Additionally UGV design goal is as the foundation to create a UGV that can function well and furthermore can be developed more perfectly and beneficial for the common good.The digital compass module can able to know the level of accuracy of digital compass CMPS10 with reference to the mobile smartphone with an average error of 6.64. PMB-688 GPS module has been able to determine the level of accuracy of the coordinates of latitude and longitude on moving objects using the reference GPS mobile smartphone with an average error 0.0001175 longitude and latitude average error of 0.00003375.UGV system has been able to move automatically well and can go to the location point that determined with fairly good accuracy with an average error for the angle and distance of 9.071 at 36.21.
RANCANG BANGUN OBSTACLE AVOIDANCE PADA DIFFERENTIAL STEERING MOBILE ROBOT Wardana, Galih Kusuma; Widyantara, Helmy; Susanto, Pauladie
Journal of Control and Network Systems Vol 3, No 2 (2014)
Publisher : Journal of Control and Network Systems

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Abstract: Various ways can be done to get to a location with long lines or the lines were short. A system that can determine the best path that has a good navigation system as well as support for  sensors detecting the presence of an obstacle so that a system is not crashing and to the location safely. This study focuses on the differential steering to avoid obstacles the mobile robot, which the system uses a mobile robot that can detect the presence of an obstacle around the robot and avoid it. The mobile robot system is the support system or sub-system which supports the navigation system. Datas  from this study were taken from the articles from the internet and this study using the method of analysis of literature study of the theory in the book. Based on the datas taken from literature and articles, to design ranging from hardware and software, and manufacture of software and hardware, integrates all these systems into a mobile robot system and test the entire system. Modules that is used in this system include: Differential Drive Robot; Dagu Rover 5 4WD; Microcontroller Atmega 128; DT-AVR ATmega1280 CPU MODULE; Rotary Encoder; DC motors; Motor controllers; and Liquid Cristal Display (LCD). Software design of this system, among others, to detect obstacles and comparing the distance between the obstacle is detected by the robot and choose which direction the robot avoidance and path safer to avoid being in a collision. The results of this study are an obstacle avoidance system on the differential steering mobile robot managed to dodge the obstacle and reach the desired location without bumping into objects or obstructions are nearby.Keyword: mikrokontroller, obstacle avoidnce System, differential steering mobile robot. 
RANCANG BANGUN SISTEM PEMETAAN KONSENTRASI GAS KARBON MONOKSIDA MENGGUNAKAN DIFFERENTIAL STEERING Saputra, Dwi Wahyu; Widyantara, Helmy; Susanto, Pauladie
Journal of Control and Network Systems Vol 3, No 2 (2014)
Publisher : Journal of Control and Network Systems

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Penelitian ini menganalisis rancang bangun sistem pemetaaan konsentrasi gas karbon monoksida menggunakan differential steering mobile robot, yaitu sebuah aplikasi pada komputer yang mampu memerintahkan sebuah robot yang dapat berpindah dari satu tempat ke tempat yang lain (mobile robot) untuk melaju sesuai dengan pola pergerakan yang dikirim oleh aplikasi pada komputer, selama pergerakan mobile robot yang dilengkapi dengan sensor gas karbon monoksida mengirim nilai-nilai gas yang terdeteksi oleh sensor kepada aplikasi pada komputer, dan aplikasi pada komputer menampilkan penyebaran gas karbon monoksida tersebut ke dalam gambar dua dimensi. Penelitian ini menggunakan metoda analisis studi kepustakaan dari teori-teori dalam buku, data-data dari masing-masing komponen maupun artikel-artikel dari internet. Berdasarkan teori-teori dan data-data tersebut dilakukan perancangan perangkat keras, pengujian perangkat keras, pembuatan perangkat lunak, kemudian melakukan pengujian fungsi keseluruhan.Modul-modul, komponen-komponen yang digunakan dalam perancangan mobile robot ini antara lain : Mikrokontroler Atmega128; DT-AVR ATMEGA1280 CPU MODULE; Penggerak Differensial Robot; Dagu Rover 5 4WD; CMPS10 Tilt Compensated Magnetic Compass; Rotary Encoder; Motor Driver; Liquid Cristal Display (LCD); Modul Komunikasi Wireless 802.15.4 Xbee-Pro; dan Sensor Gas Karbon Monoksida MQ7. Perancangan perangkat lunak terbagai menjadi dua yaitu perangkat lunak pada Personal Computer (PC) dan perangkat lunak pada mikrokontroler. Perancangan perangkat lunak pada PC meliputi perancangan Graphic User Interface (GUI), menghubungkan dan memutuskan perangkat lunak dengan port serial asinkron, pengiriman paket data pola pergerakan mobile robot, penerimaan paket data koordinat dan gas, serta pemetaan konsentrasi gas menggunakan metode Gausian. Perancangan perangkat lunak pada mikrokontroler meliputi penerimaan paket data dari PC, penentuan arah dari data koordinat, dan penentuan jarak tempuh tujuan pada mobile robot.Hasil penelitian ini menunjukan bahwa perancangan sistem pemetaaan konsentrasi gas karbon monoksida menggunakan differential steering mobile robot dapat menampilkan hasil pemindaian gas CO yang dilakukan oleh mobile robot menjadi gambar dua dimensi. Aplikasi tersebut mampu menampilkan penyebaran gas dalam bentuk gradasi warna. Semakin rendah kepekatan gas CO maka warna yang ditampilkan semakin gelap, semakin tinggi kepekatan gas CO maka warna yang ditampilkan berangsur-angsur menjadi putih, dan berangsur-angsur merah jika kepekatan gas CO menjadi sangat tinggi.
SIMULASI TRAJECTORY PLANNING DAN PEMBENTUKAN FORMASI PADA ROBOT OBSTACLE AVOIDANCE Suparno, Aditya Prima; Widyantara, Helmy; Harianto, Harianto
Journal of Control and Network Systems Vol 4, No 1 (2015)
Publisher : Journal of Control and Network Systems

