Indonesia Conference Directory

Corresponding Author
Novendra Setyaawan

Institutions
Universitas Muhammadiyah Malang, Universitas Muhammadiyah Malang, Politeknik Negeri Malang

Abstract
Where am I? is the primary question, which is the representation of localization, that the mobile soccer robot must be answered. Dead reckoning is most popular method that used in wheeled mobile robot. However, the increasing position error is the main topic of dead reckoning method. Furthermore, In this paper the localization of mobile soccer robot using particle filter through Omnivision is proposed. The sensor model and motion model of particle filter is also discussed, where the sensor model is obtained from segmentation and feature extraction of the soccer field landmark. The experimental result showed that the proposed method estimated the robot position accurately with 15% error.

Keywords
Mobile Robot, Soccer Robot, Localization, Particle Filter

Topic
Mechatronics and Robotics Technologies

Link: https://ifory.id/abstract/HWcg36MbaJyj

Corresponding Author
Fatkhur Rohman

Institutions
a). Automotive Electronic Engineering, Department of Mechanical Engineering, State Polytechnic Malang, Jl. Soekarno Hatta, No. 9, Malang, Indonesia
b). Informatic Engineering, Department of Informatic Engineering, State Polytechnic Malang, Jl. Soekarno Hatta, No. 9, Malang, Indonesia

Abstract
IGBT device was not commonly used as BLDC motor speed controller. This paper described the successful of using IGBTs in 350Watt BLDC motor speed controller. Triple bridge configuration with PWM (Pulse Width Modulation) wave signal for power tuning was mainly integrated as main switching method in order to drive the current commutation cycle. Also, efficient bootstrap IC was designated to perform as high and low side driver. Data results was measured by using current sensor and DC voltage sensor to measure the current and voltage delivered from power source. Then, IGBT device was activated based on triple bridge commutation cycle and phase based on motor hall effect sensor triggering signal. The performance was also tested by varying the duty cycle input ratio and its PWM frequency. The experimental result shows the reliable performance in low, medium and fast RPM. Also, the highest value recorded was 2500 RPM, with 0,9 duty cycle ration and consume 9 A current.

Keywords
BLDC motor speed controller, bootstrap IC, high and low side driver, triple bridge, commutation, duty cycle

Topic
Mechatronics and Robotics Technologies

Link: https://ifory.id/abstract/FNtJhbn9uCpg

Corresponding Author
Ronny Mardiyanto

Institutions
Institut Teknologi Sepuluh Nopember

Abstract
Research on robotic path planning based on the PSO (Particle Swarm Optimization) method has been widely researched and developed. PSO is an optimization algorithm that aims to find the best solution to find the shortest route by utilizing particle population movements. In this paper, robots are tested by obstruction and without obstruction by route (coordinates X, Y) starting from the coordinate point (1, 1) with the aim of the route at the coordinate point (5, 5). The results of the research were conducted by comparing the computation time and the shortest route distance of the robot to reach the destination point with obstacles and without obstacles.

Keywords
PSO, Robotic Path Planning, Line Follower

Topic
Mechatronics and Robotics Technologies

Link: https://ifory.id/abstract/pB3WvKD6hwHy

Corresponding Author
Ahmad Fahmi

Institutions
Dept. of Electrical Engineering, State University of Malang, Indonesia
Dept. of Industrial Power Engineering, Universiti Teknikal Malaysia Malaka
Dept. of Electrical Engineering-Control System and Robotic-State Polytechnic of Malang, Indonesia

Abstract
Two-wheeled balancing robot (Segway) is a mobile robot that has two wheels on the right and left side that can not be balanced if not controlled. Segway is an underactuated and nonlinear system. Segway stability control method is presented in this paper. The simulation and modeling system of two wheels self balancing robot (segway) also proposed. By modeling and simulated, we knew the original response and controlled response of segway. Stability is an important parameter in designing of segway, we suggest a controller for the Segway to guarantee stability response using pole-placement method, The general pole placement technique which places closed-loop poles in desired locations in the s-plane is discussed.

Keywords
Pole placement, Segway, Modeling, Balancing, Control

Topic
Mechatronics and Robotics Technologies

Link: https://ifory.id/abstract/fDWhtbV7UBKn

Corresponding Author
Tresna Dewi

Institutions
a) Electrical Engineering Department, Politeknik Negeri Sriwijaya, Jalan Srijaya Negara Bukit Besar Palembang, Indonesia, 30139.
tresna_dewi[at]polsri.ac.id
b) Electrical Engineering Department, Politeknik Negeri Malang, Jl. Soekarno Hatta No.9, Jatimulyo, Kec. Lowokwaru, Kota Malang, Jawa Timur, Indonesia, 65141.

Abstract
Mobile robot navigation and trajectory generation are the challenging task in designing a robot system in a dynamic or unknown environment. A robot has to be equipped with the ability to move without crashing into obstacles and reaching the designated target or goal safely completing its task. The virtual potential field is a well-known method in car-like mobile robot design. This method is simple and yet effective by designing that obstacles emit the repulsive force, and the target gives attractive force. This scenario ensures the robot to avoid obstacles and reach for the target. The wide application of virtual potential field includes in military, domestics, and as the transport system in the industry. Virtual potential field method for one robot can be developed for a group of robots in the form of leader-follower where the leader is considered to have an attractive force relative to the follower robot. This paper discusses the application of virtual potential field in leader-follower robot. The feasibility of the proposed method is confirmed by a simulation in MobotSim.

Keywords
Attractive force, mobile robot, leader-follower robot, repulsive force, virtual potential field

Topic
Mechatronics and Robotics Technologies

Link: https://ifory.id/abstract/z36BLjecdghD