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The defense system of the country has developed a technology which has an intelligence and an accuracy level that are high enough to help maintain the stability of the country in a more optimal state. The Cavalry Battalion combat vehicles, as one of the examples, is used to attack and demolish the enemy’s base by constructing a special formation in its movement towards the attack position based on the command of the leader in the front line. Based on the existing development of the technology, in this study, a simulation of the robot colony movement was made before the real implementation stage. In the simulation, the movement of the robot colony was designed like a Cavalry Battalion formation when it determines a track to its attack position. The colony was created by using 3 robotic simulation. The methods used included fuzzy Sugeno, robotic formation, and obstacle avoidance. The formation creation based on the instruction of the robot’s leader before and after passing the obstacle could be done by sending the coordinates of the destination which was done by the robot’s leader, coordinating the speed which was made based on the distance of each robot to another robot, and enabling the robots ability to provide the movements decision itself when it passed through the obstacle. The average errors of follower robot A toward the target goal given by its leader of the X-axis was 4,834%, and 1,905% on the Y axis. The average error of follower robot B the target goal given by its leader of the X-axis was 3,974% and 2,415% on the Y axis.
ANALISA PERBANDINGAN METODE FUZZY LOGIC CONTROL DAN METODE VIRTUAL FORCE FIELD (VFF) UNTUK DYNAMIC OBSTACLE AVOIDANCE Asmak, Shochibah Yatimatul; Widyantara, Helmy; Puspasari, Ira
Journal of Control and Network Systems Vol 4, No 1 (2015)
Publisher : Journal of Control and Network Systems

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Technology today has reached its advancements even in military field. Technology in this field is often utilised to make tasks easier, to overcome human errors, as well as to do high-risk tasks that seem to be impossible to be done by human beings. High tech equipments are highly required to support offense and defense of the nation as well as to diminish human losses. One of the most prominent equipments in military field is combat vehicle. Thus, combat vehicles that can adapt quickly to any unknown environments are necessary and should there be obstacles, they could evade and find alternative routes to reach a designed target.Before such technology is created, a simulation using a robot is administered. In this simulation, the robot’s movements are observed. The observation includes how the robot evades obstacles especially moving obstacles and reaches the target successfully. There has been a prior research using Fuzzy Logic Control to control the robot’s speed and determine the evading direction when it encounters obstacles. Nevertheless, that research was only tested to evade unmoving obstacles. In this research, there would be comparative analysis between Fussy Logic Control and Virtual Force Field (VFF) method to evade moving targets as well as the ability to reach the designed targets.  There are two parameters used and analyzed in this research. They are the distance between the robot and the target and time required for the robot to reach the target. Those two parameters would be calculated using Fuzzy Logic Control and Virtual Force Field (VFF) method and the result would be compared to see which one is more effective to be used in this simulation.Keywords : Simulation Robot, Fuzzy Logic, Virtual Force Field, VFF, Dynamic Obstacle Avoidance